Radar control method and device, terminal equipment and storage medium

Abstract

The invention is suitable for the technical field of radar systems, and provides a radar control method and device, terminal equipment and a storage medium, and the method comprises the steps: adjusting the scanning sequence of a laser radar after receiving and transmitting a frame of signal, so as to enable the scanning sequence of a current frame of the laser radar to be not completely identical with the scanning sequence of a previous frame of signal; and controlling the laser radar to execute the next frame of signal receiving and transmitting operation according to the adjusted scanning sequence, thereby effectively reducing the interference caused by scanning track overlapping between radars, and improving the anti-interference performance of the radars.

Description

Technical Field

[0001] The present application belongs to the technical field of radar systems, and in particular, relates to a radar control method, apparatus, terminal equipment and storage medium. Background Art

[0002] Laser radar systems are often used in autonomous driving, logistics vehicles, robots, public smart transportation and other fields due to their high resolution, high sensitivity, strong anti-interference ability, and not being affected by dark conditions.

[0003] For area array lidar, multiple transmitting units and multiple receiving units work at the same time. When there are multiple lidars working in the same scanning mode, greater interference will be generated. However, current lidars have the problem of insufficient anti-interference ability. 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 anti-interference ability of laser radar.

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

[0006] After completing the transmission and reception of a frame of signal, adjusting the scanning order of the laser radar so that the scanning order of the current frame of the laser radar is not completely the same as the scanning order of the previous frame of signal;

[0007] Control the laser radar to perform the next frame signal receiving and sending operation according to the adjusted scanning order.

[0008] In an implementation of the first aspect, after completing the transmission and reception of a frame of signals and adjusting the scanning order of the laser radar, the method further includes:

[0009] Adjust the scanning interval;

[0010] Accordingly, controlling the laser radar to perform the next frame signal receiving and sending operation according to the adjusted scanning sequence includes:

[0011] The laser radar is controlled to perform the next frame signal receiving and sending operation according to the adjusted scanning sequence and the adjusted scanning time interval.

[0012] In an implementation of the first aspect, after completing the transmission and reception of a frame of signals and adjusting the scanning order of the laser radar, the method further includes:

[0013] Adjust the time intervals of multiple transmissions and receptions within a laser radar frame so that the time intervals of multiple transmissions and receptions are partially or completely different.

[0014] In an implementation of the first aspect, after completing the transmission and reception of a frame of signals, adjusting the scanning order of the laser radar includes: adjusting the transmission order of the transmitting unit of the laser radar and / or adjusting the receiving order of the receiving unit of the laser radar.

[0015] In an implementation manner of the first aspect, adjusting the scanning time interval includes adjusting a transmission time interval between frames and / or adjusting a transmission / reception time interval within each frame.

[0016] In an implementation manner of the first aspect, adjusting the transmit and receive time interval in each frame includes adjusting the transmit time interval between every two transmit blocks in each frame and / or adjusting the receive time interval between every two receive blocks in each frame.

[0017] In an implementation manner of the first aspect, adjusting the transmission time interval between frames includes adjusting the start transmission time of each frame or adjusting the start transmission time of some frames so that the start transmission time intervals between two frames are different.

[0018] In a second aspect, an embodiment of the present application provides a radar control device, including:

[0019] A first adjustment unit is used to adjust the scanning order of the laser radar after completing the transmission and reception of a frame of signal, so that the scanning order of the current frame of the laser radar is not completely the same as the scanning order of the previous frame signal;

[0020] The control unit is used to control the laser radar to perform the next frame signal receiving and sending operation according to the adjusted scanning sequence.

[0021] In a third aspect, an embodiment of the present application provides a terminal device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in the first aspect or any optional method of the first aspect is implemented.

[0022] 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 method of the first aspect is implemented.

[0023] 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 method of the first aspect.

[0024] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0025] The radar control method, device, terminal device, computer-readable storage medium and computer program product provided by the embodiments of the present application have the following beneficial effects:

[0026] By adjusting the scanning order of the lidar after completing the transmission of a frame of signal, the scanning order of the current frame signal is not exactly the same as the scanning order of the previous frame signal, thereby reducing the interference between radars caused by overlapping scanning tracks and improving the radar's anti-interference ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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.

[0028] Figure 1 It is a schematic diagram of the structure of a transmitting unit and a receiving unit of a radar provided in an embodiment of the present application;

[0029] Figure 2 It is a schematic diagram of a scanning sequence and scanning trajectory of a transmitting unit of a radar provided in an embodiment of the present application;

[0030] Figure 3 It is a schematic diagram of an implementation flow of a radar control method provided by the present application;

[0031] Figure 4 is a schematic diagram of the structure of a radar corresponding to a radar control method provided in an embodiment of the present application;

[0032] Figure 5 is a schematic structural diagram of another radar data processing device provided in an embodiment of the present application;

[0033] Figure 6 is a schematic diagram of an implementation flow of another radar control method provided in an embodiment of the present application;

[0034] Figure 7 It is a timing diagram of the transmission time interval between transmission blocks provided in an embodiment of the present application;

[0035] Figure 8 It is a timing diagram corresponding to the time interval of the start transmission time between frames provided in an embodiment of the present application;

[0036] Fig. 9 It is a timing diagram of the time interval of the start transmission time between frames and the transmission time interval between transmission blocks provided in an embodiment of the present application;

[0037] Fig.10is a schematic diagram of the structure of a radar corresponding to another radar control method provided in an embodiment of the present application;

[0038] Fig.11 is a schematic diagram of an implementation flow of another radar control method provided in an embodiment of the present application;

[0039] Fig.12 It is a timing diagram of multiple transmissions and receptions in the radar control method provided in an embodiment of the present application;

[0040] Fig.13 is a schematic diagram of the structure of a radar corresponding to another radar control method provided in an embodiment of the present application;

[0041] Fig.14 is a schematic diagram of an implementation flow of another radar control method provided in an embodiment of the present application;

[0042] Fig.15 is a schematic diagram of the structure of a radar corresponding to another radar control method provided in an embodiment of the present application;

[0043] Fig.16 is a schematic structural diagram of a radar control device provided in an embodiment of the present application;

[0044] Fig.17 It is a structural diagram of a terminal device provided in an embodiment of the present application;

[0045] Fig.18 It is a structural diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] 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.

[0047] 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.

[0048] 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.

[0049] The radar system has a transmitting unit and a receiving unit. The transmitting unit can transmit a detection signal. When the detection signal reaches the target object, the echo signal reflected by the target object can be received by the receiving unit. The radar system can then obtain the corresponding observation results based on the received echo signal.

[0050] For an array-type laser radar, its transmitting unit includes multiple transmitting blocks, and its receiving unit includes multiple receiving blocks, and the transmitting blocks and receiving blocks can be set up with corresponding transmitting and receiving relationships, that is, the echo signal corresponding to the detection signal emitted by a certain transmitting block can be received by one or several receiving blocks corresponding to it.

[0051] Exemplarily, the transmitting unit 11 of the array-type laser radar includes a transmitting block 11a with N rows and M columns, and correspondingly, the receiving unit 12 of the array-type laser radar may also include a receiving block 12a with N rows and M columns. Figure 1 As shown, Figure 1 The transmitting unit 11 of the laser radar includes 4*6 transmitting blocks 11a, and the receiving unit 12 includes 4*6 receiving blocks 12a. Wherein, a(1,1) represents the transmitting position of the transmitting block, for example, a(1,1) represents the transmitting block corresponding to the first row and first column in the transmitting unit, a(2,1) represents the transmitting block corresponding to the second row and first column in the transmitting unit, and so on. b(1,1) represents the receiving position of the receiving block, for example, b(1,1) represents the receiving block corresponding to the first row and first column in the receiving unit, b(2,1) represents the receiving block corresponding to the second row and first column in the receiving unit, and so on.

[0052] In actual application, the scanning order of array-type laser radar is fixed. For example, Figure 2 As shown, corresponding to Figure 2 The scanning sequence position of the transmitting unit array in the transmission unit array is shown in FIG. Figure 2As shown, the first line scan is completed first, then the second line scan is completed, and then the third line scan is completed, and so on. After completing a frame scan, the above scanning track is repeated again to scan the next frame.

[0053] However, when there are multiple (at least two) radars with the same scanning mode, interference between the detection signals emitted by the radars is likely to occur. The most serious interference is when the scanning tracks of the two radars completely overlap.

[0054] Based on the above problems, an embodiment of the present application provides a radar control method, which can adjust the scanning order of the laser radar after completing the transmission of a frame of signal, so that the scanning order of the current frame signal is not exactly the same as the scanning order of the previous frame signal, thereby reducing the interference between radars caused by overlapping scanning trajectories and improving the anti-interference ability of the radar.

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

[0056] See also Figure 3 , Figure 3 It is a schematic flow chart of a radar control method provided in an embodiment of the present application. The execution subject of the radar control method provided in an embodiment of the present application can be a control system inside the laser radar, such as a transceiver control unit, a main control chip, etc., or a terminal device connected to the laser radar for communication. The above terminal device can be a mobile phone, desktop computer, laptop computer, tablet computer or wearable device, etc., or it can be a cloud server, radar auxiliary computer and other equipment in various application scenarios. It should be noted that the radar control method provided in an embodiment of the present application is mainly applicable to planar laser radar products and array laser radar products. The following description is made by taking the execution subject as an example of the control system inside the laser radar. Figure 3 As shown, the above radar control method may include S11 to S12:

[0057] In S11, after completing the transmission and reception of a frame of signals, the scanning order of the laser radar is adjusted.

[0058] In the embodiment of the present application, completing one frame of signal transmission and reception means that the transmitting unit of the laser radar completes one frame of signal transmission and the receiving unit of the laser radar completes one signal reception; wherein, each transmitting block in the transmitting unit of the laser radar completes one signal transmission and is deemed to complete one frame of signal transmission, and each receiving block in the receiving unit of the laser radar completes the corresponding signal reception and is deemed to complete one frame of signal reception.

[0059] In an embodiment of the present application, the scanning order of the laser radar is adjusted so that the scanning order of the current frame of the laser radar is adjusted to be not completely the same as the scanning order of the previous frame signal.

[0060] Here, the above-mentioned adjustment of the scanning order of the laser radar includes adjusting the transmission order of the transmitting unit of the laser radar and / or adjusting the receiving order of the receiving unit of the laser radar.

[0061] Among them, adjusting the transmission order of the laser radar's transmitting unit may be adjusting the transmission position of each transmitting block in the transmitting unit. Adjusting the receiving order of the laser radar's receiving unit may also be adjusting the receiving position corresponding to each receiving block (for example, adjusting which receiving block receives the echo signal corresponding to the detection signal emitted by which transmitting block, etc.).

[0062] That is, the above-mentioned adjustment of the scanning order of the laser radar can be only to adjust the transmission position of the transmission block in the transmission unit of the laser radar to achieve the purpose of adjusting the transmission order of the transmission unit, or it can be only to adjust the receiving position of the receiving block in the receiving unit of the laser radar to achieve the purpose of adjusting the receiving order of the receiving unit, or it can be to adjust the transmission position of the transmission block in the transmission unit and adjust the receiving position of the receiving block in the receiving unit at the same time, so as to achieve the purpose of simultaneously adjusting the transmission order of the transmission unit and adjusting the receiving order of the receiving unit.

[0063] For example, Figure 4 As shown, taking the adjustment of the emission order of the laser radar emission unit as an example, when the first frame is scanned, the emission position of each emission block in the emission unit is as follows Figure 4 As shown in (a), after completing the first frame of signal transmission and reception, the transmission order of the laser radar's transmission unit is adjusted, and the transmission position of each transmission block in the transmission unit corresponding to the second frame is obtained as follows Figure 4 As shown in (b) in FIG. 1 , after completing the second frame signal transmission and reception, the scanning order of the transmitting unit of the laser radar can be adjusted again to obtain the scanning order of the transmitting unit corresponding to the third frame, that is, the scanning order of the transmitting unit can be adjusted as follows: Figure 4 The transmission position of each transmission block shown in (c) is controlled.

[0064] In specific applications, the more random the position adjustment of the transmitting block in the transmitting unit of the laser radar, or the more random the position adjustment of the receiving block in the receiving unit, the stronger the anti-interference ability of the laser radar.

[0065] In specific applications, each transmitting block in the transmitting unit of the laser radar can independently use a different transmitting time interval, and each receiving block in the receiving unit can receive and process synchronously with the transmission of the corresponding transmitting block.

[0066] In S12, the laser radar is controlled to perform the next frame signal receiving and sending operation according to the adjusted scanning order.

[0067] In a specific application, after the laser radar completes the scanning sequence adjustment, the transmitting unit of the laser radar can be controlled to transmit the detection signal according to the adjusted scanning sequence, and the corresponding echo signal can be received through the receiving unit.

[0068] In order to more clearly illustrate the control process of the laser radar in the embodiment of the present application, Figure 5 FIG. 1 shows a schematic diagram of the structure of a laser radar. Figure 5 As shown, the laser radar 10 may include a transmitting unit 11, a receiving unit 12 and a control system 13. The control system 13 may include a scanning position sequence code generator 131, a transmitting control unit 132 and a receiving control unit 133.

[0069] The scanning position sequence code generator 131 is used to generate a transmission position code of a transmitting unit and / or a receiving position code of a receiving unit.

[0070] It should be noted that the scanning position sequence code generator 131 can generate the scanning position code corresponding to each frame in advance (which may include the above-mentioned transmission position code and / or the above-mentioned receiving position code), and then send the generated scanning position code to the control unit (that is, when generating the transmission position code, the transmission position code is sent to the transmission control unit 132, and when generating the receiving position code, the receiving position code is sent to the receiving control unit 133). Alternatively, the above-mentioned scanning position sequence code generator 131 can generate the corresponding scanning position code for the next frame signal in real time after receiving the indication of completing the transmission and reception of the previous frame.

[0071] The transmitting control unit 132 is used to control the transmitting unit to transmit the detection signal according to the transmitting position code. Figure 5 In the transmitting unit 11, the transmitting control unit 132 can first control the transmitting block with position coding a(1,1) to transmit the detection signal, and then control the transmitting block with position coding a(1,2) to transmit the detection signal. After the transmitting block with position coding a(1,6) is transmitted, the transmitting block with position coding a(2,1) is controlled to transmit the detection signal, and so on.

[0072] The receiving control unit 133 is used to control the receiving block to receive the echo signal according to the receiving position code. Figure 5 In the receiving unit 12, the receiving control unit 133 first controls the receiving block with position coding b(1,1) to receive the echo signal corresponding to the detection signal transmitted by the transmitting block b(1,1), and then controls the receiving block with position coding b(1,2) to receive the echo signal. After the receiving block with position coding b(1,6) completes the reception, the receiving block with position coding b(2,1) is controlled to receive the echo signal, and so on.

[0073] From the above, it can be seen that the radar control method provided in the embodiment of the present application can adjust the scanning order of the laser radar after completing the transmission of a frame of signal, so that the scanning order of the next frame of signal is not exactly the same as the scanning order of the previous frame of signal, thereby reducing the interference between radars caused by overlapping scanning trajectories and improving the anti-interference ability of the radar.

[0074] See also Figure 6 , Figure 6 A schematic diagram of another radar control method implementation flow provided in an embodiment of the present application. Figure 6 As shown, different from the previous embodiment, the radar control method provided in the embodiment of the present application further includes the following steps after S11:

[0075] S13: Adjust the scanning time interval.

[0076] Correspondingly, the above S12 may include S121, S121: controlling the laser radar to perform the next frame signal receiving and sending operation according to the adjusted scanning order and the adjusted scanning time interval.

[0077] In this embodiment, on the basis of adjusting the transmission position of the transmitting block of the laser radar and / or adjusting the receiving position of the receiving block, the scanning time interval is adjusted to further improve the anti-interference ability of the radar.

[0078] In a specific application, the above-mentioned adjustment of the scanning time interval includes adjusting the transmission time interval between frames and / or adjusting the transmission and reception time interval within each frame.

[0079] The above-mentioned adjustment of the transmission and reception time interval in each frame includes adjusting the transmission time interval between every two transmission blocks in each frame and / or adjusting the reception time interval between every two reception blocks in each frame.

[0080] In a specific application, the transmission time interval between every two transmission blocks in each frame is adjusted so that the transmission time intervals between any two transmission blocks are partially or completely different, and the reception time interval between every two reception blocks in each frame is adjusted so that the reception time intervals between any two reception blocks are partially or completely different.

[0081] For example, taking adjusting the transmission time interval between every two transmission blocks in each frame as an example, Figure 7 As shown, Figure 7In the example, delta_time_1to2 refers to the time difference between the transmission time of Block(1,1) and the transmission time of Block(1,2); delta_time_2to3 refers to the time difference between the transmission time of Block(1,2) and the transmission time of Block(1,3), and so on. By adjusting the transmission time interval, delta_time_1to2, delta_time_2to3, delta_time_3to4, etc. can be made partially or completely different.

[0082] In an embodiment of the present application, the transmission time intervals between transmission blocks separated by two or more blocks may also be adjusted to be different, for example, by adjusting the transmission time intervals, so that the transmission time intervals such as delta_time_1to3, delta_time_2to4, and delta_time_3to5 are partially or completely different, wherein delta_time_1to3 refers to the time difference between the transmission time of transmission block Block(1,1) and the transmission time of transmission block Block(1,3), and delta_time_2to4 refers to the time difference between the transmission time of transmission block Block(1,2) and the transmission time of transmission block Block(1,4). By analogy, the transmission time intervals of other interval block numbers may also be adjusted to be partially or completely different.

[0083] Regarding the adjustment of the receiving time interval between receiving blocks, reference can also be made to the description of the adjustment of the transmitting time interval of the transmitting block, which will not be elaborated here.

[0084] In practical applications, the more different the sending and receiving time intervals (including the transmitting time interval and / or the receiving time interval) are, the better the anti-interference performance of the radar is.

[0085] In a specific application, the above adjustment of the transmission time interval between frames may be to adjust the start transmission time of each frame so that the start transmission time interval between two frames is different, or to adjust the start transmission time of some frames so that the start transmission time interval between two frames is different.

[0086] For example, Figure 8 As shown, frame_time_1to2 refers to the time difference between the start transmission time of the first frame and the start transmission time of the second frame; frame_time_2to3 refers to the time difference between the start transmission time of the second frame and the start transmission time of the third frame, and so on. By adjusting the transmission time interval between frames, the transmission time intervals between two frames such as frame_time_1to2, frame_time_2to3, frame_time_3to4, etc., are partially or completely different.

[0087] In some embodiments, the transmission time interval between the interval frames can also be adjusted to achieve the adjustment of the transmission time interval between frames, for example, by adjusting the start transmission time of the frame, so that the transmission time intervals such as frame_time_1to3, frame_time_2to4, frame_time_3to5, etc. are partially or completely different. Among them, frame_time_1to3 refers to the time difference between the start transmission time of the first frame and the start transmission time of the third frame; frame_time_2to4 refers to the time difference between the start transmission time of the second frame and the start transmission time of the fourth frame, and frame_time_3to5 refers to the time difference between the start transmission time of the second frame and the start transmission time of the fourth frame. By analogy, the transmission interval time of other interval blocks can also be adjusted to be partially or completely different.

[0088] In practical applications, the more different the transmission time intervals between two frames are, the better the radar's anti-interference ability is.

[0089] In a specific application, the transmission time interval between frames is adjusted while adjusting the transmission and reception time interval within each frame, that is, the start transmission time of each frame can be adjusted, and the transmission time of each transmission block or the reception time of each reception block in each frame can be adjusted.

[0090] For example, Fig. 9 As shown, frame_time_1to2 refers to the time difference between the start emission time of the 1st frame and the start emission time of the 2nd frame, frame_time_2to3 refers to the time difference between the start emission time of the 2nd frame and the start emission time of the 3rd frame, and frame_time_3to4 refers to the time difference between the start emission time of the 3rd frame and the start emission time of the 4th frame. The start emission time intervals between the two frames are adjusted to be partially or completely different, that is, frame_time_1to2, frame_time_2to3, frame_time_3to4... are set to be partially or completely different.

[0091] Frame_time_1to3 refers to the time difference between the start emission time of the 1st frame and the start emission time of the 3rd frame, frame_time_2to4 refers to the time difference between the start emission time of the 2nd frame and the start emission time of the 4th frame, and frame_time_3to5 refers to the time difference between the start emission time of the 2nd frame and the start emission time of the 4th frame. Adjust the emission time intervals between the interval frames to be partially or completely different, that is, set frame_time_1to3, frame_time_2to4, frame_time_3to5, etc. to be partially or completely different. Similarly, the interval time of other interval frames can also be set to be partially or completely different.

[0092] delta_time_1to2 refers to the time difference between the emission time of the emission block Block(1,1) and the emission time of the emission block Block(1,2); delta_time_2to3 refers to the time difference between the emission time of the emission block Block(1,2) and the emission time of the emission block Block(1,3), and so on. The interval time between the emission blocks is adjusted to be partially or completely different, that is, delta_time_1to2, delta_time_2to3 and other such time intervals are set to be partially or completely different.

[0093] delta_time_1to3 refers to the time difference between the emission time of the emission block Block(1,1) and the emission time of the emission block Block(1,3); delta_time_2to4 refers to the time difference between the emission time of the emission block Block(1,2) and the emission time of the emission block Block(1,4), and so on. Adjust the emission time intervals between the interval blocks to be partially or completely different, that is, set delta_time_1to3, delta_time_2to4, delta_time_3to5 and other time intervals to be partially or completely different. By analogy, the interval times of other interval blocks can also be set to be partially or completely different.

[0094] In some embodiments, the interval time between two blocks in different frames can be set to be the same or different. For example, [delta_time_1to2, delta_time_2to3, delta_time_3to4…] in the first frame and [delta_time_1to2, delta_time_2to3, delta_time_3to4…] in the second frame can be set to be different, and [delta_time_1to3, delta_time_2to4, delta_time_3to5…] in the first frame and [delta_time_1to3, delta_time_2to4, delta_time_3to5…] in the second frame can also be set to be different; when the time between blocks in every two frames is also different, the anti-interference ability of the laser radar will be stronger.

[0095] In order to more clearly illustrate the control process of the laser radar in the embodiment of the present application, Fig.10 FIG. 1 shows a schematic diagram of the structure of a laser radar. Fig.10 As shown, the laser radar 10 may include a transmitting unit 11, a receiving unit 12 and a control system 13. The control system 13 may include a scanning position sequence code generator 131, a transmitting control unit 132, a receiving control unit 133 and a scanning time interval code generator 134.

[0096] For the description of the scanning position sequence code generator 131, please refer to Figure 5 The relevant descriptions are not repeated here.

[0097] The scanning time interval code generator 134 is used to generate a transmission time code of a transmission block in the transmission unit and / or to generate a reception time code of a reception block in the reception unit.

[0098] It should be noted that the scanning time interval code generator 134 can pre-generate the transmission start time corresponding to each frame and the transmission and reception time interval within each frame, and then send the generated transmission time code to the transmission control unit 132, and send the generated reception time code to the reception control unit 133.

[0099] The transmission control unit 132 is further configured to control the transmission blocks in the transmission unit to transmit the detection signal according to the transmission time code. Fig.10In the transmitting unit 11, the transmitting control unit 132 can first control the transmitting block with position coding a(1,1) to transmit the detection signal at its corresponding transmission time (the starting transmission time of each frame), and then control the transmitting block with position coding a(1,2) to transmit the detection signal after an interval of delta_time_1to2, and so on. After each transmitting block in the first frame has completed the transmission, the transmission of the second frame is started after an interval of frame_time_1to2 (that is, the transmitting block with position coding a(1,1) is controlled to transmit the detection signal after frame_time_1to2).

[0100] The receiving control unit 133 is used to control the receiving block to receive the echo signal corresponding to the receiving time code.

[0101] From the above, it can be seen that the radar control method provided in this embodiment also adjusts the scanning time on the basis of adjusting the scanning position and scanning order, thereby making the scanning trajectory of the laser radar more random, further reducing the repetition rate with other laser radar scanning trajectories, and improving the anti-interference ability of the laser radar.

[0102] See also Fig.11 , Fig.11 FIG. 2 shows a schematic flow chart of another radar control method provided by an embodiment of the present application. Fig.11 As shown, different from the previous embodiment, the radar control method provided in the embodiment of the present application further includes the following steps after S11:

[0103] S14: Adjust the time intervals of multiple transmissions and receptions within the laser radar frame.

[0104] Correspondingly, the above S12 may include S122, S122: controlling the laser radar to perform the next frame signal receiving and sending operation according to the adjusted scanning order and the adjusted receiving and sending time intervals of multiple transmissions and receptions within the frame.

[0105] In specific applications, in order to improve the measurement performance and accuracy of the laser radar, the laser radar can be controlled to perform multiple sending and receiving operations (at least twice) using the same block within one frame, and when determining the measurement results, the multiple received echo signals are superimposed to calculate the measurement results.

[0106] In order to improve the anti-interference ability of the laser radar, the time intervals of multiple transmissions and receptions are adjusted on the basis of adjusting the scanning order of the radar, so that the time intervals of multiple transmissions and receptions are partially or completely different.

[0107] In a specific application, the above-mentioned transmission and reception time intervals include a transmission time interval and a reception time interval, wherein the transmission time interval refers to the time difference between the transmission times corresponding to different transmission times of a transmission block, and the reception time interval refers to the time difference between the reception times corresponding to different reception times of a reception block.

[0108] For example, multiple transmissions of a transmission block are used as an example. Fig.12 As shown, Fig.12 In the tx_time_1to2, it refers to the time difference between the first transmission time and the second transmission time in a transmission block; tx_time_2to3 refers to the time difference between the second transmission time and the third transmission time in a transmission block. delta_time_1to3 refers to the time difference between the first transmission time and the third transmission time in a transmission block, and so on.

[0109] The time intervals between the transmission times of two adjacent transmissions are adjusted to be partially or completely different, that is, tx_time_1to2, tx_time_2to3, tx_time_3to4, etc. are set to be partially or completely different.

[0110] Set the transmission time intervals of each transmission to be partially or completely different, that is, set tx_time_1to3, tx_time_2to4, tx_time_3to5, etc. to be partially or completely different. By analogy, the time intervals of other times can also be adjusted to be partially or completely different.

[0111] In practical applications, the more different the time intervals between two transmissions and receptions are, the better the radar's anti-interference ability is.

[0112] In order to more clearly illustrate the control process of the laser radar in the embodiment of the present application, Fig.13 FIG. 1 shows a schematic diagram of the structure of a laser radar. Fig.13 As shown, the laser radar 14 may include a transmitting unit 11, a receiving unit 12 and a control system 13. The control system 13 may include a scanning position sequence code generator 131, a transmitting control unit 132, a receiving control unit 133 and a transmitting and receiving time interval code generator 135.

[0113] For the description of the scanning position sequence code generator 131, please refer to Figure 5 The relevant descriptions are not repeated here.

[0114] The transceiver time interval code generator 135 is used to generate multiple transmission time codes of a transmission block in the transmission unit and / or generate multiple reception time codes of a reception block in the reception unit.

[0115] It should be noted that the transceiver time interval code generator 135 can pre-generate transceiver time codes for multiple transmissions and receptions within each frame (including the above-mentioned multiple transmission time codes and multiple reception time codes), and send the generated multiple transmission time codes to the transmission control unit 132, and send the generated multiple reception time codes to the reception control unit 133.

[0116] The transmission control unit 132 is further configured to control the transmission blocks in the transmission unit to transmit the detection signal multiple times within one frame according to the multiple transmission time codes. Fig.13 In the transmitting unit 11, the transmitting control unit 132 can first control the transmitting block with the position code (1,1) to transmit the detection signal at its corresponding first transmission time (the starting transmission time of each frame) and transmit the detection signal again after the interval tx_time_1to2, and so on.

[0117] The receiving control unit 133 is further configured to control the receiving block to receive the echo signal multiple times within one frame according to the multiple reception time codes.

[0118] From the above, it can be seen that the radar control method provided in the embodiment of the present application also adjusts the time intervals of multiple transmissions and receptions on the basis of adjusting the scanning position and scanning order, thereby making the scanning trajectory of the laser radar more random, further reducing the repetition rate with other laser radar scanning trajectories, and improving the anti-interference ability of the laser radar.

[0119] See also Fig.14 , Fig.14 FIG. 2 shows a schematic flow chart of another radar control method provided by an embodiment of the present application. Fig.14 As shown, different from the previous embodiment, the radar control method provided in the embodiment of the present application further includes the following steps after S11:

[0120] S13: Adjust the scanning time interval.

[0121] S14: Adjust the time intervals of multiple transmissions and receptions within the laser radar frame.

[0122] Correspondingly, the above S12 may include S123, S123: controlling the laser radar to perform the next frame signal receiving and sending operation according to the adjusted scanning order, the adjusted scanning time, and the adjusted receiving and sending time interval of multiple transmissions and receptions within the frame.

[0123] In a specific application, after adjusting the scanning order, the scanning time and the time interval between multiple transmissions and receptions within a frame may also be adjusted.

[0124] The implementation of S13 and S14 can refer to the description of the above embodiment, and will not be described here in detail to avoid repetition.

[0125] In order to further illustrate the implementation process of the radar control method provided in the embodiment of the present application, Fig.15 FIG. 1 shows a schematic diagram of the structure of a laser radar. Fig.15 As shown, the laser radar 14 may include a transmitting unit 11, a receiving unit 12 and a control system 13. The control system 13 may include a scanning position sequence code generator 131, a transmitting control unit 132, a receiving control unit 133, a scanning time interval code generator 134 and a transceiver time interval code generator 135.

[0126] The working principles of the scanning position sequence code generator 131, the transmitting control unit 132, the receiving control unit 133, the scanning time interval code generator 134 and the transmitting and receiving time interval code generator 135 can refer to the above embodiments.

[0127] From the above, it can be seen that the embodiment of the present application combines the scanning order adjustment, the scanning time interval adjustment and the transmission and reception time interval adjustment of multiple transmissions and receptions, thereby further improving the anti-interference ability of the laser radar.

[0128] 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.

[0129] Based on the radar control method provided in the above embodiment, the embodiment of the present invention further provides an embodiment of a terminal device that implements the above method embodiment.

[0130] See also Fig.16 , Fig.16 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. Fig.16 As shown, the radar control device 16 includes: a first adjustment unit 101 and a control unit 102. Among them:

[0131] The first adjustment unit 101 is used to adjust the scanning order of the laser radar after completing the transmission and reception of a frame of signals, so that the scanning order of the current frame of the laser radar is not completely the same as the scanning order of the previous frame signal.

[0132] The control unit 102 is used to control the laser radar to perform the next frame signal receiving and sending operation according to the adjusted scanning sequence.

[0133] In some embodiments, the above-mentioned radar control device also includes: a second adjustment unit.

[0134] The second adjustment unit is used to adjust the scanning time interval.

[0135] Correspondingly, the control unit 102 is used to control the laser radar to perform the next frame signal receiving and sending operation according to the adjusted scanning sequence and the adjusted scanning time interval.

[0136] In some embodiments, the above-mentioned radar control device also includes: a third adjustment unit.

[0137] The third adjustment unit is used to adjust the transmission and reception time intervals of multiple transmissions and receptions within the laser radar frame so that the transmission and reception time intervals of multiple transmissions and receptions are partially or completely different.

[0138] In some embodiments, the first adjustment unit 101 is specifically used to adjust the transmission order of the transmitting unit of the laser radar and / or adjust the receiving order of the receiving unit of the laser radar.

[0139] In some embodiments, the second adjustment unit is specifically used to adjust the transmission time interval between frames and / or adjust the transmission and reception time interval within each frame.

[0140] The second adjustment unit may include an inter-frame adjustment unit and a block interval time adjustment unit.

[0141] In some embodiments, the inter-frame adjustment unit is used to adjust the start transmission time of each frame or adjust the start transmission time of some frames so that the start transmission time intervals between two frames are different.

[0142] In some embodiments, the block interval time adjustment unit is used to adjust the transmission time interval between every two transmission blocks in each frame and / or adjust the reception time interval between every two reception blocks in each frame.

[0143] 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.

[0144] Fig.17 FIG. 1 is a schematic diagram of a terminal device provided in another embodiment of the present application. Fig.17 As shown, the terminal device 17 provided in this embodiment includes: a processor 170, a memory 171, and a computer program 172 stored in the memory 171 and executable on the processor 170, such as an image segmentation program. When the processor 170 executes the computer program 172, the steps in the above-mentioned various radar control method embodiments are implemented, such as Figure 3Alternatively, when the processor 170 executes the computer program 172, the functions of the modules / units in the above-mentioned terminal device embodiments are realized, for example, Fig.16 The functions of units 101-102 are shown.

[0145] Exemplarily, the computer program 172 may be divided into one or more modules / units, which are stored in the memory 171 and executed by the processor 170 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 172 in the terminal device 17. For example, the computer program 172 may be divided into a first adjustment unit and a control unit. For specific functions of each unit, please refer to Fig.16 The relevant descriptions in the corresponding embodiments are not repeated here.

[0146] The terminal device may include, but is not limited to, a processor 170 and a memory 171. Those skilled in the art will appreciate that Fig.17 It is only an example of the terminal device 17 and does not constitute a limitation on the terminal device 17. 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.

[0147] The processor 170 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.

[0148] The memory 171 may be an internal storage unit of the terminal device 17, such as a hard disk or memory of the terminal device 17. The memory 171 may also be an external storage device of the terminal device 17, 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 17. Further, the memory 171 may also include both an internal storage unit of the terminal device 17 and an external storage device. The memory 171 is used to store the computer program and other programs and data required by the terminal device. The memory 171 may also be used to temporarily store data that has been output or is to be output.

[0149] The present application also provides a computer-readable storage medium. Fig.18 , Fig.18 is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present application, such as Fig.18 As shown, a computer program 172 is stored in the computer-readable storage medium 180, and the computer program 172 can implement the above-mentioned radar control method when executed by the processor.

[0150] 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.

[0151] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the terminal device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0152] 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.

[0153] 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.

[0154] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A radar control method, characterized in that: include: After completing the transmission and reception of a frame of signals, adjusting the scanning order of the laser radar so that the scanning order of the current frame of the laser radar is not completely the same as the scanning order of the previous frame of signals; Control the laser radar to perform the next frame signal receiving and sending operation according to the adjusted scanning order.

2. The radar control method according to claim 1, characterized in that: After completing the transmission and reception of a frame of signal, and adjusting the scanning sequence of the laser radar, the method further includes: Adjust the scanning interval; Accordingly, controlling the laser radar to perform the next frame signal receiving and sending operation according to the adjusted scanning sequence includes: The laser radar is controlled to perform the next frame signal receiving and sending operation according to the adjusted scanning sequence and the adjusted scanning time interval.

3. The radar control method according to claim 1 or 2, characterized in that: After completing the transmission and reception of a frame of signal, and adjusting the scanning sequence of the laser radar, the method further includes: Adjust the time intervals of multiple transmissions and receptions within a laser radar frame so that the time intervals of multiple transmissions and receptions are partially or completely different.

4. The radar control method according to claim 1, characterized in that: After completing the transmission and reception of a frame of signals, adjusting the scanning order of the laser radar includes: adjusting the transmission order of the transmitting unit of the laser radar and / or adjusting the receiving order of the receiving unit of the laser radar.

5. The radar control method according to claim 2, characterized in that: The adjusting the scanning time interval includes adjusting the transmission time interval between frames and / or adjusting the transmission and reception time interval within each frame.

6. The radar control method according to claim 5, characterized in that: The adjusting the transmission and reception time interval in each frame includes adjusting the transmission time interval between every two transmission blocks in each frame and / or adjusting the reception time interval between every two reception blocks in each frame.

7. The radar control method according to claim 5, characterized in that: The adjusting the transmission time interval between frames includes adjusting the start transmission time of each frame or adjusting the start transmission time of part of the frames so that the start transmission time intervals between two frames are different.

8. A radar control device, characterized in that: include: A first adjustment unit is used to adjust the scanning order of the laser radar after completing the transmission and reception of a frame of signal, so that the scanning order of the current frame of the laser radar is not completely the same as the scanning order of the previous frame signal; The control unit is used to control the laser radar to perform the next frame signal receiving and sending operation according to the adjusted scanning sequence.

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