Vehicle-mounted satellite radar wave sending and data transmission method and system

Abstract

The invention relates to a vehicle-mounted satellite radar wave-transmitting and data-transmitting method and system, and the method comprises the steps: selecting a preset wave-transmitting scheme according to the distribution of a vehicle-mounted satellite radar, and the wave-transmitting scheme at least comprises a distance dimension and a speed dimension; controlling the vehicle-mounted satellite radar to generate and transmit chirp pulse signals according to the wave transmitting scheme, wherein the chirp pulse signals are reflected and captured by the vehicle-mounted satellite radar when encountering an obstacle; receiving a reflected signal captured by the vehicle-mounted satellite radar through the Ethernet, and calculating the speed and distance of an obstacle according to the reflected signal; and according to the speed and the distance of the obstacle, obstacle positioning is realized, and the use of an automatic driving function is assisted. The vehicle-mounted satellite radar has the function of quickly positioning obstacles so as to achieve the effect of assisting automatic driving, meanwhile, the detection range of the vehicle-mounted satellite radar can be increased under the limitation of the gigabit Ethernet transmission rate by adopting the wave sending scheme, and meanwhile the real-time requirement for monitoring of the vehicle-mounted satellite radar is met.

Description

Technical Field

[0001] The present application relates to the field of satellite radar technology, and in particular to a vehicle-mounted satellite radar wave transmission and data transmission method and system. Background Art

[0002] In the autonomous driving system, the vehicle-mounted millimeter-wave radar is one of the important sensors, which is responsible for detection, perception and target positioning. Compared with other types of sensors such as cameras and lidars, it has the advantages of low cost, long detection distance, all-weather operation, and direct acquisition of Doppler velocity. Traditional stand-alone radars (whether stand-alone 3D radars or 4D imaging radars) have disadvantages such as small radar aperture, low angular resolution, and insufficient computing resources to support high-performance algorithms. The fusion of traditional stand-alone radars and sensors such as cameras is mostly post-fusion / target-level fusion, that is, fusion after the radar outputs the target / track.

[0003] In response to the shortcomings of stand-alone radars, the concept of satellite radars has emerged in recent years. That is, multiple satellite radars are distributed around the vehicle to provide a 360-degree view of the surrounding environment. Satellite radars do not need to be equipped with expensive DSP processor chips like traditional stand-alone radars. They use the on-board Gigabit Ethernet to output compressed 1DFFT data or ADC data. The computing power is concentrated in the central domain control of the vehicle body, which can process radar data more efficiently and run more complex algorithms such as SAR and AI algorithms. Satellite radars use the on-board Gigabit Ethernet backbone network to transmit data. The on-board Gigabit Ethernet uses twisted pair cables to transmit data. It is light and inexpensive. It has the advantages of optimized wiring, high transmission rate, and low cost, and can make data transmission more robust and secure.

[0004] With regard to the above-mentioned related technologies, it is believed that the traditional stand-alone radar (whether it is a stand-alone 3D radar or a 4D imaging radar) has disadvantages such as a small radar aperture and therefore low angular resolution, and insufficient computing resources to support high-performance algorithms. Based on this, the present application proposes a vehicle-mounted satellite radar wave transmission and data transmission method and system. Summary of the invention

[0005] In order to improve the disadvantages of traditional stand-alone radars (whether stand-alone 3D radars or 4D imaging radars), such as small radar aperture and thus low angular resolution, and insufficient computing resources to support high-performance algorithms, the present application provides a vehicle-mounted satellite radar wave transmission and data transmission method and system.

[0006] In the first aspect, the present application provides a vehicle-mounted satellite radar wave transmission and data transmission method, which adopts the following technical solutions: including:

[0007] Selecting a preset beam-transmitting scheme according to the distribution of the vehicle-mounted satellite radar, wherein the beam-transmitting scheme includes at least: a distance dimension and a speed dimension;

[0008] Control the vehicle-mounted satellite radar to generate and transmit a chirp pulse signal according to the wave emission scheme, wherein the chirp pulse signal is reflected when encountering an obstacle and is captured by the vehicle-mounted satellite radar;

[0009] receiving a reflected signal captured by the vehicle-mounted satellite radar via Ethernet, and calculating the speed and distance of the obstacle according to the reflected signal;

[0010] Obstacle positioning is achieved based on the speed and distance of the obstacle, thereby assisting the use of the autonomous driving function.

[0011] Preferably, the preset transmission scheme is selected according to the number and distribution of vehicle-mounted satellite radars, and the transmission scheme at least includes: distance dimension and speed dimension, including:

[0012] If the transmission mode of the vehicle-mounted satellite radar is the long-, medium- and short-range transmission mode, the transmission scheme is: 6144 sampling points in the distance dimension, 512 chirp pulses in the speed dimension, 16 bits / 2 bytes per sampling point, and 50 ms per frame period;

[0013] Compress each frame of radar data to obtain compressed 1DFFT data;

[0014] Based on the upper limit of the vehicle-mounted Gigabit Ethernet transmission rate, the vehicle-mounted satellite radar is controlled to transmit the 1st to 2048th 1DFFT data of each chirp to the vehicle-mounted central processor in the first frame, and the remaining 1DFFT data are discarded. The second frame transmits the 2049th to 4096th 1DFFT data of each chirp to the vehicle-mounted central processor, and the remaining 1DFFT data are discarded. The third frame transmits the 4096th to 6144th 1DFFT data of each chirp to the vehicle-mounted central processor, and the remaining 1DFFT data are discarded. Starting from the fourth frame, the above transmission mode is cycled so that the data transmission amount of each frame of the vehicle-mounted satellite radar is 4MB.

[0015] Preferably, after the vehicle-mounted satellite radar has a wave transmission mode of far, medium and near, the method further comprises:

[0016] Control the two front corner radars to work according to the first blind spot filling wave transmission plan;

[0017] The first blind spot filling wave scheme is: the front corner radar transmits the 2049th to 4096th 1DFFT data of each chirp to the on-board central processor in the first frame, and discards the remaining 1DFFT data; the second frame transmits the 4096th to 6144th 1DFFT data of each chirp to the on-board central processor, and discards the remaining 1DFFT data; the third frame transmits the 1st to 2048th 1DFFT data of each chirp to the on-board central processor, and discards the remaining 1DFFT data, and the above transmission mode is cycled from the fourth frame onwards.

[0018] Preferably, the preset transmission scheme is selected according to the distribution of the vehicle-mounted satellite radar, and the transmission scheme at least includes: distance dimension and speed dimension, including:

[0019] If the transmission mode of the vehicle-mounted satellite radar is a far-near alternating transmission mode, the transmission scheme is: 4096 sampling points in the distance dimension, 512 chirp pulses in the speed dimension, and 16 bits / 2 bytes for each sampling point;

[0020] Compress each frame of radar data to obtain compressed 1DFFT data;

[0021] The vehicle-mounted satellite radar is controlled to transmit the 1st to 2048th 1DFFT data of each chirp to the central processor in the first frame, and the remaining 1DFFT data are discarded; the 2049th to 4096th 1DFFT data of each chirp are transmitted to the central processor in the second frame, and the remaining 1DFFT data are discarded; and the above transmission mode is cycled from the third frame onwards.

[0022] Preferably, after the vehicle-mounted satellite radar's transmission mode is a near-far alternating transmission mode, the method further comprises:

[0023] Control the two front-corner vehicle-mounted satellite radars to work according to the second blind spot-filling wave transmission plan;

[0024] The second blind spot filling wave scheme is: the front corner vehicle-mounted satellite radar transmits the 2049th to 4096th 1DFFT data of each chirp to the central processor in the first frame, and discards the remaining 1DFFT data; the second frame transmits the 1st to 2048th 1DFFT data of each chirp to the central processor, and discards the remaining 1DFFT data; the above transmission mode is repeated from the third frame.

[0025] In the second aspect, the present application provides a vehicle-mounted satellite radar wave transmission and data transmission device, which adopts the following technical solutions, including:

[0026] A beam transmission module is used to select a preset beam transmission scheme according to the distribution of the vehicle-mounted satellite radar, and the beam transmission scheme at least includes: a distance dimension and a speed dimension;

[0027] A reflection module, used for controlling the vehicle-mounted satellite radar to generate and transmit a chirp pulse signal according to the wave emission scheme, wherein the chirp pulse signal is reflected when encountering an obstacle and is captured by the vehicle-mounted satellite radar;

[0028] A calculation module, used for receiving the reflected signal captured by the vehicle-mounted satellite radar through Ethernet, and calculating the speed and distance of the obstacle according to the reflected signal;

[0029] The positioning module is used to locate the obstacle according to the speed and distance of the obstacle, so as to assist the use of the automatic driving function.

[0030] In a third aspect, the present application further provides a control device, the device comprising:

[0031] The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes the above-mentioned vehicle-mounted satellite radar wave emission and data transmission method.

[0032] In a fourth aspect, the present application also provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by the above-mentioned vehicle-mounted satellite radar wave transmission and data transmission method.

[0033] To summarize, in the present application, the system selects different transmission modes according to the distribution of the vehicle-mounted satellite radar. The transmission modes are divided into two types, namely, the near, medium and far transmission modes and the near and far alternating models. The two transmission modes correspond to different transmission schemes. The transmission scheme includes the distance dimension, the speed dimension, the bytes of each sampling point and the transmission period of each frame of data. According to the transmission scheme, the vehicle-mounted satellite radar is controlled to transmit, and the reflected signal is received. The speed and distance of the obstacle are calculated according to the reflected signal, thereby realizing the function of quickly locating the obstacle, so as to achieve the effect of assisting automatic driving. At the same time, the near, medium and far transmission modes and the near and far alternating transmission modes used in the present application can increase the detection range of the vehicle-mounted satellite radar under the limitation of the vehicle-mounted Gigabit Ethernet transmission rate, and at the same time meet the real-time requirements of the vehicle-mounted satellite radar monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a satellite radar layout diagram for a conventional car.

[0035] Figure 2 The invention is a flowchart of a vehicle-mounted satellite radar wave transmission and data transmission method.

[0036] Figure 3 It is a schematic diagram of the far, medium and near wave transmission modes of the vehicle-mounted satellite radar.

[0037] Figure 4 This is a schematic diagram of blind spot filling in the far, medium and near wave transmission mode of the front corner radar.

[0038] Figure 5 It is a schematic diagram of the vehicle-mounted satellite radar's alternating near and far wave transmission mode.

[0039] Figure 6 This is a schematic diagram of blind spot filling when the front corner vehicle-mounted satellite radar is in the long and short alternating wave transmission mode

[0040] Figure 7 The present invention is a structural block diagram of a vehicle-mounted satellite radar wave transmission and data transmission device.

[0041] Description of reference numerals: 710, wave generating module; 720, reflection module; 730, calculation module; 740, positioning module. DETAILED DESCRIPTION

[0042] The following combination Figure 1 - Figure 7 This application is described in further detail.

[0043] In response to the shortcomings of single-device radars, the concept of satellite radars has emerged in recent years. That is, multiple satellite radars are distributed around the vehicle to provide a 360-degree view of the surrounding environment. The typical satellite radar vehicle layout adopts a 5R (5 radars) mode, such as Figure 1 As shown. Satellite radar does not need to be equipped with expensive DSP processor chips like traditional stand-alone radars. It uses the on-board Gigabit Ethernet to output compressed 1DFFT data or ADC data. The computing power is concentrated in the central domain control of the vehicle body, which can process radar data more efficiently and run more complex algorithms such as SAR and AI algorithms. Satellite radar uses the on-board Gigabit Ethernet backbone network to transmit data. The on-board Gigabit Ethernet uses twisted pair cables to transmit data, which is light and inexpensive. It has the advantages of optimized wiring, high transmission rate, and low cost, and can make data transmission more robust and secure. Based on the satellite radar architecture, it is easy to achieve front fusion / RD map / RA map fusion between radars / radars and other types of sensors.

[0044] Based on this, the embodiment of the present application discloses a method for transmitting and transmitting a vehicle-mounted satellite radar wave. The execution subject is a vehicle-mounted central control system. The system selects different transmitting modes according to the distribution of the vehicle-mounted satellite radar. The transmitting modes are divided into two types, namely, the near, medium and far transmitting modes and the near and far alternating models. The two transmitting modes correspond to different transmitting schemes. The transmitting scheme includes the distance dimension, the speed dimension, the bytes of each sampling point and the transmission period of each frame of data. According to the transmitting scheme, the vehicle-mounted satellite radar is controlled to transmit waves, and the reflected signal is received. The speed and distance of the obstacle are calculated according to the reflected signal, thereby realizing the function of quickly locating the obstacle, so as to achieve the effect of assisting automatic driving. At the same time, the near, medium and far transmitting modes and the near and far alternating transmitting modes used in this application can increase the detection range of the vehicle-mounted satellite radar under the limitation of the vehicle-mounted Gigabit Ethernet transmission rate, and meet the real-time requirements of vehicle-mounted satellite radar monitoring.

[0045] Reference Figure 2 , the embodiment of the present application at least includes step S10 to step S40.

[0046] S10, selecting a preset beam transmission scheme according to the distribution of the vehicle-mounted satellite radars, where the beam transmission scheme at least includes: a distance dimension and a speed dimension.

[0047] S20, controlling the vehicle-mounted satellite radar to generate and transmit a chirp pulse signal according to the wave transmission scheme, and the chirp pulse signal is reflected when encountering an obstacle and is captured by the vehicle-mounted satellite radar.

[0048] S30 receives the reflected signal captured by the vehicle-mounted satellite radar through Ethernet and calculates the speed and distance of the obstacle based on the reflected signal.

[0049] S40, locates obstacles according to their speed and distance, and assists in the use of autonomous driving functions.

[0050] Specifically, the system selects different transmission modes according to the distribution of the on-board satellite radar. There are two types of transmission modes, namely the near, medium and far transmission mode and the near and far alternating model. The two transmission modes correspond to different transmission schemes. The transmission scheme includes the distance dimension, the speed dimension, the bytes of each sampling point and the transmission period of each frame of data. According to the transmission scheme, the on-board satellite radar is controlled to transmit and receive the reflected signal. The speed and distance of the obstacle are calculated based on the reflected signal, thereby realizing the function of quickly locating the obstacle and achieving the effect of assisting automatic driving.

[0051] In some embodiments, step S10 specifically includes the following steps: if the transmission mode of the vehicle-mounted satellite radar is a far, medium and near transmission mode, the transmission scheme is: 6144 sampling points in the distance dimension, 512 chirp pulses in the speed dimension, 16 bits / 2 bytes for each sampling point, and 50 ms for each frame period; compress the radar data of each frame to obtain compressed 1DFFT data; based on the upper limit of the on-board Gigabit Ethernet transmission rate, control the on-board satellite radar to transmit the 1st to 2048th 1DFFT data of each chirp to the on-board central processor in the first frame, and discard the remaining 1DFFT data; transmit the 2049th to 4096th 1DFFT data of each chirp to the on-board central processor in the second frame, and discard the remaining 1DFFT data; transmit the 4096th to 6144th 1DFFT data of each chirp to the on-board central processor in the third frame, and discard the remaining 1DFFT data; and start from the fourth frame to cycle the above transmission mode so that the data transmission volume of each frame of the vehicle-mounted satellite radar is 4MB.

[0052] Furthermore, step S10 also includes the following steps: controlling the two front corner radars to work according to the first blind spot wave transmission scheme; the first blind spot wave transmission scheme is: the front corner radar transmits the 2049th to 4096th 1DFFT data of each chirp to the vehicle-mounted central processor in the first frame, and discards the remaining 1DFFT data; the second frame transmits the 4096th to 6144th 1DFFT data of each chirp to the vehicle-mounted central processor, and discards the remaining 1DFFT data; the third frame transmits the 1st to 2048th 1DFFT data of each chirp to the vehicle-mounted central processor, and discards the remaining 1DFFT data, and the above transmission mode is cycled from the fourth frame.

[0053] In practice, the output signal-to-noise ratio of the MIMO radar of the FMCW system of the automotive radar after coherent accumulation between channels is: Among them, SNR_out is the radar output signal-to-noise ratio, Pt is the radar transmit peak power, NF is the radar receiver noise factor, λ is the carrier wavelength, Gt is the transmit channel antenna gain, Gr is the receive channel antenna gain, R is the distance from the radar to the target, B is the radar intermediate frequency bandwidth, k is the Boltzmann constant, T is the ambient temperature, L is the sum of radar losses other than path loss (such as antenna feeder loss, radome loss, etc.), σ is the radar cross-sectional area of ​​the target, N1 is the number of sampling points in the distance dimension, and N2 is the number of chirp pulses. num_t is the number of transmit physical channels, num_r is the number of receive physical channels, and N1·N2 is the signal processing gain. From the above, it can be seen that the radar output signal-to-noise ratio SNR_out is proportional to the signal processing gain N1·N2, and the radar detection distance R is proportional to the fourth root of N1·N2. The upper limit of N1·N2 is the size of the data RAM inside the radar processor chip.

[0054] For a satellite radar with K transmission and L reception, assuming the latest DDMA system frequency modulation continuous wave scheme is adopted, the distance dimension is N1 sampling points, the speed dimension is N2 chirp pulses, each sampling point is D bytes, and the DFFT compression rate is C (compressed to 1 / C of the original). Then the data volume of each frame, Volume_mem, is (in megabytes MB):

[0055] Volum_mem(MB)=N1*N2*D*L / C / 1024 / 1024;

[0056] The current satellite radar chip configuration on the market is: K and L are 4, D is 2, and C is 2.

[0057] The current satellite radar transmits compressed radar 1DFFT data via Gigabit Ethernet. The RAM memory of the radar chip is usually 2MB. If the chip has a higher RAM storage space, it can be configured with waveforms with more distance dimension sampling points N1 and chirp number N2, to obtain higher signal processing gain and higher output signal-to-noise ratio, thereby obtaining a longer detection range. However, a simple calculation shows that the upper limit of the Gigabit Ethernet transmission rate / bandwidth restricts the necessity of manufacturing chips with larger RAM space:

[0058] The upper limit of the radar data volume per frame supported by a satellite radar chip with 2MB RAM space is 2MB. Due to the real-time requirements of detection and tracking, the general transmission period of automotive radar is 50ms / frame (20Hz). The equivalent radar data transmission rate is 20*2MB / s, or 40*8=320Mbps. Because the frame header and frame tail messages in the Ethernet transmission protocol need to be filled with protocol or redundant information, the radar data ratio will not be 100%. Assuming that the radar data accounts for 70% of the Ethernet 1 frame message, the Ethernet bandwidth required to transmit 320Mbps of actual data is 457Mbps.

[0059] From the above estimation, we can know that the RAM capacity of satellite radar chip reaches 4MB, which has reached the upper limit of Gigabit Ethernet transmission. The larger the amount of radar data per frame, the more complex the radar waveform it carries, and the stronger the corresponding radar performance. Radar data per frame:

[0060] Volum_mem (MB) = N1*N2*D*L / C / 1024 / 1024 is doubled, and the signal processing gain is approximately doubled. For radars using a specific chip, the number of bytes per sampling point D, the DFFT compression rate C, and the number of receiving channels L are all constant. The only adjustable parameters are the number of sampling points in the distance dimension N1 and the number of chirps per frame N2.

[0061] For a 4-transmit 4-receive satellite radar, if the latest DDMA frequency modulation continuous wave scheme is used, the distance dimension has 2048 sampling points, the speed dimension has 512 chirp pulses, and each sampling point is 16 bits / 2 bytes, then the data volume per frame is:

[0062] 2048*512*2*4 / 1024 / 1024=8MB;

[0063] After 1DFFT, the data size is 4MB after data compression (usually 1 / 2 compression). This amount of data is transmitted with a frame period of 50ms, and its transmission rate has reached the upper limit of the existing Gigabit Ethernet bandwidth.

[0064] At present, satellite radar chip data is transmitted in the form of compressed 1DFFT data. For chips with RAM capacity reaching the upper limit of Gigabit Ethernet transmission (radar data RAM is about 4MB), the limit waveform that can be designed by the existing conventional scheme is: 2048 sampling points in the distance dimension, 512 chirp pulses in the speed dimension, 16bit / 2 bytes per sampling point, 4 transmit and 4 receive for a single radar, and 50ms per frame period. Then the data volume per frame before compression is:

[0065] 2048*512*2*4 / 1024 / 1024=8MB;

[0066] The data size obtained by data compression (taking 1 / 2 compression) after 1DFFT is 4MB. The equivalent radar data transmission rate is 20*4MB / s, or 80*8=640Mbps. Assuming that the radar data accounts for 70% of the Ethernet frame message, the Ethernet data rate is 640 / 70%=914.28Mbps, which is close to the transmission rate limit of the in-vehicle Gigabit Ethernet.

[0067] Reference Figure 3 and Figure 4 In this embodiment, the following wave transmission method is adopted: 6144 sampling points in the distance dimension, 512 chirp pulses in the speed dimension, 16 bits / 2 bytes per sampling point, and 50ms per frame period. Then the radar data of each frame before compression is:

[0068] 6144*512*2*4 / 1024 / 1024=24MB;

[0069] The data size obtained after 1DFFT compression (compression of 1 / 2) is 12MB. If all of it is transmitted, the required transmission rate is approximately three times the upper limit of the Gigabit automotive Ethernet transmission rate.

[0070] The 1DFFT data of each chirp of the automotive radar represents the data increasing in distance from the front to the back. For example, assuming the maximum detection distance of the radar is 300m and the distance dimension has 6144 sampling points, the 1st to 2048th 1DFFT data represent the data of 0-100m, the 2049th to 4096th data represent the data of 100-200m, and the 4097th to 6144th data represent the data of 200-300m.

[0071] Let the satellite radar transmit the 1st to 2048th 1DFFT data of each chirp in the first frame, and discard the rest of the 1DFFT data; the second frame transmits the 2049th to 4096th 1DFFT data of each chirp, and discard the rest of the 1DFFT data; the third frame transmits the 4096th to 6144th 1DFFT data of each chirp, and discards the rest of the 1DFFT data. The above transmission mode is repeated from the fourth frame. In this way, the data transmission volume of each frame is 4MB, which is within the transmission limit of Gigabit Ethernet. Assuming that the maximum detection distance of the radar is Rmax, the above transmission process is equivalent to the radar detecting the range of 0 to Rmax / 3 in the first frame, the range of Rmax / 3 to 2*Rmax / 3 in the second frame, and the range of 2*Rmax / 3 to Rmax in the third frame. Repeat the cycle from the fourth frame. Use three frames to transmit waves to cover the entire detection range of the radar, such as Figure 5 As shown: the areas with three filling patterns represent the detection areas corresponding to three consecutive frames of radar waves.

[0072] Without exceeding the Gigabit Ethernet bandwidth limit, the N1*N2 (where N1 is the number of sampling points in the distance dimension and N2 is the number of chirp pulses) of this far-medium-near alternating mode is three times that of the traditional solution: the maximum N1*N2 of the traditional solution is 2048*512, while the maximum N1*N2 of this solution is 6144*512. The radar detection distance is proportional to If N1*N2 is increased by 3 times, the radar detection distance will be increased. That is 1.316 times. The maximum detection distance of conventional satellite radar is about 300m, which can be increased to 395m after adopting this solution.

[0073] Furthermore, the far, medium and near wave transmission mode needs 3 frames (about 150ms) to cover the entire radar detection area, so the real-time performance is defective. This embodiment uses the arrangement of satellite radars to adjust the order of the wave transmission alternating mode of the two front corner satellite radars, and alleviates it by cooperating with the front radar, as follows:

[0074] Reference Figure 4, let the two front corner radars work in the first blind wave mode: the first frame transmits the 2049th to 4096th 1DFFT data of each chirp, and discards the rest of the 1DFFT data; the second frame transmits the 4096th to 6144th 1DFFT data of each chirp, and discards the rest of the 1DFFT data; the third frame transmits the 1st to 2048th 1DFFT data of each chirp, and discards the rest of the 1DFFT data. The above transmission mode is repeated from the fourth frame onwards.

[0075] At the same time, the vehicle-mounted satellite radar transmits the 1st to 2048th 1DFFT data of each chirp in the first frame, and discards the rest of the 1DFFT data; the second frame transmits the 2049th to 4096th 1DFFT data of each chirp, and discards the rest of the 1DFFT data; the third frame transmits the 4096th to 6144th 1DFFT data of each chirp, and discards the rest of the 1DFFT data. The above transmission mode is cycled from the fourth frame onwards.

[0076] In this way, the three satellite radars cooperate with each other and can cover the entire radar detection area in 2 frames. In addition, this three-satellite radar collaboration method covers about two-thirds of the detection area per frame, which can effectively meet the real-time requirements of radar detection.

[0077] In some embodiments, step S10 specifically includes the following steps: if the transmission mode of the vehicle-mounted satellite radar is a far-and-near alternating transmission mode, the transmission scheme is: 4096 sampling points in the distance dimension, 512 chirp pulses in the speed dimension, and 16 bits / 2 bytes for each sampling point; compress each frame of radar data to obtain compressed 1DFFT data; control the vehicle-mounted satellite radar to transmit the 1st to 2048th 1DFFT data of each chirp to the central processor in the first frame, and discard the remaining 1DFFT data; transmit the 2049th to 4096th 1DFFT data of each chirp to the central processor in the second frame, and discard the remaining 1DFFT data; and start from the third frame to cycle the above transmission mode.

[0078] Furthermore, step S10 also includes the following steps: controlling the two front corner vehicle-mounted satellite radars to work according to the second blind spot filling wave transmission scheme;

[0079] The second blind spot filling wave transmission scheme is: the front corner vehicle-mounted satellite radar transmits the 2049th to 4096th 1DFFT data of each chirp to the central processor in the first frame, and discards the remaining 1DFFT data; the second frame transmits the 1st to 2048th 1DFFT data of each chirp to the central processor, and discards the remaining 1DFFT data; the above transmission mode is repeated from the third frame.

[0080] Reference Figure 5 In practice, the distance dimension has 4096 sampling points, the speed dimension has 512 chirp pulses, and each sampling point is 16 bits / 2 bytes. The data volume per frame is:

[0081] 4096*512*2*4 / 1024 / 1024=16MB;

[0082] After 1DFFT, the data size obtained by data compression (usually 1 / 2 compression) is 8MB.

[0083] Let the satellite radar transmit the 1st to 2048th 1DFFT data of each chirp in the first frame, and discard the rest of the 1DFFT data; the second frame transmits the 2049th to 4096th 1DFFT data of each chirp, and discards the rest of the 1DFFT data; the third frame and the above transmission mode are repeated. In this way, the data transmission volume per frame is 4MB, which is within the transmission limit of Gigabit Ethernet. Assuming that the maximum detection distance of the radar is Rmax, the above transmission process is equivalent to the radar detecting the range from 0 to Rmax / 2 in the first frame, and the range from Rmax / 2 to Rmax in the second frame. The cycle starts from the third frame. Use two frames to transmit waves to cover the entire detection range of the radar.

[0084] Without exceeding the Gigabit Ethernet bandwidth limit, the N1*N2 (where N1 is the number of sampling points in the distance dimension and N2 is the number of chirp pulses) of this far-near alternating mode is twice that of the traditional solution: the maximum N1*N2 of the traditional solution is 2048*512, while the maximum N1*N2 of this solution is 4096*512. The radar detection distance is proportional to If N1*N2 is increased by 2 times, the radar detection distance will be increased That is 1.19 times. The maximum detection distance of conventional satellite radar is about 300m, which can be increased to 357m after adopting this solution.

[0085] Furthermore, it takes 2 frames (about 100ms) to cover the entire radar detection area using the long and short alternating wave transmission mode. In this embodiment, the arrangement of satellite radars is adopted to adjust the order of the alternating wave transmission modes of the two front corner satellite radars, and to alleviate the problem by cooperating with the front vehicle-mounted satellite radar, as follows:

[0086] Reference Figure 6 , let the two front corner vehicle-mounted satellite radars work according to the second blind wave transmission mode: the first frame transmits the 2049th to 4096th 1DFFT data of each chirp, and discards the remaining 1DFFT data; the second frame transmits the 1st to 2048th 1DFFT data of each chirp, and discards the remaining 1DFFT data; the above transmission mode is cycled from the third frame.

[0087] At the same time, the front satellite radar transmits the 1st to 2048th 1DFFT data of each chirp in the first frame, and discards the remaining 1DFFT data; the second frame transmits the 2049th to 4096th 1DFFT data of each chirp, and discards the remaining 1DFFT data; the above transmission mode is cycled from the third frame onwards.

[0088] Through the above method, the three satellite radars cooperate with each other and can cover the entire radar detection area in one frame time, meeting the real-time requirements of radar detection.

[0089] The implementation principle of a vehicle-mounted satellite radar wave transmission and data transmission method in an embodiment of the present application is as follows: the system selects different wave transmission modes according to the distribution of the vehicle-mounted satellite radar. The wave transmission modes are divided into two types, namely, the near, medium and far wave transmission mode and the near and far alternating model. The two wave transmission modes correspond to different wave transmission schemes. The wave transmission scheme includes the distance dimension, the speed dimension, the bytes of each sampling point and the transmission period of each frame of data. The vehicle-mounted satellite radar is controlled to transmit according to the wave transmission scheme, and the reflected signal is received. The speed and distance of the obstacle are calculated according to the reflected signal, thereby realizing the function of quickly locating the obstacle, so as to achieve the effect of assisting automatic driving. At the same time, the near, medium and far wave transmission mode and the near and far alternating wave transmission mode adopted in the present application can increase the detection range of the vehicle-mounted satellite radar under the limitation of the vehicle-mounted Gigabit Ethernet transmission rate, and at the same time meet the real-time requirements of the vehicle-mounted satellite radar monitoring.

[0090] Figure 2 FIG. 1 is a flow chart of a vehicle-mounted satellite radar wave transmission and data transmission method in one embodiment. It should be understood that although Figure 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but the steps are not necessarily executed in the order indicated by the arrows; unless otherwise specified in this document, there is no strict order restriction for the execution of the steps, and the steps may be executed in other orders; and Figure 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0091] Based on the same technical concept, Figure 7 The embodiment of the present application also provides a vehicle-mounted satellite radar wave transmission and data transmission device, which adopts the following technical solution, and the device includes:

[0092] The beam transmission module 710 is used to select a preset beam transmission scheme according to the distribution of the vehicle-mounted satellite radar, and the beam transmission scheme at least includes: a distance dimension and a speed dimension;

[0093] The reflection module 720 is used to control the vehicle-mounted satellite radar to generate and transmit a chirp pulse signal according to the wave transmission scheme. When the chirp pulse signal encounters an obstacle, it is reflected and captured by the vehicle-mounted satellite radar;

[0094] The calculation module 730 is used to receive the reflected signal captured by the vehicle-mounted satellite radar through Ethernet, and calculate the speed and distance of the obstacle according to the reflected signal;

[0095] The positioning module 740 is used to locate obstacles according to the speed and distance of the obstacles, and to assist in the use of the automatic driving function.

[0096] In some embodiments, the wave transmission module 710 is specifically used for if the wave transmission mode of the vehicle-mounted satellite radar is the long-medium-near wave transmission mode, then the wave transmission scheme is: 6144 sampling points in the distance dimension, 512 chirp pulses in the speed dimension, 16 bits / 2 bytes per sampling point, and 50 ms per frame period;

[0097] Compress each frame of radar data to obtain compressed 1DFFT data;

[0098] Based on the upper limit of the vehicle's Gigabit Ethernet transmission rate, the vehicle-mounted satellite radar is controlled to transmit the 1st to 2048th 1DFFT data of each chirp to the vehicle-mounted central processor in the first frame, and the remaining 1DFFT data are discarded. The second frame transmits the 2049th to 4096th 1DFFT data of each chirp to the vehicle-mounted central processor, and the remaining 1DFFT data are discarded. The third frame transmits the 4096th to 6144th 1DFFT data of each chirp to the vehicle-mounted central processor, and the remaining 1DFFT data are discarded. Starting from the fourth frame, the above transmission mode is cycled so that the data transmission amount of each frame of the vehicle-mounted satellite radar is 4MB.

[0099] In some embodiments, the wave transmission module 710 is further used to control the two front corner radars to work according to the first blind spot wave transmission scheme;

[0100] The first blind spot filling wave scheme is: the front corner radar transmits the 2049th to 4096th 1DFFT data of each chirp to the on-board central processor in the first frame, and discards the remaining 1DFFT data; the second frame transmits the 4096th to 6144th 1DFFT data of each chirp to the on-board central processor, and discards the remaining 1DFFT data; the third frame transmits the 1st to 2048th 1DFFT data of each chirp to the on-board central processor, and discards the remaining 1DFFT data, and the above transmission mode is repeated from the fourth frame.

[0101] In some embodiments, the wave transmission module 710 is specifically used for if the wave transmission mode of the vehicle-mounted satellite radar is a far-near alternating mode, then the wave transmission scheme is: 4096 sampling points in the distance dimension, 512 chirp pulses in the speed dimension, and each sampling point is 16 bits / 2 bytes;

[0102] Compress each frame of radar data to obtain compressed 1DFFT data;

[0103] The vehicle-mounted satellite radar is controlled to transmit the 1st to 2048th 1DFFT data of each chirp to the central processor in the first frame, and the remaining 1DFFT data are discarded; the 2049th to 4096th 1DFFT data of each chirp are transmitted to the central processor in the second frame, and the remaining 1DFFT data are discarded; the above transmission mode is cycled from the third frame onwards.

[0104] In some embodiments, the wave transmission module 710 is also used to control the two front corner vehicle-mounted satellite radars to work according to the second blind spot filling wave transmission scheme;

[0105] The second blind spot filling wave transmission scheme is: the front corner vehicle-mounted satellite radar transmits the 2049th to 4096th 1DFFT data of each chirp to the central processor in the first frame, and discards the remaining 1DFFT data; the second frame transmits the 1st to 2048th 1DFFT data of each chirp to the central processor, and discards the remaining 1DFFT data; the above transmission mode is repeated from the third frame.

[0106] The embodiment of the present application also discloses a control device.

[0107] Specifically, the control device includes a memory and a processor, and the memory stores a computer program that can be loaded by the processor and execute the above-mentioned vehicle-mounted satellite radar wave transmission and data transmission method.

[0108] The embodiment of the present application also discloses a computer-readable storage medium.

[0109] Specifically, the computer-readable storage medium stores a computer program that can be loaded by a processor and execute a vehicle-mounted satellite radar wave transmission and data transmission method as described above. The computer-readable storage medium includes, for example: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0110] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle-mounted satellite radar wave transmission and data transmission method, characterized in that: include: Selecting a preset beam-transmitting scheme according to the distribution of the vehicle-mounted satellite radar, wherein the beam-transmitting scheme includes at least: a distance dimension and a speed dimension; Control the vehicle-mounted satellite radar to generate and transmit a chirp pulse signal according to the wave emission scheme, wherein the chirp pulse signal is reflected when encountering an obstacle and is captured by the vehicle-mounted satellite radar; receiving a reflected signal captured by the vehicle-mounted satellite radar via Ethernet, and calculating the speed and distance of the obstacle according to the reflected signal; Obstacle positioning is achieved based on the speed and distance of the obstacle, thereby assisting the use of the autonomous driving function.

2. A vehicle-mounted satellite radar wave transmission and data transmission method according to claim 1, characterized in that: The preset transmission scheme is selected according to the number and distribution of the vehicle-mounted satellite radars, and the transmission scheme at least includes: distance dimension and speed dimension, including: If the transmission mode of the vehicle-mounted satellite radar is the long-, medium- and short-range transmission mode, the transmission scheme is: 6144 sampling points in the distance dimension, 512 chirp pulses in the speed dimension, 16 bits / 2 bytes per sampling point, and 50 ms per frame period; Compress each frame of radar data to obtain compressed 1DFFT data; Based on the upper limit of the vehicle-mounted Gigabit Ethernet transmission rate, the vehicle-mounted satellite radar is controlled to transmit the 1st to 2048th 1DFFT data of each chirp to the vehicle-mounted central processor in the first frame, and the remaining 1DFFT data are discarded. The second frame transmits the 2049th to 4096th 1DFFT data of each chirp to the vehicle-mounted central processor, and the remaining 1DFFT data are discarded. The third frame transmits the 4096th to 6144th 1DFFT data of each chirp to the vehicle-mounted central processor, and the remaining 1DFFT data are discarded. Starting from the fourth frame, the above transmission mode is cycled so that the data transmission amount of each frame of the vehicle-mounted satellite radar is 4MB.

3. A vehicle-mounted satellite radar wave transmission and data transmission method according to claim 2, characterized in that: After the vehicle-mounted satellite radar's transmission mode is a far, medium or near transmission mode, the method further includes: Control the two front corner radars to work according to the first blind spot filling wave transmission plan; The first blind spot filling wave scheme is: the front corner radar transmits the 2049th to 4096th 1DFFT data of each chirp to the on-board central processor in the first frame, and discards the remaining 1DFFT data; the second frame transmits the 4096th to 6144th 1DFFT data of each chirp to the on-board central processor, and discards the remaining 1DFFT data; the third frame transmits the 1st to 2048th 1DFFT data of each chirp to the on-board central processor, and discards the remaining 1DFFT data, and the above transmission mode is cycled from the fourth frame onwards.

4. The vehicle-mounted satellite radar wave transmission and data transmission method according to claim 1, characterized in that: The preset transmission scheme is selected according to the distribution of the vehicle-mounted satellite radar, and the transmission scheme at least includes: distance dimension and speed dimension, including: If the transmission mode of the vehicle-mounted satellite radar is a far-near alternating transmission mode, the transmission scheme is: 4096 sampling points in the distance dimension, 512 chirp pulses in the speed dimension, and 16 bits / 2 bytes for each sampling point; Compress each frame of radar data to obtain compressed 1DFFT data; The vehicle-mounted satellite radar is controlled to transmit the 1st to 2048th 1DFFT data of each chirp to the central processor in the first frame, and the remaining 1DFFT data are discarded; the 2049th to 4096th 1DFFT data of each chirp are transmitted to the central processor in the second frame, and the remaining 1DFFT data are discarded; and the above transmission mode is cycled from the third frame onwards.

5. A vehicle-mounted satellite radar wave transmission and data transmission method according to claim 4, characterized in that: After the vehicle-mounted satellite radar's transmission mode is a far-near alternating transmission mode, the method further includes: Control the two front-corner vehicle-mounted satellite radars to work according to the second blind spot-filling wave transmission plan; The second blind spot filling wave scheme is: the front corner vehicle-mounted satellite radar transmits the 2049th to 4096th 1DFFT data of each chirp to the central processor in the first frame, and discards the remaining 1DFFT data; the second frame transmits the 1st to 2048th 1DFFT data of each chirp to the central processor, and discards the remaining 1DFFT data; the above transmission mode is repeated from the third frame.

6. A vehicle-mounted satellite radar wave transmission and data transmission device, characterized in that: The device comprises: A beam transmission module is used to select a preset beam transmission scheme according to the distribution of the vehicle-mounted satellite radar, and the beam transmission scheme at least includes: a distance dimension and a speed dimension; A reflection module, used for controlling the vehicle-mounted satellite radar to generate and transmit a chirp pulse signal according to the wave emission scheme, wherein the chirp pulse signal is reflected when encountering an obstacle and is captured by the vehicle-mounted satellite radar; A calculation module, used for receiving the reflected signal captured by the vehicle-mounted satellite radar through Ethernet, and calculating the speed and distance of the obstacle according to the reflected signal; The positioning module is used to locate the obstacle according to the speed and distance of the obstacle, so as to assist the use of the automatic driving function.

7. A control device, characterized in that: The device comprises: The method comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method as claimed in any one of claims 1 to 5.

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