Radar ranging compensation method and device, electronic equipment and readable storage medium

Abstract

The invention discloses a radar ranging compensation method and device, electronic equipment and a readable storage medium, and belongs to the technical field of radar ranging. The method comprises the steps that under the condition that a radar system carries out distance measurement, a first distance measured by the radar system and a target compensation value are acquired, and the target compensation value comprises a first compensation value related to a channel arranged in the radar system and a second compensation value related to temperature; and compensating the first distance according to the target compensation value. According to the scheme provided by the invention, the problem that the range finding stability of the laser radar receiving end is poor due to the influence of different channel delays and temperatures in the laser radar in the prior art can be solved.

Description

Technical Field

[0001] This application belongs to the technical field of radar ranging, and particularly relates to a radar ranging compensation method, device, electronic device and readable storage medium. Background Art

[0002] The transmitting end of a lidar emits laser light, and the receiving end receives the reflected echo of the laser light hitting an object, and the flight time of the laser can be obtained as the time difference between the transmitting end emitting the laser light and the receiving end receiving the reflected echo. After determining the flight time of the laser, the distance between the lidar and the object can be obtained through the Time of Flight (TOF) principle. However, in the case where the absolute ranging between the lidar and each ranging point where the objects are located is the same, since different ranging points may select different optical signal receiving channels or Trans Impedance Amplifier (TIA) channels in the lidar, affected by the different delay effects of different channels and different temperature conditions, the distances measured by the lidar are not the same as the true distances of each ranging point. Thus, affected by the different channel delays and the temperature in the lidar, there is a problem of poor ranging stability at the receiving end of the existing lidar technology. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a radar ranging compensation method, device, electronic device and medium, which can solve the problem.

[0004] In a first aspect, the embodiments of this application provide a radar ranging compensation method, and the method includes:

[0005] When the radar system performs ranging, obtain a first distance measured by the radar system and a target compensation value, where the target compensation value includes a first compensation value related to the channels set in the radar system and a second compensation value related to temperature;

[0006] Compensate the first distance according to the target compensation value.

[0007] Optionally, the method further includes:

[0008] Measure each first channel set in the radar system to obtain the first compensation value corresponding to each first channel, where the first channels include avalanche photodiodes, transimpedance amplifiers and at least one other amplifier;

[0009] And / or,

[0010] Collect the second compensation values respectively corresponding to at least one fixed ranging point under M temperature conditions, where the M temperature conditions are all different, and M is an integer greater than 2;

[0011] Wherein, the target compensation value is the first compensation value corresponding to the target channel and / or the second compensation value corresponding to the target temperature condition, and the target channel is any one of the first channels.

[0012] Optionally, the first channel includes a photodetector and a transimpedance amplifier. For each first channel provided in the measurement radar system, obtaining the first compensation value corresponding to each first channel includes at least one of the following:

[0013] Testing each photodetector in the radar system based on a target test link to obtain the compensation value corresponding to each photodetector;

[0014] Testing each transimpedance amplifier in the radar system based on a target test link to obtain the compensation value corresponding to each transimpedance amplifier.

[0015] Optionally, measuring each first channel provided in the radar system based on a target test link to obtain the first compensation value corresponding to each first channel includes:

[0016] Controlling only the target channel to work in the target test link, and acquiring the input signal and the output signal in the target test link;

[0017] Acquiring the time difference between the input signal and the output signal, and obtaining the first compensation value corresponding to the target channel according to the time difference.

[0018] Optionally, measuring each first channel provided in the radar system based on a target test link to obtain the first compensation value corresponding to each first channel includes:

[0019] Obtaining a compensation mapping relationship based on the first compensation values respectively corresponding to each first channel;

[0020] Storing the compensation mapping relationship in the radar system;

[0021] When the radar system performs ranging, acquiring the first distance measured by the radar system and the target compensation value includes:

[0022] When the radar system selects the target channel for ranging, acquiring the first distance, and determining the first compensation value corresponding to the target channel in the compensation mapping relationship as the target compensation value.

[0023] Optionally, collecting the second compensation values respectively corresponding to at least one fixed ranging point under M temperature conditions includes:

[0024] Collect the second distances respectively corresponding to at least one of the fixed ranging points under the M temperature conditions;

[0025] Based on the second distances corresponding to each of the fixed ranging points under each of the temperature conditions, and the absolute distances between each of the fixed ranging points and the radar system, obtain a second compensation value.

[0026] Optionally, after collecting the second compensation values respectively corresponding to at least one fixed ranging point under the M temperature conditions, further include:

[0027] Based on the second compensation values corresponding to one of the fixed ranging points under the M temperature conditions, obtain a first compensation curve;

[0028] Divide the M temperatures into S temperature intervals, where S is an integer greater than 1;

[0029] Based on each of the first compensation curves corresponding to the target temperature interval, obtain the slope and intercept corresponding to the target temperature interval, where the target temperature interval is any one of the S temperature intervals;

[0030] Based on the slope and intercept corresponding to the target temperature interval, obtain the target compensation curve.

[0031] In a second aspect, an embodiment of the present application provides a radar ranging compensation device, including:

[0032] A first acquisition module, configured to acquire a first distance and a target compensation value measured by the radar system when the radar system performs ranging, where the target compensation value includes a first compensation value related to a channel set in the radar system and a second compensation value related to temperature;

[0033] A compensation module, configured to compensate the first distance according to the target compensation value.

[0034] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the radar ranging compensation method described in the first aspect are implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the radar ranging compensation method described in the first aspect are implemented.

[0036] In an embodiment of the present application, when the radar system performs ranging, the first distance measured by the radar system is obtained. At the same time, the current temperature condition when the radar system measures the first distance, or the target compensation value corresponding to the channel used by the system to measure the distance, or a certain channel simultaneously used by the radar system under the current temperature condition is obtained, so as to obtain the corresponding target compensation value. In this way, the obtained first distance can be compensated by the target compensation value to reduce the delay difference caused by the receiving end of the radar system. For different decoupled delay factors at the receiving end of the radar system, corresponding target compensation values are used to improve the ranging accuracy of the radar system and improve the point cloud effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for describing the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 is a flowchart of a radar ranging compensation method provided by an embodiment of the present application;

[0039] Figure 2 is a schematic diagram of the received signal of the reflected light in the radar system;

[0040] Figure 3 is a structural diagram of a radar ranging compensation device provided by an embodiment of the present application;

[0041] Figure 4 is a structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0043] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0044] The radar ranging compensation method, device and related equipment provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0045] Please refer to Figure 1 , Figure 1 : is a flow chart of a radar ranging compensation method provided by an embodiment of the present application. Figure 1 As shown, the radar ranging compensation method includes the following steps:

[0046] S101. When a radar system performs ranging, obtain a first distance and a target compensation value measured by the radar system, wherein the target compensation value includes a first compensation value related to a channel set in the radar system and a second compensation value related to temperature.

[0047] See also Figure 2 It should be noted that the radar system in the present application can be a laser radar ranging system, whose transmitting end emits laser, the laser is sent to the object to be measured, and is reflected by the object, and the reflected echo is collected by the receiving end of the laser radar ranging system. Among them, the receiving end of the radar system is provided with a photodetector, a transimpedance amplifier (Trans-Impedance Amplifier, TIA), etc., and the photodetector can be composed of a photoelectric conversion array, and the photoelectric conversion array includes multiple ranging channels.

[0048] In addition, different temperature conditions will affect the response time of the distance measurement channel corresponding to the photoelectric conversion module or the response time of the channel corresponding to the TIA. In one implementation, as the temperature increases, the transmission delay tends to increase, resulting in different distances measured for the same distance measurement point. The higher the temperature, the longer the measured distance.

[0049] In an embodiment of the present application, the measured target compensation values corresponding to each channel in the radar system or the target compensation values corresponding to different temperature conditions can be imported into the radar system in advance. In this way, when the radar system has a ranging requirement, the corresponding target compensation value can be found according to the channel used by the radar system to obtain the first distance, and the target compensation value corresponding to the current temperature condition can also be confirmed. The embodiment of the present application takes into account the influence of temperature and the channel used in the ranging process of the radar system, determines the target compensation value according to the channel used and the temperature during ranging, and can also select one of the corresponding target compensation value of the used channel and the target compensation value corresponding to the current temperature.

[0050] It can be seen that the above embodiments can simultaneously consider the influence of different channels and different temperature conditions on the ranging of the radar system, compensate for the delay caused by different channels and different temperature effects, so as to improve the point cloud stratification phenomenon caused by the abnormal difference at the receiving end of the radar system, improve the absolute distance error phenomenon caused by temperature, and improve the ranging stability of the receiving end of the radar system.

[0051] S102. Compensate the first distance according to the target compensation value.

[0052] It can be understood that according to the target compensation value corresponding to the aforementioned obtained channel, or the target compensation value corresponding to the temperature, or the target compensation value corresponding to the combined action of the used channel and the current temperature, the compensation of the first distance is completed to obtain a more accurate distance, which is the more accurate distance measured by the radar system.

[0053] For example, the first distance can be compensated by the following formula:

[0054] DIST cur = DIST pre - DL TIAx ;

[0055] where DIST pre is the first distance; DL TIAx is the target compensation value corresponding to the TIA delay; DIST cur is the distance after the first distance is compensated.

[0056] Optionally, the method further includes:

[0057] Measuring each first channel set in the radar system based on a target test link to obtain a first compensation value corresponding to each first channel, where the first channel includes an avalanche photodiode, a transimpedance amplifier, and at least one other amplifier;

[0058] and / or,

[0059] Collect second compensation values respectively corresponding to at least one fixed ranging point under M temperature conditions, where the M temperature conditions are all different, and M is an integer greater than 2;

[0060] Wherein, the target compensation value is the first compensation value corresponding to the target channel and / or the second compensation value corresponding to the target temperature condition, and the target channel is any one of the first channels.

[0061] It should be understood that the above target temperature can be any one of the M temperature conditions, or any temperature outside the M temperature conditions, and the present application does not limit this.

[0062] In an embodiment of the present application, to determine the target compensation value, the first compensation values corresponding to each channel in the radar system can be pre-stored in the radar system, and then the first compensation value corresponding to the channel used in the actual ranging of the radar system can be determined according to the channel. Similarly, the second compensation values corresponding to the radar system under different temperature conditions can also be pre-stored in the radar system. When the radar system performs distance measurement under a certain temperature condition, the second compensation value corresponding to the current temperature can be found. In this way, according to the different channels and different temperatures used in the radar system ranging, the corresponding first compensation value and second compensation value are obtained, the target compensation value is determined, and the compensation for the first distance is completed, which can consider the influence of different channels and different temperature conditions on the radar system ranging, compensate for the delay caused by different channels and different temperature influences, and improve the ranging stability of the receiving end of the radar system.

[0063] It can be understood that collecting the second compensation value of the radar system at different temperatures can be specifically determined by collecting the distances measured by the radar system for a fixed ranging point under different temperature conditions.

[0064] Optionally, the first channel includes a photodetector and a transimpedance amplifier. Measuring each first channel set in the measurement radar system to obtain the first compensation value corresponding to each first channel includes at least one of the following:

[0065] Testing each photodetector in the radar system based on a target test link to obtain the compensation value corresponding to each photodetector;

[0066] Testing each transimpedance amplifier in the radar system based on a target test link to obtain the compensation value corresponding to each transimpedance amplifier.

[0067] It is worth mentioning that the target test link can be a circuit device for testing the chip to be tested (the chip to be tested can be a photoelectric conversion chip or TIA arranged in the radar system). Among them, the photodetector can be a photodiode (PD), an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), etc. Different chips can be applied according to different application scenarios of radar system ranging, and this application does not limit it here.

[0068] For example, when the target test link is a tooling for testing APD in a radar system, the tooling can be used to power a single APD and ensure that the voltage in the circuit is constant, so that the APD is in a working state for easy testing of the APD. Similarly, when the chip to be tested is a TIA, each channel corresponding to the TIA can be tested separately through the target test link to determine the first compensation value corresponding to each channel.

[0069] Optionally, measuring each first channel set in the radar system based on the target test link to obtain a first compensation value corresponding to each first channel includes:

[0070] Controlling only the target channel in the target test link to work, and obtaining input signals and output signals in the target test link;

[0071] A time difference between the input signal and the output signal is obtained, and the first compensation value corresponding to the target channel is obtained according to the time difference.

[0072] In a specific embodiment of the present application, the target test link can be used as a circuit in a test tool for testing the delay of a single channel, and can test each channel one by one to determine its first compensation value. In addition, an oscilloscope can be provided in the test tool, and the oscilloscope has its own signal generator for measuring input signals and output signals. For example, the input and output ends of the APD are connected to the oscilloscope, the signal generator generates a signal and inputs it to the APD, the input signal and output signal of the APD can be measured by the oscilloscope, and the delay value DL corresponding to the APD can be obtained according to the time difference between the input signal and the output signal. APD , thereby determining the delay value as the first compensation value.

[0073] Optionally, measuring each first channel set in the radar system based on the target test link to obtain a first compensation value corresponding to each first channel includes:

[0074] Based on the first compensation values respectively corresponding to each of the first channels, a compensation mapping relationship is obtained;

[0075] The compensation mapping relationship is stored in the radar system;

[0076] When the radar system performs ranging, obtaining the first distance measured by the radar system and the target compensation value includes:

[0077] When the radar system selects the target channel for ranging, the first distance is obtained, and the first compensation value corresponding to the target channel in the compensation mapping relationship is determined as the target compensation value.

[0078] In another embodiment of the present application, the first compensation mapping relationship may represent the correspondence between each channel in the radar system and each first compensation value, and can be stored in the flash memory of the radar system in the form of a data table. In this way, when the radar system performs ranging, according to the channel used to measure the first distance, the compensation mapping relationship stored in the flash memory of the radar system is read, the channel used is searched in the compensation mapping relationship, and the first compensation value corresponding to the channel is determined. And this first compensation value can be determined as the target compensation value for compensating the measured first distance, completing ranging compensation, and improving the ranging stability of the receiving end of the radar system.

[0079] Optionally, collecting the second compensation values respectively corresponding to at least one fixed ranging point under M temperature conditions includes:

[0080] Collecting the second distances respectively corresponding to at least one of the fixed ranging points under the M temperature conditions;

[0081] Based on the second distances respectively corresponding to each of the fixed ranging points under each of the temperature conditions, and the absolute distance between each of the fixed ranging points and the radar system, the second compensation value is obtained.

[0082] In an optional embodiment of the present application, the second compensation value can be obtained by the difference between the actually measured distance (i.e., the second distance) collected by the radar system for the fixed ranging point and the absolute distance (the accurate distance between the fixed ranging point and the radar system). In this way, determining the compensation value based on the actually existing deviation can more accurately determine the compensation value of the first distance and reduce the error caused by the ranging delay of the radar system.

[0083] Optionally, after collecting the second compensation values respectively corresponding to at least one fixed ranging point under M temperature conditions, it further includes:

[0084] Based on the second compensation values corresponding to one of the fixed ranging points under the M temperature conditions respectively, a first compensation curve is obtained;

[0085] The M temperatures are divided into S temperature intervals, where S is an integer greater than 1;

[0086] Based on each of the first compensation curves corresponding to the target temperature interval, the slope and intercept corresponding to the target temperature interval are obtained, where the target temperature interval is any one of the S temperature intervals;

[0087] Based on the slope and intercept corresponding to the target temperature interval, the target compensation curve is obtained.

[0088] In the embodiments of the present application, after determining the second compensation value, the second compensation values corresponding to the same fixed ranging point under different temperature conditions can also be converted into a linear curve. For example, different temperatures are used as the abscissa, and the second compensation values corresponding to different temperatures are used as the ordinate to establish a linear curve (i.e., the first compensation curve). In this way, each fixed ranging point can correspond to a linear curve. Fitting multiple first compensation curves can be to add multiple first compensation curves together to reduce errors and improve data accuracy.

[0089] It should be noted that the target compensation curve can be a piecewise linear curve with multiple intervals. The M measured temperatures can be divided into multiple temperature intervals, such as [T1, T2], [T2, T3], [T3, T4], etc. The temperature intervals can be divided according to different delay effects corresponding to different temperatures. Since each fixed ranging point corresponds to a first compensation curve, the curves in the same temperature interval in the first compensation curve of each fixed ranging point can be added up to obtain the slope and intercept, and then converted into a target compensation curve. Each temperature interval corresponds to each other and is added up to obtain the curves corresponding to each of the multiple temperature intervals, which are integrated into the following formula:

[0090]

[0091] where d is the second compensation value; a1 is the compensation slope corresponding to the first temperature interval; b1 is the compensation intercept value corresponding to the first temperature interval; a2 is the compensation slope corresponding to the second temperature interval; b2 is the compensation intercept value corresponding to the second temperature interval; T1 is the lowest temperature of the first temperature interval; T2 is the highest temperature of the first temperature interval or the lowest temperature of the second temperature interval; T3 is the highest temperature of the second temperature interval; a n is the compensation slope corresponding to the nth temperature interval; b n is the compensation intercept value corresponding to the first temperature interval; T n-1is the lowest temperature of the nth temperature range; T n is the highest temperature of the nth temperature range.

[0092] It can be seen that the determined target compensation curve can be stored in the Flash memory of the radar system. After the radar system restarts, the processor can read the target compensation curve in the memory to determine the second compensation value at the current temperature for temperature compensation. In this way, the radar system can quickly obtain the compensation value corresponding to the current temperature, complete the compensation for the first distance in a timely manner, and reduce the ranging error caused by temperature.

[0093] Please refer to Figure 3 , in another embodiment of the present application, a radar ranging compensation device 200 is provided, including:

[0094] A first acquisition module 201, configured to acquire the first distance and the target compensation value measured by the radar system when the radar system performs ranging, where the target compensation value includes a first compensation value related to the channels set in the radar system and a second compensation value related to temperature;

[0095] A compensation module 202, configured to compensate the first distance according to the target compensation value.

[0096] Optionally, the radar ranging compensation device 200 further includes:

[0097] A second acquisition module, configured to measure each first channel set in the radar system to obtain the first compensation value corresponding to each first channel, where the first channel includes an avalanche photodiode, a transimpedance amplifier, and at least one other amplifier;

[0098] and / or,

[0099] An acquisition module, configured to acquire the second compensation values corresponding to at least one fixed ranging point under M temperature conditions, where the M temperature conditions are all different, and M is an integer greater than 2;

[0100] Wherein, the target compensation value is the first compensation value corresponding to the target channel and / or the second compensation value corresponding to the target temperature condition, and the target channel is any one of the first channels.

[0101] Optionally, the first channel includes a photodetector and a transimpedance amplifier, and the second acquisition module is used for at least one of the following:

[0102] Testing each photodetector in the radar system based on a target test link to obtain the compensation value corresponding to each photodetector;

[0103] Test each transimpedance amplifier in the radar system based on a target test link to obtain a compensation value corresponding to each transimpedance amplifier.

[0104] Optionally, the second acquisition module includes:

[0105] A first acquisition sub-module, configured to control only the target channel in the target test link to work, and acquire an input signal and an output signal in the target test link;

[0106] A second acquisition sub-module, configured to acquire a time difference between the input signal and the output signal, and obtain the first compensation value corresponding to the target channel according to the time difference.

[0107] Optionally, the second acquisition module includes:

[0108] A third acquisition sub-module, configured to obtain a compensation mapping relationship based on the first compensation values respectively corresponding to each of the first channels;

[0109] A storage sub-module, configured to store the compensation mapping relationship in the radar system;

[0110] The first acquisition module 201 includes:

[0111] A fourth acquisition sub-module, configured to, when the radar system selects the target channel for ranging, acquire the first distance, and determine the first compensation value corresponding to the target channel in the compensation mapping relationship as the target compensation value.

[0112] Optionally, the acquisition module includes:

[0113] An acquisition sub-module, configured to acquire second distances respectively corresponding to at least one of the fixed ranging points under the M temperature conditions;

[0114] A fifth acquisition sub-module, configured to obtain a second compensation value based on the second distances respectively corresponding to each of the fixed ranging points under each of the temperature conditions, and the absolute distance between each of the fixed ranging points and the radar system.

[0115] Optionally, the acquisition module further includes:

[0116] A sixth acquisition sub-module, configured to obtain a first compensation curve based on the second compensation values respectively corresponding to one of the fixed ranging points under the M temperature conditions;

[0117] A division sub-module, configured to divide the M temperatures into S temperature intervals, where S is an integer greater than 1;

[0118] A seventh acquisition sub-module, configured to obtain a slope and an intercept corresponding to the target temperature range based on each of the first compensation curves corresponding to the target temperature range, where the target temperature range is any one of the S temperature ranges;

[0119] An eighth acquisition sub-module, configured to obtain the target compensation curve based on the slope and the intercept corresponding to the target temperature range.

[0120] The radar ranging compensation device 200 provided in the embodiments of the present application can implement Figure 1 each process implemented by the method embodiments. To avoid repetition, details are not described herein again.

[0121] See Figure 4 , Figure 4 is a structural diagram of an electronic device provided in another embodiment of the present application. As Figure 4 shown, the electronic device 300 includes: a processor 301, a memory 302, and a computer program stored on the memory 302 and executable on the processor. Each component in the electronic device 300 is coupled together through a bus interface 305. When the computer program is executed by the processor 301, the following steps are implemented:

[0122] When the radar system performs ranging, obtain a first distance measured by the radar system and a target compensation value, where the target compensation value includes a first compensation value related to a channel set in the radar system and a second compensation value related to temperature;

[0123] Compensate the first distance according to the target compensation value.

[0124] Optionally, when the processor 301 executes, the following steps can also be implemented:

[0125] Measure each first channel set in the radar system to obtain a first compensation value corresponding to each first channel, where the first channel includes an avalanche photodiode, a transimpedance amplifier, and at least one other amplifier;

[0126] And / or,

[0127] Collect second compensation values respectively corresponding to at least one fixed ranging point under M temperature conditions, where the M temperatures are all different, and M is an integer greater than 2;

[0128] Wherein, the target compensation value is the first compensation value corresponding to the target channel and / or the second compensation value corresponding to the target temperature condition, and the target channel is any one of the first channels.

[0129] Optionally, the first channel includes a photodetector and a transimpedance amplifier. For each first channel provided in the measurement radar system, obtaining the first compensation value corresponding to each first channel includes at least one of the following:

[0130] Testing each photodetector in the radar system based on a target test link to obtain the compensation value corresponding to each photodetector;

[0131] Testing each transimpedance amplifier in the radar system based on a target test link to obtain the compensation value corresponding to each transimpedance amplifier.

[0132] Optionally, when the processor 301 executes, the following steps are implemented:

[0133] Control only the target channel in the target test link to work, and obtain the input signal and the output signal in the target test link;

[0134] Obtain the time difference between the input signal and the output signal, and obtain the first compensation value corresponding to the target channel according to the time difference.

[0135] Optionally, when the processor 301 executes, the following steps are implemented:

[0136] Obtain a compensation mapping relationship based on the first compensation value corresponding to each first channel respectively;

[0137] Store the compensation mapping relationship in the radar system;

[0138] When the radar system performs ranging, obtaining the first distance measured by the radar system and the target compensation value includes:

[0139] When the radar system selects the target channel for ranging, obtain the first distance, and determine the first compensation value corresponding to the target channel in the compensation mapping relationship as the target compensation value.

[0140] Optionally, when the processor 301 executes, the following steps are implemented:

[0141] Collect the second distances corresponding to at least one of the fixed ranging points under the M temperature conditions respectively;

[0142] Based on the second distance corresponding to each fixed ranging point under each temperature condition, and the absolute distance between each fixed ranging point and the radar system, obtain the second compensation value.

[0143] Optionally, when the processor 301 executes, the following steps are implemented:

[0144] Based on the second compensation values respectively corresponding to one of the fixed ranging points under the M temperature conditions, a first compensation curve is obtained;

[0145] The M temperatures are divided into S temperature intervals, where S is an integer greater than 1;

[0146] Based on each of the first compensation curves corresponding to the target temperature interval, the slope and intercept corresponding to the target temperature interval are obtained, where the target temperature interval is any one of the S temperature intervals;

[0147] Based on the slope and intercept corresponding to the target temperature interval, the target compensation curve is obtained.

[0148] It should be noted that the electronic devices provided in the embodiments of the present application are all devices capable of executing the radar ranging compensation method in the above embodiments. All implementation manners in the above embodiments of the radar ranging compensation method are applicable to the electronic devices, and all can achieve the same or similar beneficial effects. To avoid repetition, this embodiment will not be described in detail.

[0149] The embodiments of the present application further provide a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the above Figure 1 each process of the embodiments of the radar ranging compensation method is implemented, and the same technical effects can be achieved. To avoid repetition, it will not be described here.

[0150] Among them, the processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disc, etc.

[0151] It should be noted that in this text, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising such element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but may also include performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0152] From the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions for causing a terminal (which can be a mobile phone, computer, computing power network, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0153] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them fall within the protection scope of the present application.

Claims

1. A radar ranging compensation method, characterized in that, Including: When the radar system performs ranging, obtaining a first distance measured by the radar system and a target compensation value, where the target compensation value includes a first compensation value related to a channel set in the radar system and a second compensation value related to temperature; Compensating the first distance according to the target compensation value.

2. The method according to claim 1, wherein The method further includes: Measuring each first channel set in the radar system to obtain the first compensation value corresponding to each first channel; And / or Collecting the second compensation values respectively corresponding to at least one fixed ranging point under M temperature conditions, where the M temperature conditions are all different, and M is an integer greater than 2; Wherein, the target compensation value is the first compensation value corresponding to the target channel and / or the second compensation value corresponding to the target temperature condition, and the target channel is any one of the first channels.

3. The method according to claim 2, wherein The first channel includes a photodetector and a transimpedance amplifier. Measuring each first channel set in the radar system to obtain the first compensation value corresponding to each first channel includes at least one of the following: Testing each photodetector in the radar system based on a target test link to obtain the compensation value corresponding to each photodetector; Testing each transimpedance amplifier in the radar system based on a target test link to obtain the compensation value corresponding to each transimpedance amplifier.

4. The method according to claim 2, wherein Measuring each first channel set in the radar system to obtain the first compensation value corresponding to each first channel includes: Controlling only the target channel to work in the target test link, and obtaining the input signal and the output signal in the target test link; Obtaining the time difference between the input signal and the output signal, and obtaining the first compensation value corresponding to the target channel according to the time difference.

5. The method according to claim 2, wherein Measuring each first channel set in the radar system to obtain the first compensation value corresponding to each first channel includes: Obtaining a compensation mapping relationship based on the first compensation values respectively corresponding to each first channel; Storing the compensation mapping relationship in the radar system; When the radar system performs ranging, obtaining the first distance measured by the radar system and the target compensation value includes: When the radar system selects the target channel for ranging, obtaining the first distance, and determining the first compensation value corresponding to the target channel in the compensation mapping relationship as the target compensation value.

6. The method according to claim 2, wherein Collecting the second compensation values respectively corresponding to at least one fixed ranging point under M temperature conditions includes: Collecting the second distances respectively corresponding to at least one of the fixed ranging points under the M temperature conditions; Based on the second distance corresponding to each fixed ranging point under each temperature condition and the absolute distance between each fixed ranging point and the radar system, obtaining the second compensation value.

7. The method according to claim 6, wherein After collecting the second compensation values respectively corresponding to at least one fixed ranging point under M temperature conditions, it further includes: Based on the second compensation values respectively corresponding to one of the fixed ranging points under the M temperature conditions, a first compensation curve is obtained; The M temperatures are divided into S temperature intervals, where S is an integer greater than 1; Based on each of the first compensation curves corresponding to the target temperature interval, the slope and intercept corresponding to the target temperature interval are obtained, where the target temperature interval is any one of the S temperature intervals; Based on the slope and intercept corresponding to the target temperature interval, the target compensation curve is obtained.

8. A radar ranging compensation device, characterized in that, It includes: A first acquisition module, configured to acquire a first distance measured by the radar system and a target compensation value when the radar system performs ranging, where the target compensation value is related to temperature and / or related to a channel set in the radar system; A compensation module, configured to compensate the first distance according to the target compensation value.

9. An electronic device, characterized in that, It includes a processor and a memory, and the memory stores a program or instruction that can run on the processor. When the program or instruction is executed by the processor, the steps of the radar ranging compensation method according to any one of claims 1-7 are implemented.

10. A computer-readable storage medium, characterized in that, A program or instruction is stored on the readable storage medium. When the program or instruction is executed by a processor, the steps of the radar ranging compensation method according to any one of claims 1-7 are implemented.

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