Radar control method and device, terminal equipment and computer readable storage medium

Abstract

The invention is suitable for the technical field of radars, and provides a radar control method and device, terminal equipment and a computer readable storage medium, and the method comprises the steps: controlling a laser radar to move for a preset step in a scanning direction after the laser radar completes a detection laser emission task of a current emission channel, and transmitting detection laser through a next emission channel, the emission task of the detection laser is completed by all the emission channels; wherein the preset step is smaller than the divergence angle of the scanning light spot of the current transmitting channel; filtering the echo data received by the current receiving channel according to the echo data received by the adjacent receiving channels to obtain a scanning result of the current receiving channel, and setting the moving step of the laser radar to be smaller than the divergence angle of the scanning light spot of each transmitting channel, so that the scanning light spots between the adjacent transmitting channels are overlapped to obtain a scanning result of the current receiving channel. The correlation of adjacent transmitting channels is improved, and the detection capability of the laser radar on a small target object is improved.

Description

[0001] This application is a divisional application. The application number of the original application is 202211615592.9, the filing date of the original application is December 15, 2022, and the entire content of the original application is incorporated herein by reference. Technical Field

[0002] This application belongs to the field of radar technology, and particularly relates to a radar control method, a terminal device, and a computer-readable storage medium. Background Art

[0003] Due to its advantages of high resolution, high sensitivity, and being unaffected by dark conditions, lidar is commonly used in fields such as autonomous driving, logistics vehicles, robots, and public intelligent transportation.

[0004] However, when using lidar for detection, it is often affected by interference between channels, interference between different external lidars, and environmental noise interference, etc., which reduces the accuracy of lidar detection. And using existing solutions to solve crosstalk will have the problem of low detection ability for small targets. Summary of the Invention

[0005] Embodiments of this application provide a radar control method, device, terminal device, and computer-readable storage medium, which can solve lidar crosstalk while ensuring the detection of small targets and improving the accuracy of radar detection.

[0006] In a first aspect, embodiments of this application provide a radar control method, including:

[0007] After the lidar completes the detection laser emission task of the current emission channel, control the lidar to move a preset step along the scanning direction, and emit detection laser through the next emission channel; wherein, the preset step is smaller than the divergence angle of the scanning spot of the current emission channel; when the current emission channel emits detection laser, it emits according to the jitter delay corresponding to the current emission channel;

[0008] Filter the echo data received by the current receiving channel according to the echo data received by adjacent receiving channels to obtain the scanning result of the current receiving channel.

[0009] In one implementation manner of the first aspect, before filtering the echo data received by the current receiving channel according to the echo data received by adjacent receiving channels to obtain the scanning result of the current receiving channel, the method includes:

[0010] Obtain the echo data received by adjacent receiving channels and the echo data received by the current receiving channel according to the jitter delay.

[0011] In an implementation of the first aspect, filtering the echo data received by the current receiving channel according to the echo data received by adjacent receiving channels to obtain the scanning result of the current receiving channel includes: when there is a target point in the echo data received by the current receiving channel, identifying whether the target point is a noise point according to the echo data received by the adjacent receiving channels; if the target point is the noise point, deleting the echo data corresponding to the target point.

[0012] In an implementation of the first aspect, when there is a target point in the echo data received by the current receiving channel, identifying whether the target point is a noise point according to the echo data received by the adjacent receiving channels includes:

[0013] Judging whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channels;

[0014] If there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channels, determining that the target point is a valid point; otherwise, determining that the target point is a noise point.

[0015] In an implementation of the first aspect, judging whether there is a valid point corresponding to the target in the echo data received by the adjacent receiving channels includes:

[0016] Obtaining the position information of the target point;

[0017] Judging whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channels according to the position information of the target point.

[0018] In an implementation of the first aspect, judging whether there is a valid point corresponding to the target in the echo data received by the adjacent receiving channels includes:

[0019] Obtaining the detection time of the target point;

[0020] Judging whether there is a valid point corresponding to the target in the echo data received by the adjacent receiving channels according to the detection time of the target point.

[0021] In an implementation of the first aspect, the correlation degree of the jitter delays of the respective transmitting channels is less than a preset threshold.

[0022] In an implementation of the first aspect, the echo data received by the current receiving channel is the echo data received by the current receiving channel within a preset time;

[0023] Or the echo data received by the current receiving channel is the echo data received by the current receiving channel after scanning a preset area.

[0024] Second aspect, an embodiment of the present application provides a radar control device, including:

[0025] A control module, configured to, after the lidar completes the detection laser emission task of the current emission channel, control the lidar to move a preset step along the scanning direction, and emit detection laser through the next emission channel until all emission channels complete the detection laser emission task; wherein, the preset step is smaller than the divergence angle of the scanning spot of the current emission channel; when the current emission channel emits detection laser, it emits according to the jitter delay corresponding to the current emission channel;

[0026] A filtering module, configured to filter the echo data received by the current receiving channel according to the echo data received by adjacent receiving channels to obtain the scanning result of the current receiving channel.

[0027] Third aspect, an embodiment of the present application provides a terminal device, the terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, it implements the radar control method as described in the first aspect or any optional manner of the first aspect.

[0028] Fourth aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the radar control method as described in the first aspect or any optional manner of the first aspect.

[0029] Fifth aspect, an embodiment of the present application provides a computer program product, when the computer program product runs on a terminal device, it causes the terminal device to execute the radar control method as described in the above first aspect or any optional manner of the first aspect.

[0030] The beneficial effects of the embodiments of the present application compared with the prior art are:

[0031] Implementing a radar control method, a terminal device, a computer-readable storage medium, and a computer program product provided by the embodiments of the present application has the following beneficial effects:

[0032] The radar control method provided by the embodiments of the present application can make the scanning spots between adjacent emission channels overlap by setting the step of the lidar movement to be smaller than the divergence angle of the scanning spot of the current emission channel, so as to improve the correlation between adjacent emission channels, so as to use the echo data received by adjacent emission channels to filter the echo data received by the target emission channel, reduce the situation of misidentifying valid points as noise, improve the detection ability of the lidar for small target objects, and improve the accuracy of radar detection. Description of the Drawings

[0033] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0034] Figure 1 is a schematic implementation flowchart of a radar control method provided by an embodiment of the present application;

[0035] Figure 2 is a schematic diagram of a scanning scenario of the radar control method provided by an embodiment of the present application;

[0036] Figure 3 is a schematic diagram of the overlapping situation of the scanning light spots of each transmitting channel in an embodiment of the present application;

[0037] Figure 4 is a schematic diagram of the overlapping situation of the scanning light spots corresponding to different detection fields of view in an embodiment of the present application;

[0038] Figure 5 is a schematic diagram of the overlapping situation of the scanning light spots corresponding to different detection fields of view in an embodiment of the present application;

[0039] Figure 6 is a schematic diagram of the signal transmission process of the radar control method provided by an embodiment of the present application;

[0040] Figure 7 is a schematic structural diagram of a radar control device provided by an embodiment of the present application;

[0041] Figure 8 is a schematic structural diagram of a terminal device provided by an embodiment of the present application. Detailed implementation manners

[0042] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are presented to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can 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 avoid unnecessary details from interfering with the description of the present application.

[0043] It should be understood that the term "and / or" used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations. In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0044] It should also be understood that referring to "one embodiment" or "some embodiments" described in the specification of the present application means that specific features, structures, or characteristics described in connection with that embodiment are included in one or more embodiments of the present application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0045] For lidars based on the direct time-of-flight principle, multiple-pulse coding or single-pulse jitter coding methods are usually used to reduce interference between channels, interference between different lidars from the outside, and environmental noise interference, etc. Among them, multiple-pulse coding means that each channel emits multiple pulse signals, and the emission interval of the pulse signals emitted multiple times is controlled, and the received results of the pulse signals emitted multiple times are analyzed to reduce the interference between different channels. However, the emission method of multiple-pulse coding will bring power consumption multiplied by the response multiple, and at the same time, the corresponding circuit also needs to have a corresponding loop support, increasing the hardware cost and the complexity of the hardware circuit. Among them, the single-pulse jitter coding method means that for each channel, a jitter time is added each time it emits, and in this way, the interference between received signals is reduced. However, when processing the received data, this method will delete the valid points (small target objects) that exist in isolation as noise. Therefore, the detection ability of the lidar for small targets is greatly reduced.

[0046] Based on this, the embodiments of the present application provide a radar control method. By controlling the scanning spots of adjacent channels of the radar to overlap, the correlation between adjacent channels is improved, and the echo data of adjacent channels are used to filter the isolated detection points detected by the current channel, so that small target objects can be effectively detected, and the detection ability of the lidar for small target objects is effectively improved.

[0047] It should be noted that the small target objects mentioned in the embodiments of the present application refer to target objects with a radar cross section area smaller than a preset value and are easily submerged by ground clutter and noise. The above preset value can be set according to the application scenario. For example, for a lidar applied on a ship, the above radar cross section area is set to 0.1 m 2 etc., and the present application does not make specific limitations on this.

[0048] The radar control method provided by the embodiments of the present application will be described in detail below:

[0049] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of a data processing method provided by an embodiment of the present application. The execution subject of the lidar control method provided by the embodiment of the present application can be a lidar, or a control system / module inside the lidar, or a terminal device communicatively connected to the lidar. The above terminal device can be a mobile terminal such as a smart phone, a tablet computer, or a wearable device, or a device such as a computer, a cloud server, a radar-assisted computer, etc. in various application scenarios. The following takes the lidar as the execution subject for illustration:

[0050] As Figure 1 shown, the lidar control method provided by the embodiment of the present application may include S11 to S12, which are described in detail as follows:

[0051] S11: After the lidar completes the detection laser emission task of the current emission channel, control the lidar to move a preset step along the scanning direction, and emit detection laser through the next emission channel.

[0052] Among them, the above preset step is less than the divergence angle of the scanning spot of the current emission channel.

[0053] Among them, the current emission channel emits detection laser according to the jitter delay corresponding to the current emission channel.

[0054] In specific applications, the above preset step can be set according to actual application requirements, and the present application does not make specific limitations on this.

[0055] Among them, the divergence angle of the scanning spot refers to the angle of the luminous point corresponding to the diameter of the scanning spot along the preset direction within the preset detection distance. The preset detection distance can be set according to the detection requirements of the radar.

[0056] In specific applications, in the same emission cycle, each emission channel only emits detection laser once, which can reduce the overall power consumption of the lidar. Then, by setting the preset step to be less than the emission angle of the scanning spot of the current emission channel, there is an overlap between the scanning spots of adjacent emission channels. By setting the overlap between the spots of adjacent emission channels, the correlation between adjacent emission channels can be effectively improved, so as to filter the echo data received by the current emission channel using the echo data received by adjacent emission channels, reduce the situation of misidentifying valid points as noise, and improve the detection ability of the lidar for small-volume / small-area target objects. At the same time, by setting the emission jitter delay between adjacent emission channels in the same emission, interference between adjacent emission channels can be avoided.

[0057] In an optional embodiment of the present application, the divergence angles of the scanning spots of the above-mentioned respective emission channels are equal. That is, the range that the scanning spot of each emission channel can scan is the same.

[0058] In another alternative embodiment of the present application, the divergence angles of the scanning light spots of the above-mentioned respective emission channels are not necessarily equal, and the divergence angles of the scanning light spots of the emission channels at different positions are different.

[0059] It can be understood that the above-mentioned preset step can be set according to the divergence angle of the scanning light spot of the emission channel. When the divergence angles of the scanning light spots of the emission channels at different positions are different, if the same light spot overlap degree is maintained, the preset steps for the different emission channels to move after the emission are also not equal.

[0060] It can be understood that the above-mentioned preset step can also be set according to the detection requirements of different scanning regions. For example, as Figure 4 shown, if the sizes of the emitted light spots of each emitter are the same and the arrangement density is the same, the central region requires higher detection accuracy, then a higher light spot overlap rate is needed, and the step amount should be smaller. The edge region requires lower detection accuracy, so the designed light spot overlap rate should be smaller, and then the step amount in the edge region is larger.

[0061] Among them, the total detection field of view is the central region and the edge region, and the central region is also called the target detection region, that is, the ROI region.

[0062] It can be understood that according to the detection requirements of the radar, the arrangement density of the lasers in the central region can be designed to be more dense and the scanning step can be smaller, so as to further improve the overlap rate of the scanning light spots in the central region and enhance the detection accuracy of small target objects.

[0063] Therefore, in an alternative embodiment of the present application, after the lidar completes the detection laser emission task of the current emission channel, before controlling the lidar to move a preset step along the scanning direction and emitting the detection laser through the next emission channel, the method further includes:

[0064] Obtain the detection region corresponding to the current emission channel; determine the step amount of the current emission channel moving along the scanning direction according to the detection region corresponding to the current channel.

[0065] Among them, it can be understood that determining the step amount of the current emission channel moving along the scanning direction according to the detection region corresponding to the current channel includes:

[0066] Obtain the resolution of the detection region corresponding to the current channel;

[0067] Determine the coincidence rate of the light spots in the detection region according to the resolution of the detection region;

[0068] Determine the step size along the scanning direction corresponding to the current emission channel according to the coincidence rate of the light spots and the divergence angle of the scanning light spots.

[0069] Among them, it can be understood that in an alternative embodiment of the present application, when there are two scanning directions for the lidar, the determining the coincidence rate of the light spots in the detection area according to the resolution of the detection area includes:

[0070] Determine the coincidence rate of the light spots in the first scanning direction and / or the coincidence rate of the light spots in the second scanning direction of the detection area according to the resolution of the detection area;

[0071] The determining the step size along the scanning direction corresponding to the current emission channel according to the coincidence rate of the light spots includes:

[0072] Determine the step size along the first scanning direction and / or the second scanning direction corresponding to the current emission channel according to the coincidence rate of the light spots in the first scanning direction and / or the coincidence rate of the light spots in the second scanning direction of the detection area and the divergence angle of the scanning light spots in the first scanning direction and / or the divergence angle of the scanning light spots in the second scanning direction.

[0073] It can be understood that the central area may include at least one level of detection field of view, such as the first-level detection field of view, the second-level detection field of view. It can be understood that the present application does not limit the number of detection fields of view included in the central area.

[0074] Among them, it can be understood that for different detection fields of view in the central area, the corresponding overlap rates of the light spots are different. Specifically, as Figure 5 shown, the central area includes the first-level detection field of view and the second-level detection field of view. Among them, the overlap degree of the light spots corresponding to the first-level detection field of view is the highest, and the detection accuracy is the highest. The overlap degrees of the light spots of the two second-level detection fields of view are the same. Among them, the overlap degree of the light spots of the second-level detection field of view is less than the overlap degree of the light spots of the first-level target detection field of view and greater than the overlap degree of the light spots of the edge detection field of view.

[0075] Therefore, in an alternative embodiment of the present application, after the lidar completes the detection laser emission task of the current emission channel and before controlling the lidar to move a preset step along the scanning direction and emitting the detection laser through the next emission channel, the method further includes:

[0076] Obtain the detection area corresponding to the current emission channel;

[0077] When the detection area is in the central area, obtain the detection field of view of the central area where the detection area is located;

[0078] Determine the step size of the current emission channel moving along the scanning direction according to the detection field of view corresponding to the detection area corresponding to the current channel.

[0079] In another alternative embodiment of the present application, the above lidar may include a scanning device, and controlling the lidar to move a preset step along the scanning direction may be controlling the scanning device to move a preset step along the scanning direction.

[0080] In a specific implementation, the above scanning device may be a scanning galvanometer, a rotating mirror, a rotating platform and other devices, and the present application does not limit the specific form of the scanning device.

[0081] It can be understood that controlling the lidar to move a preset step along the scanning direction may be controlling the above scanning device to move a preset step in one direction. For example, controlling the scanning device to move a preset step along the horizontal scanning direction, or it may also be controlling the scanning device to move a preset step along the vertical scanning direction.

[0082] It can be understood that controlling the lidar to move a preset step along the scanning direction may be controlling the above scanning device to move a preset step in two directions simultaneously. For example, controlling the scanning device to move a preset step in the vertical direction and the horizontal direction. It should be noted that the lidar realizes the lidar to move a preset step in the horizontal and vertical directions by controlling one scanning device. For example, the lidar can use a two-dimensional galvanometer to realize the outgoing light spot to move a preset step in the horizontal and vertical directions; it can be understood that the lidar can also realize the lidar to move a preset step in the horizontal and vertical directions by controlling at least two scanning devices. For example, the lidar can use a galvanometer to realize vertical scanning and a rotating mirror to realize horizontal scanning. It can be understood that the lidar can also use a first rotating mirror to realize vertical scanning and a second rotating mirror to realize horizontal scanning. Optionally, the lidar can also use a galvanometer to realize vertical scanning and a rotating platform to realize horizontal scanning. The present application does not limit the types and combinations of the scanning devices in the vertical and horizontal directions in the present application. Among them, it can be understood that, as a preferred implementation mode of the present application, the scanning in the two directions of the radar can be independently controlled.

[0083] Controlling the scanning device to move a preset step in the vertical direction and the horizontal direction simultaneously may be: controlling the scanning device to move the corresponding preset step in the vertical direction while controlling the scanning device to move the corresponding preset step in the horizontal scanning direction.

[0084] In an embodiment of the present application, the above lidar may include a transmitting surface array, and controlling the lidar to move a preset step along the scanning direction may be achieved by controlling the interval between the transmitting blocks corresponding to two adjacent transmissions in the transmitting surface array, so that there is an overlap between the scanning light spots when the transmitting blocks corresponding to any two adjacent transmissions are emitted.

[0085] Exemplarily, please refer toFigure 2 , Figure 2 is a schematic diagram of the scanning scenario of the radar control method provided by the embodiment of the present application.

[0086] Taking the control of the lidar to move a preset step along the scanning horizontal direction as an example, as Figure 2 shown, assuming that the step of the lidar moving along the scanning horizontal direction each time is Δθ, and the size of the scanning spot of each emission channel in the horizontal direction is δθ. After the lidar completes the signal emission of the first emission channel (corresponding to the scanning spot of the first emission channel), it will control the lidar to move a step Δθ along the scanning horizontal direction, and control the second emission channel to emit detection laser to scan the range corresponding to the scanning spot of the second emission channel. After the second emission channel completes the signal emission, it will again control the lidar to move a step Δθ along the scanning horizontal direction, and control the third emission channel to emit detection laser to scan the range corresponding to the scanning spot of the third emission channel, and so on, until the signal emission of all emission channels is completed.

[0087] Please refer to Figure 3 , Figure 3 is a schematic diagram of the overlapping situation of the scanning spots of each emission channel in the embodiment of the present application.

[0088] It can be seen from Figure 3 that there is a certain overlap in the horizontal direction between the scanning spots of the adjacent emission channels on the left and right sides of the current emission channel and the scanning spot of the current emission channel.

[0089] In order to reduce the signal interference (i.e., crosstalk) between different emission channels, the lidar can control the adjacent emission channels to emit according to their corresponding jitter delays. The lidar can set corresponding jitter delays for each parallel emission channel.

[0090] In a specific application, when the lidar controls the first emission channel to emit detection laser, it will delay the emission time by the jitter delay corresponding to the first emission channel, and emit the detection laser when reaching the jitter delay time corresponding to the first emission channel. When the lidar controls the second emission channel to emit detection laser, it will delay the emission time by the jitter delay corresponding to the second emission channel, and emit the detection laser when reaching the jitter delay time corresponding to the second emission channel.

[0091] In an embodiment of the present application, the correlation degree of the jitter delays of the above-mentioned each emission channel is less than a preset threshold.

[0092] In specific applications, the jitter delay of the emission channels is random. A pseudo-random sequence can be used as the jitter time coding sequence for the emission channels, that is, the jitter delays of the respective emission channels for parallel emission are set based on the pseudo-random sequence. However, when the cross-correlation between pseudo-random sequences is relatively large, the laser light emitted between the emission channels for parallel emission is likely to interfere with other channels. Therefore, in order to reduce the interference between the emission channels, the cross-correlation function of each pseudo-random sequence can be obtained, and the correlation degree of the jitter delays of each emission channel can be calculated according to the cross-correlation function, and the jitter delay with a cross-correlation degree less than a preset threshold is selected.

[0093] In practical applications, the cross-correlation function of multiple pseudo-random sequences can be determined by the following formula:

[0094]

[0095] where CCR(a, b, τ) is the cross-correlation function, a i represents the pseudo-random coding sequence of the current emission channel, and b i+τ represents the pseudo-random coding sequence corresponding to the adjacent emission channel for parallel emission.

[0096] Select a pair of pseudo-random sequences with a cross-correlation coefficient less than the preset threshold as the jitter delay of the current emission channel and the jitter delay of the next emission channel. In the above manner, the jitter delay corresponding to each emission channel in the lidar can be determined.

[0097] The above preset threshold can be related to the physical distance between adjacent emission channels. It can be understood that the cross-correlation coefficient between parallel emission channels that are closer is smaller, and it is set according to actual needs. This application does not make specific limitations in this regard.

[0098] In an embodiment of the present application, the jitter time delays of the respective emission channels are not equal. In the case where the jitter time delays of the respective emission channels are not equal, the cross-correlation of the above pseudo-random sequences is the smallest.

[0099] Exemplarily, please refer to Figure 6 , Figure 6 which is a schematic diagram of the signal emission process of the radar control method provided by the embodiment of the present application.

[0100] As Figure 6 shown, for example, the lidar can have three emission channels for parallel emission. The jitter delay of the first emission channel is τ1, the jitter delay of the second emission channel is τ2, and the jitter delay of the third emission channel is τ3.

[0101] Among them, the cross-correlation degrees of τ1, τ2, and τ3 are less than the preset threshold.

[0102] S12: Filter the echo data received by the current receiving channel based on the echo data received by adjacent receiving channels to obtain the scanning result of the current receiving channel.

[0103] In a specific application, after the lidar emits detection laser through each transmitting channel, the target object will reflect the detection laser, that is, the target object will reflect an echo signal. The lidar can receive the echo signal through the receiving channel corresponding to the transmitting channel. The echo signal received by the receiving channel is the echo data received by the above-mentioned receiving channel. After each transmitting channel emits detection laser, its corresponding receiving channel will receive the echo data, and then identify and detect the interference signal based on the echo data received by multiple receiving channels.

[0104] In an embodiment of the present application, the echo data received by the current receiving channel is the echo data received by the current receiving channel within a preset time; or the echo data received by the current receiving channel is the echo data received by the current receiving channel after scanning a preset area, based on the echo data received by adjacent receiving channels.

[0105] In a specific application, by setting a preset time or a preset area, when acquiring echo data, acquire the echo data within a preset time period or the echo data obtained after completing the scanning of the preset area. In this way, it is possible to filter only the echo data received by the current receiving channel within the preset time, or only the echo data received by the current receiving channel after scanning the preset area, without waiting to filter after the entire frame of data is scanned and outputting the echo signal, reducing the computational amount of each filtering and improving the detection efficiency.

[0106] The above preset time and preset area can be set according to actual needs, and the present application does not make specific restrictions on this.

[0107] In an embodiment of the present application, the above S12 may include the following steps:

[0108] Align the detection time of the echo data received by the adjacent receiving channels and the detection time of the echo data received by the current receiving channel according to the jitter delay, so as to obtain the echo data of the adjacent receiving channels corresponding to the same emission according to the echo data of the current receiving channel;

[0109] Identify the interference data from the echo data received by the current receiving channel according to the echo data received by the adjacent receiving channels in the same time, and delete the interference data.

[0110] In a specific application, by delaying and jittering the emission, the randomly occurring crosstalk and noise appear at different times in different receiving channels. Therefore, according to the jitter delay, the detection times of the signals received by the receiving channels are aligned. Then, it is determined whether the detection time of the signal in the echo data received by the adjacent receiving channels in the same reception is the same as the detection time of the signal in the echo data received by the current receiving channel. If they are not the same, it is confirmed that the signal is an interference signal, and the detected interference signal is deleted from the scan result of the echo data received by the current receiving channel.

[0111] In an embodiment of the present application, the above S12 may include the following steps:

[0112] When there is a target point in the echo data received by the current receiving channel, it is identified whether the target point is a noise point according to the echo data received by the adjacent receiving channels;

[0113] If the target point is a noise point, the echo data corresponding to the target point is deleted.

[0114] For small target objects, due to the overlap of the scanning spots in different channels, the target points corresponding to the small target objects may be detected by both the current channel and the adjacent two channels. Therefore, the echo data received by the adjacent channels can be used to verify whether the target points detected in the echo data received by the current channel are noise points or valid points.

[0115] It should be noted that the adjacent channels mentioned in the embodiments of the present application refer to the previous channel and the next channel of the current channel. For example, taking Figure 2 the second channel in as an example, its adjacent channels are the first channel and the third channel.

[0116] Exemplarily, when scanning is implemented by a scanning device, if it only moves along the scanning horizontal direction, the above adjacent channels may be the left and right channels of the current channel; if it only moves along the scanning vertical direction, the above adjacent channels may be the upper and lower channels of the current channel; if it moves along both the scanning horizontal direction and the scanning vertical direction, the adjacent channels may be the four channels of up, down, left, and right.

[0117] Exemplarily, when scanning is implemented by an emission matrix, the above adjacent channels may be the previous emission block and / or the next emission block of the current emission block.

[0118] In an embodiment of the present application, when there is a target point in the echo data received by the current receiving channel, identifying whether the target point is a noise point according to the echo data received by the adjacent receiving channels may include the following steps:

[0119] It is determined whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channels;

[0120] If there is a valid point corresponding to the target point in the echo data received by adjacent receiving channels, determine the target point as a valid point; otherwise, determine the target point as a noise point.

[0121] In a specific application, since there is an overlapping part between the scanning spot of the current channel and the scanning spot of the adjacent channel, when an isolated target point is detected in a certain channel, the echo data received by the adjacent channel can be associated to detect the target point. If there is also a valid point corresponding to the target point in the echo data received by any adjacent channel, it can be determined that the target point is a real target object rather than noise. If there is no valid point corresponding to the target point in the adjacent channels, it can be determined that the isolated target point is noise rather than a real target object. Based on this, the detection probability of small target objects by the lidar is improved, and the detection ability of the lidar for small target objects is improved.

[0122] In an embodiment of the present application, determining whether there is a valid point corresponding to the target in the echo data received by adjacent receiving channels may include the following steps:

[0123] Obtain the position information of the target point;

[0124] Judge whether there is a valid point corresponding to the target in the echo data received by adjacent receiving channels according to the position information of the target point.

[0125] In a specific application, when there is a real target object, the position of the target object is fixed or only moves within a certain range. Therefore, in order to determine whether an isolated target point is a valid point, the position information of the target point, such as position coordinates, longitude and latitude coordinates, etc., can be determined by using the echo data received by the current receiving channel, and then it is judged whether the echo data received by the adjacent receiving channels detects the same position or there is a valid point within a certain position range. If so, it means that the target point corresponds to a real target object rather than a randomly occurring noise signal. Therefore, the target point is identified as a valid point, otherwise the valid point is identified as a noise point.

[0126] It should be noted that the above-mentioned certain position range can be set according to the measurement scenario, and the present application does not make specific restrictions on this.

[0127] It should also be noted that the method of determining the position information of the target point according to the echo data can refer to the existing echo data analysis method, and the present application will not elaborate on this.

[0128] In an embodiment of the present application, determining whether there is a valid point corresponding to the target in the echo data received by adjacent receiving channels may include the following steps:

[0129] Obtain the detection time of the target point;

[0130] Judge whether there is a valid point corresponding to the target in the echo data received by adjacent receiving channels according to the detection time of the target point.

[0131] In a specific application, due to the actually existing target object, for different channels, the detection times are similar. Therefore, the detection time of the target point in the echo data corresponding to different receiving channels can be used to judge whether the target point is a valid point, that is, if the detection times of the target point in the echo data corresponding to different receiving channels are the same or the difference is within a preset range, it is determined that the target point is a valid point; otherwise, it is determined that the target point is a noise point.

[0132] It should be noted that the method for determining the detection time of the target point according to the echo data can refer to the existing echo data analysis method, and this application will not elaborate on it.

[0133] As can be seen from the above, the radar control method provided by the embodiments of this application controls the radar to emit detection laser based on the coding method of single-shot jitter, that is, each emission channel emits detection laser only once per round of emission. This can reduce the overall power consumption of the lidar, and then by setting the moving step of the lidar to be less than the divergence angle of the scanning spot of the current emission channel, there is an overlap between the scanning spots of adjacent emission channels to improve the correlation between adjacent emission channels, so as to filter the echo data received by the target emission channel with the echo data received by adjacent emission channels, reduce the situation of misidentifying valid points as noise, and improve the detection ability of the lidar for small target objects.

[0134] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0135] Based on the radar control method provided by the above embodiments, the embodiments of the present invention further provide an embodiment of a radar control device for implementing the above method embodiments.

[0136] Please refer to Figure 7 , Figure 7 which is a schematic structural diagram of a radar control device provided by the embodiments of this application. In the embodiments of this application, each unit included in the radar control device is used to execute Figure 1 the corresponding steps in the corresponding embodiments. Specifically, please refer to Figure 1 and Figure 1 the relevant descriptions in the corresponding embodiments. For the sake of convenience of description, only the parts related to this embodiment are shown. As Figure 7As shown in the figure, the radar control device 7 includes: a control module 71 and a filtering module 72. Among them:

[0137] The control module 71 is configured to control the lidar to move a preset step along the scanning direction after the lidar completes the detection laser emission task of the current emission channel, and emit the detection laser through the next emission channel until all emission channels complete the detection laser emission task.

[0138] Wherein, the preset step is smaller than the divergence angle of the scanning spot of the current emission channel; when the current emission channel emits the detection laser, it is emitted according to the jitter delay corresponding to the current emission channel.

[0139] The filtering module 72 is configured to filter the echo data received by the current receiving channel according to the echo data received by adjacent receiving channels to obtain the scanning result of the current receiving channel.

[0140] In an embodiment of the present application, the above-mentioned filtering module 72 includes a first filtering unit.

[0141] The first filtering unit is configured to align the detection time of the echo data received by the adjacent receiving channels and the detection time of the echo data received by the current receiving channel according to the jitter delay; identify interference data from the echo data received by the current receiving channel according to the echo data received by the adjacent receiving channels, and delete the interference data.

[0142] In an embodiment of the present application, the above-mentioned filtering module 72 includes a second filtering unit.

[0143] The second filtering unit is configured to identify whether the target point is a noise point according to the echo data received by the adjacent receiving channels when there is a target point in the echo data received by the current receiving channel; if the target point is a noise point, delete the echo data corresponding to the target point.

[0144] In an embodiment of the present application, the above-mentioned second filtering unit is specifically configured to determine whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channels; if there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channels, determine that the target point is a valid point; otherwise, determine that the target point is a noise point.

[0145] In an embodiment of the present application, the above-mentioned second filtering unit includes a first acquisition unit and a first judgment unit. Among them:

[0146] The first acquisition unit is configured to acquire the position information of the target point.

[0147] The first judgment unit is configured to judge whether there is a valid point corresponding to the target in the echo data received by the adjacent receiving channels according to the position information of the target point.

[0148] In one embodiment of the present application, the second filtering unit includes a second acquisition unit and a second judgment unit.

[0149] Wherein:

[0150] The second acquisition unit is used to acquire the detection time of the target point.

[0151] The second judgment unit is used to judge whether there is a valid point corresponding to the target in the echo data received by adjacent receiving channels according to the detection time of the target point.

[0152] It should be noted that for the information interaction, execution process, etc. between the above-mentioned units, since they are based on the same concept as the method embodiment of the present application, their specific functions and the technical effects brought can be specifically referred to the method embodiment part.

[0153] In summary, the radar control device provided by the embodiment of the present application can also control the radar to emit detection laser based on the coding method of single-shot jitter, that is, each emission channel only emits detection laser once, which can reduce the overall power consumption of the lidar. Then, by setting the moving step of the lidar to be smaller than the divergence angle of the scanning spot of the current emission channel, the scanning spots between adjacent emission channels overlap, so as to improve the correlation between adjacent emission channels, so as to filter the echo data received by the target emission channel by using the echo data received by adjacent emission channels, reduce the situation of misidentifying valid points as noise, and improve the detection ability of the lidar for small target objects.

[0154] Figure 8 It is a schematic structural diagram of a terminal device provided by another embodiment of the present application. As Figure 8 shown, the terminal device 8 provided by this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80, such as an image segmentation program. When the processor 80 executes the computer program 82, it implements the steps in the above-mentioned various radar control method embodiments, such as Figure 1 shown S11~S12. Or, when the processor 80 executes the computer program 82, it implements the functions of each module / unit in the above-mentioned various terminal device embodiments, such as Figure 7 shown functions of units 71~72.

[0155] Exemplarily, the computer program 82 can be divided into one or more modules / units, which are stored in the memory 81 and executed by the processor 80 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 82 in the terminal device 8. For example, the computer program 82 can be divided into multiple units. For the specific functions of each unit, please refer to Figure 7 the relevant descriptions in the corresponding embodiments, which will not be elaborated here.

[0156] The terminal device may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art can understand that Figure 8 merely examples of the terminal device 8, which do not constitute a limitation to the terminal device 8. It may include more or fewer components than shown in the figure, or combine certain components, or have different components. For example, the terminal device may also include input / output devices, network access devices, buses, etc.

[0157] The so-called processor 80 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0158] The memory 81 may be an internal storage unit of the terminal device 8, such as the hard disk or memory of the terminal device 8. The memory 81 may also be an external storage device of the terminal device 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 8. Further, the memory 81 may also include both the internal storage unit and the external storage device of the terminal device 8. The memory 81 is used to store the computer program and other programs and data required by the terminal device. The memory 81 may also be used to temporarily store the data that has been output or will be output.

[0159] The embodiments of the present application also provide a computer-readable storage medium. A computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned radar control method can be implemented.

[0160] The embodiments of the present application provide 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 executed.

[0161] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the terminal device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into a processing unit, or each unit can exist physically alone, 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 a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned system can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0162] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not described in detail or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0163] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0164] The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate 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, Including: After the lidar completes the detection laser emission task of the current emission channel, control the lidar to move a preset step along the scanning direction, and emit detection laser through the next emission channel; wherein, the preset step is smaller than the divergence angle of the scanning spot of the current emission channel; the lidar controls adjacent emission channels to emit according to their corresponding jitter delays. Filter the echo data received by the current receiving channel according to the echo data received by adjacent receiving channels. When there is a target point in the echo data received by the current receiving channel, identify whether the target point is a valid point according to the echo data received by the adjacent receiving channels. If there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel, determine that the target point is a valid point.

2. The radar control method according to claim 1, characterized in that Before the lidar completes the detection laser emission task of the current emission channel, controls the lidar to move a preset step along the scanning direction, and emits detection laser through the next emission channel, the method further includes: Obtain the detection area corresponding to the current emission channel; determine the step amount of the current emission channel moving along the scanning direction according to the detection area corresponding to the current channel.

3. The radar control method according to claim 2, wherein The determining the step amount of the current emission channel moving along the scanning direction according to the detection area corresponding to the current channel includes: Obtain the resolution of the detection area corresponding to the current channel; Determine the overlap rate of the spots in the detection area according to the resolution of the detection area; Determine the step amount of the current emission channel along the scanning direction according to the overlap rate of the spots and the divergence angle of the scanning spot.

4. The radar control method according to claim 1, wherein The filtering the echo data received by the current receiving channel according to the echo data received by adjacent receiving channels to obtain the scanning result of the current receiving channel includes: When there is a target point in the echo data received by the current receiving channel, identify whether the target point is a noise point according to the echo data received by the adjacent receiving channels; If the target point is the noise point, delete the echo data corresponding to the target point.

5. The radar control method according to claim 1, characterized in that The judging whether there is a valid point corresponding to the target in the echo data received by the adjacent receiving channel includes: Obtain the position information of the target point; Judge whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel according to the position information of the target point.

6. The radar control method according to claim 1, wherein The judging whether there is a valid point corresponding to the target in the echo data received by the adjacent receiving channel includes: Obtain the detection time of the target point; Judge whether there is a valid point corresponding to the target point in the echo data received by the adjacent receiving channel according to the detection time of the target point.

7. The radar control method according to any one of claims 1 to 5, characterized in that, The echo data received by the current receiving channel is the echo data received by the current receiving channel within a preset time; Or the echo data received by the current receiving channel is the echo data received by the current receiving channel after completing the scanning of the preset area.

8. A radar control device, characterized in that, Including: A control module, configured to, after the lidar completes the detection laser emission task of the current emission channel, control the lidar to move a preset step along the scanning direction, and control the next emission channel to emit detection laser until all emission channels complete the detection laser emission task; wherein, the preset step is smaller than the divergence angle of the scanning spot of the current emission channel; when the current emission channel emits detection laser, it emits according to the jitter delay corresponding to the current emission channel. A filtering module, configured to filter the echo data received by the current receiving channel according to the echo data received by adjacent receiving channels to obtain the scanning result of the current receiving channel.

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 computer program, it implements the radar control method according to any one of claims 1 to 7.

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

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