Radar control method and device, terminal equipment and computer program product

Abstract

The invention is suitable for the technical field of radars, and provides a radar control method and device, terminal equipment and a computer program product, and the method comprises the steps: determining a transmitting coding mode of a transmitting device group corresponding to the current scanning according to first echo information; wherein the first echo information is echo information which is received by last scanning and is the same as the scanning position of the current scanning; a time interval exists between the previous scanning and the current scanning; the radar is controlled to execute scanning according to the emission coding mode of the emission device group corresponding to the current scanning, the high-reflectivity channel can be identified in advance by using the first echo information obtained by the last scanning with the same scanning position, and the high-reflectivity coding pre-switching of the high-reflectivity channel existing in the current scanning is realized by using the first echo information. The occurrence of coding switching delay crosstalk can be effectively reduced, so that the detection performance of the radar is improved.

Description

Technical Field

[0001] The present application belongs to the field of radar technology, and in particular relates to a radar control method, apparatus, terminal equipment and computer program product. Background Art

[0002] LiDAR is a radar system that uses laser beams to detect a target's position, speed, and other information. In addition to detecting the distance to an object, it can also detect the object's reflectivity for target identification. The specific working principle of LiDAR is to transmit a detection signal to the target. After reaching the target, the detection signal is reflected by the target object, forming echo data. The LiDAR receives the signal (echo data) reflected back from the target and can then determine relevant target information based on the echo data, such as the target's distance, position, altitude, speed, attitude, shape, reflectivity, etc., thereby achieving target detection, target tracking, and target identification.

[0003] Currently, transmit coding can be used to distinguish crosstalk signals from true echo signals in adjacent channels. However, due to the frequency and coding time, the number of transmit codes is typically less than the number of physical channels, so concurrent channels may still exist. If the target object is highly reflective, the reflected echo energy is very high, and the crosstalk generated by this channel will overwhelm most channels, making transmit coding and filtering strategies unable to effectively distinguish true echoes from crosstalk echoes. Therefore, when a highly reflective object is identified, the transmit coding of the corresponding channel can be switched to high-reflectivity coding to reduce high-reflectivity crosstalk.

[0004] However, during echo processing, there is a computational delay between identifying a highly reflective object and the high-reflectivity coding taking effect, known as dynamic code switching delay. Addressing the crosstalk caused by this dynamic code switching delay is an urgent issue. Summary of the Invention

[0005] The embodiments of the present application provide a radar control method, apparatus, terminal device, and computer program product, which can effectively reduce the occurrence of coding switching delay crosstalk to improve the detection performance of the radar.

[0006] In a first aspect, an embodiment of the present application provides a radar control method, which is applied to a radar. The radar control method includes: Determining, based on first echo information, a transmission coding mode of the transmitting device group corresponding to the current scan; wherein the first echo information is echo information received from a previous scan at the same scanning position as the current scan; and there is a time interval between the previous scan and the current scan when the same position in the detection field of view is scanned; The radar is controlled to perform scanning according to the transmission coding mode of the transmitting device corresponding to the current scan.

[0007] In an implementation of the first aspect, the radar includes transmitting devices arranged in an array form, the transmitting device group corresponding to the previous scan is the odd-numbered column channels in the transmitting device in the array form, and the transmitting device group corresponding to the current scan is the even-numbered column channels in the transmitting device in the array form, or the transmitting device group corresponding to the previous scan is the scan performed by the even-numbered column channels in the transmitting device in the array form, and the transmitting device group corresponding to the current scan is the odd-numbered column channels in the transmitting device in the array form, and the odd-numbered column channels and the even-numbered column channels are spaced apart by a preset angle along the scanning direction so that there is a time interval between the scanning of the odd-numbered column channels and the scanning of the even-numbered column channels.

[0008] In an implementation of the first aspect, determining, according to the first echo information, a transmission coding mode of a transmitting device group corresponding to a current scan includes: In the case where a high-frequency echo channel is identified according to the first echo information, the transmission coding mode of the target channel corresponding to the high-frequency echo channel is determined to be high-frequency echo coding.

[0009] In an implementation of the first aspect, when a high-frequency echo channel is identified according to the first echo information, determining the transmission coding mode of the target channel corresponding to the high-frequency echo channel as high-frequency echo coding includes: Identifying a high-reflection channel in the transmitting device group corresponding to the previous scan according to the first echo information; Determine the target channel in the transmitting device group corresponding to the current scan according to the high reflection channel; The transmission code of the target channel is determined to be a high-reverse code.

[0010] In an implementation of the first aspect, the radar includes a scanning element, the scanning element being configured to control a scanning element step amount corresponding to two scans to be smaller than an interval between scan lines corresponding to two adjacent transmissions, and determining a transmission coding mode of a transmitting device corresponding to a current scan includes: Based on the echo information received in the previous scan, the transmission coding method of the transmitting device corresponding to the overlapping area of ​​the detection field of view of the current scan and the previous scan is determined, wherein the detection field of view range of the previous scan overlaps with the detection field of view range of the current scan, and there is a time interval between the previous scan and the current scan.

[0011] In one implementation of the first aspect, determining, based on echo information received in a previous scan, a transmission coding mode of a transmitting device corresponding to an overlapping area of ​​a detection field of view with that of a previous scan in a current scan includes: Obtaining the high reflection channel corresponding to the overlapping area of ​​the detection field of view of the last scan; Determining, based on the high reflection channel, a transmission coding strategy of the target channel corresponding to the overlapping area of ​​the detection field of view in the current scan; Scanning is performed according to the transmission coding strategy of the target channel in the current scan.

[0012] In an implementation of the first aspect, determining, based on the high-reflection position mark, a transmission coding strategy for a channel corresponding to an overlapping area of ​​a detection field of view in the current scanning plane includes: According to the high-reflection position mark, the channel to be switched to the high-reflection coding and the timing of switching the high-reflection coding are determined.

[0013] In an implementation of the first aspect, determining, based on the high reflection channel, a transmission coding strategy of a target channel corresponding to an overlapping area of ​​the detection field of view in the current scan, includes: According to the high-pass channel, the target channel to which the high-pass coding is to be switched and the timing of switching the high-pass coding are determined.

[0014] In an implementation of the first aspect, after controlling the radar to perform a scan according to the transmission coding mode of the transmitting device corresponding to the current scan, the method further includes: For channels whose transmission coding mode is high-reverse coding, maintain the preset period of high-reverse coding transmission.

[0015] In a second aspect, an embodiment of the present application provides a radar control device, which is applied to a radar. The radar control device includes: a determining unit, configured to determine, based on first echo information, a transmission coding mode of the transmitting device group corresponding to the current scan; wherein the first echo information is echo information received from a previous scan having the same scanning position as the current scan; and there is a time interval between the previous scan and the current scan when the same position in the detection field of view is scanned; A control unit is used to control the radar to perform scanning according to the transmission coding mode of the transmitting device group corresponding to the current scan.

[0016] In a third aspect, an embodiment of the present application provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method described in the first aspect or any optional method of the first aspect is implemented.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the method described in the first aspect or any optional method of the first aspect.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the method described in the first aspect or any optional method of the first aspect.

[0019] Compared with the prior art, the embodiments of the present application have the following beneficial effects: The embodiments of the present application provide a radar control method, apparatus, terminal device, and computer program product, which can use the first echo information obtained from the previous scan at the same scanning position to identify the high-reflection channel in advance, and use the first echo information to implement high-reflection coding pre-switching of the high-reflection channel existing in the current scan, which can effectively reduce the occurrence of coding switching delay crosstalk, thereby improving the detection performance of the radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 This is a schematic structural diagram of a laser radar in an embodiment of the present application; Figure 2 This is a schematic diagram of a scenario of crosstalk between channels; Figure 3 Schematic diagram of high-anti-interference coding provided by an embodiment of the present application; Figure 4 Schematic diagram of dynamic switching delay of high-reverse coding provided by an embodiment of the present application; Figure 5 Schematic diagram of another dynamic switching delay of high-reverse coding provided by an embodiment of the present application; Figure 6 This is a schematic diagram of an implementation flow of a radar control method provided in an embodiment of the present application; Figure 7 This is a schematic diagram of the distribution of transmitting devices of a radar provided in an embodiment of the present application; Figure 8 This is a schematic diagram of a coding switching scenario in a radar control method provided in an embodiment of the present application; Figure 9 1 is a schematic diagram of a coding switching scenario in another radar control method provided in an embodiment of the present application; Figure 10 is a schematic diagram of a scanning field of view provided in an embodiment of the present application; Figure 111 is a schematic structural diagram of another radar scanning system provided in an embodiment of the present application; Figure 12 is a schematic diagram of scanning results of a two-dimensional scanning system provided in an embodiment of the present application; Figure 13 This is a schematic diagram of an implementation flow of a radar control method provided in another embodiment of the present application; Figure 14 Schematic diagram of a high-reflection coding mark provided in an embodiment of the present application; Figure 15 This is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application; Figure 16 This is a structural diagram of another terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may 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 obscuring the description of the present application with unnecessary detail.

[0023] It should be understood that the term "and / or" used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations. In addition, in the description of this specification and the appended claims, the terms "first," "second," "third," etc. are used only to distinguish descriptions and are not to be understood as indicating or implying relative importance.

[0024] It should also be understood that references to "one embodiment" or "some embodiments" in the present specification mean that one or more embodiments of the present application include a particular feature, structure, or characteristic described in conjunction with that embodiment. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0025] LiDAR is a radar system that uses laser beams to detect a target's position, speed, and other information. In addition to detecting the distance to an object, it can also detect the object's reflectivity for target identification. LiDAR operates by transmitting a detection signal toward a target. Upon reaching the target, the signal is reflected by the object, generating echo data. The LiDAR then receives the signal (echo data) reflected back from the target and uses this echo data to determine target information, such as the target's distance, position, altitude, speed, attitude, shape, and reflectivity, enabling target detection, tracking, and identification. An object's reflectivity refers to the percentage of radiant energy reflected by the object relative to the total radiant energy of the incident signal. The reflectivity of different objects varies, primarily determined by factors such as the surface properties of the object, the wavelength of the incident signal, and the angle of incidence.

[0026] For example, see Figure 1 , Figure 1 Figure 2 shows a schematic diagram of the structure of a laser radar. Figure 1 As shown, the laser radar 10 generally includes a transmitting module 11, a scanning system 12, a receiving module 13, a control module 14 and a data processing module 15. The transmitting module 11 may include a light source system 111.

[0027] The light source system 111 is used to generate the laser beam required for detection by the laser radar 10. Specifically, the light source system 111 may include optical devices such as a laser and a transmitting lens assembly. The scanning system 12 is used to angularly deflect the laser beam generated by the light source system 111 so that the laser beam can hit different locations at different times. The scanning system 12 can be a mechanical scanning system (i.e., a rotating drive platform) or a semi-solid scanning system (i.e., any one of a rotating mirror, a galvanometer mirror, or an oscillating mirror, or a combination of the two). This application does not impose any particular limitation on the form of the scanning system.

[0028] It is understood that the laser radar in this application can also be a solid-state laser radar, that is, scanning is achieved by controlling light sources at different angles to emit light in sequence. After the laser beam emitted by the light source system reaches the target object and is reflected by the target object, the reflected light pulse is received by the receiving sensor (sensor) 131 in the receiving module 13. The echo signal is then processed by the echo signal processing circuit to generate corresponding detection information.

[0029] The control module 14 is used to control the laser radar to emit detection laser and control the laser radar to receive echo laser. The data processing module 15 is used to process the echo data received by the radar and output the response detection data.

[0030] In specific applications, lidar can be categorized by ranging method: time of flight (ToF), frequency modulated continuous wave (FMCW), and triangulation. Time of flight (TOF) involves transmitting infrared light (or laser pulses), which are invisible to the human eye. These pulses are then reflected by an object. The reflected light is then received by the radar, and the time or phase difference between the emission and the reflection back to the radar is calculated to determine the object's distance.

[0031] In practical applications, in order to improve the TOF lidar's recognition accuracy of small target objects at a long distance, a lidar with multiple parallel transceiver channels is usually used for detection. This type of lidar often includes multiple laser transmitters and multiple laser receivers arranged densely. Therefore, the lidar has a crosstalk problem, that is, the strong echo signal formed by the detection laser emitted by some transmitting channels and encountering highly reflective objects may cover the adjacent receiving channels and generate false signals (called crosstalk signals).

[0032] Currently, transmit coding can be used to distinguish crosstalk signals from adjacent channels from true echo signals. However, due to the frequency and coding time, the number of transmit codes is typically less than the number of physical channels, so concurrent channels may still exist. If the target object is highly reflective, the reflected echo energy is very high, and the crosstalk generated by this channel can overwhelm most channels, making transmit coding and filtering strategies ineffective in distinguishing true echoes from crosstalk echoes.

[0033] For example, see Figure 2 , Figure 2 Figure 1 shows a schematic diagram of a channel-to-channel crosstalk scenario. Figure 2As shown, in the P1 pixel time window, channel Ch0 and channel Ch3 both use C1 coding, that is, channel Ch0 and channel Ch3 are concurrent channels in the P1 pixel time window (using the same channel random coding), in the P1 pixel time window, channel Ch1 uses C2 coding, channel Ch2 uses C3 coding, in the P2 pixel time window, channel Ch0 and channel Ch3 both use C2 coding, channel Ch1 uses C3 coding, channel Ch2 uses C1 coding, in the P3 pixel time window, channel Ch0 and channel Ch3 both use C3 coding, channel C Channel h1 uses C1 encoding, and channel Ch2 uses C2 encoding. Since the detection signal emitted by channel Ch0 is reflected by a high-reflectivity object, the echo data received by channel Ch0 will generate crosstalk on other channels (channels Ch1, Ch2, and Ch3). By calculating the similarity of echo distances between adjacent pixels, the true echo and crosstalk signal can be identified. Since channels Ch0 and Ch3 use the same channel random encoding, which is equivalent to concurrency, the crosstalk signal and the true echo data have the same similarity, which makes it easy to select incorrect echo data, that is, to mistakenly identify the crosstalk signal as true echo data.

[0034] In practical applications, after detecting a high reflectivity object, the LiDAR can switch the high reflectivity code according to the detection result of the high reflectivity object (i.e. the detection result of the high reflectivity echo). Figure 3 For example, channel Ch0 uses C1 coding within the P1 pixel time window. If the received echo is identified as a high-reflection echo, the coding of channel Ch0 is switched to Ch coding within the next pixel time window after the high-reflection echo is identified. Assuming that channels Ch0 and Ch3 are in a concurrent state within the P1 pixel time window, and channel Ch0 switches to Ch coding within the P2 pixel time window and the P3 pixel time window, the crosstalk from channel Ch0 to channel Ch3 will be at different distances within these three pixels, allowing channel Ch3 to distinguish between the crosstalk echo and the true echo.

[0035] It should be noted that the channel mentioned in the embodiments of the present application may specifically refer to a transceiver channel, that is, it may be a transmitting channel or a receiving channel. The transmitting channel may transmit a light beam according to the set transmitting code during transmission, and the receiving channel may receive an echo signal. This application does not impose any specific restrictions on this.

[0036] The C1, C2, and C3 codes mentioned above may refer to the channel random codes used by the lidar, and the Ch code may be a high-reflection code. The channel random code may refer to a fixed transmission code pre-set in the radar system. Different channel random codes have different transmission jitters, and the high-reflection code may be a transmission code with a dynamically changing transmission jitter time.

[0037] It can be understood that the switching of high-reflection coding depends on the identification of high-reflection echoes. Whether the echo data is echo data reflected by a high-reflectivity object can be determined based on indicators such as the amplitude, pulse width, echo area, echo power, and echo energy of the echo data.

[0038] It should be noted that the process of judging whether the echo is the echo data of the reflectivity of a high-reflectivity object based on the amplitude, pulse width, echo area, echo power, echo energy and other indicators of the echo data can be referred to the existing relevant schemes, and this application will not go into details about this.

[0039] However, during the echo processing, there is a computational delay from the identification of high reflectivity objects to the effectiveness of high reflectivity coding, that is, there is a dynamic coding switching delay. For example, Figure 4 As shown, in scanning pixel time window 1, the control system of the laser radar performs transmission and reception to obtain echo information in space; in scanning pixel time window 2, the control system calculates and processes the echo information obtained in scanning pixel time window 1 to identify whether the echo is a reflection echo of a high-reflectivity object (that is, the received echo is a high-reflection echo); in scanning pixel time window 3, the effectiveness of the transmission code depends on the processing result of scanning pixel time window 2. That is, assuming that scanning pixel time window 2 processes the echo information obtained in scanning pixel time window 1 and identifies that the echo received in scanning pixel time window 1 is a high-reflection echo, the transmission code will be switched to the high-reflection code in scanning pixel time window 3. That is, in this example, the dynamic code switching delay is 2 scanning pixel time windows.

[0040] It is understood that the above is only an example of dynamic code switching delay and is not limiting. In other cases, the code switching delay may be more or less scan pixel time windows, for example Figure 5 In the example shown, the echo information received in scanning pixel time window 1 needs to be fused with the echo information received in scanning pixel time window 2. Therefore, calculation and processing are performed in scanning pixel time window 3 to identify whether the echo is a high-reflection echo. If a high-reflection echo is identified, the high-reflection coding is switched in scanning pixel time window 4, switching the channel random coding originally used in the channel to high-reflection coding. In this example, the dynamic coding effective period is delayed by three scanning pixel time windows. In addition, the delay duration is also related to the radar device parameters, resolution, design parameters, etc., and this application does not impose specific restrictions on this.

[0041] Based on this, an embodiment of the present application provides a radar control method, which can use the first echo information obtained from the previous scan with the same scanning position to identify the high-reflection channel in advance, and use the first echo information to realize the high-reflection coding pre-switching of the high-reflection channel existing in the current scan, which can effectively reduce the occurrence of coding switching delay crosstalk, thereby improving the detection performance of the radar.

[0042] The radar control method provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings: See also Figure 6 , Figure 6 A schematic diagram of the implementation flow of the radar control method provided in an embodiment of the present application is shown. It should be noted that the executor of the above-mentioned radar control method can be the above-mentioned laser radar 10, specifically the control system in the laser radar 10.

[0043] Of course, in other embodiments, the execution subject of the above radar control method can also be a terminal device that is connected to the laser radar 10 for communication. The terminal device can be a mobile phone, desktop computer, laptop computer, tablet computer or wearable device, or a cloud server, radar auxiliary computer or other device in various application scenarios. This application does not impose specific restrictions on this. The following is an example of the execution subject being the control system of the laser radar 10: like Figure 6 As shown, the above radar control method may specifically include S11 to S12.

[0044] In S11 , the transmission coding mode of the transmitting device group corresponding to the current scan is determined according to the first echo information.

[0045] The first echo information is the echo information received corresponding to the previous scan at the same scanning position as the current scan; and there is a time interval between the previous scan and the current scan when they scan the same position in the detection field of view.

[0046] In some implementations, the radar includes a linear array of transmitters or a planar array of transmitters. The correspondence between transmitters and receivers can be one-to-one or one-to-many, and this application does not impose any particular limitation on the correspondence between transmitters and receivers. For example, one transmitter can correspond to one receiver, or one transmitter can correspond to three receivers, or one transmitter can correspond to 12 receivers, or one transmitter can correspond to 24 receivers, and so on. It is understood that when the transmitter is arranged in a linear array and the correspondence between transmitters and receivers is one-to-many, the receiver can be arranged in a planar array; when the transmitter is arranged in a linear array and the correspondence between transmitters and receivers is one-to-one, the receiver can be arranged in a linear array.

[0047] As an embodiment, the transmitting array can be arranged in a linear array, and the transmitting device group corresponding to the previous scan is the odd-numbered column channels in the transmitting devices arranged in an array form, and the transmitting device group corresponding to the current scan is the even-numbered column channels in the transmitting devices arranged in an array form, or, the transmitting device group corresponding to the previous scan is the even-numbered column channels in the transmitting devices arranged in an array form, and the transmitting device group corresponding to the current scan is the odd-numbered column channels in the transmitting devices arranged in an array form, and the odd-numbered column channels and the even-numbered column channels are spaced by a preset angle along the scanning direction, so that there is a time difference between the point clouds generated by two adjacent columns of channels at the same position.

[0048] Among them, it can be understood that the previous scan can only transmit odd columns / even columns, and the current scan can only transmit even columns / odd columns, and then the high-reflection channel identified by the echo of the odd columns / even columns is used to encode and switch the even columns / odd columns transmission channel of the current scan; or two scans can also transmit two columns at the same time, and then the channel coding method of the current even columns / odd columns is switched only according to the echo of the previous odd columns / even columns.

[0049] As an example, Figure 7 As shown, channel Ch1, channel Ch3, channel Ch5, , channel Ch15, etc. are odd-numbered channels, channel Ch2, channel Ch4, channel Ch6, , channel Ch16, etc. are even-numbered channels.

[0050] The preset angle can be determined based on the horizontal resolution of the radar, and can be specifically set to an integer multiple of the horizontal resolution of the radar. For example, assuming that the horizontal resolution of the radar is θ, the preset angle D can be set to an integer multiple of the horizontal resolution θ, that is, D=M*θ, where M is a positive integer. Assuming that the scanning direction of the radar is from left to right, assuming M=5, that is, the point cloud generated by any channel in the odd column lags behind the point cloud generated by the adjacent channel in the even column by 5 points, Figure 7 It can also be seen from the figure that the point cloud received by the odd column channel ch9 in the P1 pixel time window and the point cloud received by the even column channel Ch10 in the P6 pixel time window are aligned in physical space, that is, they scan the same target space.

[0051] It is understandable that, in other implementations, if the radar scans from right to left, the point cloud generated by the even-numbered channels lags behind the point cloud generated by the odd-numbered channels by M points.

[0052] It can be understood that the odd channels and even channels can also be arranged in staggered rows, and then the scanning direction is vertical scanning, and this application does not impose the sole limitation on this.

[0053] In the embodiment of the present application, for ease of description, the transmitting device group corresponding to the previous scan is referred to as the first transmitting device group, and the transmitting device group corresponding to the current scan is referred to as the second transmitting device group. For example, the radar control method provided in the embodiment of the present application is exemplarily described: In specific applications, the control system of the laser radar controls the radar's transmitting devices to transmit detection signals and receive corresponding echo signals according to a pre-set coding method, thereby extracting the corresponding echo information from the received echo signals. For the first transmitting device group, high-reflection coding switching can be performed based on the echo information received by the receiving device group corresponding to the first transmitting device group. That is, if the echo signal received by a certain channel is identified as a high-reflection echo, the transmission coding within the next pixel time window of that channel (i.e., the high-reflection channel) is switched to high-reflection coding. For the second transmitting device group, pre-switching can be performed based on the echo information received by the receiving device group corresponding to the first transmitting device group. Specifically, if a high-reflection channel is determined based on the echo information received by the receiving device group corresponding to the first transmitting device group, the transmission coding of the target channel in the second transmitting device group corresponding to the high-reflection channel is switched to high-reflection coding in advance.

[0054] For example, Figure 8 As shown, the radar includes channels Cha, Chb, Chc, Chd, Che, and Chf as an example, wherein channels Cha, Chc, and Che are Figure 5 The right column channels shown in FIG are the channels in the second emission device group in this example; channels Chb, Chd, and Chf are Figure 5The left column channels shown in the example are the channels in the first transmitting device group. Among them, channel Cha, channel Chc and channel Che use the same transmission code, channel Chb, channel Chd and channel Chf use the same transmission code. Assume that channel Chf illuminates a high reflectivity object at time P6 and channel Che illuminates a high reflectivity object at time P11. If the first transmitting device group and the second transmitting device group each perform high-reflectivity identification and high-reflectivity code switching separately, assuming that the radar needs two scanning pixel time windows to identify high-reflectivity echoes, then for channel Chf, it will be identified at time P8 that it illuminates a high reflectivity object at time P6, and then the transmission code of channel Chf will be switched to high-reflectivity code at time P9. For channel Che, it will be identified at time P13 that it illuminates a high reflectivity object at time P11. However, due to the continuous crosstalk point cloud of the same distance generated at the edge of the high-reflectivity object in space, it is still impossible to distinguish between the effective echo and the crosstalk signal. In the embodiment of the present application, channel Chf is irradiated with a high-reflectivity object at time P6. Assuming that the radar needs two scanning pixel time windows to identify the high-reflectivity echo, that is, at time P8 it is recognized that P6 is irradiated with a high-reflectivity object, the emission code of channel Chf will be switched to high-reflection code at time P9, and at time P9, the emission code of channel Che adjacent to channel Chf will also be switched to high-reflection code, thereby effectively isolating the crosstalk in the same transmitting device group.

[0055] It should be noted here that the adjacent channels of the high reflection channel Chi (the target channel in the embodiment of the present application) may include channel Chi-1 and channel Chi+1, where i is a positive integer greater than or equal to 2.

[0056] In one embodiment, the above S11 may specifically include the following steps: Identify the high-reflection channel in the transmitting device group corresponding to the previous scan according to the first echo information; Determine the target channel in the transmitting device group corresponding to the current scan according to the high reflection channel; The transmission code of the target channel is determined to be a high-reverse code.

[0057] If the high reflection channel is not identified based on the first echo information, the transmission codes of each channel remain unchanged.

[0058] It should be noted that high-reflection echo identification can be specifically determined based on indicators such as the amplitude, pulse width, echo area, echo power, and echo energy of the echo data. It should be noted that the process of determining whether an echo is echo data of the reflectivity of a high-reflectivity object based on indicators such as the amplitude, pulse width, echo area, echo power, and echo energy of the echo data can be referred to in existing related solutions, and this application will not elaborate on this in detail.

[0059] In S12, the radar is controlled to perform scanning according to the transmission coding mode of the transmitting device group corresponding to the current scan.

[0060] In specific applications, in S11, it can be determined whether the transmission code of each channel in the current scan of the radar is switched. Therefore, after determining the transmission code of each channel, each channel of the radar is controlled to perform scanning according to the transmission code corresponding to the channel in the current scanning cycle. Specifically, if the transmission code of a channel is a random transmission code, the detection signal is transmitted according to the random transmission code; if the transmission code of a channel is a high-reflection code, the detection signal is transmitted according to the high-reflection code.

[0061] In some embodiments of the present application, since the edge of a high-reflectivity object may generate continuous crosstalk, after the high-reflectivity channel and the target channel switch the high-reflectivity coding, the target channel may maintain the high-reflectivity coding of a preset period.

[0062] For example, Figure 9 As shown, Figure 9 Channel Che switches the transmission code to high-reflection code at P9 and maintains high-reflection code from P9 to P13.

[0063] From the above, it can be seen that an embodiment of the present application provides a radar control method, in which the transmitting device of the radar includes a first transmitting device group and a second transmitting device group with staggered scanning angles. The staggered arrangement makes it possible to stagger the time for scanning the same position between different channel groups, so that the echo information received by the first transmitting device group can be used to realize high-reflection pre-switching of the second transmitting device group, thereby effectively reducing the occurrence of coding switching delay crosstalk, thereby improving the detection performance of the radar.

[0064] In one embodiment of the present application, the radar may further include a scanner that controls the laser emitted by the radar's transmit array to achieve a wider detection range within the detection field of view. The scanner may include, but is not limited to, a rotating mirror, a galvanometer mirror, an oscillating mirror, or a combination of the two.

[0065] In specific applications, the scanning device controls the scanning surface step size corresponding to two scans to be smaller than the interval between the scan lines corresponding to two adjacent transmissions. This allows for overlap in the detection fields of view between the two scans. For areas of overlapping detection fields, the high-reflection recognition results of the previous scan can be used to implement high-reflection coding pre-switching for the current scan. It is understood that the interval between the scan lines corresponding to two adjacent transmissions can be, for example, the interval between the outgoing rays (scan lines) of the first emitting device corresponding to the two transmissions.

[0066] It is understood that the two transmissions may correspond to the same array or to different arrays, and this application does not impose any limitation on this.

[0067] For example, Figure 10 As shown, Figure 10 There are 5 lines of emission devices in the middle, and the scanning device is horizontal scanning, then it can be Figure 10 As shown, the horizontal fields of view corresponding to the two scans partially overlap. By controlling the scanning plane step size corresponding to the two scans to be smaller than the interval between the scan lines corresponding to two adjacent transmissions (for example, the interval between the first scan lines corresponding to the two transmissions in the first row), the detection fields of view between the two scanning planes can be made to overlap.

[0068] In the embodiment of the present application, the first echo information may specifically refer to the echo information obtained by the receiving device corresponding to the transmitting device in the last scan.

[0069] The above-mentioned determination of the transmission coding mode of the transmitting device corresponding to the current scan includes: Based on the echo information received in the previous scan, the transmission coding method of the transmitting device corresponding to the overlapping area of ​​the detection field of view of the current scan and the previous scan is determined, wherein the detection field of view range of the previous scan overlaps with the detection field of view range of the current scan, and there is a time interval between the previous scan and the current scan.

[0070] In one embodiment of the present application, determining, based on the echo information received in the previous scan, the transmission coding mode of the transmitting device corresponding to the overlapping area of ​​the detection field of view of the previous scan in the current scan includes: Obtaining the high reflection channel corresponding to the overlapping area of ​​the detection field of view of the last scan; Determining, based on the high reflection channel, a transmission coding strategy of the target channel corresponding to the overlapping area of ​​the detection field of view in the current scan; Scanning is performed according to the transmission coding strategy of the target channel in the current scan.

[0071] In specific applications, the high-reflection channels of all channels and all scanning positions of the last scan can be recorded, and the high-reflection coding marks can be saved. In the scanning interval before the current scan is about to be performed, the high-reflection channels corresponding to the last scan can be obtained from the saved high-reflection coding marks, wherein the high-reflection coding marks record the high-reflection channels and the corresponding high-reflection positions.

[0072] In a specific application, since the field of view of the previous scan overlaps with the field of view of the current scan, the location where a high-reflectivity object existed in the previous scan is more likely to exist in the current scan, corresponding to the overlapping detection field of view. Therefore, the target channel that needs to switch to high-reflectivity coding and the timing of switching high-reflectivity coding can be determined based on the high-reflectivity position mark, thereby determining the emission coding strategy of each channel corresponding to the overlapping detection field of view in the current scan. That is, for non-high-reflectivity channels, the scanning is performed according to random emission coding, and for high-reflectivity channels, the emission coding of the high-reflectivity channel is switched to high-reflectivity coding when switching high-reflectivity coding. Then, the scanning is performed according to the emission coding method corresponding to each channel.

[0073] It should be noted that the above radar control method can be applied to a coaxial radar system or an off-axis radar system, and the embodiments of the present application do not impose any specific restrictions on this.

[0074] In some embodiments, for the current transmission code, it is also possible to combine Figure 6 The method of pre-switching high-reflection coding between channels shown is further determined. For example, if the point cloud formed by the even-numbered channels lags behind the point cloud formed by the odd-numbered channels, the odd-numbered channels in the current scan can be combined with the high-reflection position marks of the previous scan surface to perform high-reflection coding pre-switching. For the even-numbered channels in the current scan surface, the echo data obtained by scanning the odd-numbered channels can be used to perform high-reflection coding pre-switching.

[0075] The radar control method provided in the embodiments of the present application can also be applied to two-dimensional scanning radars. For two-dimensional rotating mirror radars, that is, the scanning element of the radar can include a combination of a galvanometer and a rotating mirror to achieve two-dimensional scanning. In the embodiments of the present application, the echo data of the previous scanning surface whose detection field of view overlaps can be used to determine the transmission code of the transmitting device of the current scanning surface. It should also be noted that in addition to the combination of a galvanometer and a rotating mirror, the two-dimensional scanning system can also be other forms of two-dimensional scanning systems, such as a scanning system combining a galvanometer and an oscillating mirror, or a scanning system combining a galvanometer and a galvanometer, etc. This application does not impose specific restrictions on this.

[0076] The radar control method provided in the embodiment of the present application will be described below using a two-dimensional scanning system combining a galvanometer and a rotating mirror as an example.

[0077] First, the scanning method of the two-dimensional scanning system combining the galvanometer and the rotating mirror is described as follows: See also Figure 11 , Figure 11 FIG. 1 shows a schematic diagram of a radar scanning system according to an embodiment of the present application. Figure 11As shown, the scanning system may include a laser 110, a galvanometer 112, and a rotating mirror 113. The laser 110 is used to emit a laser beam, the galvanometer 112 is responsible for scanning in the vertical direction, and the rotating mirror 113 is responsible for controlling the horizontal scanning. By controlling the stepping of the galvanometer 112, a higher vertical point cloud resolution within the FOV is obtained, and by controlling the rotating mirror, horizontal scanning is achieved.

[0078] By combining the rotating mirror and the galvanometer, the scanning resolution of the radar is improved, such as Figure 12 As shown, multiple scanning surfaces, such as Figure 12 The complete scanning result can be obtained by superimposing the scanning surface Rot1, the scanning surface Rot2, the scanning surface Rot3, the scanning surface Rot4 and the scanning surface Rot5.

[0079] See also Figure 13 , Figure 13 FIG. 1 shows a schematic diagram of an implementation flow of a radar control method provided by another embodiment of the present application. The radar involved in the embodiment of the present application may include a two-dimensional transmitting device, for example, Figure 13 As shown, the above radar control method may specifically include the following steps: In S131, the high reflection channel corresponding to the overlapping area of ​​the detection field of view of the last scan is obtained.

[0080] Specifically, obtaining the high-reflection channel corresponding to the overlapping area of ​​the detection field of view of the last scan specifically includes: recording the high-reflection areas of all scanning positions of all channels of the last scan through high-reflection coding, and saving the high-reflection coding mark. In the scanning gap before the current scan is about to be executed, the high-reflection coding mark of the last scanning surface can be obtained from the saved high-reflection coding mark, and the high-reflection coding mark records the high-reflection channel and the corresponding high-reflection position.

[0081] In S132 , based on the high reflection channel, the transmission coding strategy of the target channel corresponding to the overlapping area of ​​the detection field in the current scan is determined.

[0082] In specific applications, since the field of view scanned by the previous scanning surface partially overlaps with the field of view scanned by the current scanning surface, there is a high possibility that there is a high-reflectivity object in the position where there is a high-reflectivity object in the current scanning surface. Therefore, according to the high-reflectivity position mark, the channel that needs to switch to high-reflectivity coding and the timing of switching high-reflectivity coding can be determined, thereby determining the emission coding strategy of each channel in the current scanning surface, that is, for non-high-reflectivity channels, scanning is performed according to random emission coding, and for high-reflectivity channels, the emission coding of the high-reflectivity channel is switched to high-reflectivity coding when switching high-reflectivity coding.

[0083] For example, Figure 14As shown, assuming that in the previous scan Rot1 it is recorded that the channel Cha switches to high-reverse coding at times n, n+1, n+2, and n+3, then in the current scan Rot2, the transmission codes n, n+1, n+2, and n+3 corresponding to Cha are high-reverse coding.

[0084] In S133 , scanning is performed according to the transmission coding strategy of the target channel in the current scan.

[0085] In some embodiments, for the first scanning surface of the current frame, the emission scanning strategy may also be determined using the high-reflection position mark recorded on the last scanning surface of the previous frame.

[0086] From the above, it can be seen that the radar control method provided in the embodiment of the present application realizes high-reflection pre-switching by switching high-reflection codes between scanning surfaces, and can also effectively reduce the occurrence of code switching delay crosstalk to improve the detection performance of the radar.

[0087] In some embodiments, the transmission code of the current scanning surface can also be combined with Figure 6 The method of pre-switching high-reflection coding between channels shown is further determined. For example, if the point cloud formed by the even-numbered channels lags behind the point cloud formed by the odd-numbered channels, the odd-numbered channels in the current scanning surface can be combined with the high-reflection position marks of the previous scanning surface to perform high-reflection coding pre-switching. For the even-numbered channels in the current scanning surface, the echo data obtained by scanning the odd-numbered channels can be used to perform high-reflection coding pre-switching.

[0088] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0089] Based on the radar control method provided in the above embodiment, the embodiment of the present invention further provides an embodiment of a radar control device for implementing the above method embodiment.

[0090] See also Figure 15 , Figure 15 This is a schematic diagram of the structure of a radar control device provided in an embodiment of the present application. In the embodiment of the present application, the radar control device is applied to a radar system, and the radar control device includes various units for executing Figure 6 Each step in the corresponding embodiment. Please refer to Figure 6 as well as Figure 6 For the sake of convenience, only the parts related to this embodiment are shown. Figure 15 As shown, the radar control device may include a determination unit 1501 and a control unit 1502, wherein: Determination unit 1501 is used to determine the transmission coding mode of the transmitting device group corresponding to the current scan based on the first echo information; wherein, the first echo information is the echo information received in the previous scan with the same scanning position as the current scan; there is a time interval between the previous scan and the current scan when they scan the same position in the detection field of view.

[0091] The control unit is used to control the radar to perform scanning according to the transmission coding mode of the transmitting device group corresponding to the current scan.

[0092] In some implementations, the radar includes transmitting devices arranged in an array form, the transmitting device group corresponding to the previous scan is the odd-numbered column channels in the transmitting devices in the array form, and the transmitting device group corresponding to the current scan is the even-numbered column channels in the transmitting devices in the array form, or the transmitting device group corresponding to the previous scan is the even-numbered column channels in the transmitting devices in the array form, and the transmitting device group corresponding to the current scan is the odd-numbered column channels in the transmitting devices in the array form, and the odd-numbered column channels and the even-numbered column channels are spaced apart by a preset angle along the scanning direction.

[0093] In some implementations, the determining unit 1501 is specifically configured to, when a high reflection channel is identified according to the first echo information, determine the transmission coding mode of the target channel corresponding to the high reflection channel as high reflection coding.

[0094] In some implementations, the determining unit 1501 is specifically configured to identify, based on the first echo information, a high-reflection channel in the transmitting device group corresponding to the previous scan; Determine the target channel in the transmitting device group corresponding to the current scan according to the high reflection channel; The transmission code of the target channel is determined to be a high-reverse code.

[0095] In some implementations, the radar includes a scanning element, which is used to control the scanning surface step amount corresponding to two scans to be smaller than the interval between the scanning lines corresponding to two adjacent transmissions. The determination unit is also used to determine the transmission coding method of the transmitting device corresponding to the overlapping area of ​​the detection field of view of the current scanning surface based on the echo information received by the transmitting device corresponding to the previous scanning surface.

[0096] In some implementations, the above-mentioned determination unit 1501 is specifically used to obtain the high-reflection coding mark of the channel corresponding to the overlapping area of ​​the detection field of view of the previous scanning surface; determine the transmission coding strategy of the channel corresponding to the overlapping area of ​​the detection field of view in the current scanning surface based on the high-reflection position mark; and perform scanning according to the transmission coding strategy of each channel in the current scanning surface.

[0097] In some embodiments, the control unit 1502 may also be configured to maintain a preset period of high-reverse coding transmission for a channel whose transmission coding mode is high-reverse coding.

[0098] It should be noted that the information interaction, execution process, etc. between the above-mentioned units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0099] Therefore, the radar control device provided in the embodiment of the present application can also use the first echo information obtained from the previous scan at the same scanning position to identify the high-reflection channel in advance, and use the first echo information to realize the high-reflection coding pre-switching of the high-reflection channel existing in the current scan, which can effectively reduce the occurrence of coding switching delay crosstalk, thereby improving the detection performance of the radar.

[0100] Figure 16 This is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application. Figure 16 As shown, the terminal device 16 provided in this embodiment includes: a processor 160, a memory 161, and a computer program 162 stored in the memory 161 and executable on the processor 160, such as an image segmentation program. When the processor 160 executes the computer program 162, the steps in the above-mentioned radar control method embodiments are implemented, such as Figure 6 Alternatively, when the processor 160 executes the computer program 162, the functions of the modules / units in the terminal device embodiments are realized, for example, Figure 15 The functions of units 1501~1502 are shown.

[0101] Exemplarily, the computer program 162 may be divided into one or more modules / units, which are stored in the memory 161 and executed by the processor 160 to complete the present application. The one or more modules / units may be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 162 in the terminal device 16. For example, the computer program 162 may be divided into an acquisition unit, a determination unit, and a calculation unit. For the specific functions of each unit, please refer to Figure 16 The relevant descriptions in the corresponding embodiments are not repeated here.

[0102] The terminal device may include, but is not limited to, a processor 160 and a memory 161. Those skilled in the art will appreciate that Figure 16It is only an example of the terminal device 16 and does not constitute a limitation on the terminal device 16. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the above-mentioned terminal device may also include input and output devices, network access devices, buses, etc.

[0103] The processor 160 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0104] The memory 161 can be an internal storage unit of the terminal device 16, such as a hard drive or memory of the terminal device 16. Alternatively, the memory 161 can be an external storage device of the terminal device 16, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, the memory 161 can include both an internal storage unit of the terminal device 8 and an external storage device. The memory 161 is used to store the computer program and other programs and data required by the terminal device. The memory 161 can also be used to temporarily store data that has been output or is about to be output.

[0105] The present application also provides a computer-readable storage medium that stores a computer program that, when executed by a processor, can implement the radar control method.

[0106] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device can implement the above-mentioned radar control method when executing the computer program product.

[0107] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned terminal device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one 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 software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0108] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0109] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

Claims

1. A radar control method, characterized in that: Applied to radar, radar control methods include: Determining, based on first echo information, a transmission coding mode of the transmitting device group corresponding to the current scan; wherein the first echo information is echo information received from a previous scan at the same scanning position as the current scan; and there is a time interval between the previous scan and the current scan when the same position in the detection field of view is scanned; The radar is controlled to perform scanning according to the transmission coding mode of the transmitting device group corresponding to the current scan.

2. The radar control method according to claim 1, characterized in that: The radar includes transmitting devices arranged in an array form, the transmitting device group corresponding to the previous scan is the odd-numbered column channels in the transmitting devices in the array form, and the transmitting device group corresponding to the current scan is the even-numbered column channels in the transmitting devices in the array form, or the transmitting device group corresponding to the previous scan is the even-numbered column channels in the transmitting devices in the array form, and the transmitting device group corresponding to the current scan is the odd-numbered column channels in the transmitting devices in the array form, and the odd-numbered column channels and the even-numbered column channels are spaced apart by a preset angle along the scanning direction.

3. The radar control method according to claim 2, characterized in that: Determining the transmission coding mode of the transmitting device group corresponding to the current scan according to the first echo information includes: In the case where a high-frequency echo channel is identified according to the first echo information, the transmission coding mode of the target channel corresponding to the high-frequency echo channel is determined to be high-frequency echo coding.

4. The radar control method according to claim 3, characterized in that: The method of, in the case where a high-frequency echo channel is identified according to the first echo information, determining the transmission coding mode of the target channel corresponding to the high-frequency echo channel as high-frequency echo coding, includes: Identifying a high-reflection channel in the transmitting device group corresponding to the previous scan according to the first echo information; Determine the target channel in the transmitting device group corresponding to the current scan according to the high reflection channel; The transmission code of the target channel is determined to be a high-reverse code.

5. The radar control method according to claim 1, wherein: The radar includes a scanning element, the scanning element is used to control the step amount of the scanning element corresponding to two scans to be smaller than the interval between the scanning lines corresponding to two adjacent transmissions, and the determination of the transmission coding mode of the transmitting device corresponding to the current scan includes: Based on the echo information received in the previous scan, the transmission coding method of the transmitting device corresponding to the overlapping area of ​​the detection field of view of the current scan and the previous scan is determined, wherein the detection field of view range of the previous scan overlaps with the detection field of view range of the current scan, and there is a time interval between the previous scan and the current scan.

6. The radar control method according to claim 5, characterized in that: The step of determining, based on the echo information received in the previous scan, the transmission coding mode of the transmitting device corresponding to the overlapping area of ​​the detection field of view of the previous scan in the current scan includes: Obtaining the high reflection channel corresponding to the overlapping area of ​​the detection field of view of the last scan; Determining, based on the high reflection channel, a transmission coding strategy of the target channel corresponding to the overlapping area of ​​the detection field of view in the current scan; Scanning is performed according to the transmission coding strategy of the target channel in the current scan.

7. The radar control method according to claim 6, characterized in that: The step of determining, based on the high reflection channel, a transmission coding strategy of a target channel corresponding to an overlapping area of ​​the detection field of view in the current scan, includes: According to the high-pass channel, the target channel to which the high-pass coding is to be switched and the timing of switching the high-pass coding are determined.

8. The radar control method according to claim 1, wherein: After controlling the radar to perform scanning according to the transmission coding mode of the transmitting device corresponding to the current scan, the method further includes: For channels whose transmission coding mode is high-reverse coding, maintain the preset period of high-reverse coding transmission.

9. A radar control device, characterized in that: Applied to radar, the radar control device includes: a determining unit, configured to determine, based on first echo information, a transmission coding mode of the transmitting device group corresponding to the current scan; wherein the first echo information is echo information received from a previous scan having the same scanning position as the current scan; and there is a time interval between the previous scan and the current scan when the same position in the detection field of view is scanned; A control unit is used to control the radar to perform scanning according to the transmission coding mode of the transmitting device group corresponding to the current scan.

10. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the readable instructions of the computer program, the radar control method according to any one of claims 1 to 8 is implemented.

11. A computer program product, characterized in that When the computer program product is run on a terminal device, the terminal device implements the radar control method according to any one of claims 1 to 8.

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