Rapid conversion configuration method and system of vehicle-mounted 4D imaging millimeter wave radar

Abstract

The invention relates to a rapid conversion configuration method and system for a vehicle-mounted 4D imaging millimeter wave radar, and the method comprises the steps: transmitting a waveform switching instruction to a radio frequency drive chip through an MSS core, and transmitting an algorithm updating instruction to a DSP through inter-core communication; the MSS core receives the updating algorithm from the DSP and updates algorithm configuration; the MSS core controls the radio frequency driving chip to update the waveform of the radio frequency front-end RF core based on the updated algorithm configuration; and the MSS core controls the RF core at the front end of the radio frequency to send waves according to the updated waveform. According to the invention, the MSS core directly controls the radio frequency driving module in the core, updates the waveform parameters of the radio frequency front end and closes / starts the wave transmission, the MCU core directly updates the algorithm configuration in the DSP core through the inter-core communication command, and the mode switching time is reduced to one percent of the original mode switching time, so that the radar data loss and the influence on the automatic driving function can be ignored.

Description

Technical Field

[0001] The present application relates to the field of vehicle-mounted radar technology, and in particular to a method and system for rapid conversion configuration of a vehicle-mounted 4D imaging millimeter-wave radar. Background Art

[0002] In autonomous driving systems, on-board millimeter-wave radar is a key sensor responsible for detection, perception, and target positioning. Compared to other sensors like cameras and lidar, it offers advantages such as low cost, long detection range, all-weather operation, and the ability to directly obtain Doppler velocity. In recent years, with the gradual implementation of a series of supporting policies and the orderly progress of pilot projects across various regions, my country's autonomous driving sector has seen strong development momentum, leading the world in both technology research and development and application. Globally, unmanned driving, intelligent driving, and autonomous driving are currently the most cutting-edge technologies in the automotive industry and a major application scenario for artificial intelligence. The United States, China, the European Union, Japan, and South Korea are all accelerating their development in the autonomous driving sector. Currently, 4D millimeter-wave radar, in addition to traditional radar's range, speed, and azimuth (3D) measurements, also measures pitch, adding a single dimension. Millimeter-wave radar can accurately perceive and identify various traffic participants, including vehicles, pedestrians, cyclists, and motorcycles, thereby improving traffic safety and efficiency, reducing traffic accidents and congestion, lowering energy consumption and emissions, and enhancing travel comfort and convenience. Millimeter-wave radar can also be combined with technologies such as the Internet of Vehicles, cloud computing, and big data to achieve real-time collection, analysis, and sharing of traffic information, thereby providing strong support for the planning, management, and services of intelligent transportation and smart cities.

[0003] Given limited resources, radar system parameters cannot be optimized simultaneously: designing one system metric high often means designing another low. To maximize radar performance, different operating modes can be assigned to the radar. For example, the most common near- and far-range modes are: Near-range mode is used in congested urban environments and emphasizes higher point cloud density. Waveforms with higher range resolution and accuracy can be designed for this mode, at the expense of maximum range and speed measurement. Long-range mode is used in open areas such as highways and emphasizes longer range. Waveforms with longer detection range and speed measurement range can be designed for this mode, at the expense of range resolution and accuracy.

[0004] Existing 4D imaging radars (such as those based on TI's AWR2243 and AM2732 chips) require a multi-layer encapsulation module (CLI → MMWave → DPM) when switching operating modes (such as short-range / long-range modes). This results in a long switching time (tens of seconds), during which the radar cannot operate, affecting the real-time performance of the autonomous driving system.

[0005] Based on this, the present application provides a method and system for rapid conversion configuration of a vehicle-mounted 4D imaging millimeter-wave radar. Summary of the Invention

[0006] In order to improve the problem that existing 4D imaging radars need to call multi-layer packaging modules when switching working modes, resulting in a long switching time, during which the radar cannot work, and affecting the real-time performance of the autonomous driving system, the present application provides a method and system for rapid conversion configuration of a vehicle-mounted 4D imaging millimeter-wave radar.

[0007] In a first aspect, the present application provides a method for rapid conversion configuration of a vehicle-mounted 4D imaging millimeter-wave radar, which adopts the following technical solutions:

[0008] The MSS core sends waveform switching instructions to the RF driver chip and sends algorithm update instructions to the DSP through inter-core communication;

[0009] The MSS core receives updated algorithms from the DSP and updates the algorithm configuration;

[0010] The MSS core controls the RF driver chip to update the waveform of the RF front-end RF core based on the updated algorithm configuration;

[0011] The MSS core controls the RF front-end core to transmit according to the updated waveform.

[0012] Preferably, the base MSS core receives an updated algorithm from the DSP and updates the algorithm configuration, including:

[0013] When the DSP core receives the algorithm update instruction, it controls the DSP core to pause the currently running perception algorithm thread;

[0014] Control the DSP core to release the occupied signal processing buffer;

[0015] According to the target mode requirements, the DSP core is controlled to re-run the target waveform code, generate the update algorithm and allocate cache resources;

[0016] After the DSP core algorithm is updated, the algorithm thread is resumed.

[0017] Preferably, the controlling RF driver chip updates the waveform of the RF front-end RF core based on the updated algorithm configuration, including:

[0018] The MSS core sends a wave-transmission shut-off instruction to the RF driver chip, so that the RF driver chip shuts off the wave transmission of the RF front-end RF core through SPI communication;

[0019] The MSS core sends a waveform update instruction to the RF driver chip, so that the RF driver chip updates the waveform of the RF front-end RF core through SPI communication;

[0020] The MSS core sends a wave transmission instruction to the RF driver chip, so that the RF driver chip starts the wave transmission of the RF front-end RF core through SPI communication.

[0021] Preferably, after the MSS core controls the RF driver chip to update the waveform of the RF front-end RF core based on the updated algorithm configuration, the method further includes:

[0022] When the RF core waveform configuration update times out or fails, it automatically rolls back to the last valid waveform parameters.

[0023] When the DSP core algorithm configuration is updated abnormally, the loading of the new algorithm is suspended and the original algorithm is maintained;

[0024] The MSS core receives error code feedback from the DSP core through inter-core communication, triggering system logging and alarms.

[0025] Preferably, before the MSS core controls the RF front-end RF core to transmit according to the updated waveform, the method further includes:

[0026] Clear the residual signal data in the analog-to-digital converter buffer of the RF front-end core;

[0027] Reset the intermediate state of the DSP core's signal processing pipeline;

[0028] Add a timestamp to the first frame of data after retransmission to align it with the clock of the autonomous driving system.

[0029] In a second aspect, the present application provides a fast switching configuration device for a vehicle-mounted 4D imaging millimeter-wave radar, which adopts the following technical solutions, including:

[0030] The switching module is used by the MSS core to send waveform switching instructions to the RF driver chip and to send algorithm update instructions to the DSP through inter-core communication;

[0031] Algorithm module, used by the MSS core to receive updated algorithms from the DSP and update the algorithm configuration;

[0032] A waveform module is used for the MSS core to control the RF driver chip to update the waveform of the RF front-end RF core based on the updated algorithm configuration;

[0033] The wave transmission module is used by the MSS core to control the RF front-end core to transmit the wave according to the updated waveform.

[0034] In a third aspect, the present application further provides a control device, comprising:

[0035] The system comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes the method for rapid conversion configuration of the vehicle-mounted 4D imaging millimeter-wave radar.

[0036] In a fourth aspect, the present application also provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute the above-mentioned method for rapid conversion configuration of the vehicle-mounted 4D imaging millimeter-wave radar.

[0037] In summary, in this application, the MCU main control subsystem (MSS core) is used to directly control the RF driver chip to achieve dynamic updates of the RF front-end RF core waveform parameters and real-time start and stop control of the wave function. At the same time, the MSS core uses a high-speed inter-core communication mechanism to directly issue algorithm configuration update instructions to the digital signal processor (DSP core) to achieve collaborative reconstruction of the hardware control layer and the algorithm processing layer. This mechanism compresses the mode switching time to 2-3 radar frame cycles (about 200 milliseconds), which is two orders of magnitude more efficient than the traditional solution (1% of the original solution). According to actual measurements, this optimization shortens the radar interruption time to the millisecond level, effectively avoiding the loss of target trajectory and point cloud data faults, ensuring the continuity and integrity of the autonomous driving perception system during mode switching, and its impact on high-order assisted driving functions has been reduced to a negligible range. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a diagram of the existing 4D imaging radar mode switching mechanism.

[0039] Figure 2 The present invention is a flowchart of a method for rapidly converting and configuring a vehicle-mounted 4D imaging millimeter-wave radar.

[0040] Figure 3 It is a schematic diagram of the radar mode switching mechanism of this application.

[0041] Figure 4 This is a waveform switching diagram of this application.

[0042] Figure 5 This is a schematic diagram of inter-core communication in this application.

[0043] Figure 6 The present invention is a structural block diagram of a fast conversion configuration device for a vehicle-mounted 4D imaging millimeter-wave radar. DETAILED DESCRIPTION

[0044] The following combination Figure 1 - Figure 6 This application is described in further detail.

[0045] Reference Figure 1The mainstream chip solution for mass-produced 4D imaging radar chips is the RF chip AWR2243 and the processor AM2732. The switching mechanism is to call the CLI function module to control the MMWave module, and finally use the MMWave module to complete the configuration of the RF core in the RF front-end chip.

[0046] It calls the CLI function module, MMWave module, and DPM module. MMWave is a module in TI's SDK that further encapsulates the direct RF driver chip. The DPM module resides in the shared memory of the MCU core and DSP core. Because the CLI function module is located within the MCU core / MSS core, it cannot directly control the DSP core. Its mode switching mechanism can call modules from the existing SDK, making user development simpler and faster. However, the disadvantage is that these SDK modules are encapsulated and calling them is time-consuming, generally requiring tens of seconds to complete a mode switch. During this time, the radar cannot transmit data. This is acceptable in demo prototypes, but unacceptable to customers in actual mass production.

[0047] In this application, the MCU main control subsystem (MSS core) directly controls the RF driver chip, enabling dynamic updates of the RF front-end core waveform parameters and real-time start and stop control of the wave function. Simultaneously, the MSS core utilizes a high-speed inter-core communication mechanism to directly issue algorithm configuration update instructions to the digital signal processor (DSP core), achieving collaborative reconstruction of the hardware control layer and the algorithm processing layer. This mechanism compresses the mode switching time to 2-3 radar frame periods (approximately 200 milliseconds).

[0048] Reference Figure 2 and Figure 3 , the embodiment of the present application includes at least steps S10 to S40.

[0049] S10, the MSS core sends a waveform switching instruction to the RF driver chip and sends an algorithm update instruction to the DSP through inter-core communication;

[0050] S20, the MSS core receives the updated algorithm from the DSP and updates the algorithm configuration;

[0051] S30, the MSS core controls the RF driver chip to update the waveform of the RF front-end RF core based on the updated algorithm configuration;

[0052] S40, the MSS core controls the RF front-end core to transmit according to the updated waveform.

[0053] Specifically, the MSS core synchronizes and coordinates RF hardware and algorithm layer updates: first, waveform switching and algorithm update instructions are issued in parallel, then the algorithm configuration is refreshed in real time based on DSP feedback, and then the RF driver chip is linked to dynamically adjust the waveform parameters according to the new algorithm, and finally the RF front end is driven to optimize the waveform and re-send the wave. Its core value lies in reconstructing the traditional serial switching process into a hardware-algorithm collaborative parallel closed-loop control. The measured switching time is compressed to 200 milliseconds (only 1% of the original solution), completely eliminating the radar data interruption window, ensuring the continuity and real-time performance of the autonomous driving perception system during mode switching, and meeting the stringent requirements of L3+ intelligent driving for millisecond-level sensor response. At the same time, through direct hardware control, the resource loss of the SDK packaging layer is reduced, providing high-reliability, low-latency dynamic scene adaptation capabilities for mass-produced 4D radars.

[0054] In some embodiments, reference Figure 4 and 5 Step S20 specifically includes: when the DSP core receives the algorithm update instruction, controlling the DSP core to suspend the currently running perception algorithm thread; controlling the DSP core to release the occupied signal processing buffer; according to the target mode requirements, controlling the DSP core to re-run the target waveform code, generate an updated algorithm and allocate cache resources; controlling the DSP core to resume the algorithm thread after the algorithm update is completed.

[0055] Specifically, algorithm hot switching is achieved by dynamically reconfiguring DSP core computing resources: pausing the current thread to avoid data conflicts, releasing the cache to clear residual data from the old mode, reloading the dedicated waveform code according to the target mode, and allocating optimized memory resources, ultimately restoring the algorithm thread seamlessly. Its core value lies in eliminating the millisecond-level perception gap caused by algorithm shutdowns in traditional solutions. Through resource pre-release and on-demand allocation strategies, the algorithm update time is compressed to within a single frame cycle, ensuring continuous and uninterrupted point cloud output when the 4D radar switches between short-range and long-range modes. At the same time, it reduces memory fragmentation and improves computing efficiency, meeting the dual stringent requirements of autonomous driving systems for sensor real-time performance and functional safety.

[0056] In some embodiments, reference Figure 5 Step S30 specifically includes: the MSS core sends a wave-transmission shut-off instruction to the RF driver chip, so that the RF driver chip shuts off the wave-transmission of the RF front-end RF core through SPI communication; the MSS core sends a wave-transmission update instruction to the RF driver chip, so that the RF driver chip updates the waveform of the RF front-end RF core through SPI communication; the MSS core sends a wave-transmission send instruction to the RF driver chip, so that the RF driver chip turns on the wave-transmission of the RF front-end RF core through SPI communication.

[0057] Specifically, the MSS core precisely controls RF front-end state switching: Sending a transmit-off command immediately halts RF core signal transmission, preventing signal interference during waveform updates; subsequently, issuing a waveform update command dynamically adjusts key parameters such as the FMCW slope and bandwidth; and finally, triggering a transmit command restarts optimized RF signal output. Its core value lies in achieving seamless millisecond-level waveform switching through direct hardware control. This improves efficiency compared to traditional SDK packaging solutions, completely eliminating radar data gaps during switching, and ensuring the autonomous driving perception system maintains continuous target tracking capabilities during mode switching while mitigating the risk of Doppler velocity information loss.

[0058] In some embodiments, the relevant processing is as follows: when the RF core waveform configuration update times out or fails, it automatically rolls back to the last valid waveform parameters; when the DSP core algorithm configuration update is abnormal, the loading of the new algorithm is paused and the original algorithm is maintained; the MSS core receives error code feedback from the DSP core through inter-core communication, triggering system log records and alarms.

[0059] Specifically, a triple fault-tolerance strategy ensures high reliability during radar system configuration updates: If the RF front-end waveform update fails, it automatically rolls back to historically valid parameters to avoid signal transmission interruption; if the DSP core algorithm fails, it maintains the original algorithm to ensure continuous output of sensor data; and during MSS verification, it receives error codes and triggers log alerts, forming a closed-loop monitoring system. Its core value lies in compressing the impact of single-point failures to milliseconds, meeting the stringent sensor continuity requirements of the ASIL-D functional safety standard.

[0060] In some embodiments, the corresponding processing steps are as follows: clear the residual signal data in the analog-to-digital converter buffer area of ​​the RF front-end RF core; reset the intermediate state of the signal processing pipeline of the DSP core; and timestamp the first frame data after retransmission to align it with the autonomous driving system clock.

[0061] Specifically, the RF front-end ADC buffer is cleared to completely remove residual signals from the handover, preventing false detections caused by the aliasing of new and old waveform data. The intermediate states of the DSP signal processing pipeline (FFT→CFAR→clustering) are reset to eliminate trajectory jumps caused by algorithmic faults. A precise timestamp is inserted into the first frame of new data to achieve strict synchronization with the autonomous driving domain controller clock. Its core value lies in resolving the data contamination of the first frame after handover and the misalignment of multi-sensor timing that are common in traditional solutions.

[0062] The implementation principle of a fast switching configuration method for a vehicle-mounted 4D imaging millimeter-wave radar in an embodiment of the present application is as follows: In this application, the MCU main control subsystem (MSS core) is used to directly control the RF driver chip to achieve dynamic updates of the RF front-end RF core waveform parameters and real-time start and stop control of the wave transmission function. At the same time, the MSS core uses a high-speed inter-core communication mechanism to directly issue algorithm configuration update instructions to the digital signal processor (DSP core) to achieve collaborative reconstruction of the hardware control layer and the algorithm processing layer. This mechanism compresses the mode switching time to 2-3 radar frame cycles (about 200 milliseconds), which is two orders of magnitude more efficient than the traditional solution (reaching 1% of the original solution). According to actual measurements, this optimization shortens the radar interruption time to the millisecond level, effectively avoiding target trajectory loss and point cloud data faults, ensuring the continuity and integrity of the autonomous driving perception system during mode switching, and its impact on high-order assisted driving functions has been reduced to a negligible range.

[0063] Figure 2 FIG. 1 is a flow chart of a method for rapidly switching configurations of a vehicle-mounted 4D imaging millimeter-wave radar in one embodiment. It should be understood that although Figure 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows; unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be executed in other orders; and Figure 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0064] Based on the same technical concept, Figure 6 The embodiment of the present application further provides a fast conversion configuration device for a vehicle-mounted 4D imaging millimeter-wave radar, which adopts the following technical solution, and the device includes:

[0065] The switching module is used by the MSS core to send waveform switching instructions to the RF driver chip and to send algorithm update instructions to the DSP through inter-core communication;

[0066] Algorithm module, used by the MSS core to receive updated algorithms from the DSP and update the algorithm configuration;

[0067] The waveform module is used by the MSS core to control the RF driver chip to update the waveform of the RF front-end RF core based on the updated algorithm configuration;

[0068] The wave transmission module is used by the MSS core to control the RF front-end core to transmit the wave according to the updated waveform.

[0069] In some embodiments, the algorithm module is specifically configured to control the DSP core to pause the currently running perception algorithm thread after the DSP core receives the algorithm update instruction;

[0070] Control the DSP core to release the occupied signal processing buffer area; according to the target mode requirements, control the DSP core to re-run the target waveform code, generate the update algorithm and allocate buffer resources;

[0071] After the DSP core algorithm update is completed, the algorithm thread is restored.

[0072] In some embodiments, the switching module is specifically configured to enable the MSS core to send a wave-transmission shut-off instruction to the RF driver chip, so that the RF driver chip shuts off the wave transmission of the RF front-end RF core through SPI communication.

[0073] The MSS core sends a waveform update instruction to the RF driver chip, so that the RF driver chip updates the waveform of the RF front-end RF core through SPI communication;

[0074] The MSS core sends a wave transmission instruction to the RF driver chip, so that the RF driver chip starts the wave transmission of the RF front-end RF core through SPI communication.

[0075] In some embodiments, the waveform module is further configured to automatically roll back to the last valid waveform parameters when the RF front-end RF core waveform configuration update times out or fails;

[0076] When the DSP core algorithm configuration is updated abnormally, the loading of the new algorithm is suspended and the original algorithm is maintained;

[0077] The MSS core receives error code feedback from the DSP core through inter-core communication, triggering system logging and alarms.

[0078] In some embodiments, the waveform module is further used to clear residual signal data in the analog-to-digital converter buffer of the radio frequency front-end RF core;

[0079] Reset the intermediate state of the DSP core's signal processing pipeline;

[0080] Add a timestamp to the first frame of data after retransmission to align it with the clock of the autonomous driving system.

[0081] The embodiment of the present application also discloses a control device.

[0082] Specifically, the control device includes a memory and a processor, and the memory stores a computer program that can be loaded by the processor and execute the above-mentioned method for rapid conversion configuration of the vehicle-mounted 4D imaging millimeter wave radar.

[0083] The embodiment of the present application also discloses a computer-readable storage medium.

[0084] Specifically, the computer-readable storage medium stores a computer program that can be loaded by a processor and execute the rapid conversion configuration method of the above-mentioned vehicle-mounted 4D imaging millimeter-wave radar. The computer-readable storage medium includes, for example: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0085] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A method for rapid conversion configuration of a vehicle-mounted 4D imaging millimeter-wave radar, characterized in that: include: The MSS core sends waveform switching instructions to the RF driver chip and sends algorithm update instructions to the DSP through inter-core communication; The MSS core receives updated algorithms from the DSP and updates the algorithm configuration; The MSS core controls the RF driver chip to update the waveform of the RF front-end RF core based on the updated algorithm configuration; The MSS core controls the RF front-end core to transmit according to the updated waveform.

2. The method for rapid conversion configuration of a vehicle-mounted 4D imaging millimeter-wave radar according to claim 1, characterized in that: The MSS core receives the updated algorithm from the DSP and updates the algorithm configuration, including: When the DSP core receives the algorithm update instruction, it controls the DSP core to pause the currently running perception algorithm thread; Control the DSP core to release the occupied signal processing buffer; According to the target mode requirements, the DSP core is controlled to re-run the target waveform code, generate the update algorithm and allocate cache resources; After the DSP core algorithm is updated, the algorithm thread is resumed.

3. The method for rapid conversion configuration of a vehicle-mounted 4D imaging millimeter-wave radar according to claim 1, characterized in that: The controlling RF driver chip updates the waveform of the RF front-end RF core based on the updated algorithm configuration, including: The MSS core sends a wave-transmission shut-off instruction to the RF driver chip, so that the RF driver chip shuts off the wave transmission of the RF front-end RF core through SPI communication; The MSS core sends a waveform update instruction to the RF driver chip, so that the RF driver chip updates the waveform of the RF front-end RF core through SPI communication; The MSS core sends a wave transmission instruction to the RF driver chip, so that the RF driver chip starts the wave transmission of the RF front-end RF core through SPI communication.

4. The method for rapid conversion configuration of a vehicle-mounted 4D imaging millimeter-wave radar according to claim 3, characterized in that: After the MSS core controls the RF driver chip to update the waveform of the RF front-end RF core based on the updated algorithm configuration, the method further includes: When the RF core waveform configuration update times out or fails, it automatically rolls back to the last valid waveform parameters. When the DSP core algorithm configuration is updated abnormally, the loading of the new algorithm is suspended and the original algorithm is maintained; The MSS core receives error code feedback from the DSP core through inter-core communication, triggering system logging and alarms.

5. The method for rapid conversion configuration of a vehicle-mounted 4D imaging millimeter-wave radar according to claim 4, characterized in that: Before the MSS core controls the RF front-end RF core to transmit the waveform according to the updated waveform, the method further includes: Clear the residual signal data in the analog-to-digital converter buffer of the RF front-end core; Reset the intermediate state of the DSP core's signal processing pipeline; Add a timestamp to the first frame of data after retransmission to align it with the clock of the autonomous driving system.

6. A fast switching configuration device for a vehicle-mounted 4D imaging millimeter-wave radar, characterized in that: The device comprises: The switching module is used by the MSS core to send waveform switching instructions to the RF driver chip and to send algorithm update instructions to the DSP through inter-core communication; Algorithm module, used by the MSS core to receive updated algorithms from the DSP and update the algorithm configuration; A waveform module is used for the MSS core to control the RF driver chip to update the waveform of the RF front-end RF core based on the updated algorithm configuration; The wave transmission module is used by the MSS core to control the RF front-end core to transmit the wave according to the updated waveform.

7. A control device, characterized in that: The device comprises: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 5.

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