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

Abstract

The application is suitable for the field of radar technology, and provides a radar control method and device, a terminal equipment and a computer readable storage medium, which comprises: determining a target receiving channel according to echo signals received by each receiving channel; wherein the target receiving channel is a receiving channel of the received echo signal being a high-reflection-object reflected echo signal; adjusting a transmitting channel grouping according to the target receiving channel; wherein the transmitting channel corresponding to the target receiving channel and the transmitting channel corresponding to a non-target receiving channel are in different transmitting channel groupings; and controlling the transmitting channel to retransmit a detection signal according to the adjusted transmitting channel grouping. Since the transmitting channel corresponding to the target receiving channel and the transmitting channel corresponding to the non-target receiving channel are developed for transmitting detection laser, the crosstalk of the high-energy reflection echo of the high-reflection-object to the reflection echo of the non-high-reflection-object can be effectively reduced, and the detection accuracy of the laser radar is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of radars, and particularly relates to a radar control method, a terminal device and a computer readable storage medium. BACKGROUND

[0002] Laser radars are often used in the fields of automatic driving, logistics vehicles, robots, public intelligent transportation, etc. due to their advantages of high resolution, high sensitivity, strong anti-interference capability, and being unaffected by dark conditions.

[0003] With the improvement of resolution, commercial vehicle-mounted radars will adopt multiple channels for parallel transmission and reception for detection at the same time. In the case of multiple channels for parallel transmission and reception for detection at the same time, when there is a high-reflective object, the echo signal reflected by the high-reflective object will cause serious crosstalk to the echo signal reflected by a non-high-reflective object, thereby reducing the detection accuracy of the laser radar. SUMMARY

[0004] The radar control method, device, terminal device and computer readable storage medium provided by the embodiments of the application can reduce crosstalk between parallel channels and improve the detection accuracy of the laser radar.

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

[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 high-reflective object;

[0007] adjusting a transmitting channel grouping according to the target receiving channel; wherein the transmitting channel corresponding to the target receiving channel and the transmitting channel corresponding to a non-target receiving channel are in different transmitting channel groupings;

[0008] controlling the transmitting channels to retransmit detection signals according to the adjusted transmitting channel grouping.

[0009] In an implementation manner of the first aspect, the controlling the transmitting channels to retransmit detection signals according to the adjusted transmitting channel grouping comprises:

[0010] determining a transmitting strategy of the adjusted transmitting channel grouping according to a target strategy;

[0011] controlling the adjusted transmitting channel grouping to retransmit detection signals according to the transmitting strategy.

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

[0013] In an implementation form of the first aspect, when the target policy is the transmission time adjustment policy, the determining the adjusted transmission strategy of the transmission channel group according to the target policy comprises:

[0014] adjusting the transmission time of the transmission channel group in which the transmission channel corresponding to the target receiving channel is located and / or adjusting the transmission time of the transmission channel group in which the transmission channel corresponding to the non-target receiving channel is located; wherein the transmission time of the transmission channel group in which the transmission channel corresponding to the target receiving channel is located is time-spaced from the transmission time of the transmission channel group in which the transmission channel corresponding to the non-target receiving channel is located.

[0015] In an implementation form of the first aspect, the adjusting the transmission time of the transmission channel group in which the transmission channel corresponding to the target receiving channel is located and / or adjusting the transmission time of the transmission channel group in which the transmission channel corresponding to the non-target receiving channel is located comprises:

[0016] determining the transmission time of the transmission channel group in which the transmission channel corresponding to the target receiving channel is located according to the first encoding set and / or determining the transmission time of the transmission channel group in which the transmission channel corresponding to the non-target receiving channel is located according to the first encoding set.

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

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

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

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

[0021] arranging the target transmission channel in each group into a transmission channel group.

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

[0023] determining a target transmission channel group according to a target detection field of view;

[0024] screening a target transmitting channel in the target transmitting channel group, the target transmitting channel being a transmitting channel corresponding to the target receiving channel;

[0025] setting the target transmitting channel in a transmitting channel group.

[0026] In an implementation manner of the first aspect, the target strategy comprises a receiving threshold adjustment strategy, and after adjusting the transmitting channel group according to the target receiving channel, the method further comprises:

[0027] adjusting a receiving threshold of the receiving channel according to the receiving threshold adjustment strategy.

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

[0029] a determining module configured to determine a target receiving channel according to echo signals received by each receiving channel, wherein the target receiving channel is a receiving channel receiving an echo signal reflected by a high-reflectivity object;

[0030] a group adjusting module configured to adjust a transmitting channel group according to the target receiving channel, wherein a transmitting channel corresponding to the target receiving channel and a transmitting channel corresponding to a non-target receiving channel are in different transmitting channel groups;

[0031] a control module configured to control a transmitting channel to retransmit a detection signal according to the adjusted transmitting channel group.

[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, and the processor implements the radar control method in the first aspect or any optional manner of the first aspect when executing the computer program.

[0033] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the radar control method in the first aspect or any optional manner of the first aspect.

[0034] In a fifth aspect, an embodiment of the present application provides a computer program product, when the computer program product is executed on a terminal device, the terminal device executes the radar control method in the first aspect or any optional manner of the first aspect.

[0035] Implementing the radar control method, device, terminal device, computer readable storage medium and computer program product provided by the embodiment of the present application has the following beneficial effects:

[0036] The radar control method provided in the embodiments of the present application determines the target receiving channel corresponding to the high-reflection object according to the echo information of the reflection echo received by each receiving channel, 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 of the high-reflection object and the transmission channel corresponding to the receiving channel of the non-high-reflection object are in different transmission channel groupings, and controls the laser radar to perform transmission of 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 transmit detection lasers separately, the crosstalk of the high-energy reflection echo generated by the high-reflection object to the reflection echo generated by the non-high-reflection object can be effectively reduced, and the resolution of the laser radar for the high-reflection object is improved. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

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

[0039] Figure 2 is a transmission channel grouping diagram of the channels of a laser radar provided by an embodiment of the present application;

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

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

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

[0043] Figure 6 is a transmission timing diagram of different transmission channel groupings of a laser radar provided by an embodiment of the present application;

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

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

[0046] Figure 9 is a structural schematic diagram of a terminal device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0047] In the following description, for the purposes of explanation and not limitation, specific details are set forth, such as particular sequences of acts, in order to provide a thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, and circuits are omitted so as not to obscure the description of the present application with unnecessary detail.

[0048] It should be understood that the term "and / or" as used herein refers to any one or any combination of any one or more of the associated listed items in the cases of "and / or", and that includes all possible combinations. In addition, the terms "first", "second", "third", etc. as used in the description and the appended claims are used only to distinguish different elements, and are not to be construed as indicating or implying relative importance.

[0049] It should also be understood that the use of the terms "one embodiment" or "some embodiments" or "one implementation" or "some implementations" or "one example" or "some examples" in the description and the appended claims is not to be construed as indicating or implying that the described feature is present in only one embodiment or example, or that it is the only embodiment or example. Rather, these terms are used herein to merely indicate or imply that the described feature is present in one or more embodiments or examples. Thus, the appearance of these terms in various places in the specification is not to be interpreted as meaning that the described feature is present in only one embodiment or example, or that it is the only embodiment or example.

[0050] A vehicle-mounted laser radar can obtain a three-dimensional image of a physical space to detect a driving environment. An automatic driving requires the laser radar to accurately distinguish small target objects at a long distance. In order to improve the recognition accuracy of the laser radar for the small target objects at the long distance, a laser radar with multiple parallel transmitting and receiving channels is usually used for detection. The laser radar often includes multiple laser transmitters and multiple laser receivers arranged densely. In the laser radar, each laser transmitter corresponds to a transmitting channel, and each laser receiver corresponds to a receiving channel to form a complete transmitting and receiving channel of the 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 the detection accuracy in the field of laser radars, the laser transmitters and the laser receivers are arranged densely, so that it is difficult for the optical design of the laser radar to avoid optical crosstalk between adjacent channels. Therefore, the laser radar has a large degree of optical crosstalk between adjacent channels.

[0051] Specifically, the increase of the point frequency and the ranging distance causes the crosstalk between the channels of the laser radar.

[0052] Suppose that the effective measurement distance of the laser radar is L, the total scanning time is T tot , and the total point frequency is N tot . The average time of each point is T ave = T tot / N tot . The flight time of the light pulse is τ = 2L / c. Wherein, c is the speed of light. When τ < T ave , only one receiving channel of the laser radar works in each analysis time period, which can effectively avoid the crosstalk between the channels. However, as the point frequency of the radar increases and the ranging distance increases, T ave continuously decreases, and the condition τ > T ave may occur. In this case, multiple receiving channels work in parallel in the same time period, which may cause crosstalk between adjacent receiving channels.

[0053] Since the vehicle-mounted laser radar mainly detects the driving environment, the scenes on the road mainly include two types of objects, one is a Lambertian object, and the other is a highly reflective object. The Lambertian object refers to an object that uniformly scatters incident laser light to achieve diffuse reflection, such as trees on the road. The highly reflective object refers to an object that reflects a return wave in the same direction as the incident laser light with high directionality, such as a road sign on the road. The return wave intensity of the highly reflective object is more than 200 times the return wave intensity of the Lambertian object. The reflected return wave of the highly reflective object causes serious crosstalk to the reflected return wave of the Lambertian object (i.e., the non-highly reflective object), which reduces the detection accuracy of the laser radar.

[0054] Based on this, the radar control method provided in the embodiments of the present application determines the target receiving channel corresponding to the high-reflectivity object according to the echo information of the reflected echo received by each receiving channel, then adjusts the transmitting channel grouping of all transmitting channels of the laser radar, so that the transmitting channel corresponding to the target receiving channel of the high-reflectivity object and the transmitting channel corresponding to the receiving channel of the non-high-reflectivity object are in different transmitting channel groupings, and controls the laser radar to emit the detection signal according to the adjusted transmitting channel grouping. Since the transmitting channel corresponding to the target receiving channel and the transmitting channel corresponding to the non-target receiving channel emit detection laser beams separately, the crosstalk of the high-energy reflected echo generated by the high-reflectivity object to the reflected echo generated by the non-high-reflectivity object can be effectively reduced, and the detection accuracy of the laser radar is improved.

[0055] The radar control method provided in the embodiments of the present application will be described in detail as follows:

[0056] Please refer to Figure 1 , Figure 1 is a schematic flowchart of the radar control method provided in the embodiments of the present application. The execution subject of the radar control method provided in the embodiments of the present application can be a laser radar, a control system / module inside the laser radar, or a terminal device in communication connection with the laser radar. The terminal device can be a mobile terminal such as a smart phone, a tablet computer, or a wearable device, or a computer, a cloud server, a radar-assisted computer, and the like in various application scenarios. It can be understood that the embodiments of the present application are for the case that multiple transceiving channels work simultaneously. The following will be described by taking the laser radar as an example:

[0057] As shown in Figure 1 , the radar control method provided in the embodiments of the present application can include S11-S13, which are described in detail as follows:

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

[0059] The target receiving channel refers to the receiving channel of the received echo signal that is the reflected echo signal of the high-reflectivity object, i.e., the channel in which the intensity of the received echo signal is greater than a preset value. 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 a specific application, after each transmitting channel of the laser radar transmits a detection signal, the receiving channel of the laser radar corresponding to the transmitting channel receives a return signal reflected by a target object. After the laser radar obtains the return signal received by each receiving channel, the laser radar can determine whether the return signal received by the receiving channel is a return signal reflected by a high-reflectivity object according to the return information of the return signal, i.e., determine which receiving channel receives the return signal reflected by the high-reflectivity object according to the intensity information of the return signal. If it is determined according to the return information of the return signal that there is a receiving channel that receives the return signal reflected by the high-reflectivity object, the receiving channel that receives the return signal reflected by the high-reflectivity object is determined as the target receiving channel.

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

[0062] In a specific application, after the laser radar obtains the return signal received by each receiving channel, the laser radar can obtain the return intensity of the return signal. If the return intensity of the return signal is greater than a preset intensity threshold, the receiving channel corresponding to the return signal can be determined as the target receiving channel. It should be noted that the preset intensity threshold can be set according to the specific parameters and performance parameters of the device in the actual application process, and the present application does not make specific limitations thereto.

[0063] In a specific application, after the laser radar obtains the return signal received by each receiving channel, the laser radar can obtain the return area value of the return signal. If the return area value of the return signal is greater than a preset area threshold, the receiving channel corresponding to the return signal can be determined as the target receiving channel. It should be noted that the preset area threshold can be set according to the specific parameters and performance parameters of the device in the actual application process, and the present application does not make specific limitations thereto.

[0064] In a specific application, after the laser radar obtains the return signal received by each receiving channel, the laser radar can calculate the reflectivity of the return signal. If the reflectivity of the return signal is greater than a preset reflectivity threshold, the receiving channel corresponding to the return signal can be determined as the target receiving channel. It should be noted that the preset reflectivity threshold can be set according to the specific parameters and performance parameters of the device in the actual application process, and the present application does not make specific limitations thereto.

[0065] It should also be noted that the calculation methods of the return intensity, return area value, and reflectivity of the return signal can be based on existing calculation methods, and the present application does not make specific limitations thereto.

[0066] In a specific application, the laser radar can determine whether a receiving channel is a target receiving channel according to any one of the above echo information as an evaluation standard, or can determine whether a receiving channel is a target receiving channel according to two or more echo information as an evaluation standard. For example, the laser radar can take the echo intensity as the evaluation standard. After receiving the echo signals corresponding to each receiving channel, the laser radar calculates the echo intensity of each echo signal, compares the calculated echo intensity of each echo signal with the preset intensity threshold, and determines the receiving channel corresponding to the echo signal with the echo intensity greater than the preset intensity threshold as the target receiving channel. For another example, the laser radar can take the echo intensity and reflectivity as the evaluation standard. After receiving the echo signals corresponding to each receiving channel, the laser radar calculates the echo intensity and reflectivity of each echo signal, compares the calculated echo intensity of each echo signal with the preset intensity threshold, compares the calculated reflectivity of each echo signal with the preset reflectivity threshold, and determines the receiving channel corresponding to the echo signal with the echo intensity greater than the preset intensity threshold or the reflectivity greater than the preset reflectivity threshold as the target receiving channel.

[0067] For example, the echo intensity is taken as the evaluation standard to illustrate S11 as follows:

[0068] Suppose that one emission group of the laser radar includes 8 emission channels (assuming parallel transmission and reception, and one emission channel corresponds to one receiving channel). After the laser radar controls the emission channels in the 8 emission channels to emit the detection signals, the first receiving channel receives the first echo signal, the second receiving channel receives the second echo signal, the third receiving channel receives the third echo signal, the fourth receiving channel receives the fourth echo signal, the fifth receiving channel receives the fifth echo signal, the sixth receiving channel receives the sixth echo signal, the seventh receiving channel receives the seventh echo signal, and the eighth receiving channel receives the eighth echo signal. The laser radar analyzes the 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. Suppose 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. Then, it can be determined that the third receiving channel and the fourth receiving channel are target receiving channels.

[0069] S12: Adjusting the emission channel grouping according to the target receiving channel.

[0070] In the application embodiment, adjusting the transmission channel group according to the target receiving channel specifically refers to placing the transmission channel corresponding to the target receiving channel of the high-reflectivity object in a separate transmission channel group, so that the transmission channel corresponding to the target receiving channel is in a different transmission channel group from the transmission channel corresponding to the non-target receiving channel, 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, referring to Figure 2 , it is assumed 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, so when the transmission channel group is modulated, the first transmission channel and the second transmission channel can be placed in a separate 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 are placed in a transmission channel group.

[0072] In a specific application, when the laser radar starts to work, it can include multiple transmission groups, and each transmission group can include multiple transmission channels. It can be understood that the multiple transmission channels in each transmission group correspond to parallel emission of laser beams by the corresponding transmitters. The multiple transmission groups can be emitted in parallel or in series. It can be understood that parallel emission refers to simultaneous emission of laser beams within a predetermined time. Serial emission refers to sequential emission of laser beams by multiple transmission groups. For example, after the first transmission group completes all emissions, the second transmission group performs emission. It can be understood that after completing a round of transmission and reception, the laser radar can determine the target receiving channel corresponding to each transmission group according to S11, and then adjust the existing transmission channel group according to the transmission channel corresponding to the target receiving channel, i.e., place the transmission channel corresponding to the target receiving channel in each transmission group in a separate transmission channel group, or place the transmission channel corresponding to the target receiving channel in all transmission groups in a separate transmission channel group, or place the transmission channel corresponding to the target receiving channel in all transmission groups in at least two transmission channel groups, thereby completing the adjustment of the transmission channel group. The number of groups of transmission channels corresponding to the 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 transmit according to the original transmission group, and optionally, the transmission channel corresponding to the non-target receiving channel can also be adjusted according to the position of the target receiving channel and the strength of the echo received by the target receiving channel. Specifically, the adjustment can be determined according to the distance between the non-target receiving channel and the target receiving channel, the physical interval between the receiving channels, and the like. For example, if the target receiving channel is distributed, the transmission channels separated by the target receiving channel can be set as different transmission groups.

[0074] It should be noted that each transmission channel can correspond to one receiving channel, or correspond to multiple receiving channels, and the laser radar can determine the transmission channel corresponding to the target receiving channel according to the correspondence between the transmission channel and the receiving channel.

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

[0076] In some embodiments of the present application, when the laser radar has multiple parallel groups of transmission channels, the laser radar can control each group of transmission channels to transmit a probe signal according to a preset transmission strategy, then screen out a target transmission channel in each group of transmission channels, and then set the target transmission channel in a preset transmission channel group, which is distinguished from the non-target transmission channels of the transmission channel group, so as to avoid 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, and improve the detection accuracy.

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

[0078] For example, assuming that the laser radar has three groups of transmission channel groups, each group of transmission channels includes 12 transmission channels, and the laser radar controls the 12 transmission channels in the first group of transmission channels to transmit a probe signal first, then controls the 12 transmission channels in the second group of transmission channels to transmit a probe signal, and finally controls the 12 transmission channels in the third group of transmission channels to transmit a probe signal. After receiving the echo signal generated by the probe signal transmitted by the 12 transmission channels in the first group of transmission channels, the laser radar can determine the target transmission channel in the first group of transmission channels (referred to as the first group of target transmission channels). After receiving the echo signal generated by the probe signal transmitted by the 12 transmission channels in the second group of transmission channels, the laser radar can determine the target transmission channel in the second group of transmission channels (referred to as the second group of target transmission channels). After receiving the echo signal generated by the probe signal transmitted by the 12 transmission channels in the third group of transmission channels, the laser radar can determine the target transmission channel in the third group of transmission channels (referred to as the third group of target transmission channels). After determining the first group of target transmission channels, the first group of target transmission channels can be separated from the first group of transmission channels and placed in a transmission channel group (the first transmission channel group). The non-target transmission channels in the first group of transmission channels are placed in a transmission channel group (the second transmission channel group). After determining the second group of target transmission channels, the second group of target transmission channels can be separated from the second group of transmission channels and placed in a transmission channel group (the third transmission channel group). The non-target transmission channels in the second group of transmission channels are placed in a transmission channel group (the fourth transmission channel group). After determining the third group of target transmission channels, the third group of target transmission channels can be separated from the third group of transmission channels and placed in a transmission channel group (the fifth transmission channel group). The non-target transmission channels in the third group of transmission channels are placed in a transmission channel group (the 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 requirements, for example Figure 4 as shown in the examples.

[0080] As an optional implementation, the target transmission channels of the first transmission channel group, the target transmission channels in the second transmission channel group, and the target transmission channels in the third transmission channel group can be placed in the same target transmission channel group; or the target transmission channels of the first transmission channel group, the target transmission channels in the second transmission channel group, and the target transmission channels 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 laser radar adjusts the transmission channel grouping of the multiple transmission channel groups, the transmission channel grouping of all transmission channel groups can be adjusted as in the above embodiments, the transmission channel grouping of part of the multiple transmission channel groups can be adjusted, and the transmission channel grouping of only one of the transmission channel groups can be adjusted.

[0082] As an optional implementation, the selection of the laser radar for the transmission channel grouping adjustment of the multiple transmission channel groups can be determined according to actual working parameters and actual working environments of the laser radar, for example, the grouping of part of the 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 center detection field of view in each transmission group can be adjusted.

[0083] For example, only the transmission channel groups corresponding to the detection regions with high resolution requirements can be adjusted for transmission channel grouping, and the transmission channel groups corresponding to the detection regions with low resolution requirements are not adjusted for transmission channel grouping.

[0084] In an embodiment of the present application, the laser radar includes multiple transmission channel groups, and it can be understood that each transmission channel corresponds to a different detection field of view. Among them, part of the transmission channel groups correspond to the detection region corresponding to the center detection field of view, and part of the transmission channel groups correspond to the detection region corresponding to the edge detection field of view. It can be understood that the resolution requirement of the detection region corresponding to the center detection field of view is higher than that of the edge detection region, and therefore S12 can include the following steps:

[0085] determining a target transmission channel group according to a target detection field of view;

[0086] screening a target transmission channel in the target transmission channel group, the target transmission channel being a transmission channel corresponding to the target receiving channel;

[0087] The target transmission channel is arranged in one transmission channel group.

[0088] In the embodiments of the present application, the target detection field of view can be determined according to the detection requirement / resolution requirement 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 adjustment is performed on the transmission channel group of the target detection field of view, the target transmission channel in the target transmission channel group is arranged in one transmission channel group, and the non-target transmission channel in the target transmission channel group is arranged in another or several transmission channel groups, and no adjustment is performed on other transmission channel groups.

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

[0090] In specific applications, the laser radar can control the adjusted transmission channel group to transmit the detection signal respectively, specifically, the transmission channel group in which the transmission channel corresponding to the target receiving channel (i.e., the target transmission channel) is located and the transmission channel group in which the transmission channel corresponding to the non-target receiving channel (i.e., the non-target transmission channel) is located transmit the detection signal at different times.

[0091] Since the transmission channel corresponding to the high-reflectivity object and the transmission channel corresponding to the non-high-reflectivity object transmit different transmission lasers, the crosstalk of the high-energy reflection echo of the high-reflectivity object to the reflection echo of the non-high-reflectivity object can be effectively reduced, and the detection accuracy of the laser radar is improved.

[0092] In order to further reduce the crosstalk between the receiving channels, as shown in FIG. 13, in an embodiment of the present application, the above S13 can further include the following steps: Figure 5

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

[0094] S132: Control the adjusted transmission channel group to retransmit the detection signal according to the transmission strategy.

[0095] The above target strategy can include but is not limited to a transmission power adjustment strategy, a transmission mode adjustment strategy, a transmission coding adjustment strategy, and a transmission time adjustment strategy.

[0096] The transmission power adjustment strategy is used to adjust the transmission power of each transmission channel of the laser radar, specifically, the transmission power of the target transmission channel group can be reduced, so as to further reduce the echo intensity of the echo signal reflected by the high-reflectivity object, and reduce the interference degree.

[0097] ​The emission mode adjustment strategy is for example adjusting the adjustment strategy of the target emission channel according to the region where the target emission channel is located. For example, if it is determined that the target detection field of view corresponds to emission channels 4, 5, 6 and 7, then the 4th and 6th channels can be controlled to emit simultaneously, and the 5th and 7th channels can be controlled to emit simultaneously.

[0098] The encoding mode adjustment strategy is for example reducing the encoding mode of the target emission channel.

[0099] The emission time adjustment strategy is for example adjusting the emission time of the detection signal of each emission channel of the laser radar. Specifically, 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 are separated by a certain time interval, 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 emitted in series, further reducing the interference of the echo signal reflected by the high-reflectivity object on the echo signal reflected by other reflecting objects.

[0100] For example, refer to Figure 6 , Figure 6 A schematic diagram of the emission timing of different emission channel groups of the laser radar is provided in the embodiments of the present application. As shown in Figure 6 , when emitting the detection signal, the laser radar can control the emission channel group where the non-target emission channel is located (for example, the first emission channel group and the third emission channel group in Figure 6 ) to emit the detection signal in parallel at the first time, and control the emission channel group where the target emission channel is located (for example, the second emission channel group in Figure 6 ) to emit the detection signal in parallel at the second time.

[0101] It should be noted that the above-mentioned separation of 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 can be realized in the following way:

[0102] The emission channel group is controlled to emit according to the first emission code set.

[0103] In specific applications, different emission channel groups are separated by a time interval in the emission time (achieved by the above-mentioned first emission code set).

[0104] In the embodiments of the present application, the emission time of different emission channel groups (i.e. the first emission code set) meets the emission jitter requirement, that is, the cross-correlation of any two emission codes in the first emission code set is less than a preset threshold.

[0105] The emission jitter requirement is to ensure that the emission time of the emission channel group has a small time difference to realize the emission of different emission channel groups at different times, and the emission signals of the emission channels do not interfere with each other.

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

[0107] In actual application, the cross-correlation function of the plurality of pseudo-random sequences can be determined by the following formula:

[0108]

[0109] wherein, CCR(a, b, τ) is the cross-correlation function, a i , b i+τ represent the pseudo-random code sequences corresponding to the adjacent emission channels of the parallel emission.

[0110] The pair of pseudo-random sequences with a cross-correlation coefficient less than a preset threshold is selected as the jitter delay of the two emission channel groups, and in the above manner, the jitter delay corresponding to each emission channel group in the laser radar can be determined.

[0111] The above-mentioned preset threshold can be selected according to the actual scene, and the present application does not make specific limitations thereto.

[0112] In a specific application, the laser radar can select different target strategies for different situations, for example, for the laser radar with adjustable emission power, the laser radar can select the above-mentioned emission power adjustment strategy to adjust the emission power of the emission channel group where the target emission channel is located, that is, to reduce the emission power of the emission channel group where the target emission channel is located, so as to reduce the interference of the echo signal reflected by the high-reflectivity object on the echo signal reflected by other non-high-reflectivity objects; for example, for the laser radar which cannot adjust the emission power due to hardware condition limitation, the above-mentioned emission time adjustment strategy can be selected to adjust the emission time of different emission channel groups, so that the emission time of the emission channel group where the target emission channel is located has a certain time interval with the emission time of the emission channel group where the non-target emission channel is located.

[0113] In an embodiment of the present application, the target strategy further comprises a receiving threshold adjustment strategy.

[0114] The receiving threshold adjustment strategy is used to adjust the signal receiving threshold of each receiving channel of the laser radar.

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

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

[0117] It should be noted that the target strategy can be any one of the transmission power adjustment strategy, the receiving threshold adjustment strategy, the transmission time adjustment strategy and the encoding mode adjustment strategy, or a strategy obtained by combining any two or more of the transmission power adjustment strategy, the receiving threshold adjustment strategy, the transmission time adjustment strategy and the encoding mode adjustment strategy.

[0118] For example, the target strategy can include the transmission power adjustment strategy, the receiving threshold adjustment strategy and the transmission time adjustment strategy. That is, when determining the adjusted transmission strategy of the transmission channel group according to the target strategy, the transmission power of the transmission channel group to which the target transmission channel belongs can be adjusted according to the transmission power adjustment strategy, or the transmission power of the transmission channel group to which the non-target transmission channel belongs can be adjusted, the transmission time of each transmission channel group can be adjusted according to the transmission time adjustment strategy, so that the transmission time of the transmission channel group to which the target transmission channel belongs and the transmission time of the transmission channel group to which the non-target transmission channel belongs have a certain time interval, and the signal receiving threshold of the non-target receiving channel or the signal receiving threshold of the target receiving channel can be adjusted according to the receiving threshold adjustment strategy.

[0119] It can be understood that in the process of adjusting according to the target strategy, only the target transmission channel or the target receiving channel can be adjusted, or the target transmission channel, the target receiving channel, the non-target transmission channel and the non-target receiving channel can be adjusted at the same time.

[0120] For example, when adjusting according to the transmission power adjustment strategy, the transmission power of the transmission channel group corresponding to the target transmission channel and the transmission power of the transmission channel group corresponding to the non-target transmission channel can be adjusted at the same time, or only the transmission power of the transmission channel group corresponding to the target transmission channel can be adjusted, or only the transmission power of the transmission channel group corresponding to the non-target transmission channel can be adjusted. In specific applications, when adjusting the transmission power of the transmission channel group according to the transmission 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 receiving threshold of the target receiving channel is adjusted at the same time as the transmission power of the transmission channel group corresponding to the target transmission channel; or the signal receiving threshold of the non-target receiving channel is adjusted at the same time as the transmission power of the transmission channel group corresponding to the target transmission channel; or the signal receiving threshold of the target receiving channel is adjusted at the same time as the transmission power of the transmission channel group corresponding to the non-target transmission channel; or the signal receiving threshold of the non-target receiving channel is adjusted at the same time as the transmission power of the transmission channel group corresponding to the non-target transmission channel; or the signal receiving threshold of the target receiving channel is adjusted at the same time as the transmission power of the transmission channel group corresponding to the target transmission channel and the transmission power of the transmission channel group corresponding to the non-target transmission channel; or the signal receiving threshold of the non-target receiving channel is adjusted at the same time as the transmission power of the transmission channel group corresponding to the target transmission channel and the transmission power of the transmission channel group corresponding to the non-target transmission channel; or the signal receiving threshold of the target receiving channel is adjusted at the same time as the transmission power of the transmission channel group corresponding to the target transmission channel and the transmission power of the transmission channel group corresponding to the non-target transmission channel, and the signal receiving threshold of the non-target receiving channel is adjusted.

[0122] Of course, the transmission time and the transmission coding mode can also be adjusted at the same time as the transmission power, and specific combinations can refer to the above examples, which will not be described here.

[0123] As can be seen from the above, 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-reflectivity object to the echo signal reflected by the non-high-reflectivity object can be further reduced, thereby further improving the resolution of the laser radar.

[0124] Please refer to Figure 7 , Figure 7The implementation flowchart of the radar control method provided by an embodiment of the present application is shown in the figure, which is different from Figure 1 The radar control method provided by the embodiment of the present application includes the following steps:

[0125] S71: Control the emission channels of the laser radar to emit detection signals in parallel, and receive the echo signals through the receiving channels.

[0126] When the laser radar starts to work, the laser radar can control the emission channels in the current emission channel group to emit detection signals in parallel. After the detection signals reach the target object, they will be reflected by the target object to form echo signals, and at this time the receiving channels can receive the corresponding echo signals.

[0127] It should be noted that the laser radar can include multiple emission channel groups, and during the working process of the laser radar, different emission channel groups can be controlled to emit detection signals in series or in parallel.

[0128] For example, assuming that there are three emission channel groups in the laser radar, each of which can include 12 emission channels. When the laser radar starts to work, it can first control the 12 emission channels in the first emission channel group to emit detection signals, then control the 12 emission channels in the second emission channel group to emit detection signals, and finally control the 12 emission channels in the third emission channel group to emit detection signals. Of course, the laser radar can also control the first, second, and third emission channel groups to emit 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 S72 can be referred to the description of S11, which will not be repeated here.

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

[0132] The specific implementation of S73 can be referred to the description of S12, which will not be repeated here.

[0133] S74: Control the emission channels to re-emit detection signals according to the adjusted emission channel grouping, and receive the echo signals through the receiving channels.

[0134] The specific implementation of S74 can be referred to the description of S13, which will not be repeated here.

[0135] S75: Determine whether there is a target receiving channel according to 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-emits the detection signal after adjusting the transmission channel grouping or adjusting the transmission channel grouping and adjusting the transmission strategy, at this time, it can be further judged whether there is a target receiving channel (i.e. target receiving channel) corresponding to the high-reflectivity object, 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 execute the action of serial or parallel transmission and reception (i.e. return to execute S71).

[0137] As can be seen from the above, the radar control method provided by the embodiments of the present application can also determine the target receiving channel corresponding to the high-reflectivity object according to the echo information of the reflected echo received by each receiving channel, adjust the transmission channel grouping of all transmission channels of the laser radar, so that the transmission channel corresponding to the target receiving channel of the high-reflectivity object and the transmission channel corresponding to the receiving channel of the non-high-reflectivity object are in different transmission channel groupings, and control the laser radar to emit the detection signal according to the adjusted transmission channel grouping. Since the target transmission channel and the non-target transmission channel emit different lasers, the crosstalk of the high-energy reflected echo of the high-reflectivity object to the reflected echo of the non-high-reflectivity object can be effectively reduced, and the resolution of the laser radar can be improved.

[0138] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent 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 by the above embodiments, the embodiments of the present application further provide an embodiment of a radar control device for implementing the above method embodiments.

[0140] Please refer to Figure 8 , Figure 8 is a structural schematic diagram of a radar control device provided by the embodiments of the present application. In the embodiments of the present application, the radar control device includes units for executing Figure 1 each step in the corresponding embodiments. For details, please refer to Figure 1 and Figure 1 the related description in the corresponding embodiments. For ease of illustration, only the parts related to the present embodiment are shown.

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

[0142] The determining module 81 is configured to determine a target receiving channel according to echo signals received by each receiving channel; the target receiving channel is a receiving channel in which a received echo signal is a high-reflection object reflected echo signal.

[0143] The grouping module 82 is configured to adjust a transmitting channel group according to the target receiving channel; the transmitting channel corresponding to the target receiving channel and the transmitting channel corresponding to a non-target receiving channel are in different transmitting channel groups.

[0144] The control module 83 is configured to control a transmitting channel to retransmit a probe signal according to the adjusted transmitting channel group.

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

[0146] The strategy adjustment unit is configured to determine a transmitting strategy of the adjusted transmitting channel group according to a target strategy.

[0147] The control unit is configured to control the transmitting channel to retransmit the probe signal according to the transmitting strategy.

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

[0149] When the target strategy is the transmitting time adjustment strategy, the strategy adjustment unit is specifically configured to adjust a transmitting time of a transmitting channel group in which the transmitting channel corresponding to the target receiving channel is located and / or adjust a transmitting time of a transmitting channel group in which the transmitting channel corresponding to the non-target receiving channel is located; the adjusted transmitting time of the transmitting channel group in which the transmitting channel corresponding to the target receiving channel is located and the adjusted transmitting time of the transmitting channel group in which the transmitting channel corresponding to the non-target receiving channel is located have a time interval.

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

[0151] In an embodiment of the present application, the laser radar includes a plurality of transmitting channel groups; the grouping module 82 is specifically configured to screen a target transmitting channel in each transmitting channel group, the target transmitting channel is a transmitting channel corresponding to the target receiving channel; and set the target transmitting channel in each group in a transmitting channel group.

[0152] In one embodiment of this application, the aforementioned lidar includes multiple transmission channel groups. The grouping module 82 is specifically used to determine the target transmission channel group based on the target detection field of view; filter out the target transmission channels in the target transmission channel group, wherein the target transmission channel is a transmission channel corresponding to the target receiving channel; and set the target transmission channel in a transmission channel group.

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

[0154] It should be noted that the information interaction and execution process between the above-mentioned units are based on the same concept as the method embodiments of this application, and their specific functions and technical effects can be referred to the method embodiments section.

[0155] As can be seen from the above, the radar control device provided in this application embodiment can also determine the target receiving channel corresponding to a highly reflective object based on the echo information of the reflected echo received by each receiving channel. Then, it adjusts the transmission channel grouping of all transmission channels of the lidar so that the transmission channel corresponding to the target receiving channel of the highly reflective object and the transmission channel corresponding to the receiving channel of the non-highly reflective object are in different transmission channel groups. The lidar is then controlled to transmit detection signals 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 transmit detection lasers separately, the crosstalk of the high-energy reflected echo generated by the highly reflective object to the reflected echo generated by the non-highly reflective object can be effectively reduced, thereby improving the detection accuracy of the lidar.

[0156] Highly reflective objects Figure 9 This is a schematic diagram of the structure of a terminal device provided in another embodiment of this application. For example... Figure 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, it implements the steps in the various radar control method embodiments described above, for example... Figure 1 S11 to S13 are shown. Alternatively, when the processor 90 executes the computer program 92, it implements the functions of each module / unit in the above-described terminal device embodiments, for example... Figure 8 The functions of units 81 to 83 shown.

[0157] For example, the computer program 92 can 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 can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 92 in the terminal device 9. For example, the computer program 92 can be divided into a plurality of units, and the specific functions of each unit are described below. Figure 7 Corresponding to the related description in the embodiments, details are not repeated here.

[0158] The terminal device can include but is not limited to a processor 90 and a memory 91. Those skilled in the art can understand that the terminal device can further include other components required for the terminal device to perform the functions of the present application. Figure 9 The terminal device 9 is only an example and does not constitute a limitation on the terminal device 9, and can include more or fewer components than shown, or combine certain components, or different components, for example, the terminal device can also include an input / output device, a network access device, a bus, etc.

[0159] The processor 90 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

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

[0162] The embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device is caused to execute to implement the radar control method.

[0163] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the terminal device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0164] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can refer to the related description of other embodiments.

[0165] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0166] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A radar control method, characterized in that, include: The target receiving channel is determined based on the echo signals received by each receiving channel; wherein, the target receiving channel is the receiving channel whose received echo signal is an echo signal reflected by a highly reflective object. The transmission channel grouping is adjusted 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, and the transmitters corresponding to multiple transmission channels in each transmission group emit laser beams in parallel; The grouping of transmission channels corresponding to non-target receiving channels is adjusted based on the location of the target receiving channel and the intensity of the echo received by the target receiving channel; The detection signal was retransmitted according to the adjusted transmission channel group control.

2. The radar control method according to claim 1, characterized in that, The step of re-transmitting the detection signal according to the adjusted transmission channel grouping control includes: The adjusted launch strategy for the launch channel groupings is determined based on the target strategy; The detection signal is retransmitted in the adjusted transmission channel group 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 the following: transmit power adjustment strategy, encoding method adjustment strategy, and transmit 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 for the transmission channel grouping based on the target strategy includes: Adjust the transmission time of the transmission channel group containing the transmission channel corresponding to the target receiving channel and / or adjust the transmission time of the transmission channel group containing the transmission channel corresponding to the non-target receiving channel; wherein, there is a time interval between the adjusted transmission time of the transmission channel group containing the transmission channel corresponding to the target receiving channel and the transmission time of the transmission channel group containing the transmission channel corresponding to the non-target receiving channel.

5. The radar control method according to claim 4, characterized in that, The adjustment of the transmission time of the transmission channel group corresponding to the target receiving channel and / or the adjustment of the transmission time of the transmission channel group corresponding to the non-target receiving channel include: The transmission time of the transmission channel group containing the transmission channel corresponding to the target receiving channel is determined according to the first encoding set, and / or the transmission time of the transmission channel group containing the transmission channel corresponding to the non-target receiving channel is determined according to the first encoding set.

6. The radar control method according to claim 5, characterized in that, After the retransmission of the detection signal according to the adjusted transmission channel grouping control, the following is also included: The existence of the target receiving channel is determined based on 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 multiple transmission channel groups, and adjusting the transmission channel groups according to the target receiving channel includes: Filter out the target transmission channel in each of the transmission channel groups, where the target transmission channel is the transmission channel corresponding to the target receiving channel; The target transmission channels in each group are set in a transmission channel group.

8. The radar control method according to any one of claims 1 to 6, characterized in that, The radar includes multiple transmission channel groups, and the adjustment of the transmission channel groups according to the target receiving channel includes: Determine the target launch channel group based on the target detection field of view; Filter out the target transmission channels in the target transmission channel group, wherein the target transmission channel is the 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 receive threshold adjustment strategy, and after adjusting the transmit channel grouping according to the target receive channel, it may further 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: The determination module is used to determine the target receiving channel based on the echo signals received by each receiving channel; wherein, the target receiving channel is the receiving channel whose received echo signal is an echo signal reflected by a highly reflective object; The grouping adjustment module 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; the transmitters corresponding to multiple transmission channels in each transmission group emit laser beams in parallel; the grouping of the transmission channels corresponding to the non-target receiving channel is adjusted according to the location of the target receiving channel and the intensity of the echo received by the target receiving channel; The control module is used to control the transmission channels 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, it implements the radar control method as described in any one of claims 1 to 9.

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

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