Framing method and device of semi-solid radar, vehicle and storage medium

Abstract

The embodiment of the invention relates to the technical field of automatic driving, and provides a semi-solid radar framing method and device, a vehicle and a storage medium, applied to a positioning system.The method comprises the steps that radar points of a plurality of semi-solid radars are scanned, and if the number of the radar points reaches a preset first threshold value or the time interval from the previous framing time reaches a preset second threshold value, performing radar framing on the currently received radar points. According to the embodiment of the invention, through the real-time framing strategy of the plurality of semi-solid radars, the influence on radar framing due to inconsistent starting time of the plurality of radars or frame loss of the radars and point cloud timestamp hopping is reduced, and the stability of a positioning system is ensured.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of autonomous driving technology, and in particular to a framing method for a semi-solid radar, a framing device for a semi-solid radar, a corresponding vehicle, and a corresponding computer-readable storage medium. Background Art

[0002] Autonomous vehicles typically install multiple semi-solid-state radars for positioning and perception. However, when multiple radars operate simultaneously, the positioning system expects to receive raw point cloud information with consistent time intervals and a consistent number of points. However, due to inconsistent startup times, frame loss, or point cloud timestamp fluctuations among these radars, the positioning system may receive inconsistent raw radar point cloud information or experience significant deviations in the time intervals between adjacent frames, thus affecting the stability of the positioning system. Summary of the Invention

[0003] The embodiments of the present application provide a framing method, device, vehicle, and storage medium for a semi-solid-state radar, which can reduce the impact on radar framing caused by inconsistent startup times of multiple radars, frame loss, and point cloud timestamp jumps, thereby ensuring the stability of the positioning system.

[0004] In one aspect, an embodiment of the present application provides a framing method for a semi-solid-state radar, which is applied to a positioning system. The method includes:

[0005] The radar points of multiple semi-solid-state radars are scanned. If the number of the radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, radar framing is performed on the currently received radar points.

[0006] In some embodiments of the present application, if the number of radar points reaches a preset first threshold, radar framing is performed on the currently received radar points, including:

[0007] Radar points of a plurality of semi-solid-state radars are received, and when the number of received radar points reaches a preset first threshold, radar framing is performed on the currently received radar points.

[0008] In some embodiments of the present application, the preset first threshold is a value that satisfies the number of radar point clouds in one frame.

[0009] In some embodiments of the present application, if the time interval from the previous framing time reaches a preset second threshold, radar framing is performed on the currently received radar point, including:

[0010] The positioning system detects a previous framing time, and when a time interval from the previous framing time reaches a preset second threshold, radar framing is performed on radar points of a plurality of semi-solid-state radars received from the previous framing time to a current time.

[0011] In some embodiments of the present application, the preset second threshold is a time interval for repeated scanning by multiple semi-solid-state radars, and the time interval for repeated scanning by each semi-solid-state radar is the same.

[0012] On the other hand, an embodiment of the present application provides a framing device for a semi-solid radar, which is applied to a positioning system. The device includes:

[0013] The radar framing module is used to scan radar points of multiple semi-solid-state radars. If the number of radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, radar framing is performed on the currently received radar points.

[0014] In some embodiments of the present application, the radar framing module includes:

[0015] The first radar framing submodule is configured to receive radar points from a plurality of semi-solid-state radars and perform radar framing on the currently received radar points when the number of received radar points reaches a preset first threshold; the preset first threshold is a value that satisfies the number of radar point clouds in one frame.

[0016] In some embodiments of the present application, the radar framing module includes:

[0017] The second radar framing submodule is used to detect the previous framing time of the positioning system, and when the time interval from the previous framing time reaches a preset second threshold, radar framing is performed on the radar points of multiple semi-solid-state radars received from the previous framing time to the current time; the preset second threshold is the time interval for repeated scanning of multiple semi-solid-state radars, and the time interval for repeated scanning of each semi-solid-state radar is the same.

[0018] On the other hand, an embodiment of the present application further provides a vehicle comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, any one of the framing methods for the semi-solid radar is implemented.

[0019] On the other hand, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements any one of the framing methods for the semi-solid radar.

[0020] On the other hand, an embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the framing method for the semi-solid radar described in the above aspects.

[0021] The framing method, device, vehicle, and storage medium for a semi-solid radar provided in the embodiments of the present application scan radar points of multiple semi-solid radars and perform radar framing on the currently received radar points when the number of radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, thereby achieving real-time framing of multiple semi-solid radars. The method, device, vehicle, and storage medium can reduce the impact of radar point cloud timestamp jumps on radar framing based on a framing strategy when the number of radar points reaches a preset first threshold, or reduce the impact of radar frame loss on radar framing based on a framing strategy when the time interval reaches a preset second threshold. This can further reduce the impact of inconsistent startup times of multiple radars on radar framing, thereby ensuring the stability of the positioning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a flowchart of the steps of a framing method for a semi-solid radar provided in an embodiment of the present application;

[0023] Figure 2 This is a flowchart of another framing method for a semi-solid radar provided in an embodiment of the present application;

[0024] Figure 3 This is a structural block diagram of a framing device for a semi-solid radar provided in an embodiment of the present application;

[0025] Figure 4 This is a structural block diagram of a vehicle provided in an embodiment of the present application;

[0026] Figure 5 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0028] Among related radar framing technologies, a radar framing strategy for multiple solid-state scanning lidar data that avoids ghosting is employed. This strategy primarily involves generating a single scan within a specified range, generating a single frame of data. The scan data set from each solid-state scanning lidar is then divided into multiple frames. The synchronized single-frame data from multiple solid-state scanning lidars covering 360° are then sequentially spliced ​​together to produce 360° panoramic scan data. The framed data generated using this strategy will not exhibit ghosting issues and can resolve the issue of a single radar being unable to acquire panoramic data. However, this strategy cannot address radar frame loss or radar point cloud timestamp jumps, and the strategy is relatively complex.

[0029] The embodiments of the present application utilize a real-time framing strategy for multiple semi-solid-state radars to reduce the impact of inconsistent radar startup times, frame loss, or point cloud timestamp jumps on radar framing, thereby ensuring the stability of the positioning system. Specifically, a real-time framing strategy based on multiple semi-solid-state radars with a consistent number of radar points can reduce the impact of radar point cloud timestamp jumps on radar framing; alternatively, a real-time framing strategy based on multiple semi-solid-state radars with consistent time intervals can reduce the impact of radar frame loss on radar framing, thereby reducing the impact of inconsistent radar startup times on radar framing, thereby ensuring the stability of the positioning system. Furthermore, the framing method provided by the embodiments of the present application is simple, easy to use, and reliable.

[0030] Reference Figure 1 , shows a flowchart of a framing method for a semi-solid radar provided in an embodiment of the present application, which is applied to a positioning system and may specifically include the following steps:

[0031] Step S101 : Scan radar points of multiple semi-solid-state radars. If the number of radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, radar framing is performed on the currently received radar points.

[0032] In order to ignore the problem of inconsistent startup times of various semi-solid-state radars, the real-time framing strategy for multiple semi-solid-state radars provided in the embodiment of the present application may include a real-time framing strategy for multiple semi-solid-state radars based on consistent number of radar points and a real-time framing strategy for multiple semi-solid-state radars based on consistent time intervals.

[0033] Among them, the real-time framing strategy of multiple semi-solid-state radars based on consistent number of radar points can reduce the impact of radar point cloud timestamp jumps on radar framing, because there is no need to ensure the consistency of the time interval for repeated scanning of the semi-solid-state radar; the real-time framing strategy of multiple semi-solid-state radars based on consistent time intervals can reduce the impact of radar frame loss on radar framing, because there is no need to ensure the consistency of the number of point clouds.

[0034] Specifically, refer to Figure 2, shows a flowchart of another framing method for a semi-solid radar provided in an embodiment of the present application, wherein step S101 may specifically include the following sub-steps:

[0035] Sub-step S1011: receiving radar points of a plurality of semi-solid-state radars, and performing radar framing on the currently received radar points when the number of received radar points reaches a preset first threshold.

[0036] The real-time framing strategy of a semi-solid-state radar based on a consistent number of radar points can be performed by performing radar framing on the currently received radar points when the number of radar points reaches a preset first threshold.

[0037] Optionally, the preset first threshold may be a value that satisfies the number of radar point clouds in one frame. The specific value may be set based on actual needs, and the embodiment of the present application does not impose any limitation on this.

[0038] In some embodiments of the present application, the radar point consistency principle means that when the number of radar points received by the positioning system reaches the value of the number of radar point clouds in one frame, the radar points currently received are considered to be one frame of radar point clouds, and radar framing can be performed at this time.

[0039] It should be noted that the framing strategy based on the principle of consistent radar point count can ignore the problem of inconsistent startup times of various semi-solid-state radars. There is no need to consider the number of radar points of each semi-solid-state radar itself. As long as the number of lightning points received by the positioning system meets the value of the number of radar point clouds in one frame, framing can be performed. The framing method is simple, easy to use and reliable. Moreover, since there is no need to ensure the consistency of the time interval for repeated scanning of the semi-solid-state radar, the impact of radar point cloud timestamp jumps on radar framing can be reduced.

[0040] For example, assuming that a single semi-solid radar can completely obtain 15,000 original point clouds with one repeated scan, when there are two semi-solid radars working at the same time, the number of point clouds that the positioning system should receive is 30,000. That is, it can be understood that when the positioning system receives 30,000 lightning points, it can be divided into one frame of radar point cloud. At this time, there is no need to pay attention to the number of radar points of the two semi-solid radars working at the same time, but only the total number of radar points received by the positioning system from the aforementioned two semi-solid radars.

[0041] This strategy can reduce the impact of radar point cloud timestamp jumps on radar original frames. For example, when receiving a frame of point cloud data with a radar timestamp of 0.0s to 0.1s, there is a point cloud data every 0.01s. Assume that the point cloud timestamp of 0.09s jumps to 0.11s. At this time, the number of received radar points may be 9, which is less than the normal 10 point clouds. If the framing strategy based on the principle of consistent radar point number proposed in the embodiment of the present application is followed, the positioning system will receive a complete set of 10 point cloud data.

[0042] Sub-step S1012: detecting the previous framing time of the positioning system, and when the time interval from the previous framing time reaches a preset second threshold, performing radar framing on the radar points of multiple semi-solid-state radars received from the previous framing time to the current time.

[0043] The real-time framing strategy for multi-semi-solid-state radars based on consistent time intervals can be performed by performing radar framing on the currently received radar points when the time interval reaches a preset second threshold.

[0044] Optionally, the preset second threshold may be a time interval for repeated scanning by multiple semi-solid-state radars, specifically a scanning time interval obtained by synthesizing multiple semi-solid-state radars into one frame.

[0045] In some embodiments of the present application, the time interval consistency principle means that when the time interval between the positioning system and the previous frame reaches the time interval of a semi-solid radar repeated scan, the radar points of multiple semi-solid radars received from the previous frame time to the current time are considered to be a frame of radar point cloud, and radar framing can be performed at this time.

[0046] It should be noted that in the framing strategy based on the principle of time interval consistency, the time intervals for repeated scans of each semi-solid-state radar are the same. That is, by default, the time intervals for repeated scans of each semi-solid-state radar are consistent. This real-time framing strategy is not applicable when the time intervals for repeated scans of each semi-solid-state radar are inconsistent. It should be noted that even if the startup times of the semi-solid-state radars are inconsistent, this will only affect the framing of the first frame and will not affect the framing of subsequent frames. Similarly, the problem of inconsistent startup times of the semi-solid-state radars can be ignored. Moreover, since there is no need to ensure the consistency of the number of point clouds, the impact of radar frame loss on radar framing can be reduced.

[0047] For example, assuming that the time interval between a single semi-solid-state radar's repeated scan is 0.1s, when there are multiple semi-solid-state radars working simultaneously, if the time interval between the current receiving time of the positioning system and the last framing time reaches 0.1s, it can be considered that the radar points received by the positioning system in this time period are a frame of radar point cloud.

[0048] It should be noted that, if the startup times of multiple semi-solid-state radars are inconsistent or there are problems with frame loss and point cloud timestamp jumps, the embodiment of the present application can choose to use sub-step S1011 or sub-step S1012 to solve one of the problems while ignoring the problem of inconsistent startup times of the semi-solid-state radars. That is, sub-step S1011 can be used to reduce the impact of radar point cloud timestamp jumps on radar framing, or sub-step S1012 can be used to reduce the impact of radar frame loss on radar framing. The embodiment of the present application is not limited to this.

[0049] In an embodiment of the present application, by scanning radar points of multiple semi-solid-state radars, radar framing is performed on the currently received radar points when the number of radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, thereby achieving real-time framing of multiple semi-solid-state radars. This can reduce the impact of radar point cloud timestamp jumps on radar framing based on a framing strategy when the number of radar points reaches the preset first threshold, or reduce the impact of radar frame loss on radar framing based on a framing strategy when the time interval reaches the preset second threshold. This can further reduce the impact of inconsistent startup times of multiple radars on radar framing, thereby ensuring the stability of the positioning system.

[0050] It should be noted that for the method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the order of the actions described, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0051] Reference Figure 3 , shows a structural block diagram of a framing device of a semi-solid radar provided in an embodiment of the present application, which is applied to a positioning system and may specifically include the following modules:

[0052] The radar framing module 301 is used to scan radar points of multiple semi-solid-state radars. If the number of radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, the radar points currently received are radar framed.

[0053] In some embodiments of the present application, the radar framing module 301 may include the following submodules:

[0054] The first radar framing submodule is configured to receive radar points from a plurality of semi-solid-state radars and perform radar framing on the currently received radar points when the number of received radar points reaches a preset first threshold; the preset first threshold is a value that satisfies the number of radar point clouds in one frame.

[0055] In some embodiments of the present application, the radar framing module 301 may include the following submodules:

[0056] The second radar framing submodule is used to detect the previous framing time of the positioning system. When the time interval from the previous framing time reaches a preset second threshold, radar framing is performed on the radar points of multiple semi-solid-state radars received from the previous framing time to the current time; the preset second threshold is the time interval for repeated scanning of multiple semi-solid-state radars, and the time interval for repeated scanning of each semi-solid-state radar is the same.

[0057] In an embodiment of the present application, by scanning radar points of multiple semi-solid-state radars, radar framing is performed on the currently received radar points when the number of radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, thereby achieving real-time framing of multiple semi-solid-state radars. This can reduce the impact of radar point cloud timestamp jumps on radar framing based on a framing strategy when the number of radar points reaches the preset first threshold, or reduce the impact of radar frame loss on radar framing based on a framing strategy when the time interval reaches the preset second threshold. This can further reduce the impact of inconsistent startup times of multiple radars on radar framing, thereby ensuring the stability of the positioning system.

[0058] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0059] The present application also provides a vehicle, referring to Figure 4 The vehicle 400 provided includes a memory 410, a processor 420, and a computer program 411 stored in the memory 410 and capable of running on the processor 420. When the computer program 411 is executed by the processor, the following steps are implemented:

[0060] The radar points of multiple semi-solid-state radars are scanned. If the number of radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, radar framing is performed on the currently received radar points.

[0061] In some embodiments of the present application, if the number of radar points reaches a preset first threshold, the specific steps of performing radar framing on the currently received radar points may include: receiving radar points from multiple semi-solid radars, and performing radar framing on the currently received radar points when the number of received radar points reaches a preset first threshold; the preset first threshold is a value that satisfies the number of radar point clouds in one frame.

[0062] In some embodiments of the present application, if the time interval from the previous framing time reaches a preset second threshold, the specific steps of performing radar framing on the currently received radar point may include: detecting the previous framing time of the positioning system, and when the time interval from the previous framing time reaches the preset second threshold, performing radar framing on the radar points of multiple semi-solid radars received from the previous framing time to the current time; the preset second threshold is the time interval for repeated scanning of multiple semi-solid radars, and the time interval for repeated scanning of each semi-solid radar is the same.

[0063] In an embodiment of the present application, by scanning radar points of multiple semi-solid-state radars, radar framing is performed on the currently received radar points when the number of radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, thereby achieving real-time framing of multiple semi-solid-state radars. This can reduce the impact of radar point cloud timestamp jumps on radar framing based on a framing strategy when the number of radar points reaches the preset first threshold, or reduce the impact of radar frame loss on radar framing based on a framing strategy when the time interval reaches the preset second threshold. This can further reduce the impact of inconsistent startup times of multiple radars on radar framing, thereby ensuring the stability of the positioning system.

[0064] The present application also provides a computer-readable storage medium. Figure 5 The computer readable storage medium 500 is provided with a computer program 411 stored thereon. When the computer program 411 is executed by a processor, the following steps are implemented:

[0065] The radar points of multiple semi-solid-state radars are scanned. If the number of radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, radar framing is performed on the currently received radar points.

[0066] In some embodiments of the present application, if the number of radar points reaches a preset first threshold, the specific steps of performing radar framing on the currently received radar points may include: receiving radar points from multiple semi-solid radars, and performing radar framing on the currently received radar points when the number of received radar points reaches a preset first threshold; the preset first threshold is a value that satisfies the number of radar point clouds in one frame.

[0067] In some embodiments of the present application, if the time interval from the previous framing time reaches a preset second threshold, the specific steps of performing radar framing on the currently received radar point may include: detecting the previous framing time of the positioning system, and when the time interval from the previous framing time reaches the preset second threshold, performing radar framing on the radar points of multiple semi-solid radars received from the previous framing time to the current time; the preset second threshold is the time interval for repeated scanning of multiple semi-solid radars, and the time interval for repeated scanning of each semi-solid radar is the same.

[0068] In an embodiment of the present application, by scanning radar points of multiple semi-solid-state radars, radar framing is performed on the currently received radar points when the number of radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, thereby achieving real-time framing of multiple semi-solid-state radars. This can reduce the impact of radar point cloud timestamp jumps on radar framing based on a framing strategy when the number of radar points reaches the preset first threshold, or reduce the impact of radar frame loss on radar framing based on a framing strategy when the time interval reaches the preset second threshold. This can further reduce the impact of inconsistent startup times of multiple radars on radar framing, thereby ensuring the stability of the positioning system.

[0069] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0070] It should be noted that the terms "first", "second", etc. in the description and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate so that the embodiments described herein can be implemented in an order other than that shown or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or vehicle that includes a series of steps or modules is not necessarily limited to those steps or modules clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products or vehicles. The division of modules that appears in the embodiments of the present application is only a logical division. In actual applications, there may be other division methods. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not performed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, and the indirect coupling or communication connection between modules can be electrical or other similar forms, which are not limited in the embodiments of the present application. Moreover, the modules or sub-modules described as separate components may or may not be physically separated, may or may not be physical modules, or may be distributed into multiple circuit modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0071] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0072] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0073] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0074] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected to achieve the purpose of the present embodiment according to actual needs.

[0075] In addition, the functional modules in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into a module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium.

[0076] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0077] The computer program product includes one or more computer instructions. When loaded and executed on a computer, the computer program instructions fully or partially generate the processes or functions described in accordance with the embodiments of the present application. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium capable of computer storage or a data storage vehicle such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, hard disk, or magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0078] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal vehicles (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal vehicle to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal vehicle generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0079] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal vehicle to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The functions specified in one or more blocks; these computer program instructions can also be loaded into a computer or other programmable data processing terminal vehicle, so that a series of operation steps are executed on the computer or other programmable terminal vehicle to produce a computer-implemented process, so that the instructions executed on the computer or other programmable terminal vehicle provide for implementing the process Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0080] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0081] Finally, it should be noted that the user information (including but not limited to user vehicle information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0082] The above is a detailed introduction to the technical solutions provided in the embodiments of the present application. Specific examples are used in the embodiments of the present application to illustrate the principles and implementation methods of the embodiments of the present application. The description of the above embodiments is only used to help understand the methods and core ideas of the embodiments of the present application. At the same time, for those skilled in the art, according to the ideas of the embodiments of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the embodiments of the present application.

Claims

1. A framing method for a semi-solid radar, characterized in that: Applied to a positioning system, the method includes: The radar points of multiple semi-solid-state radars are scanned. If the number of the radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, radar framing is performed on the currently received radar points.

2. The method according to claim 1, characterized in that If the number of radar points reaches a preset first threshold, radar framing is performed on the currently received radar points, including: Radar points of a plurality of semi-solid-state radars are received, and when the number of received radar points reaches a preset first threshold, radar framing is performed on the currently received radar points.

3. The method according to claim 1 or 2, characterized in that The preset first threshold is a value that satisfies the number of radar point clouds in one frame.

4. The method according to claim 1, wherein If the time interval from the previous frame time reaches a preset second threshold, radar framing is performed on the currently received radar point, including: The positioning system detects a previous framing time, and when a time interval from the previous framing time reaches a preset second threshold, radar framing is performed on radar points of a plurality of semi-solid-state radars received from the previous framing time to a current time.

5. The method according to claim 1 or 4, characterized in that The preset second threshold is the time interval for repeated scanning by multiple semi-solid-state radars, and the time interval for repeated scanning by each semi-solid-state radar is the same.

6. A framing device for a semi-solid radar, characterized in that: Applied to a positioning system, the device comprises: The radar framing module is used to scan radar points of multiple semi-solid-state radars. If the number of radar points reaches a preset first threshold or the time interval from the previous framing time reaches a preset second threshold, radar framing is performed on the currently received radar points.

7. The device according to claim 6, characterized in that The radar framing module includes: The first radar framing submodule is configured to receive radar points from a plurality of semi-solid-state radars and perform radar framing on the currently received radar points when the number of received radar points reaches a preset first threshold; the preset first threshold is a value that satisfies the number of radar point clouds in one frame.

8. The device according to claim 6, characterized in that The radar framing module includes: The second radar framing submodule is used to detect the previous framing time of the positioning system, and when the time interval from the previous framing time reaches a preset second threshold, radar framing is performed on the radar points of multiple semi-solid-state radars received from the previous framing time to the current time; the preset second threshold is the time interval for repeated scanning of multiple semi-solid-state radars, and the time interval for repeated scanning of each semi-solid-state radar is the same.

9. A vehicle, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the framing method for the semi-solid radar according to any one of claims 1 to 5 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the framing method for the semi-solid-state radar according to any one of claims 1 to 5 is implemented.

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