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

Abstract

The application is suitable for the field of radar technology, and provides a radar control method, device, terminal equipment and computer program product. The method comprises the following steps: determining a transmission coding mode of a transmitter device group corresponding to a current scanning according to first echo information; wherein the first echo information is echo information received by a last scanning with a same scanning position as the current scanning; the last scanning and the current scanning have a time interval; and controlling the radar to perform scanning according to the transmission coding mode of the transmitter device group corresponding to the current scanning. The first echo information obtained by the last scanning with the same scanning position can be used to identify a high-reflection channel in advance, the high-reflection coding pre-switching of the high-reflection 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, and therefore the detection performance of the radar is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of radars, and particularly relates to a radar control method and device, a terminal device, and a computer program product. BACKGROUND

[0002] A laser radar is a radar system that uses a laser beam to detect the position and speed of a target. In addition to detecting the distance of an object, it can also detect the reflectivity of the object for target recognition. The specific working principle of the laser radar is to emit a detection signal to a target. After the detection signal reaches the target, it is reflected by the target object, thereby forming echo data. The laser radar receives the signal (echo data) reflected by the target, and then determines the relevant information of the target, such as the distance, position, height, speed, attitude, shape, reflectivity, etc. of the target, thereby achieving target detection, target tracking, and target recognition.

[0003] Currently, transmitting codes can be used to distinguish the crosstalk signals of adjacent channels and the real echo signals. However, considering the point frequency and the occupied time of the codes, the number of transmitting codes is usually less than the number of physical channels, so there are still concurrent channels. In the case of a high-reflectivity object, the energy of the reflected echo is very high, and at this time, the crosstalk generated by this channel will cover most of the channels, so that the transmitting codes and the filtering strategy cannot distinguish the real echo and the crosstalk echo. Therefore, in the case of identifying a high-reflectivity object, the transmitting code of the corresponding channel can be switched to a high-reflectivity code to reduce the high-reflectivity crosstalk.

[0004] However, during the echo processing, there is a calculation delay from the identification of the high-reflectivity object to the effectiveness of the high-reflectivity code, that is, there is a dynamic code switching delay. How to solve the crosstalk caused by the dynamic code switching delay is a problem that needs to be solved. SUMMARY

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

[0006] In a first aspect, the embodiments of the present application provide a radar control method applied to a radar, and the radar control method comprises:

[0007] According to the first echo information, the transmitting code mode of the transmitter device group corresponding to the current scanning is determined; wherein the first echo information is the echo information received by the last scanning at the same scanning position as the current scanning; the last scanning and the current scanning have a time interval at the same position of the detection field of view;

[0008] The radar is controlled to perform scanning according to a transmission coding mode of the transmission device corresponding to the current scanning.

[0009] In an implementation form of the first aspect, the radar comprises transmission devices arranged in an array form, the group of transmission devices corresponding to the last scanning comprises odd-numbered column channels of the transmission devices arranged in the array form, and the group of transmission devices corresponding to the current scanning comprises even-numbered column channels of the transmission devices arranged in the array form, or the group of transmission devices corresponding to the last scanning comprises scanning performed by even-numbered column channels of the transmission devices arranged in the array form, and the group of transmission devices corresponding to the current scanning comprises odd-numbered column channels of the transmission devices arranged in the array form, the odd-numbered column channels and the even-numbered column channels being spaced apart by a preset angle along a scanning direction, so that scanning of the odd-numbered column channels and scanning of the even-numbered column channels are time-spaced.

[0010] In an implementation form of the first aspect, determining the transmission coding mode of the group of transmission devices corresponding to the current scanning according to the first echo information comprises:

[0011] In a case where a high-return channel is identified according to the first echo information, the transmission coding mode of a target channel corresponding to the high-return channel is determined as high-return coding.

[0012] In an implementation form of the first aspect, in a case where a high-return channel is identified according to the first echo information, the transmission coding mode of a target channel corresponding to the high-return channel is determined as high-return coding, and the method comprises:

[0013] A high-return channel in the group of transmission devices corresponding to the last scanning is identified according to the first echo information.

[0014] A target channel in the group of transmission devices corresponding to the current scanning is determined according to the high-return channel.

[0015] The transmission coding of the target channel is determined as high-return coding.

[0016] In an implementation form of the first aspect, the radar comprises a scanning device, the scanning device is configured to control a step amount of the scanning device corresponding to two times of scanning to be less than an interval of scanning lines corresponding to two adjacent times of transmission, and the method comprises:

[0017] According to echo information received in the last scanning, a transmission coding mode of a transmission device corresponding to an overlapping area of a detection field of view of the current scanning and a detection field of view of the last scanning is determined, wherein the detection field of view range of the last scanning and the detection field of view range of the current scanning are overlapped, and the last scanning and the current scanning are time-spaced.

[0018] In an implementation form of the first aspect, the determination of the emission encoding mode of the emitter device corresponding to the overlap area of the detection field of view in the current scan according to the echo information received in the last scan comprises:

[0019] acquiring a high-reflection channel corresponding to the overlap area of the detection field of view in the last scan;

[0020] determining the emission encoding strategy of the target channel corresponding to the overlap area of the detection field of view in the current scan according to the high-reflection channel;

[0021] performing the scan according to the emission encoding strategy of the target channel in the current scan.

[0022] In an implementation form of the first aspect, the determination of the emission encoding strategy of the channel corresponding to the overlap area of the detection field of view in the current scan surface according to the high-reflection position flag comprises:

[0023] determining the channel to be switched to the high-reflection encoding and the timing of switching the high-reflection encoding according to the high-reflection position flag.

[0024] In an implementation form of the first aspect, the determination of the emission encoding strategy of the target channel corresponding to the overlap area of the detection field of view in the current scan according to the high-reflection channel comprises:

[0025] determining the target channel to be switched to the high-reflection encoding and the timing of switching the high-reflection encoding according to the high-reflection channel.

[0026] In an implementation form of the first aspect, after the control of the radar to perform the scan according to the emission encoding mode of the emitter device corresponding to the current scan, the method further comprises:

[0027] maintaining the high-reflection encoding emission for a preset period for the channel with the high-reflection encoding as the emission encoding mode.

[0028] In a second aspect, the embodiments of the present application provide a radar control device applied to a radar, and the radar control device comprises:

[0029] a determination unit configured to determine an emission encoding mode of an emitter device group corresponding to a current scan according to first echo information; wherein the first echo information is echo information received in a last scan with a same scan position as the current scan; and the last scan and the current scan have a time interval at a same position of a detection field of view.

[0030] a control unit configured to control the radar to perform a scan according to the emission encoding mode of the emitter device group corresponding to the current scan.

[0031] In a third aspect, an embodiment of the present application provides a terminal device, the terminal device comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and the processor implements the method in the first aspect or any optional manner of the first aspect when executing the computer program.

[0032] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, and the computer program is executed by a processor to implement the method in the first aspect or any optional manner of the first aspect.

[0033] In a fifth aspect, an embodiment of the present application provides a computer program product, when the computer program product is run on a terminal device, the terminal device executes the method in the first aspect or any optional manner of the first aspect.

[0034] Compared with the prior art, the embodiment of the present application has the following beneficial effects:

[0035] The radar control method, device, terminal device and computer program product provided by the embodiment of the present application can utilize the first echo information obtained by the last scanning at the same scanning position to identify the high-reflection channel in advance, utilize the first echo information to realize high-reflection coding pre-switching of the high-reflection channel existing in the current scanning, can effectively reduce the occurrence of coding switching delay crosstalk, and thus improve the detection performance of the radar. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0037] Figure 1 is a structure schematic diagram of a laser radar in an embodiment of the present application;

[0038] Figure 2 is a scene schematic diagram of inter-channel crosstalk;

[0039] Figure 3 is a high-reflection coding anti-interference schematic diagram provided by an embodiment of the present application;

[0040] Figure 4 is a dynamic switching delay schematic diagram of high-reflection coding provided by an embodiment of the present application;

[0041] Figure 5 is another dynamic switching delay schematic diagram of high-reflection coding provided by an embodiment of the present application;

[0042] Figure 6 is an implementation flow diagram of a radar control method provided by an embodiment of the present application;

[0043] Figure 7 is a distribution diagram of a transmitting device of a radar provided by an embodiment of the present application;

[0044] Figure 8 is a scene diagram of encoding switching in a radar control method provided by an embodiment of the present application;

[0045] Figure 9 is a scene diagram of encoding switching in another radar control method provided by an embodiment of the present application;

[0046] Figure 10 is a diagram of a scanning field of view provided by an embodiment of the present application;

[0047] Figure 11 is a structure diagram of a scanning system of a radar provided by an embodiment of the present application;

[0048] Figure 12 is a scanning result diagram of a two-dimensional scanning system provided by an embodiment of the present application;

[0049] Figure 13 is an implementation flow diagram of a radar control method provided by another embodiment of the present application;

[0050] Figure 14 is a diagram of a high anti-encoding flag provided by an embodiment of the present application;

[0051] Figure 15 is a structure diagram of a terminal device provided by an embodiment of the present application;

[0052] Figure 16 is a structure diagram of another terminal device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0053] In the following description, specific details are set forth, such as a particular system architecture, techniques, etc., in order to provide a thorough understanding of the present application. However, persons skilled in the art will understand that the present application can be practiced without such specific details. In other instances, well-known structures, devices, circuits, and methods have not been described in detail in order to avoid obscuring the present application.

[0054] It should be understood that the term "and / or" as used in this application specification and the appended claims refers to any combination of one or more of the associated listed items, as well as all possible combinations, and includes such combinations. Furthermore, in the description of this application specification and the appended claims, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0055] It should also be understood that references to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include the specific features, structures, or characteristics described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of 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 "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0056] LiDAR (Light Detection and Ranging) is a radar system that uses laser beams to detect the position, velocity, and other information of targets. Besides detecting the distance to objects, it can also detect the reflectivity of objects used for target identification. The specific working principle of LiDAR is to emit a detection signal towards the target. After reaching the target, the detection signal is reflected by the target object, forming echo data. LiDAR receives the reflected signal (echo data) and then determines relevant information about the target based on the echo data, such as the target's distance, position, altitude, velocity, attitude, shape, and reflectivity, thereby achieving target detection, target tracking, and target identification. The reflectivity of an object refers to the percentage of radiated energy reflected by the object to the total radiated energy of the incident signal. Different objects have different reflectivities, which are mainly determined by factors such as the object's surface properties, the wavelength of the incident signal, and the angle of incidence.

[0057] For example, please refer to Figure 1 , Figure 1 A schematic diagram of a lidar structure is shown. Figure 1 As shown, the lidar 10 typically 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.

[0058] The light source system 111 is configured to generate a laser beam required for the detection of the lidar 10. Specifically, the light source system 111 can include a laser and optical devices such as a transmitting lens group. The scanning system 12 is configured to angularly deflect the laser beam generated by the light source system 111, so that the laser beam can hit different positions at different times. The scanning system 12 can be a mechanical scanning system (i.e., a rotating driving platform), or a semi-solid scanning system (i.e., any one of a rotating mirror, a vibrating mirror, a swinging mirror, or a combination of two of them). The present application does not limit the form of the scanning system.

[0059] It can be understood that the lidar in the present application can also be a solid-state lidar, i.e., scanning is achieved by controlling different angle light sources to emit light in sequence. After the laser beam emitted by the light source system reaches the target object, the reflected light pulse is received by the receiving sensor 131 in the receiving module 13, and then the echo signal processing circuit processes the echo signal to generate corresponding detection information.

[0060] The control module 14 is configured to control the emission of the detection laser by the lidar and the reception of the echo laser by the lidar. The data processing module 15 is configured to process the echo data received by the lidar and output responsive detection data.

[0061] In specific applications, according to the ranging method, the lidar can be divided into time of flight (ToF) ranging method, frequency modulated continuous wave (FMCW) ranging method, and triangulation ranging method. The time of flight (ToF) ranging method is a method in which a group of invisible infrared light (or laser pulses) is emitted outward, reflected by an object, and the reflected infrared light is received by the radar to calculate the time difference or phase difference from the emission to the reflection back to the radar, thereby determining the distance of the object.

[0062] In actual applications, in order to improve the recognition accuracy of the TOF lidar for small target objects at a long distance, a lidar with multiple parallel transmitting and receiving channels is usually used for detection. Such a lidar often includes a plurality of laser emitters and a plurality of laser receivers arranged densely, and therefore the lidar has a crosstalk problem, i.e., a strong echo signal formed by the detection laser emitted by a part of the transmitting channels encountering a high-reflectivity object can cover the adjacent receiving channels, generating a false signal (referred to as a crosstalk signal).

[0063] Currently, transmit codes can be used to distinguish the crosstalk signals of adjacent channels and the real echo signals. However, considering the point frequency and the occupation time of the code, the number of transmit codes is usually less than the number of physical channels, so there are still concurrent channels. In the case of a high-reflectivity object, the energy of the reflected echo is very high, and at this time the crosstalk generated by this channel will cover most of the channels, so that neither the transmit code nor the filtering strategy can distinguish the real echo and the crosstalk echo well.

[0064] For example, see Figure 2 , Figure 2 A schematic diagram of inter-channel crosstalk is shown. As Figure 2 shown, in the P1 pixel time window, both the channel Ch0 and the channel Ch3 use C1 code, that is, the channel Ch0 and the channel Ch3 are concurrent channels (use the same channel random code) in the P1 pixel time window, in the P1 pixel time window, the channel Ch1 uses C2 code and the channel Ch2 uses C3 code, in the P2 pixel time window, both the channel Ch0 and the channel Ch3 use C2 code, the channel Ch1 uses C3 code and the channel Ch2 uses C1 code, and in the P3 pixel time window, both the channel Ch0 and the channel Ch3 use C3 code, the channel Ch1 uses C1 code and the channel Ch2 uses C2 code. Since the probe signal transmitted by the Ch0 channel is reflected by the high-reflectivity object, the echo data received by the Ch0 channel will cause crosstalk to other channels (the Ch1 channel, the Ch2 channel and the Ch3 channel). The real echo and the crosstalk signal can be identified by calculating the echo distance similarity of adjacent pixels. Since the channel Ch0 and the channel Ch3 use the same channel random code, which is equivalent to concurrent, the crosstalk signal and the real echo data have the same similarity, and it is easy to select the wrong echo data, that is, to misidentify the crosstalk signal as the real echo data.

[0065] In actual application, after detecting the high-reflectivity object, the lidar can perform high-reflectivity code switching according to the detection result of detecting the high-reflectivity object (i.e., the detection result of the high-reflectivity echo) to Figure 3 For example, the channel Ch0 uses C1 code in the P1 pixel time window, and in the case of identifying that the received echo is a high-reflectivity echo, the code of the channel Ch0 is switched to Ch code in the next pixel time window after identifying the high-reflectivity echo. Assuming that the channel Ch0 and the channel Ch3 are in a concurrent state in the P1 pixel time window, and the channel Ch0 is switched to Ch code in the P2 pixel time window and the P3 pixel time window, then the crosstalk of the channel Ch0 to the channel Ch3 will be at different distances in these three pixels, so the channel Ch3 can identify the crosstalk echo and the real echo.

[0066] It should be noted that the channel mentioned in the embodiments of the present application can be a transceiving channel, that is, it can be a transmitting channel or a receiving channel. The transmitting channel can transmit a light beam according to a set transmitting code, and the receiving channel can receive a return signal. The present application does not make a specific limitation thereto.

[0067] The C1 code, the C2 code and the C3 code mentioned above can be channel random codes used by the lidar. The Ch code can be a high-reflection code. The channel random code mentioned above can be a fixed transmitting code preset in the radar system. The transmitting jitter of different channel random codes is different. The high-reflection code can be a transmitting code with dynamically changed transmitting jitter time.

[0068] It can be understood that the switching of the high-reflection code depends on the identification of the high-reflection return. Whether the return data is return data reflected by a high-reflectivity object can be determined according to indexes such as the amplitude, pulse width, return area, return power and return energy of the return data.

[0069] It should be noted that the process of determining whether the return is return data reflected by a high-reflectivity object according to indexes such as the amplitude, pulse width, return area, return power and return energy of the return data can refer to existing related schemes, and the present application does not make a specific description.

[0070] However, in the return processing process, there is a calculation delay from the identification of the high-reflectivity object to the taking effect of the high-reflection code, that is, there is a dynamic code switching delay. For example, Figure 4 As shown in FIG. 8, in the scanning pixel time window 1, the control system of the lidar performs transmitting and receiving to obtain return information in space; in the scanning pixel time window 2, the control system calculates and processes the return information obtained in the scanning pixel time window 1 to identify whether the return is return reflected by a high-reflectivity object (that is, the received return is a high-reflection return); and in the scanning pixel time window 3, the transmitting code takes effect depending on the processing result of the scanning pixel time window 2. That is, assuming that the scanning pixel time window 2 processes the return information obtained in the scanning pixel time window 1 and identifies that the return received in the scanning pixel time window 1 is a high-reflection return, the transmitting code will be switched to a high-reflection code in the scanning pixel time window 3. In this example, the dynamic code switching delay is 2 scanning pixel time windows.

[0071] It can be understood that the above is only an example of the dynamic code switching delay and not a limitation. In other cases, the code switching delay can be more or less scanning pixel time windows. For example, Figure 5In the example shown, the echo information received by the scanning pixel time window 1 needs to be fused with the echo information received by the scanning pixel time window 2, and therefore, the calculation and processing are performed in the scanning pixel time window 3 to identify whether the echo is a high-reflection echo, and in the case of identifying a high-reflection echo, the switching of the high-reflection coding is performed in the scanning pixel time window 4, that is, the channel random coding originally used by the channel is switched to high-reflection coding. In this example, the delay of the dynamic coding effective period is 3 scanning pixel time windows. In addition, the delay duration is also related to the device parameters, resolution, design parameters, and the like of the radar, which are not limited in the present application.

[0072] Based on this, the radar control method provided by the embodiments of the present application can identify a high-reflection channel in advance by using the first echo information obtained by the last scanning with the same scanning position, and realize the high-reflection coding pre-switching of the high-reflection channel existing in the current scanning by using the first echo information, which can effectively reduce the occurrence of coding switching delay crosstalk, thereby improving the detection performance of the radar.

[0073] The radar control method provided by the embodiments of the present application is described in detail below with reference to the accompanying drawings:

[0074] Please refer to Figure 6 , Figure 6 The implementation flowchart of the radar control method provided by the embodiments of the present application is shown, and it should be noted that the execution subject of the above radar control method can be the above laser radar 10, and specifically can be the control system in the laser radar 10.

[0075] Of course, in other embodiments, the execution subject of the above radar control method can also be a terminal device in communication connection with the laser radar 10. The above terminal device can be a mobile phone, a desktop computer, a notebook computer, a tablet computer, or a wearable device, etc. terminal, and can also be a cloud server, a radar auxiliary computer, etc. in various application scenarios, and the present application does not make specific limitations. The following takes the control system of the laser radar 10 as an example for description:

[0076] As Figure 6 shown, the above radar control method can specifically include S11 to S12.

[0077] In S11, according to the first echo information, the transmission coding mode of the transmitter device group corresponding to the current scanning is determined.

[0078] The first echo information is the echo information received by the last scanning with the same scanning position as the current scanning; and the last scanning and the current scanning exist a time interval at the same position of the detection field of view.

[0079] In some implementations, the aforementioned radar includes a linear array of transmitters or a surface array of transmitters. The correspondence between transmitters and receivers can be one-to-one or one-to-many; this application does not impose a unique limitation on the correspondence between transmitters and receivers. For example, one transmitter can correspond to one receiver, or one transmitter to three receivers, or one transmitter to 12 receivers, or one transmitter to 24 receivers, etc. 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 surface 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.

[0080] In one implementation, the transmitting array can be arranged in a linear array. The transmitting device group corresponding to the previous scan is an odd-numbered column channel in the array of transmitting devices, and the transmitting device group corresponding to the current scan is an even-numbered column channel in the array of transmitting devices. Alternatively, the transmitting device group corresponding to the previous scan is an even-numbered column channel in the array of transmitting devices, and the transmitting device group corresponding to the current scan is an odd-numbered column channel in the array of transmitting devices. 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 difference between the point clouds generated at the same position by two adjacent columns of channels.

[0081] In this context, it can be understood that the previous scan may have only transmitted odd / even columns, and the current scan may have only transmitted even / odd columns. Then, the encoding of the transmission channel for the even / odd columns in the current scan is switched based on the high-reflection channel identified by the echo of the odd / even columns. Alternatively, both scans may transmit two columns simultaneously, and the channel encoding method for the even / odd columns in the current scan is switched only based on the echo of the odd / even columns from the previous scan.

[0082] As an example, such as Figure 7 As shown, channels Ch1, Ch3, and Ch5... Channels Ch15, Ch2, Ch4, Ch6, etc. are odd-numbered channels. Channels such as Ch16 are even-numbered channels.

[0083] The preset angle can be determined based on the radar's horizontal resolution, specifically set to an integer multiple of the radar's horizontal resolution. For example, assuming the radar's horizontal resolution is θ, the preset angle D can be set to an integer multiple of the horizontal resolution θ, i.e., D = M * θ, where M is a positive integer. Assuming the radar's scanning direction is from left to right, and assuming M = 5, the point cloud generated by any channel in the odd-numbered columns lags behind the point cloud generated by the adjacent channel in the even-numbered columns by 5 points. Figure 7As can be seen from the diagram, the point cloud received by the odd-numbered channel ch9 within the P1 pixel time window and the point cloud received by the even-numbered channel Ch10 within the P6 pixel time window are physically aligned, meaning they correspond to scanning the same target space.

[0084] Understandably, in other implementations, if the radar scans from right to left, the point cloud generated by the even-numbered channels will lag behind the point cloud generated by the odd-numbered channels by M points.

[0085] It is understood that the odd and even channels can also be arranged in staggered rows, and the scanning direction is vertical. This application does not impose a unique limitation on this.

[0086] In this embodiment of the 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. The radar control method provided in this embodiment will be illustrated by example as follows:

[0087] In practical applications, the control system of a lidar system controls the transmitting devices to emit detection signals and receive corresponding echo signals according to a pre-set encoding method. This allows the system to extract the corresponding echo information from the received echo signals. For the first group of transmitting devices, high-inflection encoding switching is performed based on the echo information received by the corresponding receiving device group. Specifically, if a high-inflection echo signal is detected in a certain channel, the transmission encoding for that channel (i.e., the high-inflection channel) within the next pixel time window is switched to high-inflection encoding. For the second group of transmitting devices, pre-switching is performed based on the echo information received by the corresponding receiving device group of the first group. Specifically, if a high-inflection channel is identified based on the echo information received by the corresponding receiving device group of the first group, the transmission encoding of the target channel in the second group of transmitting devices corresponding to the high-inflection channel is switched to high-inflection encoding in advance.

[0088] For example, such as Figure 8 As shown, taking a radar system including channels Cha, Chb, Chc, Chd, Che, and Chf as an example, where channels Cha, Chc, and Che are... Figure 5 The right-hand column of channels shown in this example represents the channels in the second transmitter device group; channels Chb, Chd, and Chf are... Figure 5The channels shown in the left column represent the channels in the first transmitting device group in this example. Channels Cha, Chc, and Che use the same transmission code, as do channels Chb, Chd, and Chf. Assuming channel Chf illuminates a high-reflectivity object at time P6 and channel Che illuminates a high-reflectivity object at time P11, if both the first and second transmitting device groups perform high-reflectivity identification and high-reflectivity coding switching independently, and assuming that radar identification of high-reflectivity echoes requires two scanning pixel time windows, then channel Chf will identify the high-reflectivity object illuminated at time P6 at time P8, and then switch its transmission code to high-reflectivity coding at time P9. Similarly, channel Che will identify the object illuminated at time P11 at time P13. When a high reflectivity object is encountered, the transmission code of channel Che is switched to high reflectivity code at time P14. However, since continuous crosstalk point clouds at the same distance will be 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 this embodiment, channel Chf illuminates the high reflectivity object at time P6. Assuming that the radar needs two scanning pixel time windows to identify the high reflectivity echo, that is, the high reflectivity object illuminated by P6 is identified at time P8, the transmission code of channel Chf will be switched to high reflectivity code at time P9. At time P9, the transmission code of channel Che, which is adjacent to channel Chf, will also be switched to high reflectivity code, thereby effectively isolating crosstalk in the same transmitting device group.

[0089] It should be noted that the adjacent channels of the high-reflection channel Chi (the target channels in this embodiment) may include channel Chi-1 and channel Chi+1, where i is a positive integer greater than or equal to 2.

[0090] In one embodiment, S11 may specifically include the following steps:

[0091] The high-reflection channel in the transmitting device group corresponding to the previous scan was identified based on the first echo information;

[0092] The target channel in the emitter group corresponding to the current scan is determined based on the high-reflection channel;

[0093] The transmission code of the target channel is determined to be high inverse code.

[0094] If the high-reflection channel is not identified based on the first echo information, then the transmission codes of each channel remain unchanged.

[0095] It should be noted that high-reflectivity echo identification can be determined based on indicators such as echo data amplitude, pulse width, echo area, echo power, and echo energy. The process of determining whether an echo belongs to a high-reflectivity object based on these indicators can be found in existing solutions, and will not be elaborated upon here.

[0096] In S12, the radar is controlled to perform a scan according to the transmission encoding method of the transmitting device group corresponding to the current scan.

[0097] In practical applications, S11 can determine whether the transmission code of each channel in the current radar scan is switched. Therefore, after determining the transmission code of each channel, the radar channels are controlled to perform scanning according to the transmission code corresponding to that channel in the current scanning cycle. Specifically, if the transmission code of a certain channel is a random transmission code, the detection signal is transmitted according to the random transmission code; if the transmission code of a certain channel is a high-inflection code, the detection signal is transmitted according to the high-inflection code.

[0098] In some embodiments of this application, since the edges of highly reflective objects will generate continuous crosstalk, after the high-reflectivity channel and the target channel switch high-reflectivity coding, the target channel can be made to maintain high-reflectivity coding for a preset period.

[0099] For example, such as Figure 9 As shown, Figure 9 In the channel Che, the transmit encoding is switched to high inverse encoding at time P9, and high inverse encoding is maintained from P9 to P13.

[0100] As can be seen from the above, the radar control method provided in this application embodiment includes a first transmitting device group and a second transmitting device group with staggered scanning angles. By staggering their arrangement, the scanning times of different channel groups at the same position are staggered, thereby enabling the high-inflection pre-switching of the second transmitting device group to be achieved using the echo information received by the first transmitting device group. This effectively reduces the occurrence of coding switching delay crosstalk and improves the radar's detection performance.

[0101] In one embodiment of this application, the radar may further include a scanning element, which controls the emitted laser from the radar's transmitting array to scan a wider detection range within the detection field of view. The scanning element may include, but is not limited to, any one of a rotating mirror, a galvanometer, a tilting mirror, or a combination of both.

[0102] In practical applications, by controlling the scanning plane step size between two scans to be smaller than the interval between the scan lines of two adjacent transmissions, the detection field of view can overlap between the two scans. For the overlapping area of ​​the detection field of view, the high-reflection recognition result of the previous scan can be used to achieve high-reflection encoding pre-switching for the current scan. It can be understood that the interval between the scan lines of two adjacent transmissions can be, for example, the interval between the output rays (scan lines) of the first transmitting device corresponding to the two transmissions.

[0103] It is understood that the two launches may correspond to the same array or different arrays. This application does not impose a single limitation on this.

[0104] For example, such as Figure 10 As shown, Figure 10 The middle part has 5 rows of transmitting devices, and the scanning element is horizontally scanned, so it can be like this: Figure 10 As shown, the horizontal fields of view corresponding to the two scans partially overlap. By controlling the step size of the scan plane corresponding to the two scans to be smaller than the interval between the scan lines corresponding to two adjacent emission (for example, the interval between the first scan lines corresponding to the two emission in the first row), the detection fields of view between the two scan planes can be made to overlap.

[0105] In this embodiment of the application, the aforementioned first echo information may specifically refer to the echo information obtained by the receiving device corresponding to the transmitting device in the previous scan.

[0106] The above determination of the transmission encoding method of the transmitting device corresponding to the current scan includes:

[0107] Based on the echo information received from the previous scan, the transmission encoding 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. The detection field of view of the previous scan overlaps with the detection field of view of the current scan, and there is a time interval between the previous scan and the current scan.

[0108] In one embodiment of this application, determining the transmission encoding method of the transmitting device corresponding to the overlapping area of ​​the detection field of view of the previous scan in the current scan based on the echo information received in the previous scan includes:

[0109] Obtain the high-reflectivity channel corresponding to the overlapping area of ​​the detection field of view in the previous scan;

[0110] Based on the high-reflectivity channel, determine the emission coding strategy of the target channel corresponding to the overlapping area of ​​the detection field of view in the current scan;

[0111] The scan is performed according to the transmission encoding strategy of the target channel in the current scan.

[0112] In practical applications, the high-reflection channels of all channels and all scan positions of the previous scan can be recorded and the high-reflection encoding flag can be saved. During the scan interval before the current scan is to be performed, the high-reflection channel corresponding to the previous scan can be obtained from the saved high-reflection encoding flag. The high-reflection encoding flag records the high-reflection channel and the corresponding high-reflection position.

[0113] In practical applications, since the fields of view of the previous scan overlap with those of the current scan, the location of a high-reflectivity object in the previous scan is more likely to also have a high-reflectivity object in the current scan within the overlapping area. Therefore, based on the high-reflectivity location markers, the target channel requiring high-reflectivity encoding switching and the timing of the switching can be determined. This allows for the determination of the transmission encoding strategy for each channel corresponding to the overlapping area of ​​the current scan's fields of view. Specifically, for non-high-reflectivity channels, random transmission encoding is used; for high-reflectivity channels, the transmission encoding is switched to high-reflectivity encoding at the appropriate time. Then, scanning is performed according to the transmission encoding method corresponding to each channel.

[0114] It should be noted that the above radar control method can be applied to both coaxial and off-axis radar systems, and the embodiments of this application do not impose specific limitations on this.

[0115] In some embodiments, for the current transmission code, it can also be combined with Figure 6 The high-inflection coding pre-switching method between channels is further determined. For example, when the point cloud formed by even-numbered channels lags behind the point cloud formed by odd-numbered channels, the odd-numbered channels in the current scan can be combined with the high-inflection position marker of the previous scan plane for high-inflection coding pre-switching. For even-numbered channels in the current scan plane, the echo data obtained from the scan of odd-numbered channels can be used for high-inflection coding pre-switching.

[0116] The radar control method provided in this application can also be applied to two-dimensional scanning radar. For two-dimensional rotating mirror radar, where the scanning element can include a combination of galvanometer and rotating mirror to achieve two-dimensional scanning, in this application embodiment, the transmission code of the transmitting device on the current scanning surface can be determined by using the echo data of the previous scanning surface whose detection field of view overlaps. It should also be noted that, in addition to the combination of galvanometer and rotating mirror, the two-dimensional scanning system can also be other forms of two-dimensional scanning system, such as a scanning system combining galvanometer and tilting mirror, or a scanning system combining two galvanometers, etc. This application does not impose specific limitations on these.

[0117] The radar control method provided in this application embodiment will be described below using a two-dimensional scanning system combining a galvanometer and a rotating mirror as an example.

[0118] First, the scanning method of the two-dimensional scanning system combining the galvanometer and rotating mirror is explained as follows:

[0119] Please see Figure 11 , Figure 11 A schematic diagram of the structure of a radar scanning system provided in an embodiment of this application is shown, as follows: Figure 11 As shown, the scanning system described above 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 scanning in the horizontal direction. Higher vertical point cloud resolution within the field of view (FOV) is obtained by controlling the stepping of the galvanometer 112, and horizontal scanning is achieved by controlling the rotating mirror.

[0120] By combining rotating mirrors and galvanometers, the scanning resolution of the radar is improved, such as... Figure 12 As shown, multiple scanning planes, such as Figure 12 The complete scan result can be obtained by superimposing the scanning surfaces Rot1, Rot2, Rot3, Rot4, and Rot5.

[0121] Please see Figure 13 , Figure 13 This illustration shows a schematic diagram of the implementation flow of a radar control method according to another embodiment of this application. The radar involved in this embodiment may specifically include a two-dimensional transmitting device, such as... Figure 13 As shown, the above radar control method may specifically include the following steps:

[0122] In S131, the high-reflection channel corresponding to the overlapping area of ​​the detection field of view in the previous scan is obtained.

[0123] Specifically, obtaining the high-reflection channel corresponding to the overlapping area of ​​the detection field of view in the previous scan includes: recording the high-reflection areas of all channels and all scanning positions in the previous scan using high-reflection encoding, and saving the high-reflection encoding flag. During the scanning interval before the current scan is to be performed, the high-reflection encoding flag of the previous scan surface can be obtained from the saved high-reflection encoding flag. The high-reflection encoding flag records the high-reflection channel and the corresponding high-reflection position.

[0124] In S132, the emission coding strategy of the target channel corresponding to the overlapping area of ​​the detection field of view in the current scan is determined based on the high-reflection channel.

[0125] In practical applications, since the field of view of the previous scanning surface partially overlaps with that of the current scanning surface, the location of a high-reflectivity object in the previous scanning surface is more likely to have a high-reflectivity object in the current scanning surface. Therefore, based on the high-reflectivity location markers, the channel that needs to switch high-reflectivity encoding and the timing of switching high-reflectivity encoding can be determined, thereby determining the emission encoding strategy for each channel in the current scanning surface. That is, for non-high-reflectivity channels, scanning is performed according to random emission encoding, and for high-reflectivity channels, the emission encoding of the high-reflectivity channel is switched to high-reflectivity encoding at the timing of switching high-reflectivity encoding.

[0126] For example, such as Figure 14 As shown, assuming that channel Cha switched to high inverse coding at times n, n+1, n+2 and n+3 in the previous scan Rot1, then the transmission coding of Cha at times n, n+1, n+2 and n+3 in the current scan Rot2 is high inverse coding.

[0127] In S133, a scan is performed according to the transmission coding strategy of the target channel in the current scan.

[0128] In some embodiments, for the first scan plane of the current frame, the high-reflection position flag recorded by the last scan plane of the previous frame can also be used to determine the emission scanning strategy.

[0129] As can be seen from the above, the radar control method provided in this application embodiment achieves high-inflection pre-switching by switching high-inflection codes between scanning planes, which can also effectively reduce the occurrence of code switching delay crosstalk and improve the radar's detection performance.

[0130] In some embodiments, the emission encoding of the current scanning surface can also be combined with Figure 6 The high-inflection coding pre-switching method between channels is further determined. For example, when the point cloud formed by even-numbered channels lags behind the point cloud formed by odd-numbered channels, the odd-numbered channels of the current scan plane can be combined with the high-inflection position marker of the previous scan plane for high-inflection coding pre-switching. For even-numbered channels in the current scan plane, the echo data obtained from scanning the odd-numbered channels can be used for high-inflection coding pre-switching.

[0131] It should be understood that the sequence number of each step in the above embodiments does not imply 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.

[0132] Based on the radar control method provided in the above embodiments, the present invention further provides an embodiment of a radar control device for implementing the above method embodiments.

[0133] Please see Figure 15, Figure 15 This is a schematic diagram of a radar control device provided in an embodiment of this application. In this embodiment, the radar control device is applied to a radar system, and the various units included in the radar control device are used to execute... Figure 6 The steps in the corresponding embodiments. Please refer to the details. Figure 6 as well as Figure 6 The relevant descriptions in the corresponding embodiments are shown below. For ease of explanation, only the parts relevant to this embodiment are shown. Figure 15 As shown, the radar control device described above may include a determining unit 1501 and a control unit 1502, wherein:

[0134] The determining unit 1501 is used to determine the transmission encoding method 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 at the same scanning position as the current scan; there is a time interval between the previous scan and the current scan when scanning to the same position in the detection field of view.

[0135] The control unit is used to control the radar to perform scanning according to the transmission encoding method of the corresponding transmitting device group for the current scan.

[0136] In some implementations, the radar includes transmitting devices arranged in an array. The group of transmitting devices corresponding to the previous scan is an odd-numbered column of channels in the array, and the group of transmitting devices corresponding to the current scan is an even-numbered column of channels in the array. Alternatively, the group of transmitting devices corresponding to the previous scan is an even-numbered column of channels in the array, and the group of transmitting devices corresponding to the current scan is an odd-numbered column of channels in the array. The odd-numbered columns and the even-numbered columns are spaced apart by a preset angle along the scanning direction.

[0137] In some implementations, the determining unit 1501 is specifically used to determine the transmission encoding method of the target channel corresponding to the high-reflection channel as high-reflection encoding when the high-reflection channel is identified based on the first echo information.

[0138] In some implementations, the aforementioned determining unit 1501 is specifically used to identify the high-reflection channel in the transmitting device group corresponding to the previous scan based on the first echo information;

[0139] The target channel in the emitter group corresponding to the current scan is determined based on the high-reflection channel;

[0140] The transmission code of the target channel is determined to be high inverse code.

[0141] In some implementations, the radar includes a scanning element, which controls the scanning surface step size between two scans to be less than the interval between the scan lines of two adjacent transmissions. The determining unit is also used to: determine the transmission encoding 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.

[0142] In some implementations, the determining unit 1501 is specifically used to obtain the high-inflection coding flag of the channel corresponding to the overlapping area of ​​the detection field of view of the previous scanning plane; determine the emission coding strategy of the channel corresponding to the overlapping area of ​​the detection field of view in the current scanning plane according to the high-inflection position flag; and perform scanning according to the emission coding strategy of each channel in the current scanning plane.

[0143] In some embodiments, the control unit 1502 may also be used to maintain high inverse coding transmission for a preset period for a channel whose transmission coding method is high inverse coding.

[0144] It should be noted that the information interaction and execution process between the above-mentioned units are based on the same concept as the method embodiments of this application. Their specific functions and technical effects can be referred to the method embodiments section, and will not be repeated here.

[0145] Therefore, the radar control device provided in this application embodiment can also use the first echo information obtained from the previous scan at the same scanning position to identify high-reflection channels in advance, and use the first echo information to realize the high-reflection code pre-switching of the high-reflection channels existing in the current scan, which can effectively reduce the occurrence of code switching delay crosstalk, thereby improving the radar detection performance.

[0146] Figure 16 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. For example... 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, it implements the steps in the various radar control method embodiments described above, for example... Figure 6 S11~S12 are shown. Alternatively, when the processor 160 executes the computer program 162, it implements the functions of each module / unit in the above-described terminal device embodiments, for example... Figure 15 The functions of units 1501~1502 shown.

[0147] For example, the computer program 162 described above can be divided into one or more modules / units. One or more modules / units are stored in the memory 161 and executed by the processor 160 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 162 in the terminal device 16. For example, the computer program 162 can be divided into an acquisition unit, a determination unit, and a calculation unit. For the specific functions of each unit, please refer to [link to relevant documentation]. Figure 16 The relevant descriptions in the corresponding embodiments are not repeated here.

[0148] The aforementioned terminal device may include, but is not limited to, a processor 160 and a memory 161. Those skilled in the art will understand that... Figure 16 This is merely an example of terminal device 16 and does not constitute a limitation on terminal device 16. It may include more or fewer components than shown, or combine certain components, or different components. For example, the terminal device described above may also include input / output devices, network access devices, buses, etc.

[0149] The processor 160 may be a Central Processing Unit (CPU), or 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. A general-purpose processor may be a microprocessor or any conventional processor.

[0150] The aforementioned memory 161 can be an internal storage unit of the terminal device 16, such as a hard disk or RAM of the terminal device 16. The aforementioned memory 161 can also be an external storage device of the terminal device 16, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the terminal device 16. Furthermore, the aforementioned memory 161 can include both internal storage units and external storage devices of the terminal device 161. The aforementioned memory 161 is used to store the aforementioned computer program and other programs and data required by the terminal device. The aforementioned memory 161 can also be used to temporarily store data that has been output or will be output.

[0151] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, can implement the aforementioned radar control method.

[0152] This application provides a computer program product that, when run on a terminal device, enables the terminal device to implement the aforementioned radar control method.

[0153] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the terminal device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0154] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

[0155] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art 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 by, The radar control method comprises: According to the first echo information, the transmission coding mode of the transmission device group corresponding to the current scanning is determined; wherein the first echo information is the echo information received by the last scanning with the same scanning position as the current scanning; the last scanning and the current scanning exist a time interval at the same position of scanning to the detection field of view; According to the transmission coding mode of the transmission device group corresponding to the current scanning, the radar is controlled to perform scanning; The radar comprises array-form arranged transmission devices, the transmission device group corresponding to the last scanning is the odd column channel of the array-form transmission devices, the transmission device group corresponding to the current scanning is the even column channel of the array-form transmission devices, or the transmission device group corresponding to the last scanning is the even column channel of the array-form transmission devices, the transmission device group corresponding to the current scanning is the odd column channel of the array-form transmission devices, and the odd column channel and the even column channel are spaced by a preset angle along the scanning direction; According to the first echo information, the transmission coding mode of the transmission device group corresponding to the current scanning is determined, comprising: In the case that the high-reflection channel is identified according to the first echo information, the transmission coding mode of the target channel corresponding to the high-reflection channel is determined as high-reflection coding; The case that the transmission coding mode of the target channel corresponding to the high-reflection channel is determined as high-reflection coding in the case that the high-reflection channel is identified according to the first echo information, comprising: According to the first echo information, the high-reflection channel in the transmission device group corresponding to the last scanning is identified; According to the high-reflection channel, the target channel in the transmission device group corresponding to the current scanning is determined; The transmission coding of the target channel is determined as high-reflection coding.

2. The radar control method according to claim 1, characterized by, The radar comprises a scanning device, the step size of the scanning device corresponding to two scans is less than the interval of the scanning lines corresponding to two adjacent transmissions, and the determination of the transmission coding mode of the transmission device corresponding to the current scanning comprises: According to the echo information received by the last scanning, the transmission coding mode of the transmission device corresponding to the overlapping area of the detection field of view of the current scanning and the last scanning is determined, wherein the detection field of view range of the last scanning and the detection field of view range of the current scanning exist an overlap, and the last scanning and the current scanning exist a time interval.

3. The radar control method according to claim 2, characterized by, The determination of the transmission coding mode of the transmission device corresponding to the overlapping area of the detection field of view of the current scanning and the last scanning according to the echo information received by the last scanning, comprising: The high-reflection channel corresponding to the overlapping area of the detection field of view of the last scanning is acquired; According to the high-reflection channel, the transmission coding strategy of the target channel corresponding to the overlapping area of the detection field of view in the current scanning is determined; The scanning is performed according to the transmission coding strategy of the target channel in the current scanning.

4. The radar control method according to claim 3, characterized by, The determination of the transmission coding strategy of the target channel corresponding to the overlapping area of the detection field of view in the current scanning according to the high-reflection channel, comprising: According to the high-reflection channel, the target channel to be switched to high-reflection coding and the timing of switching high-reflection coding are determined.

5. The radar control method according to claim 1, characterized by, The radar control method further comprises the following steps after the radar is controlled to perform scanning according to the emission encoding mode of the emission device corresponding to the current scanning: For a channel with high reflection encoding, high reflection encoding emission is maintained for a preset period.

6. A radar control device, characterized by comprising: The radar control device is applied to a radar, and the radar control device comprises: A determination unit is configured to determine an emission encoding mode of an emission device group corresponding to a current scanning according to first echo information; the first echo information is echo information received in a last scanning with a same scanning position as the current scanning; the last scanning and the current scanning are time intervals at a same position of a detection field of view; A control unit is configured to control the radar to perform scanning according to the emission encoding mode of the emission device group corresponding to the current scanning. The radar comprises emission devices arranged in an array form, the emission device group corresponding to the last scanning is odd column channels in the emission devices arranged in the array form, and the emission device group corresponding to the current scanning is even column channels in the emission devices arranged in the array form, or the emission device group corresponding to the last scanning is even column channels in the emission devices arranged in the array form, and the emission device group corresponding to the current scanning is odd column channels in the emission devices arranged in the array form; the odd column channels and the even column channels are spaced apart by a preset angle along a scanning direction. The radar control method further comprises the following steps after the radar is controlled to perform scanning according to the emission encoding mode of the emission device corresponding to the current scanning: In a case where a high reflection channel is identified according to the first echo information, an emission encoding mode of a target channel corresponding to the high reflection channel is determined as high reflection encoding; The radar control method further comprises the following steps after the radar is controlled to perform scanning according to the emission encoding mode of the emission device corresponding to the current scanning: A high reflection channel in the emission device group corresponding to the last scanning is identified according to the first echo information; A target channel in the emission device group corresponding to the current scanning is determined according to the high reflection channel; The emission encoding of the target channel is determined as high reflection encoding.

7. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the readable instructions of the computer program to implement the radar control method in any one of claims 1 to 5.

8. A computer program product, characterised in that, When the computer program product is run on the terminal device, the terminal device is caused to implement the radar control method in any one of claims 1 to 5.

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