Radar control method, device, terminal equipment and storage medium

Abstract

The present application is applicable to the field of radar technology, and provides a radar control method, apparatus, terminal equipment and storage medium, the method comprising: when scanning the first field of view area, controlling the radar to execute a first scanning strategy; when scanning the second field of view area, controlling the radar to execute a second scanning strategy, wherein the probability of the existence of a high-reflectivity object in the first field of view area is greater than the probability of the existence of a high-reflectivity object in the second field of view area, and the concurrency of the second scanning strategy is higher than the concurrency of the first scanning strategy. For the first field of view area where the probability of the high-reflectivity object is relatively high, the first scanning strategy with a relatively low concurrency is used to execute scanning control, which can effectively reduce the crosstalk caused by the high-reflectivity object. For the second field of view area where the probability of the high-reflectivity object is relatively low, the second scanning strategy with a relatively high concurrency is used to execute scanning control, which can improve the measurement accuracy of the radar system.

Description

[0001] This application is a divisional application. The application number of the original application is 202411232764.3, and the application 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] 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.

[0004] 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.

[0005] Since the on-board LiDAR mainly detects the driving environment, the scenes on the road mainly include two types of objects, one is the Lambertian body and the other is the highly reflective object. The echo intensity of the highly reflective object is more than 200 times that of the Lambertian body. The reflected echo generated by the highly reflective object will cause serious crosstalk to the reflected echo generated by the Lambertian body (i.e., non-highly reflective object), reducing the detection accuracy of the LiDAR. Summary of the invention

[0006] The embodiments of the present application provide a radar control method, apparatus, terminal device and storage medium. For a first field of view area where the probability of high-reflectivity objects appearing is relatively high, a first scanning strategy with a relatively low concurrency rate is adopted to perform scanning control, which can effectively reduce the crosstalk caused by high-reflectivity objects. For a second field of view area where the probability of high-reflectivity objects appearing is relatively low, a second scanning strategy with a relatively high concurrency rate is adopted to perform scanning control, which can improve the measurement accuracy of the radar system.

[0007] In a first aspect, an embodiment of the present application provides a radar control method, wherein a scanning field of view area of ​​the radar includes a first field of view area and a second field of view area, wherein a probability of a high-reflectivity object existing in the first field of view area is greater than a probability of a high-reflectivity object existing in the second field of view area, and the radar control method includes:

[0008] When scanning the first field of view area, controlling the radar to execute a first scanning strategy;

[0009] When scanning the second field of view area, the radar is controlled to execute a second scanning strategy, wherein a concurrency rate of the second scanning strategy is higher than a concurrency rate of the first scanning strategy.

[0010] In an implementation of the first aspect, before controlling the radar to execute a first scanning strategy when scanning the first field of view area, the method further includes:

[0011] According to the distribution of high reflectivity objects in the scanning field of view area, the scanning field of view area is divided into the first field of view area and the second field of view area.

[0012] In an implementation of the first aspect, dividing the scanning field of view area into the first field of view area and the second field of view area according to the distribution of high-reflectivity objects in the scanning field of view area includes:

[0013] The field of view radar area is divided into a first field of view area and a second field of view area according to the installation position of the radar and the installation position of the high reflectivity object on the road.

[0014] In an implementation of the first aspect, dividing the field of view radar area into a first field of view area and a second field of view area according to an installation position of the radar and an installation position of an object with high reflectivity on a road includes:

[0015] The 0° line is determined according to the installation position of the radar, the area above the 0° line is divided into a first field of view area, and the area below the 0° line is divided into a second field of view area.

[0016] In an implementation of the first aspect, dividing the scanning field of view area into the first field of view area and the second field of view area according to the distribution of high-reflectivity objects in the scanning field of view area includes:

[0017] Obtain the scan data of the last scan cycle or the last scan frame;

[0018] In the case where it is determined according to the scanning data that there is an object with high reflectivity in the scanning field of view, determining the area where the object with high reflectivity is located in the scanning field of view according to the scanning data;

[0019] The area of ​​the high reflectivity object is divided into a first field of view area.

[0020] In an implementation manner of the first aspect, the radar includes a scanning device, and the radar control method further includes:

[0021] The field of view area of ​​the current scanning area is determined according to the motion parameters of the scanning device of the radar.

[0022] In an implementation manner of the first aspect, the radar includes a scanning array, and the radar control method further includes:

[0023] A scanning channel corresponding to the first field of view area and a scanning channel corresponding to the second field of view area are determined according to the field of view division result.

[0024] In an implementation manner of the first aspect, the transmission rate power of the first scanning strategy is less than the transmission power of the second scanning strategy.

[0025] In an implementation of the first aspect, the first field of view area and the second field of view area are scanned in a time-sharing manner.

[0026] In a second aspect, an embodiment of the present application provides a radar control device, wherein a scanning field of view of the radar includes a first field of view area and a second field of view area, wherein a probability of a high-reflectivity object existing in the first field of view area is greater than a probability of a high-reflectivity object existing in the second field of view area, and the radar control device includes:

[0027] A first control unit, configured to control the radar to execute a first scanning strategy when scanning the first field of view area;

[0028] The second control unit is used to control the radar to execute a second scanning strategy when scanning the second field of view area, wherein the concurrency rate of the second scanning strategy is higher than the concurrency rate of the first scanning strategy.

[0029] 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.

[0030] 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.

[0031] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the method described in the first aspect or any optional manner of the first aspect.

[0032] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0033] A radar control method, apparatus, terminal device and computer-readable storage medium provided in the embodiments of the present application can divide the field of view into a first field of view area and a second field of view area according to the distribution of high-reflectivity objects in the scanning field of view area. For the first field of view area where the probability of high-reflectivity objects appearing is relatively high, a first scanning strategy with a relatively low concurrency rate is adopted to perform scanning control, which can effectively reduce the crosstalk caused by high-reflectivity objects. For the second field of view area where the probability of high-reflectivity objects appearing is relatively low, a second scanning strategy with a relatively high concurrency rate is adopted to perform scanning control, which can improve the measurement accuracy of the radar system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] Figure 1 It is a schematic diagram of the structure of a laser radar in an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of the implementation flow of the radar control method provided in the embodiment of the present application;

[0037] Figure 3 It is a schematic diagram of the division of the scanning field of view area;

[0038] Figure 4 is a division of the scanning field of view area of ​​a radar provided in another embodiment;

[0039] Figure 5 This is a schematic diagram of the distribution of an emission array of a scanning array provided in an embodiment of the present application;

[0040] Figure 6 is a schematic diagram of the distribution of the transmitting array of another scanning array provided in an embodiment of the present application;

[0041] Figure 7 is a schematic structural diagram of a radar control device provided in an embodiment of the present application;

[0042] Figure 8 It is a structural diagram of a terminal device provided in an embodiment of the present application;

[0043] Fig. 9 A schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] For example, see Figure 1 , Figure 1 FIG. 1 shows a schematic diagram of the structure of a laser radar. Figure 1As 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.

[0049] 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.

[0050] 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) 131 in the receiving module 13, and then the echo signal processing circuit processes the echo signal to generate corresponding detection information.

[0051] 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).

[0052] 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.

[0053] 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.

[0054] Since the on-board LiDAR mainly detects the driving environment, the scenes on the road mainly include two types of objects, one is the Lambertian body and the other is the highly reflective object. Among them, the Lambertian body refers to an object that will evenly diverge the incident laser and realize diffuse reflection, such as trees on the road. Highly reflective objects refer to objects whose reflected echo is in the same direction as the incident laser and has a high degree of directionality, such as road signs on the road. Among them, the echo intensity of a highly reflective object is more than 200 times that of a Lambertian body. The reflected echo generated by a highly reflective object will cause serious crosstalk to the reflected echo generated by a Lambertian body (i.e., a non-highly reflective object), reducing the detection accuracy of the LiDAR.

[0055] Based on this, an embodiment of the present application provides a radar control method, which can divide the field of view area into a first field of view area and a second field of view area according to the distribution of high-reflectivity objects in the scanning field of view area. For the first field of view area where the probability of high-reflectivity objects appearing is relatively high, a first scanning strategy with a relatively low concurrency rate is adopted to perform scanning control, which can effectively reduce the crosstalk caused by high-reflectivity objects. For the second field of view area where the probability of high-reflectivity objects appearing is relatively low, a second scanning strategy with a relatively high concurrency rate is adopted to perform scanning control, which can improve the measurement accuracy of the radar system.

[0056] The radar control method provided in the embodiment of the present application is described in detail below:

[0057] See also Figure 2 , Figure 2 FIG. 2 shows an implementation process of a radar control method provided in an embodiment of the present application. Figure 2 As shown, the above radar control method may specifically include S11 to S13.

[0058] 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:

[0059] In an embodiment of the present application, the scanning field of view of the above-mentioned radar can be divided into a first field of view area and a second field of view area, wherein the probability of the existence of a high-reflectivity object in the first field of view area is greater than the probability of the existence of a high-reflectivity object in the second field of view area.

[0060] In a specific application, the scanning field of view of the radar can be divided into a first field of view area and a second field of view area according to the distribution of high reflectivity objects. Specifically, the area where the probability of high reflectivity objects appearing is higher is divided into the first field of view area, and the area where the probability of high reflectivity objects appearing is lower is divided into the second field of view area.

[0061] In practical applications, in road scenes, high-reflectivity objects are mainly road signs. In fact, the layout of road signs usually has a certain pattern, such as being installed on both sides of the road, or installed about 3 meters in the air. Therefore, the radar's scanning field of view can be divided based on the installation position of high-reflectivity objects such as road signs.

[0062] For example, Figure 3 As shown, Figure 3 A schematic diagram of the division of the scanning field of view is shown. Figure 2 In the example shown, the radar can be installed on the top of the vehicle. According to the installation position of the radar, a line passing through the center of the radar installation and parallel to the horizon is set as the 0° line. The area above the 0° line can be divided into a first field of view area, and the area below the 0° line can be divided into a second field of view area.

[0063] It should be noted that the radar can also be installed at other locations of the vehicle, such as the front bumper and other locations. The scanning field of view division can be adjusted according to information such as the radar installation angle, the radar installation position, and the distance between the radar and the ground to adjust the division of the first field of view area and the second field of view area.

[0064] In some other implementations, since there are many road signs on both sides of the road, the field of view areas corresponding to both sides of the road can also be divided into the first field of view area. Figure 4 , Figure 4 FIG. 2 shows the division of the scanning field of view area of ​​a radar provided by another embodiment of the present application. Figure 4 As shown, the first viewing area includes an aerial viewing area a, a left road viewing area b, and a right road viewing area c, and the second viewing area includes a middle road viewing area d.

[0065] In some embodiments, the radar can also determine the position of a high-reflectivity object within the radar field of view based on the echo data obtained from the previous frame scan, that is, determine the area where the high-reflectivity object is located, and then divide the first field of view area into the second field of view area based on the position of the high-reflectivity object determined by the echo data obtained from the previous frame scan, wherein the first field of view area is the area where the high-reflectivity object is located, and the second field of view area is the area that does not contain the high-reflectivity object.

[0066] In some embodiments, for a rescanning radar, that is, a frame of echo data includes echo data obtained by multiple scans, the echo data obtained by the last scan can be used to determine the spatial position of a high-reflectivity object within the radar field of view, and the radar's scanning field of view area can be divided according to the obtained spatial position of the high-reflectivity object.

[0067] 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 frame 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] It should be noted that the above-mentioned division method of the scanning field of view area of ​​the radar can also be combined and applied. For example, in the first scanning cycle, Figure 3 or Figure 4 The first field of view area and the second field of view area are divided according to the division of the radar scanning field of view area. After the second scanning cycle, the division of the scanning field of view area is adjusted in real time according to the scanning data obtained in the previous scanning cycle. For example, when scanning the first frame, the division of the scanning field of view area can be adjusted based on Figure 3 or Figure 4 The first field of view area and the second field of view area are divided according to the radar scanning field of view area division situation. After the second frame scanning starts, the scanning field of view area division situation can be adjusted in real time according to the echo data of the previous frame, and the area where high reflectivity objects may exist can be included in the first field of view area, so that the radar scanning field of view area can be adjusted in time according to the distribution of high reflectivity objects actually detected, so as to achieve more accurate field of view area division.

[0074] In S11, when scanning the first field of view area, the radar is controlled to execute a first scanning strategy.

[0075] In a specific application, the first scanning strategy may be a scanning strategy for dealing with objects with high reflectivity. The first scanning strategy may be a low-concurrency emission strategy, that is, reducing concurrent channels to reduce crosstalk.

[0076] In some implementations, the first scanning strategy may be a serial transmission control strategy, that is, controlling different transmission channels not to transmit at the same time, and the concurrency rate is 0 at this time.

[0077] In some other implementations, the first scanning strategy may also be a low-concurrency control strategy, that is, fewer concurrent transmission channels are used each time, thereby reducing crosstalk between channels.

[0078] In some implementations, the first scanning strategy can not only reduce the transmission concurrency rate, but also reduce the transmission power, and can also adjust the jitter time of the transmission channel to further reduce the crosstalk between channels.

[0079] In some embodiments, for a radar system with a mechanical scanning device, a MEMS solid-state laser radar, or a radar system with a semi-solid scanning system, when the radar is performing a scan, the scanned field of view is related to the motion parameters of the scanning device (such as rotation rate, rotation angle, and other parameters). Therefore, it is possible to determine whether the field of view area currently scanned by the radar is the first field of view area based on the motion parameters of the scanning device, such as the rotation angle, etc. If the field of view area currently scanned by the radar is the first field of view area, the radar can be controlled to scan according to the first scanning strategy.

[0080] The above-mentioned scanning device can be a galvanometer, a motor or other devices.

[0081] In some embodiments, for a radar system with an area array scanning device, when the radar performs a scan, it can divide the scanning area array into a scanning channel corresponding to a first field of view area and a scanning channel corresponding to a second field of view according to the scanning field of view, and then when performing the scan, the scanning channel corresponding to the first field of view area is controlled to execute a first scanning strategy.

[0082] For example, Figure 5 As shown, assuming that the scanning array of the radar includes 3 rows and 4 columns with a total of 12 transmitting channels, among which the 4 transmitting channels p11, p12, p13, and p14 in the first row are scanning channels corresponding to the first field of view area, when the radar performs a scanning task, it controls these 4 transmitting channels to execute the first scanning strategy, that is, to transmit detection signals according to a scanning strategy of low concurrency or low concurrency and low transmission power.

[0083] Another example is Figure 6 As shown, assuming that the scanning array of the radar includes 3 rows and 4 columns with a total of 12 transmitting channels, among which the 4 transmitting channels p11, p12, p13, p14 in the first row, the 1st transmitting channel p21 in the second row, the 4th transmitting channel p24 in the second row, the 1st transmitting channel p31 in the third row and the 4th transmitting channel p34 in the third row are scanning channels corresponding to the first field of view area, then when the radar performs a scanning task, it can control these 8 transmitting channels to execute the first scanning strategy, that is, to transmit detection signals according to the scanning strategy of low concurrency or low concurrency and low transmission power.

[0084] In S12, when scanning the second field of view area, the radar is controlled to execute a second scanning strategy.

[0085] In a specific application, the second scanning strategy may be a scanning strategy for low reflectivity objects. In order to more accurately identify obstacles on the road, the second scanning strategy may be a high-concurrency transmission strategy, that is, increasing concurrent channels to improve the detection performance of the radar. It can be understood that the high-concurrency transmission strategy refers to a strategy in which more channels are transmitted simultaneously.

[0086] In a specific application, the concurrency rate of the second scanning strategy is greater than the concurrency rate of the first scanning strategy, wherein the concurrency rate refers to the ratio of the number of channels transmitting simultaneously to the total number of channels.

[0087] In some implementations, the second scanning strategy can not only increase the transmission concurrency rate, but also increase the transmission power, thereby further improving the detection performance of the radar.

[0088] In some embodiments, for a radar system with a mechanical scanning device and a radar system with a semi-solid scanning system, when the radar is performing a scan, the scanned field of view is related to the motion parameters of the scanning device (such as rotation rate, rotation angle and other parameters). Therefore, it is possible to determine whether the field of view area currently scanned by the radar is the second field of view area based on the motion parameters of the scanning device, such as the rotation angle, etc. If the field of view area currently scanned by the radar is the second field of view area, the radar can be controlled to scan according to the second scanning strategy.

[0089] In some embodiments, for a radar system with an area array scanning device, when the radar performs a scan, it can divide the scanning area array into a scanning channel corresponding to a first field of view area and a scanning channel corresponding to a second field of view according to the scanning field of view, and then when performing the scan, the scanning channel corresponding to the second field of view area is controlled to execute a second scanning strategy.

[0090] For example, please refer again Figure 5 ,like Figure 5 As shown, assuming that the scanning array of the radar includes 3 rows and 4 columns with a total of 12 transmitting channels, among which the 4 transmitting channels p21, p22, p23, p24 in the second row and the 4 transmitting channels p31, p32, p33, p34 in the third row are scanning channels corresponding to the second field of view area, then when the radar performs a scanning task, it controls these 8 transmitting channels to execute the second scanning strategy, that is, to transmit detection signals according to a scanning strategy of high concurrency or high concurrency and high transmit power.

[0091] For example, please refer to Figure 6 ,like Figure 6As shown, assuming that the radar scanning array includes 3 rows and 4 columns with a total of 12 transmitting channels, among which the 2nd transmitting channel p22 in the second row, the 3rd transmitting channel p23 in the second row, the 2nd transmitting channel p32 in the third row, and the 3rd transmitting channel p33 in the third row are scanning channels corresponding to the second field of view area, when the radar performs a scanning task, it controls these 4 transmitting channels to execute the second scanning strategy, that is, to transmit detection signals according to the second scanning strategy of high concurrency or high concurrency and high transmit power.

[0092] It should be noted that Figure 5 and Figure 6 The division of the field of view area to which the transmitting channels of the radar scanning array shown is only an example and not a limitation. In actual application, after the radar is installed, the detection area corresponding to each transmitting channel in the array can be determined, and then according to the division result of the scanning field of view area, the detection area corresponding to the transmitting channel is compared with the division result of the scanning field of view area, and the scanning field of view area corresponding to each transmitting channel can be determined, that is, it can be determined whether each transmitting channel is a scanning channel corresponding to the first field of view area or a scanning channel corresponding to the second field of view area.

[0093] It can be seen from this that a radar control method provided in an embodiment of the present application divides the field of view into a first field of view area and a second field of view area according to the distribution of high-reflectivity objects in the scanning field of view area. For the first field of view area where the probability of high-reflectivity objects appearing is relatively high, a first scanning strategy with a relatively low concurrency rate is used to perform scanning control, which can effectively reduce the crosstalk caused by high-reflectivity objects. For the second field of view area where the probability of high-reflectivity objects appearing is relatively low, a second scanning strategy with a relatively high concurrency rate is used to perform scanning control, which can improve the measurement accuracy of the radar system. Among them, the concurrency rate refers to the ratio of the number of channels transmitting simultaneously to the total number of channels.

[0094] In one embodiment of the present application, when the above-mentioned radar performs a scanning task, the scanning task of the first field of view area and the scanning task of the second field of view area can also be performed in a time-sharing manner, that is, the first field of view area and the second field of view area transmit detection signals in a time-sharing manner.

[0095] In an embodiment of the present application, the above-mentioned radar control method may further include: dividing the scanning field of view area into a first field of view area and a second field of view area according to the distribution of high reflectivity objects in the scanning field of view area.

[0096] In the embodiments of the present application, the content regarding the division of the scanning field of view area can be found in the relevant discussion of the previous embodiment, and the present application will not elaborate on it here. By dividing the scanning field of view area in advance and then formulating the corresponding scanning strategy, the scanning complexity and the encoding strategy can be effectively simplified.

[0097] 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.

[0098] 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.

[0099] See also Figure 7 , Figure 7 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 2 For details, please refer to the steps in the corresponding embodiment. Figure 2 as well as Figure 2 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 7 As shown, the radar control device 70 may include a first control unit 701 and a second control unit 702. The scanning field of view of the radar includes a first field of view area and a second field of view area, wherein the probability of a high reflectivity object existing in the first field of view area is greater than the probability of a high reflectivity object existing in the second field of view area.

[0100] The first control unit 701 is used to control the radar to execute a first scanning strategy when scanning the first field of view area;

[0101] The second control unit 702 is used to control the radar to execute a second scanning strategy when scanning the second field of view area, wherein the concurrency rate of the second scanning strategy is higher than the concurrency rate of the first scanning strategy.

[0102] In some implementations, the radar control device further includes a division unit, and the division unit is used to divide the scanning field of view area into the first field of view area and the second field of view area according to the distribution of high-reflectivity objects in the scanning field of view area.

[0103] In some implementations, the division unit is specifically used to divide the field of view radar area into a first field of view area and a second field of view area according to the installation position of the radar and the installation position of the high-reflectivity object on the road.

[0104] In some implementations, the division unit is specifically used to determine the 0° line according to the installation position of the radar, divide the area above the 0° line into the first field of view area, and divide the area below the 0° line into the second field of view area.

[0105] In some implementations, the division unit is specifically used to obtain scanning data of the previous scanning cycle or the previous frame scan; when it is determined according to the scanning data that there is a high-reflectivity object in the scanning field of view, the area where the high-reflectivity object is located in the scanning field of view is determined according to the scanning data; and the area where the high-reflectivity object is located is divided into a first field of view area.

[0106] In some implementations, the radar includes a scanning device, and the radar control device further includes an area determination unit, which is used to determine the field of view area of ​​the current scanning area according to the motion parameters of the scanning device of the radar.

[0107] In some implementations, the radar includes a scanning array, and the above-mentioned radar control device also includes a channel determination unit, which is used to determine the scanning channel corresponding to the first field of view area and the scanning channel corresponding to the second field of view area according to the field of view division result.

[0108] In some implementations, the transmit power of the first scanning strategy is less than the transmit power of the second scanning strategy.

[0109] In some implementations, the first field of view area and the second field of view area are scanned in a time-sharing manner.

[0110] Therefore, the radar control device provided in the embodiment of the present application can also divide the field of view area into a first field of view area and a second field of view area according to the distribution of high-reflectivity objects in the scanning field of view area. For the first field of view area where the probability of high-reflectivity objects appearing is relatively high, a first scanning strategy with a relatively low concurrency rate is adopted to perform scanning control, which can effectively reduce the crosstalk caused by high-reflectivity objects. For the second field of view area where the probability of high-reflectivity objects appearing is relatively low, a second scanning strategy with a relatively high concurrency rate is adopted to perform scanning control, which can improve the measurement accuracy of the radar system.

[0111] Figure 8 FIG. 1 is a schematic diagram of a terminal device provided in another embodiment of the present application. Figure 8 As shown, the terminal device 8 provided in this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80, such as an image segmentation program. When the processor 80 executes the computer program 82, the steps in the above-mentioned radar control method embodiments are implemented, such as Figure 2 Alternatively, when the processor 80 executes the computer program 82, the functions of the modules / units in the terminal device embodiments are realized, for example: Figure 7 The functions of units 701-702 are shown.

[0112] Exemplarily, the computer program 82 may be divided into one or more modules / units, which are stored in the memory 81 and executed by the processor 80 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 82 in the terminal device 8. For example, the computer program 82 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.

[0113] The terminal device may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will appreciate that Figure 8 It is only an example of the terminal device 8 and does not constitute a limitation on the terminal device 8. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0114] The processor 80 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.

[0115] The memory 81 may be an internal storage unit of the terminal device 8, such as a hard disk or memory of the terminal device 8. The memory 81 may also be an external storage device of the terminal device 8, 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 8. Further, the memory 81 may include both an internal storage unit and an external storage device of the terminal device 8. The memory 81 is used to store the computer program and other programs and data required by the terminal device. The memory 81 may also be used to temporarily store data that has been output or is to be output.

[0116] The present application also provides a computer-readable storage medium. Fig. 9 , Fig. 9 is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present application, such as Fig. 9 As shown, a computer program 82 is stored in the computer-readable storage medium 90, and the computer program 82 can implement the above-mentioned radar control method when executed by a processor.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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: The scanning field of view of the radar includes a first field of view area and a second field of view area, wherein the probability of a high reflectivity object existing in the first field of view area is greater than the probability of a high reflectivity object existing in the second field of view area, and the radar control method includes: When scanning the first field of view area, controlling the radar to execute a first scanning strategy; When scanning the second field of view area, controlling the radar to execute a second scanning strategy, wherein the concurrency rate of the second scanning strategy is higher than the concurrency rate of the first scanning strategy; Before controlling the radar to execute the first scanning strategy when scanning the first field of view area, the method further includes: According to the distribution of high reflectivity objects in the scanning field of view area, the scanning field of view area is divided into the first field of view area and the second field of view area.

2. The radar control method according to claim 1, characterized in that: The step of dividing the scanning field of view area into the first field of view area and the second field of view area according to the distribution of the high reflectivity objects in the scanning field of view area comprises: The field of view radar area is divided into a first field of view area and a second field of view area according to the installation position of the radar and the installation position of the high reflectivity object on the road.

3. The radar control method according to claim 1, characterized in that: The step of dividing the scanning field of view area into the first field of view area and the second field of view area according to the distribution of the high reflectivity objects in the scanning field of view area comprises: Obtain the scan data of the last scan cycle or the last scan frame; In the case where it is determined according to the scanning data that there is an object with high reflectivity in the scanning field of view, determining the area where the object with high reflectivity is located in the scanning field of view according to the scanning data; The area of ​​the high reflectivity object is divided into a first field of view area.

4. The radar control method according to claim 1, characterized in that: The radar includes a scanning device, and the radar control method further includes: The field of view area of ​​the current scanning area is determined according to the motion parameters of the scanning device of the radar.

5. The radar control method according to claim 1, characterized in that: The radar includes a scanning array, the scanning array includes a plurality of scanning channels, and the radar control method further includes: A scanning channel corresponding to the first field of view area and a scanning channel corresponding to the second field of view area are determined according to the field of view division result.

6. The radar control method according to any one of claims 1 to 5, characterized in that: The transmission rate power of the first scanning strategy is less than the transmission power of the second scanning strategy.

7. The radar control method according to claim 6, characterized in that: The first viewing area and the second viewing area are scanned in a time-sharing manner.

8. A radar control device, characterized in that: The scanning field of view of the radar includes a first field of view area and a second field of view area, wherein the probability of the existence of a high-reflectivity object in the first field of view area is greater than the probability of the existence of a high-reflectivity object in the second field of view area, and the radar control device includes: A first control unit, configured to control the radar to execute a first scanning strategy when scanning the first field of view area; The second control unit is used to control the radar to execute a second scanning strategy when scanning the second field of view area, wherein the concurrency rate of the second scanning strategy is higher than the concurrency rate of the first scanning 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 9 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.

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