Radar control method and device, terminal equipment and storage medium

Abstract

The invention is suitable for the technical field of radars, and provides a radar control method and device, terminal equipment and a storage medium, and the method comprises the steps: determining the spatial position of a high-reflectivity object according to the point cloud data of a previous frame under the condition that the existence of the high-reflectivity object in a detection region is determined according to the point cloud data of the previous frame; determining a target adjusting channel according to the spatial position of the high-reflectivity object; adjusting the transmitting strategy of the target adjusting channel to be a high-reflection transmitting strategy; and controlling the radar to execute scanning of the current scanning period according to the adjusted emission strategy, and controlling the channel corresponding to the high-reflectivity object in the current scanning period to be switched into a high-reflection emission strategy in advance, so that the interference of reflection echoes generated by the high-reflectivity object can be better reduced, and the detection precision of the laser radar is improved.

Description

[0001] This application is a divisional application. The application number of the original application is 202411232908.5, and the filing date of the original application is September 4, 2024. The entire contents of the original application are incorporated into this application by reference. Technical Field

[0002] The present application belongs to the field of radar technology, and in particular, relates to a radar control method, device, terminal equipment and storage medium. Background Art

[0003] For high-resolution and high-frame-rate radars, the physical isolation between adjacent channels is small, which exacerbates the degree of crosstalk between channels. In order to reduce the crosstalk between channels, transmission coding and appropriate filtering strategies can be used to distinguish between real echoes and crosstalk echoes. However, due to the large number of channels and the number of transmission codes, there will be concurrent channels, and there will be certain interference between concurrent channels. When the target object is a high-reflectivity object, more serious crosstalk will occur. Summary of the invention

[0004] The embodiments of the present application provide a radar control method, apparatus, terminal device and storage medium, which can improve the radar system's ability to resist crosstalk caused by high-reflectivity objects and improve the detection accuracy of the radar system.

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

[0006] In the case where it is determined that there is a high-reflectivity object in the detection area according to the point cloud data of the previous scanning cycle, determining the spatial position of the high-reflectivity object according to the point cloud data of the previous scanning cycle;

[0007] Determining a target adjustment channel according to the spatial position of the high reflectivity object;

[0008] Adjusting the launch strategy of the target adjustment channel to a high-reverse launch strategy;

[0009] The radar is controlled to execute the scanning of the current scanning cycle according to the adjusted transmission strategy.

[0010] In an implementation of the first aspect, determining a target adjustment channel according to a spatial position of the high-reflectivity object includes:

[0011] The target adjustment channel is determined according to the driving information of the vehicle and the spatial position of the high-reflectivity object.

[0012] In an implementation of the first aspect, determining the target adjustment channel according to the driving information of the vehicle and the spatial position of the high-reflectivity object includes:

[0013] Correcting the spatial position of the high-reflectivity object according to the driving information of the vehicle;

[0014] The target adjustment channel is determined according to the corrected spatial position of the high-reflectivity object.

[0015] In an implementation of the first aspect, the driving information includes a driving speed and a driving direction, and determining the target adjustment channel according to the driving information of the vehicle and the spatial position of the high-reflectivity object includes:

[0016] Determining a position offset of the high-reflectivity object according to the driving speed and the driving direction;

[0017] Determining a predicted position of the high-reflectivity object according to a position offset of the high-reflectivity object and a spatial position of the high-reflectivity object;

[0018] A target adjustment channel is determined according to the predicted position of the high-reflectivity object.

[0019] In an implementation of the first aspect, the vehicle driving information includes steering information and a historical driving trajectory, and determining the target adjustment channel according to the vehicle driving information and the spatial position of the high-reflectivity object includes:

[0020] Predicting a driving trajectory of the vehicle according to the steering information and the historical driving trajectory;

[0021] Determining a position offset of the high reflectivity object based on the predicted driving trajectory;

[0022] Determining a predicted position of the high-reflectivity object according to a position offset of the high-reflectivity object and a spatial position of the high-reflectivity object;

[0023] A target adjustment channel is determined according to the predicted position of the high-reflectivity object.

[0024] In an implementation manner of the first aspect, the radar control method further includes:

[0025] Calculating the switching time margin according to the vehicle's running speed;

[0026] The emission strategy of the target regulation channel is switched according to the switching time margin.

[0027] In an implementation manner of the first aspect, the previous scanning cycle and the current scanning cycle are in the same frame or in two adjacent frames.

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

[0029] A first determining unit is used to determine the spatial position of the high-reflectivity object according to the point cloud data of the previous scanning cycle when it is determined that there is a high-reflectivity object in the detection area according to the point cloud data of the previous scanning cycle;

[0030] A second determining unit, configured to determine a target adjustment channel according to a spatial position of the high reflectivity object;

[0031] An adjustment unit, used for adjusting the emission strategy of the target adjustment channel to a high-reflection emission strategy;

[0032] The scanning control unit is used to control the radar to perform scanning in the current scanning cycle according to the adjusted transmission strategy.

[0033] In a third aspect, an embodiment of the present application provides a terminal device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method as described in the first aspect or any optional method of the first aspect when executing the computer program.

[0034] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect or any optional manner of the first aspect is implemented.

[0035] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device executes the method described in the first aspect or any optional manner of the first aspect.

[0036] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0037] A radar control method, apparatus, terminal device and computer-readable storage medium provided in the embodiments of the present application can determine the position of a high-reflectivity object based on the point cloud data of the previous frame, and control the switching of the channel corresponding to the high-reflectivity object in the current scanning cycle to a high-reflectivity emission strategy in advance, thereby better reducing the interference of reflected echoes generated by high-reflectivity objects and improving the detection accuracy of the lidar. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1It is a schematic diagram of the structure of a laser radar in an embodiment of the present application;

[0040] Figure 2 This is a schematic diagram of the effect of a high reflectivity object on the detection results;

[0041] Figure 3 is a schematic diagram of the implementation flow of the radar control method provided in the embodiment of the present application;

[0042] Figure 4a is a schematic diagram of point clouds of the Mth scan and the M+1th scan in an embodiment of the present application;

[0043] Figure 4b is a schematic diagram of point clouds of the Mth scan and the M+1th scan according to another embodiment of the present application;

[0044] Figure 5 is a schematic diagram of an implementation flow of another radar control method provided in an embodiment of the present application;

[0045] Figure 6 is a schematic structural diagram of a radar control device provided in an embodiment of the present application;

[0046] Figure 7 It is a structural diagram of a terminal device provided in an embodiment of the present application;

[0047] Figure 8 A schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0049] It should be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0050] It should also be understood that references to "one embodiment" or "some embodiments" etc. described in the specification of the present application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Thus, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in the specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0051] Laser radar is a radar system that emits laser beams to detect the position, speed and other information of the target. In addition to detecting the distance of the object, it can also detect the reflectivity of the object for target identification. The specific working principle of laser radar is to transmit a detection signal to the target. After reaching the target, the detection signal will be reflected by the target object, thereby forming echo data. The laser radar receives the signal (echo data) reflected back by the target, and then can determine the relevant information of the target based on the echo data, such as the target distance, position, height, speed, posture, shape, reflectivity, etc., thereby realizing target detection, target tracking, and target identification. Among them, the reflectivity of an object refers to the percentage of the radiation energy reflected by the object to the total radiation energy of the incident signal. The reflectivity of different objects is different. The reflectivity of an object is mainly determined by factors such as the surface properties of the object, the wavelength of the incident signal, and the angle of incidence.

[0052] For example, see Figure 1 , Figure 1 FIG. 1 shows a schematic diagram of the structure of a laser radar. Figure 1 As shown, the laser radar 10 generally includes a transmitting module 11, a scanning system 12, a receiving module 13 and a control system 14. The transmitting module 11 may include a light source system 111.

[0053] Among them, the light source system 111 is used to generate the laser beam required for detection by the laser radar 10. Specifically, the light source system 111 may include optical devices such as a laser and an emitting lens group. The scanning system 12 is used to angularly deflect the laser beam generated by the light source system 111 so that the laser beam can hit different positions at different times. The scanning system 12 can be a mechanical scanning system (i.e., a rotating drive platform) or a semi-solid scanning system (i.e., a rotating mirror, a galvanometer, or a combination of the two). The present application does not impose a sole restriction on the form of the scanning system.

[0054] It is understandable that the laser radar in the present application can also be a solid-state laser radar, that is, scanning is achieved by controlling light sources at different angles to emit light in sequence. After the laser beam emitted by the light source system reaches the target object and is reflected by the target object, the reflected light pulse will be received by the receiving sensor (sensor) (not shown in the figure) in the receiving module 13, and then the echo signal processing circuit processes the echo signal to generate corresponding detection information.

[0055] It should be noted that the light source system may use a vertical cavity surface emitting laser (VCSEL) or an edge emitting laser (EEL) and other devices, and the sensor may be composed of a silicon photomultiplier (SiPM) array. The SiPM array is composed of a large number (generally including hundreds to thousands) of avalanche diode (APD) units, each of which is composed of an avalanche diode and a large resistance quenching resistor in series, and these avalanche diode units are connected in parallel to form a surface array (i.e., the above-mentioned SiPM array).

[0056] On-board LiDAR can obtain three-dimensional images of physical space to detect the driving environment. Autonomous driving requires LiDAR to be able to distinguish small targets at a long distance with high accuracy. In order to improve the recognition accuracy of LiDAR for small targets at a long distance, LiDAR with multiple parallel transceiver channels is usually used for detection. Such LiDAR often includes multiple laser transmitters and multiple laser receivers arranged densely.

[0057] However, due to the improvement of detection accuracy in the current LiDAR field, laser transmitters and laser receivers are densely arranged, making it difficult for the optical design of LiDAR to achieve no optical crosstalk between adjacent channels. Therefore, LiDAR has a large degree of crosstalk between optically adjacent channels.

[0058] Specifically, the increase in the dot frequency and ranging distance will cause crosstalk between the channels of the lidar. Assume that the effective measurement distance of the lidar is L, the total scanning time is Ttot, and the total dot frequency is Ntot. Then the average time for each point is: Tave = Ttot / Ntot. And the flight time of the optical pulse is: τ = 2L / c. Where c is the speed of light. When τ < Tave, only one receiving channel of the lidar is working within each analysis time period, which can effectively avoid crosstalk between channels. However, with the increase in the radar dot frequency and the ranging distance, Tave continues to decrease, and the situation of τ > Tave may occur. In this case, within the same time period, multiple receiving channels may work in parallel, thus possibly generating crosstalk between adjacent receiving channels.

[0059] Since vehicle-mounted lidar is mainly used to detect the driving environment, the scenes on the road mainly include two types of objects. One is the Lambertian-like object, and the other is the high-reflectivity object. Among them, the Lambertian-like object refers to an object that evenly diverges the incident laser to achieve diffuse reflection, such as trees on the road. And the high-reflectivity object refers to an object whose reflected echo is in the same direction as the incident laser and has high directivity, such as road signs on the road. Among them, the echo intensity of the high-reflectivity object is more than 200 times that of the Lambertian-like object. The reflected echo generated by the high-reflectivity object will cause serious crosstalk to the reflected echo generated by the Lambertian-like object (i.e., non-high-reflectivity object), reducing the detection accuracy of the lidar.

[0060] Exemplarily, Figure 2 shows a schematic diagram of the influence of a high-reflectivity object on the detection result. Assume that the points in the first area A1, the second area A2, and the third area A3 have a concurrency relationship. If there is a high-reflectivity object in the second area A2, the detection of the points in the second area A2 may cause crosstalk to the points in the first area A1 and the third area A3.

[0061] Based on this, the embodiment of the present application provides a radar control method, which can determine the position of the high-reflectivity object according to the point cloud data of the previous frame, and提前 control the switching of the channel corresponding to the high-reflectivity object in the current scanning period to the high-reflection emission strategy, which can better reduce the interference of the reflected echo generated by the high-reflectivity object and improve the detection accuracy of the lidar.

[0062] The following will detail the radar control method provided by the embodiment of the present application:

[0063] Please refer to Figure 3 , Figure 3 shows the implementation process of a radar control method provided by the embodiment of the present application. As Figure 3 shown, the above-mentioned radar control method may specifically include S11 to S14.

[0064] It should be noted that the execution subject of the radar control method provided in the embodiment of the present application can be the above-mentioned laser radar 10, specifically the control system in the laser radar 10. Of course, the execution subject of the above-mentioned radar control method can also be a terminal device that is connected to the laser radar 10 for communication. The above-mentioned terminal device can be a mobile phone, desktop computer, laptop computer, tablet computer or wearable device, or a cloud server, radar auxiliary computer and other devices in various application scenarios. This application does not impose specific restrictions on this. The following is an example of the execution subject being the laser radar 10:

[0065] In S11, when it is determined that there is a high-reflectivity object in the detection area according to the point cloud data of the previous scanning cycle, the spatial position of the high-reflectivity object is determined according to the point cloud data of the previous scanning cycle.

[0066] In an embodiment of the present application, the radar will analyze whether there is a high-reflectivity object in the detection area based on the point cloud data of the previous scanning cycle, and if there is a high-reflectivity object in the detection area, the spatial position of the high-reflectivity object will be determined based on the point cloud data of the previous scanning cycle.

[0067] It is understandable that the high-reflectivity objects in the detection area will not appear out of thin air. Therefore, the position of the high-reflectivity objects has a certain continuity in time. That is to say, if a high-reflectivity object is detected at a certain position in the detection area in a certain scanning cycle, then a high-reflectivity object will also be detected near the position in the next scanning cycle. If the emission strategy is not switched until the high-reflectivity object is detected in the next frame, the detection results of non-high-reflectivity objects in the first few scanning cycles of the next frame will also be interfered by the emission echo of the high-reflectivity object.

[0068] In a specific application, determining whether there is a high-reflectivity object in the detection area based on the point cloud data of the previous scanning cycle can be to analyze the reflectivity of the target object in the detection area based on the point cloud data, and determine whether there is a high-reflectivity object in the detection area based on the reflectivity.

[0069] In some implementations, it is also possible to determine whether there is a high-reflectivity object in the detection area based on indicators such as echo amplitude, pulse width, echo area, echo power, and echo energy of the echo data.

[0070] In specific applications, after receiving the echo data and restoring the point cloud data based on the echo data, the laser radar can obtain the echo intensity of each point in the point cloud data. If the echo intensity is greater than the preset intensity threshold, it can be determined that the point belongs to a high-reflectivity object. By collecting the point set belonging to the high-reflectivity object, the spatial position of the high-reflectivity object can be determined. It should be noted that the above-mentioned preset intensity threshold can be set according to the specific parameters and performance parameters of the device in the actual application process, and this application does not impose specific restrictions on this.

[0071] In specific applications, the laser radar can determine the echo area value of the echo point cloud based on the received point cloud data. If the echo area value of a certain point is greater than the preset area threshold, it can be determined that the point corresponds to a high-reflectivity object. By collecting all points belonging to the high-reflectivity object, the spatial position of the high-reflectivity object can be determined. It should be noted that the above-mentioned preset area threshold can be set according to the specific parameters and performance parameters of the equipment in the actual application process, and this application does not impose specific restrictions on this.

[0072] In specific applications, the laser radar can also determine the reflectivity of each point based on the received point cloud data. If the reflectivity of a point is greater than the preset reflectivity threshold, it can be determined that the point corresponds to a high-reflectivity object. By collecting all points belonging to the high-reflectivity object, the spatial position of the high-reflectivity object can be determined. It should be noted that the above-mentioned preset reflectivity threshold can be set according to the specific parameters and performance parameters of the equipment in the actual application process, the environmental parameters in the actual application scenario, etc., and this application does not impose specific restrictions on this.

[0073] It should also be noted that the calculation method of the echo intensity, the echo area value and the reflectivity can be implemented based on the existing calculation method, which is not elaborated in this application.

[0074] In S12, a target adjustment channel is determined according to the spatial position of the high reflectivity object.

[0075] In specific applications, after determining the spatial position of a high-reflectivity object, the receiving channel corresponding to the high-reflectivity object can be determined based on the source of the point cloud (i.e., which channel receives the point cloud formed by the echo), and then the corresponding transmitting channel can be determined.

[0076] In a specific application, the target adjustment channel may specifically be the emission channel determined according to the location of the high reflectivity object.

[0077] In S13, the emission strategy of the target adjustment channel is adjusted to a high-reflection emission strategy.

[0078] In a specific application, the above-mentioned adjustment of the emission strategy of the target adjustment channel to a high-reflectivity emission strategy can specifically be to adjust the emission jitter time of the target adjustment channel so that there is a difference in the emission time between the target adjustment channel and the non-target adjustment channel, thereby reducing the interference of the echo of the high-reflectivity object on the echo of other objects.

[0079] The above-mentioned high-reflection emission strategy can also be to adjust the emission power of the target adjustment channel, specifically to reduce the emission power of the target adjustment channel to reduce the echo intensity of the high-reflectivity object, thereby reducing the interference of the echo of the high-reflectivity object on the echo of other objects.

[0080] In S14, the radar is controlled to perform scanning in the current scanning cycle according to the adjusted transmission strategy.

[0081] In a specific application, the above-mentioned control radar performs scanning in the current scanning cycle according to the adjusted transmission strategy, which can be that for non-target adjustment channels, it transmits based on the original transmission code, and for target adjustment channels, it transmits according to the high-reflection transmission strategy.

[0082] The detection fields of the previous scanning cycle and the current scanning cycle completely overlap or partially overlap.

[0083] It can be understood that the emission strategy adjustment of the target adjustment channel is completed before the start of the current scanning cycle, that is, when scanning the current scanning cycle, the emission strategy of the emission channel corresponding to the position where the high-reflectivity object may be located has been adjusted to a high-reflectivity emission strategy. In this way, the crosstalk problem caused by the high-reflectivity object can be effectively reduced during the scanning process of the current scanning cycle.

[0084] In the case where there is only one scanning cycle in a frame, the spatial position of the high-reflectivity object is identified based on the point cloud data of the previous scanning cycle, and the emission strategy of the current scanning cycle is adjusted based on the identification result. This is equivalent to identifying the spatial position of the high-reflectivity object based on the point cloud data of the previous frame, and adjusting the emission strategy of the current scanning cycle based on the identification result.

[0085] Among them, before executing each scanning cycle, the spatial position of the high-reflectivity object will be identified based on the point cloud data of the previous scanning cycle, that is, before the start of the M+1 scanning cycle, the spatial position of the high-reflectivity object will be identified according to the point cloud data of the M scanning cycle, and the emission strategy will be adjusted based on the recognition result, and the emission strategy of the M+1 scanning cycle will be adjusted based on the recognition result, and the radar will be controlled to execute the scanning of the M+1 scanning cycle based on the adjusted emission strategy. Before the start of the M+2 scanning cycle, the spatial position of the high-reflectivity object will be identified according to the point cloud data of the M+1 scanning cycle, and the emission strategy of the M+2 scanning cycle will be adjusted based on the recognition result, and the radar will be controlled to execute the scanning of the M+2 scanning cycle based on the adjusted emission strategy.

[0086] It is understandable that the adjustment strategy can be adjusted according to the detection accuracy requirements. As an example, in a specific application, when a frame has multiple scanning cycles, the spatial position of a high-reflectivity object can still be identified based on the point cloud data of the previous frame, and the emission strategy of the next frame scan can be adjusted based on the identification result.

[0087] See also Figure 4a , Figure 4a The schematic diagram of the point cloud of the Mth scanning cycle and the M+1th scanning cycle is shown, wherein the square box represents a high-reflectivity object. After the high-reflectivity object is identified in the Mth scanning cycle, the emission strategy of the corresponding emission channel is adjusted to a high-reflectivity emission strategy before the corresponding position of the high-reflectivity object is reached in the M+1th scanning cycle. Therefore, the crosstalk of the M+1th scanning cycle can be better suppressed.

[0088] In a specific application, the previous scanning cycle and the current scanning cycle are in the same frame or in two adjacent frames, wherein the detection fields corresponding to the current scanning cycle and the previous scanning cycle partially or completely overlap.

[0089] For a radar system that performs multiple scans within a frame, a frame of point cloud data includes point cloud data obtained by scanning multiple scanning cycles. For the emission control of multiple scanning cycles within the current frame, after the spatial position of the high-reflectivity object is determined according to the previous scanning cycle, before the current scanning cycle starts, the emission strategy of the corresponding emission channel can be adjusted to a high-reflectivity emission strategy. Since the interval between two consecutive scanning cycles in a frame is shorter than the frame interval, the crosstalk generated by the high-reflectivity object can be suppressed in a more real-time manner. It can be understood that when a frame includes multiple scanning cycles, the fields of view corresponding to two adjacent scanning cycles partially overlap. Figure 4b , Figure 4bThe schematic diagram of the detection field of view corresponding to the m-th and m+1-th scanning of the radar. The detection fields of view corresponding to two adjacent scannings may overlap vertically and / or horizontally. The emission strategy of the detection channel corresponding to the overlapping field of view corresponding to the m+1-th scanning cycle may be adjusted according to the high-reflective objects detected in the corresponding overlapping fields of view in the m-th scanning cycle and the m+1-th scanning cycle.

[0090] As another example, the radar system can also be a re-scanning system. That is, when the previous scanning cycle and the current scanning cycle are in two adjacent frames, the emission strategy of the first scanning cycle of the current scanning cycle is determined based on the point cloud data of the last scanning cycle of the previous frame. This application does not impose the sole limitation on this.

[0091] See also Figure 5 , Figure 5 FIG. 2 is a schematic diagram showing a process of an intra-frame control method for a scanning radar system provided in an embodiment of the present application. Figure 5 As shown, the second scanning cycle can switch the corresponding high-reflectivity emission strategy to perform scanning according to the position of the high-reflectivity object in the point cloud data of the first scanning cycle, so that the emission strategy can be adjusted more quickly.

[0092] From this, it can be seen that the embodiment of the present application provides a radar control method, which can determine the position of a high-reflectivity object based on the point cloud data of the previous scanning cycle in the frame, and control the switching of the channel corresponding to the high-reflectivity object in the current scanning cycle to a high-reflectivity emission strategy in advance, which can reduce the interference of the reflected echo generated by the high-reflectivity object in a more real-time manner and improve the detection accuracy of the lidar.

[0093] In an embodiment of the present application, S12 may specifically include the following steps:

[0094] The target adjustment channel is determined according to the driving information of the vehicle and the spatial position of the high-reflectivity object.

[0095] In a specific application, the above-mentioned vehicle driving information may include information such as the vehicle's driving speed and the vehicle's driving direction.

[0096] In specific applications, since the movement of the vehicle will cause a certain change in the position of the high-reflectivity object, after determining the spatial position of the high-reflectivity object based on the point cloud data of the previous frame or the point cloud data of the previous scanning cycle, the spatial position of the high-reflectivity object can be further corrected according to the vehicle's driving information, and then the target adjustment channel is determined based on the corrected spatial position of the high-reflectivity object.

[0097] In an embodiment of the present application, the above-mentioned determination of the target adjustment channel according to the driving information of the vehicle and the spatial position of the high-reflectivity object may specifically include:

[0098] Determine the position offset of the high reflectivity object according to the vehicle's travel speed and travel direction;

[0099] Determine the predicted position of the high-reflectivity object according to the position offset of the high-reflectivity object and the spatial position of the high-reflectivity object;

[0100] Based on the predicted position of the high reflectivity object, the target adjustment channel is determined.

[0101] In some embodiments, the radar system may also predict the vehicle's driving trajectory based on the vehicle's driving information, and determine a position offset of the high-reflectivity object based on the predicted driving trajectory.

[0102] Determining the target adjustment channel according to the predicted position of the high-reflectivity object may specifically be determining which receiving channels receive echo data to form the point cloud corresponding to the predicted position, and then determining the corresponding transmitting channel.

[0103] In specific applications, the vehicle's driving information may also include the vehicle's steering information, historical driving trajectory and other information.

[0104] In specific applications, the vehicle's driving trajectory can be further estimated in combination with the vehicle's steering information, or the historical driving trajectory can be obtained, and possible driving trajectories such as vehicle turning and lane changes can be determined based on the historical driving trajectory, and the position offset of the high-reflectivity object can be determined based on the predicted driving trajectory.

[0105] In a specific application, if the predicted driving trajectory determines that the vehicle will continue to move forward, the position offset can be calculated based on the vehicle's driving speed and the scanning interval of the next frame scan or the next scanning cycle scan. If the predicted driving trajectory determines that the vehicle will turn, the position offset can be calculated based on the vehicle's driving speed, the turning direction, and the scanning interval of the next frame scan or the next scanning cycle scan.

[0106] It can be seen from the above that the radar control method provided in the embodiment of the present application can determine the position offset caused by the scanning time difference according to the driving information of the vehicle, can more accurately determine the position of the high-reflectivity object, and thus can better reduce the crosstalk caused by the high-reflectivity object.

[0107] In an embodiment of the present application, the radar control method may further include the following steps:

[0108] Calculating the switching time margin according to the vehicle's running speed;

[0109] The emission strategy of the target regulation channel is switched according to the switching time margin.

[0110] In specific applications, since the position of a high-reflectivity object may move between two frames or between two scans, the switching time margin is determined and the emission strategy of the target adjustment channel is adjusted to a high-reflectivity emission strategy in advance of the switching time margin. That is, the target adjustment channel is adjusted to a high-reflectivity emission strategy in advance. This can better cover the position of the high-reflectivity object and further improve the suppression of the reflected echo of the high-reflectivity object.

[0111] It should be noted that the above calculation of the switching time margin based on the vehicle's driving speed can be to set a preset switching distance, and then calculate the switching time margin based on the relationship of distance = speed * time. It should also be noted that the preset switching distance can be set according to actual needs, and this application does not make specific restrictions on this.

[0112] From the above, it can be seen that the radar control method provided in the embodiment of the present application can switch the emission strategy of the target adjustment channel in advance according to the driving speed of the vehicle, thereby better covering the location of the high-reflectivity object and further improving the suppression of the reflected echo of the high-reflectivity object.

[0113] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0114] Based on the radar control method provided in the above embodiment, the embodiment of the present invention further provides an embodiment of a radar control device for implementing the above method embodiment.

[0115] See also Figure 6 , Figure 6 Schematic diagram of the structure of a radar control device provided in an embodiment of the present application. In the embodiment of the present application, the radar control device includes various units for executing Figure 3 For details, please refer to the steps in the corresponding embodiment. Figure 3 as well as Figure 3 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 6 As shown, the radar control device 60 may include a first determination unit 601, a second determination unit 602, an adjustment unit 603 and a scanning control unit 604, wherein:

[0116] The first determining unit 601 is used to determine the spatial position of the high-reflectivity object according to the point cloud data of the previous scanning cycle when it is determined that there is a high-reflectivity object in the detection area according to the point cloud data of the previous scanning cycle;

[0117] The second determining unit 602 is used to determine the target adjustment channel according to the spatial position of the high reflectivity object;

[0118] The adjustment unit 603 is used to adjust the emission strategy of the target adjustment channel to a high-reflection emission strategy;

[0119] The scanning control unit 604 is used to control the radar to perform scanning in the current scanning cycle according to the adjusted transmission strategy.

[0120] In some implementations, the second determination unit 602 is specifically configured to determine the target adjustment channel according to the driving information of the vehicle and the spatial position of the high-reflectivity object.

[0121] The previous scanning cycle and the current scanning cycle are in the same frame or in two adjacent frames.

[0122] In some implementations, the second determining unit 602 includes a correcting unit and a determining unit.

[0123] The correction unit is used to correct the spatial position of the high-reflectivity object according to the driving information of the vehicle.

[0124] The determination unit is used to determine the target adjustment channel according to the predicted position of the high-reflectivity object.

[0125] In some implementations, the driving information includes a driving speed and a driving direction, and the second determination unit is specifically used to determine a position offset of the high-reflectivity object based on the driving speed and the driving direction; determine a predicted position of the high-reflectivity object based on the position offset of the high-reflectivity object and the spatial position of the high-reflectivity object; and determine a target adjustment channel based on the predicted position of the high-reflectivity object.

[0126] In some implementations, the driving information includes steering information and historical driving trajectory, and the second determination unit 602 is specifically used to predict the driving trajectory of the vehicle based on the steering information and the historical driving trajectory; determine the position offset of the high-reflectivity object based on the predicted driving trajectory; determine the predicted position of the high-reflectivity object based on the position offset of the high-reflectivity object and the spatial position of the high-reflectivity object; and determine the target adjustment channel based on the predicted position of the high-reflectivity object.

[0127] In some implementations, the radar control device further includes a calculation unit and a switching unit.

[0128] The calculation unit is used for calculating the switching time margin according to the driving speed of the vehicle.

[0129] The switching unit is used to switch the emission strategy of the target adjustment channel according to the switching time margin.

[0130] It should be noted that the information interaction, execution process and other contents between the above-mentioned units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0131] Therefore, the radar control device provided in the embodiment of the present application can also control the switching of the channel corresponding to the high-reflectivity object in the current scanning cycle to a high-reflectivity strategy in advance based on the position of the high-reflectivity object determined by the point cloud data of the previous frame, thereby better reducing the interference of the reflected echo generated by the high-reflectivity object and improving the detection accuracy of the lidar.

[0132] Figure 7 FIG. 1 is a schematic diagram of a terminal device provided in another embodiment of the present application. Figure 7 As shown, the terminal device 7 provided in this embodiment includes: a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable on the processor 70, such as an image segmentation program. When the processor 70 executes the computer program 72, the steps in the above-mentioned radar control method embodiments are implemented, such as Figure 3 Alternatively, when the processor 70 executes the computer program 72, the functions of the modules / units in the terminal device embodiments are realized, for example: Figure 6 The functions of units 601 to 604 are shown.

[0133] Exemplarily, the computer program 72 may be divided into one or more modules / units, which are stored in the memory 71 and executed by the processor 70 to complete the present application. The one or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 72 in the terminal device 7. For example, the computer program 72 may be divided into an acquisition unit, a determination unit, and a calculation unit. For specific functions of each unit, please refer to Figure 7 The relevant descriptions in the corresponding embodiments are not repeated here.

[0134] The terminal device may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that Figure 7 It is only an example of the terminal device 7 and does not constitute a limitation on the terminal device 7. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the above-mentioned terminal device may also include input and output devices, network access devices, buses, etc.

[0135] The processor 70 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0136] The memory 71 may be an internal storage unit of the terminal device 7, such as a hard disk or memory of the terminal device 7. The memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 7. Further, the memory 71 may include both an internal storage unit and an external storage device of the terminal device 8. The memory 71 is used to store the computer program and other programs and data required by the terminal device. The memory 71 may also be used to temporarily store data that has been output or is to be output.

[0137] The present application also provides a computer-readable storage medium. Figure 8 , Figure 8 is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present application, such as Figure 8 As shown, a computer program 72 is stored in a computer-readable storage medium 80, and the computer program 72 can implement the above-mentioned radar control method when executed by a processor.

[0138] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the above-mentioned radar control method when executing the computer program product.

[0139] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned terminal device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0140] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0141] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0142] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A radar control method, characterized in that: include: In the case where it is determined that there is a high-reflectivity object in the detection area according to the point cloud data of the previous scanning cycle, determining the spatial position of the high-reflectivity object according to the point cloud data of the previous scanning cycle; Determining a target adjustment channel according to the spatial position of the high reflectivity object; Adjusting the launch strategy of the target adjustment channel to a high-reverse launch strategy; Control the radar to perform scanning in the current scanning cycle according to the adjusted transmission strategy; Wherein, adjusting the emission strategy of the target adjustment channel to a high-reflection emission strategy includes: The transmission jitter time of the target adjustment channel is adjusted so that there is a difference in the transmission time between the target adjustment channel and the non-target adjustment channel.

2. The radar control method according to claim 1, characterized in that: The step of determining the target adjustment channel according to the spatial position of the high reflectivity object comprises: The target adjustment channel is determined according to the driving information of the vehicle and the spatial position of the high-reflectivity object.

3. The radar control method according to claim 2, characterized in that: The step of determining the target adjustment channel according to the driving information of the vehicle and the spatial position of the high reflectivity object comprises: Correcting the spatial position of the high-reflectivity object according to the driving information of the vehicle; The target adjustment channel is determined according to the corrected spatial position of the high-reflectivity object.

4. The radar control method according to claim 2, characterized in that: The driving information includes driving speed and driving direction, and determining the target adjustment channel according to the driving information of the vehicle and the spatial position of the high reflectivity object includes: Determining a position offset of the high-reflectivity object according to the driving speed and the driving direction; Determining a predicted position of the high-reflectivity object according to a position offset of the high-reflectivity object and a spatial position of the high-reflectivity object; A target adjustment channel is determined according to the predicted position of the high-reflectivity object.

5. The radar control method according to claim 2, characterized in that: The driving information includes steering information and historical driving tracks, and determining the target adjustment channel according to the driving information of the vehicle and the spatial position of the high reflectivity object includes: Predicting a driving trajectory of the vehicle according to the steering information and the historical driving trajectory; Determining a position offset of the high reflectivity object based on the predicted driving trajectory; Determining a predicted position of the high-reflectivity object according to a position offset of the high-reflectivity object and a spatial position of the high-reflectivity object; A target adjustment channel is determined according to the predicted position of the high-reflectivity object.

6. The radar control method according to claim 1, characterized in that: The radar control method further includes: Calculating the switching time margin according to the vehicle's running speed; The emission strategy of the target regulation channel is switched according to the switching time margin.

7. The radar control method according to any one of claims 1 to 6, characterized in that: The previous scanning cycle and the current scanning cycle are in the same frame or in two adjacent frames.

8. A radar control device, characterized in that: include: A first determining unit is used to determine the spatial position of the high-reflectivity object according to the point cloud data of the previous scanning cycle when it is determined that there is a high-reflectivity object in the detection area according to the point cloud data of the previous scanning cycle; A second determining unit, configured to determine a target adjustment channel according to a spatial position of the high reflectivity object; An adjustment unit, used for adjusting the emission strategy of the target adjustment channel to a high-reflection emission strategy; The scanning control unit is used to control the radar to perform scanning in the current scanning cycle according to the adjusted transmission strategy.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the readable instructions of the computer program, the radar control method according to any one of claims 1 to 7 is implemented.

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

Images