Detection control method and related apparatus

Abstract

A detection control method and a related apparatus, which are applied to the technical field of radars. The detection control method comprises: acquiring scenario data, and on the basis of the scenario data, controlling and adjusting the operating mode of a radar system. The operating mode of the radar system is used for indicating the operating mode of at least one radar in the radar system, wherein the operating mode of the radar comprises any one or more of the following: a detection mode of the radar, a data processing mode of the radar, and a data reporting mode of the radar. The detection control method controls and adjusts the operating mode of the radar system by means of scenario data. Specifically, a detection mode, a data processing mode and a data reporting mode of each radar in the radar system can be adjusted, such that for various different detection scenarios, the adaptability and detection performance of the radar system in the different detection scenarios can be improved by means of the control and adjustment.

Description

Detection and control methods and related devices Technical Field

[0001] This application relates to the field of radar technology, and in particular to a detection and control method and related apparatus. Background Technology

[0002] With the development of information technology and computer vision, detection technology has advanced rapidly, and various detection devices have brought great convenience to people's lives and travel. Detection devices can be seen as the "eyes" of the environment, including visual sensors such as cameras and radar sensors such as millimeter-wave radar, lidar, and ultrasonic radar. Among them, millimeter-wave radar (radio detection and ranging, or simply radar) operates in the millimeter-wave band. Millimeter-wave radar measures the distance, speed, and azimuth (angle) of a target by emitting electromagnetic wave signals and listening to the reflected signals from the target in the environment. Compared with optical frequency bands such as infrared and laser, millimeter waves have a strong ability to penetrate rain, snow, fog, smoke, and dust, and are suitable for all weather and all-weather conditions. In short, millimeter-wave radar has the advantages of high resolution, good detection performance, and strong concealment, playing an important role in the process of equipment sensing the environment, especially in the field of intelligent driving, where it has been widely applied, contributing to the further development of intelligent driving technology.

[0003] Currently, when vehicles are equipped with radar systems containing multiple radars, the radar system cannot meet the adaptability and detection performance requirements of various detection scenarios due to the variable environment in which the vehicle operates and the different detection requirements under different environments. Summary of the Invention

[0004] This application provides a detection control method and related apparatus, which can control and adjust the working mode of each radar in a radar system, thereby improving the adaptability and detection performance of the radar system in various detection scenarios.

[0005] In a first aspect, embodiments of this application provide a detection control method, which includes: acquiring scene data, and controlling and adjusting the operating mode of a radar system based on the scene data. The operating mode of the radar system is used to indicate the operating mode of at least one radar in the radar system, and the operating mode of the radar includes any one or more of the following: radar detection mode, radar data processing mode, and radar data reporting mode.

[0006] In this embodiment of the application, a detection control method is provided, which adjusts the working mode of a radar system by controlling scene data. Specifically, it can adjust the detection mode, data processing mode, and data reporting mode of each radar in the radar system, so that the radar system's adaptability and detection performance can be improved under various detection scenarios through the above control adjustment.

[0007] Optionally, the above detection and control method can be executed by the main radar in the radar system or by a detection and control device that has a communication connection with the radar system. This application embodiment does not limit this.

[0008] Optionally, the aforementioned radar system may include, but is not limited to, millimeter-wave radar, lidar, ultrasonic radar, etc.

[0009] Optionally, the radars included in the above radar system can be of the same type or different types.

[0010] In one possible implementation, the aforementioned scenario data includes, but is not limited to, any one or more of the following: environmental data of the terminal where the radar system is located, the terminal's status data, the data reported by the radar system, and the sensing data reported by the sensing module. The sensing module is different from the radar system.

[0011] In this embodiment, the data of the terminal's environment may include, but is not limited to, weather (sunny, rainy, foggy, etc.), road conditions (congested, uncongested, tunnel, construction, etc.), and specific driving scenarios (lane changing, meeting oncoming traffic, overtaking, etc.). The terminal's status data may include, but is not limited to, vehicle speed, battery level, fuel level, interior temperature, or temperature difference between the inside and outside of the vehicle. The radar system's reported data may include, but is not limited to, communication quality (whether communication is congested, whether there is packet loss), data reported by each radar (raw sensing data, range and velocity (RV) data, channel data, point cloud data, target data, etc.), and operating condition data of each radar (whether there is a malfunction, whether it is blocked, whether it is interfered with, whether the calibration is abnormal, radar power consumption, radar computing power, etc.). The sensing data reported by the sensing module may include, but is not limited to, image or video data collected and reported by the camera module, and data reported by other radar modules different from those in the radar system. The scenario data in this application embodiment can cover as many different detection scenarios as possible, thereby providing more accurate input for the control and adjustment of the radar system's working mode for various different detection scenarios, so as to improve the radar system's adaptability and detection performance in various different detection scenarios.

[0012] In one possible implementation, the above-mentioned control and adjustment of the radar system's operating mode based on scene data can be achieved through methods including but not limited to: generating a first control signal based on scene data and sending the first control signal to the first radar. The first control signal is used to control the first radar in the radar system to switch from a first operating mode to a second operating mode.

[0013] In this embodiment, by receiving scene data and feeding back a first control signal, the operating mode of any one or more radars in the radar system can be controlled and adjusted. By coordinating the control and adjustment of the operating modes of each radar in the radar system, the operating mode of the radar system can be controlled and adjusted so that the radar system can meet the adaptability and detection performance of various detection scenarios.

[0014] In one possible implementation, the first working mode and the second working mode may differ, including but not limited to any one or more of the following: the transmission parameters detected by the first working mode are different from those detected by the second working mode; the data processing mode corresponding to the first working mode is different from that corresponding to the second working mode; the data type reported by the first working mode is different from that reported by the second working mode; and the amount of data reported by the first working mode is different from that reported by the second working mode.

[0015] In this embodiment, controlling and adjusting the radar's operating mode can specifically manifest as controlling and adjusting the radar's detection mode, data processing mode, reported data type, and reported data volume, among other things. Optionally, adjusting the radar's detection mode can be understood as adjusting the radar's radio frequency (RF) module. For example, by feeding back a beamforming signal using a first control signal, the radar's detection performance for a specific area can be enhanced, thus improving the radar system's ability to detect a specific region of interest (ROI). As another example, by feeding back a waveform coordination signal using the first control signal, the radar's waveform parameters can be switched to meet the detection performance requirements of specific scenarios, such as improved velocity resolution within a specific range. Optionally, adjusting the radar's data processing mode can be understood as adjusting the radar's signal / data processing module. For example, by controlling the radar to perform angle super-resolution processing using the first control signal, operations such as changing the calculation range can be performed to meet the requirement of higher angle resolution for a specific ROI area. As yet another example, by controlling the radar to perform constant false alarm rate (CFAR) detection using the first control signal, the algorithm or parameters can be adjusted to improve the false alarm rate in cluttered environments (such as congestion, tunnels, etc.). Optionally, adjusting the radar's data reporting mode can be understood as adjusting the radar's transmission interface. For example, during communication congestion, a first control signal controls the amount and type of data reported by the radar using a certain type of transmission interface, reporting only near-range point cloud data, target data, etc., to maintain the basic perception function in congested scenarios. As another example, during smooth communication, a first control signal controls the amount and type of data reported by the radar using another type of transmission interface, reporting a wider range of perception data, RV data, channel data, point cloud data, target data, etc., to enhance the radar's detection performance. Through the coordinated control and adjustment of the operating modes of any one or more radars in the radar system according to the embodiments of this application, the operating modes of the radar system can be controlled and adjusted, greatly enriching the operating modes of the radar system, so that the radar system can meet the adaptability and detection performance requirements of various detection scenarios.

[0016] In one possible implementation, before the aforementioned control and adjustment of the radar system's operating mode, there are two radars in the radar system operating in different modes; and / or, after the aforementioned control and adjustment of the radar system's operating mode, there are two radars in the radar system operating in different modes.

[0017] In this embodiment, not only can the operating mode of a single radar in the radar system be controlled and adjusted, but the operating modes of multiple radars in the radar system can also be controlled and adjusted differently, thereby greatly enriching the operating modes of the radar system so that the radar system can meet the adaptability and detection performance of various detection scenarios.

[0018] In one possible implementation, the generation of the first control signal based on scene data can be achieved by, but is not limited to, the following methods: determining, based on scene data, that a first detection scene has changed to a second detection scene, wherein the first detection scene corresponds to a first operating mode, and the first and second detection scenes are different; and generating the first control signal based on the second detection scene.

[0019] In this embodiment, the radar's operating mode is controlled and adjusted by using changes in the detection scenario as a trigger condition. This allows the radar to detect, process, and report data more effectively in various detection scenarios, thereby enabling the radar system to meet the adaptability and detection performance requirements of different detection scenarios.

[0020] In one possible implementation, the first detection scenario is changed to a second detection scenario, which may include, but is not limited to, any one or more of the following: changes in the environment of the terminal where the radar system is located, changes in the state of the terminal, changes in the scenario corresponding to the radar system, and changes in the scenario corresponding to one or more radars in the radar system.

[0021] In this embodiment, changes in the detection scenario can be determined based on acquired scenario data. When the scenario data includes data about the terminal's environment, the terminal's status data, data reported by the radar system, and perception data reported by the perception module, the corresponding changes in the detection scenario can include changes in the terminal's environment, changes in the terminal's status, changes in the scenario corresponding to the radar system, and changes in the scenario corresponding to one or more radars in the radar system. By determining the changes in the detection scenario in this embodiment, as many different detection scenarios as possible can be covered. This allows for more precise control and adjustment of the radar system's operating mode for various detection scenarios, thereby improving the radar system's adaptability and detection performance under different detection scenarios.

[0022] In one possible implementation, the driving speed range corresponding to the first detection scenario is different from the driving speed range corresponding to the second detection scenario, and the detection mode corresponding to the first working mode is different from the detection mode corresponding to the second working mode; or...

[0023] The power consumption range corresponding to the first detection scenario is different from the power consumption range corresponding to the second detection scenario; the detection mode corresponding to the first operating mode is different from the detection mode corresponding to the second operating mode; or...

[0024] The data processing computing power range corresponding to the first detection scenario is different from that corresponding to the second detection scenario; the data processing mode corresponding to the first working mode is different from that corresponding to the second working mode; or...

[0025] The Region of Interest (ROI) for the first detection scenario differs from that for the second detection scenario; the data reporting mode for the first working mode differs from that for the second working mode; or...

[0026] The environments corresponding to the first detection scenario and the second detection scenario are different, and the data reporting modes corresponding to the first working mode and the second working mode are different.

[0027] In this embodiment, the changes in the detection scenario may include, but are not limited to, changes in driving speed, detection power consumption, data processing computing power, ROI, environment, etc. It can be considered to cover as many different detection scenarios as possible, so that the working mode of the radar system can be more accurately controlled and adjusted for various different detection scenarios, thereby improving the adaptability and detection performance of the radar system under various different detection scenarios.

[0028] In one possible implementation, the aforementioned scene data includes sensing data reported by a sensing module, which includes a camera module and / or a radar module different from the radar system. The generation of the first control signal based on the second detection scene can be achieved, but is not limited to, the following: generating the first control signal based on the second detection scene and the sensing data.

[0029] In this embodiment, when the scene data includes the sensing data reported by the sensing module, the radar's working mode can be controlled and adjusted by combining the sensing data and changes in the detection scene. This allows the radar to detect, process, and report data more specifically in various detection scenarios, thereby enabling the radar system to meet the adaptability and detection performance requirements of various detection scenarios.

[0030] In one possible implementation, the generation of the first control signal based on scene data can be achieved through methods including but not limited to the following: Based on the scene data, determine that the first detection frame changes to a second detection frame, where the first detection frame corresponds to a first operating mode, and the detection time corresponding to the first detection frame is different from the detection time corresponding to the second detection frame. Generate the first control signal based on the second detection frame.

[0031] In this embodiment, the radar's operating mode is controlled and adjusted by using time polling as a trigger condition. This allows the radar to detect, process, and report data more effectively in different detection frames at different times, thereby enabling the radar system to meet the adaptability and detection performance requirements of various detection scenarios.

[0032] In one possible implementation, the generation of the first control signal based on scene data can be achieved through methods including but not limited to the following: based on the scene data, determining that the first data type reported by the first radar has changed to a second data type, wherein the first data type corresponds to a first operating mode and the first data type is different from the second data type; and then generating the first control signal based on the second data type.

[0033] In this embodiment, the radar's operating mode is controlled and adjusted by using reported data type changes as trigger conditions. This allows the radar to report different data types more specifically under various detection scenarios, thereby enabling the radar system to meet the adaptability and detection performance requirements of different detection scenarios. Optionally, the aforementioned change from the first data type to the second data type can be a change from one data type to another, a change from one data type to multiple data types, a change from multiple data types to one data type, or a change from multiple data types to other multiple data types. This embodiment does not impose any limitations on this. Optionally, the aforementioned data types include, but are not limited to, raw sensing data, RV data, channel data, point cloud data, target data, etc.

[0034] In one possible implementation, the generation of the first control signal based on scene data can be achieved through methods including but not limited to the following: based on the scene data, determining that the change in the first data quantity reported by the first radar corresponds to a second data quantity, wherein the first data quantity corresponds to a first operating mode, and the first data quantity is different from the second data quantity; and generating the first control signal based on the second data quantity.

[0035] In this embodiment, the radar's operating mode is controlled and adjusted by using changes in the amount of reported data as a trigger condition. This allows the radar to report different amounts of data more specifically in various detection scenarios, thereby enabling the radar system to meet the adaptability and detection performance requirements of various detection scenarios.

[0036] In one possible implementation, the generation of the first control signal based on scene data can be achieved through methods including but not limited to: determining, based on scene data, that the first data processing mode corresponding to the first radar changes to a second data processing mode, wherein the first data processing mode corresponds to the first operating mode, and the first data processing mode is different from the second data processing mode; and then generating the first control signal based on the second data processing mode.

[0037] In this embodiment, the radar's operating mode is controlled and adjusted by using changes in the radar's data processing mode as a trigger condition. This allows the radar to process data more effectively in various detection scenarios, thereby enabling the radar system to meet the adaptability and detection performance requirements of different detection scenarios.

[0038] Secondly, embodiments of this application provide a detection control device, which includes a unit for performing the method as described in any of the first aspects.

[0039] In one possible design, the device includes:

[0040] The processing unit is used to acquire scene data.

[0041] The processing unit is also used to control and adjust the operating mode of the radar system based on scene data. The operating mode of the radar system is used to indicate the operating mode of at least one radar in the radar system. The operating mode of the radar includes any one or more of the following: radar detection mode, radar data processing mode, and radar data reporting mode.

[0042] In one possible implementation, the device further includes a communication unit.

[0043] The processing unit is specifically used to acquire scene data through the communication unit.

[0044] Regarding the processing unit and communication unit described in the second aspect and any possible implementation, the steps performed thereon can be referred to the corresponding implementations in the first aspect.

[0045] For the technical effects of the second aspect and any possible implementation, please refer to the description of the technical effects corresponding to the first aspect and the corresponding implementation.

[0046] Optionally, in the detection control device described in the second aspect above and any possible implementation:

[0047] In one implementation, the detection control device is a detection control equipment. When the detection control device is a detection control equipment, the communication unit can be a transceiver or an input / output interface; the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0048] In another implementation, the detection control device is a chip (system) or circuit used in the detection control equipment. When the detection control device is a chip (system) or circuit used in the detection control equipment, the communication unit can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0049] Thirdly, embodiments of this application provide a detection control device, which includes a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the methods described in the first aspect and any of the possible implementations. Optionally, the detection control device further includes a memory. Optionally, the detection control device further includes a communication interface, and the processor is coupled to the communication interface.

[0050] Fourthly, embodiments of this application provide a chip, including: logic circuitry and a communication interface. The communication interface is used to receive or send information; the logic circuitry is used to receive or send information through the communication interface, causing the chip to execute the methods described in the first aspect and any of the possible implementations.

[0051] Fifthly, embodiments of this application provide a computer-readable storage medium for storing a computer program (also referred to as code or instructions); when the computer program is run on a computer, the methods described in the first aspect and any possible implementation are implemented.

[0052] Sixthly, embodiments of this application provide a computer program product, the computer program product comprising: a computer program (also referred to as code or instructions); and, when the computer program is run, causing a computer to perform the methods described in the first aspect and any possible implementation thereof.

[0053] In a seventh aspect, embodiments of this application provide a detection system comprising a plurality of radars, wherein a main radar among the plurality of radars is used to perform the methods described in the first aspect and any of the possible implementations.

[0054] Eighthly, embodiments of this application provide a detection system including a detection control device and a plurality of radars, the detection control device being used to perform the methods described in the first aspect and any of the possible implementations.

[0055] In a ninth aspect, embodiments of this application provide a terminal, which includes at least one detection control device as described in the second aspect, or the detection control device as described in the third aspect, or the chip as described in the fourth aspect, or the detection system as described in the seventh aspect, or the detection system as described in the eighth aspect.

[0056] Optionally, the terminal can be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any possible scenario. This application embodiment does not limit this.

[0057] Optionally, the terminal is used to implement the method described in the first aspect and any possible implementation.

[0058] Furthermore, in the process of performing the method described in the first aspect and any possible implementation above, the processes related to sending and / or receiving information in the above methods can be understood as the process of the processor outputting information, and / or the process of the processor receiving input information. When outputting information, the processor can output the information to a transceiver (or communication interface, or transmitting module) so that the transceiver can transmit it. After the information is output by the processor, it may need to undergo other processing before reaching the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or transmitting module) receives the information and inputs it to the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before being input to the processor.

[0059] Based on the above principles, for example, the information sent mentioned in the aforementioned method can be understood as information output by the processor. Similarly, the information received can be understood as information received by the processor from input.

[0060] Optionally, unless otherwise specified, or unless they contradict their actual function or internal logic in the relevant description, the operations of the processor, such as transmitting, sending, and receiving, can be more generally understood as processor output and receiving, input, and other operations.

[0061] Optionally, in performing the methods described in the first aspect and any possible implementation above, the processor may be a processor specifically designed to perform these methods, or it may be a processor that performs these methods by executing computer instructions stored in memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as read-only memory (ROM), which may be integrated with the processor on the same chip or disposed on different chips. This application does not limit the type of memory or the arrangement of the memory and processor.

[0062] In one possible implementation, at least one of the aforementioned memories is located outside the device.

[0063] In yet another possible implementation, at least one of the aforementioned memories is located within the device.

[0064] In another possible implementation, a portion of the memory of the at least one memory is located inside the device, while another portion is located outside the device.

[0065] In this application, the processor and memory may also be integrated into a single device, that is, the processor and memory can be integrated together. Attached Figure Description

[0066] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0067] Figure 1 is a schematic diagram of range dimension data, velocity dimension data and RV data of a radar provided in an embodiment of this application;

[0068] Figure 2A is a schematic diagram of the architecture of a detection system provided in an embodiment of this application;

[0069] Figure 2B is a schematic diagram of the architecture of another detection system provided in an embodiment of this application;

[0070] Figure 3 is a schematic diagram of the architecture of another detection system provided in an embodiment of this application;

[0071] Figure 4 is a schematic flowchart of a detection control method provided in an embodiment of this application;

[0072] Figure 5 is a schematic diagram of a control and adjustment working mode provided in an embodiment of this application;

[0073] Figure 6 is a schematic diagram of another control and adjustment working mode provided in the embodiment of this application;

[0074] Figure 7 is a schematic diagram of another control and adjustment working mode provided in the embodiment of this application;

[0075] Figure 8 is a schematic diagram of another control and adjustment working mode provided in the embodiment of this application;

[0076] Figure 9 is a schematic diagram of a detection control device provided in an embodiment of this application;

[0077] Figure 10 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0078] Figure 11 is a schematic diagram of the structure of a chip provided in an embodiment of this application. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0080] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0081] The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments of this application are consistent and can be mutually referenced, and technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0082] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0083] It should be noted that, in this application, "instruction" can include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information for the purpose of instructing A, it can be understood that the instruction information carries A, directly instructs A, or indirectly instructs A.

[0084] In this application, the information indicated by the instruction information is called the information to be instructed. In specific implementations, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly indicate the information to be instructed by indicating other information, where there is a correlation between the other information and the information to be instructed. It can also indicate only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various information, thereby reducing instruction overhead to some extent. The information to be instructed can be sent as a whole or divided into multiple sub-information units, and the sending period and / or timing of these sub-information units can be the same or different. This application does not limit the specific sending method. The sending period and / or timing of these sub-information units can be predefined, for example, according to a protocol, or configured by the transmitting device by sending configuration information to the receiving device.

[0085] It should be noted that in this application, "send" can be understood as "output" and "receive" can be understood as "input". "Send information to A", where "to A" simply indicates the direction of information transmission, and A is the destination, does not limit "send information to A" to a direct transmission over the air interface. "Send information to A" includes sending information directly to A, as well as sending information indirectly to A through a transmitter. Therefore, "send information to A" can also be understood as "outputting information destined for A". Similarly, "receive information from A" indicates that the source of the information is A, including receiving information directly from A, as well as receiving information indirectly from A through a receiver. Therefore, "receive information from A" can also be understood as "inputting information from A".

[0086] This application provides a detection and control method and related apparatus, applicable to the field of radar technology, such as detection and control of millimeter-wave radar and lidar. To better understand the technical solution of this application, the relevant terms and concepts that may be involved in the embodiments of this application are introduced below.

[0087] Radar is a transliteration of the English word Radar, which is an abbreviation of "radio detection and ranging". It uses radio methods to detect targets and determine their spatial position.

[0088] Radar uses electromagnetic waves as its detection medium. It detects targets by transmitting and receiving electromagnetic waves, for example, by measuring distance, velocity, or azimuth. Radar can measure the distance to a target based on the time-of-flight of electromagnetic waves, which is the time difference between transmitting and receiving the electromagnetic wave. Radar transmits electromagnetic wave signals and receives the echo signals. The distance to the target can be measured based on the time difference between the received echo signal and the transmitted electromagnetic wave signal, and the propagation speed of the electromagnetic wave. The distance between the radar and the target can be determined using the following formula: s = c * t / 2, where s is the distance to the target, t is the time of flight (the time from when the electromagnetic wave signal is transmitted to when the echo signal is received), and c is the speed of light. Radar measures the velocity of a target based on the Doppler effect. The Doppler effect works as follows: when a vibration source such as sound, light, or radio waves moves relative to an observer at a relative velocity, the frequency of the vibration received by the observer differs from the frequency emitted by the vibration source. When there is relative movement between the electromagnetic waves emitted by the radar and the target being detected, the frequency of the echo signal will differ from the frequency of the emitted electromagnetic wave signal. When the target moves closer to the radar antenna, the frequency of the echo signal will be higher than the frequency of the emitted electromagnetic wave signal; conversely, when the target moves away from the radar antenna, the frequency of the echo signal will be lower than the frequency of the emitted electromagnetic wave signal. This frequency change caused by the Doppler effect is called the Doppler shift, which is directly proportional to the relative velocity and inversely proportional to the vibration frequency. Therefore, by detecting the frequency difference between the emitted electromagnetic wave signal and the echo signal, the target's speed relative to the radar, i.e., the relative speed between the target and the radar, can be measured. Radar can measure azimuth using methods such as amplitude method and phase method. Amplitude method uses the amplitude value of the echo signal received by the antenna to measure the angle. The variation of this amplitude value depends on the antenna pattern and the antenna scanning method. Phase method uses the phase difference between the echo signals received by multiple antenna elements to measure the angle. For example, if the radar receives the echo signal reflected from the same target through the antenna array, the azimuth of the target can be calculated based on the phase difference of the echo signals.

[0089] A channel refers to an independent path for signal transmission and processing, such as the path for transmitting (T) signals, receiving (R) signals, or a path that includes both transmission and reception. The number of channels is related to the number of transmitting and receiving units in the radar. For example, if there is one transmitting antenna and one receiving antenna, the number of channels is 1. In some schemes, virtual channels can be formed by using multiple-input multiple-output (MIMO) technology, thereby increasing the number of radar channels. For example, a 3T4R radar can form 12 channels.

[0090] Sensing data refers to information about surrounding targets that radar obtains by emitting electromagnetic waves and receiving reflected waves.

[0091] The region of interest (ROI) is a specific area that radar focuses on and processes. The ROI of a radar can vary depending on the scenario.

[0092] Range-velocity (RV) data is generated by the radar transmitting a linear frequency modulated (LFM) signal and receiving the echo signal reflected back from the target. Range data is obtained by processing the echo signal using pulse compression technology. Simultaneously, velocity data is extracted based on the relationship between the frequency variation of the echo signal and the radial velocity of the target, utilizing the Doppler effect. In some schemes, range and velocity data are fused and combined with channel data from multiple channels to form range-velocity (RV) data. RV data includes three dimensions: range information, velocity information, and channel data corresponding to the detection point. In some schemes, the three dimensions of RV data can also be separated, for example, into RV spectrum data and channel data. The RV spectrum data includes the range and velocity dimensions of the detection point, while the channel data is the channel data corresponding to the detection point. For ease of understanding, the three dimensions of RV data are explained below with reference to Figure 1:

[0093] In the range dimension, after a radar emits a detection signal, targets at different distances will reflect and return echoes at different times. Based on the arrival time of the echoes, the entire detection range is divided into multiple range cells (or range gates). Each range cell records relevant information about the echoes, such as the amplitude and phase of the echoes from multiple channels, forming channel data. As shown in Figure 1(a), this is a type of range dimension data, with the shaded area representing the range where echoes are suspected to exist. This range data also records the channel data corresponding to the range cells where echoes exist. In RV data, the range dimension is usually a coordinate axis, with data points corresponding to different range cells. The data in these detection points may contain information such as the amplitude and phase of the echoes received by multiple channels within that range cell.

[0094] In the velocity dimension, when a target in the object space moves radially relative to the radar, the frequency of the received echo changes due to the Doppler effect. By analyzing the frequency changes of the echo signal, the radial velocity information of the target can be obtained. The radar performs spectral analysis on the echo signal, separating the components of different frequencies, which correspond to targets at different velocities. As shown in part (b) of Figure 1, separating different frequency components yields multiple velocity chambers. The shaded area represents the velocity range where a target is suspected to exist. This velocity data also records the channel data corresponding to the velocity chambers where echoes are present. In RV data, the velocity (or Doppler) dimension is also a coordinate axis, and its data points correspond to different velocity chambers (or velocity cells or velocity gates). The data in each velocity chamber may contain information such as the amplitude and phase of the echoes received by multiple channels within that velocity chamber.

[0095] In RV data, if a distinctive signal clearly different from the background noise appears at a certain location (i.e., the intersection of a range bin and a velocity bin), it can optionally be detected after processing with a constant false alarm rate (CFAR). This indicates that a target is likely to exist, and the location of this distinctive signal can be used to determine the target's range and velocity, thus achieving target localization. As shown in part (c) of Figure 1, the RV data includes multiple detection points that meet the detection conditions. These detection points have corresponding range bin indices and velocity bin indices, as well as corresponding channel data. Alternatively, the channel dimension in Figure 1 can also be replaced with the antenna dimension, in which case the channel dimension data can be separated from the data received by the antenna.

[0096] Point cloud data is generated by radar transmitting and receiving data multiple times, representing a large amount of target information as points in three-dimensional space. The collection of these points forms point cloud data. Each point contains information such as the target's distance, angle, and velocity, and some may also contain attributes such as the target's reflectivity.

[0097] The above descriptions of technical terms may be used in the embodiments below.

[0098] Currently, when vehicles are equipped with radar systems containing multiple radars, the detection requirements of the radar system vary depending on the environment in which the vehicle is located. However, the current radar system has a relatively simple working mode, and therefore cannot meet the adaptability and detection performance requirements of various detection scenarios.

[0099] In view of this, embodiments of this application provide an architecture for a detection system, and propose a detection control method based on the architecture of the detection system. This method is applied to the field of radar technology, such as the detection control of the working mode of a radar system. It can control and adjust the working mode of each radar in the radar system, thereby improving the adaptability and detection performance of the radar system in various detection scenarios.

[0100] The detection system and detection control method provided in this application will be described in detail below with reference to the accompanying drawings.

[0101] Please refer to Figure 2A, which is a schematic diagram of the architecture of a detection system provided in an embodiment of this application.

[0102] The detection system includes a detection control device and multiple radars. Figure 2A illustrates this with six radars as an example, which are referred to as radar a, radar b, radar c, radar d, radar e, and radar f for ease of description.

[0103] Radars have the capability to detect object space, process the detected data, and report the processed data. Multiple radars can transmit detection signals using corresponding transmission parameters to detect object space, process the detected data, and report the processed data to a detection control device. For example, radar a can transmit a detection signal and receive the echo returned by a target object in space, obtaining the target object's detection data, which is then reported to the detection control device. Similarly, radars b and c can also obtain the target object's detection data and report it to the detection control device. The detection data from radars a, b, and c can be fused to obtain the target object's detection result. Exemplarily, the target object's detection result includes one or more pieces of information such as the target object's distance, speed, shape, or material.

[0104] Optionally, the radar can be a lidar, millimeter-wave radar, centimeter-wave radar, or a fusion radar, etc. Optionally, multiple radars may be of the same type, for example, all of them may be millimeter-wave radars. Optionally, multiple radars may also be of different types, and this application embodiment does not limit this.

[0105] In this application, multiple radars can be set at different positions on the terminal. For example, in Figure 2A, radar a is set at the front left of the vehicle, radar b is set at the middle of the front of the vehicle, radar c is set at the front right of the vehicle, radar d is set at the rear left of the vehicle, radar e is set at the middle of the rear of the vehicle, and radar f is set at the rear right of the vehicle.

[0106] It is understood that the number and location of the radars shown in Figure 2A are merely examples. In actual use, the number and arrangement of multiple radars installed on a vehicle can be additionally designed; for example, the number of radars could be two, three, etc. The solution provided in this application embodiment is also applicable to systems with more or fewer radars, as well as systems with radars located in other locations.

[0107] The detection and control device is connected to multiple radars and has data processing and communication capabilities.

[0108] Optionally, the detection control device can be a physical device. For example, the detection control device may include one or more of the following modules: central processing unit (CPU), microprocessor unit (MPU), application specific-integrated circuit (ASIC), field programmable gate array (FPGA), complex programmable logic device (CPLD), coprocessor (assisting the central processing unit in completing corresponding processing and applications), microcontroller unit (MCU), domain controller, and / or electronic control unit (ECU), etc.

[0109] Optionally, Figure 2A above describes an example where the detection control device is located outside the radar. In some solutions, the detection control device can also be located inside the radar or integrated with the radar. As one possible implementation, the detection control device can be a module, chip, or software module in the radar, such as a virtual machine, software, program code, or container. Specifically, refer to Figure 2B, which is a schematic diagram of another detection system architecture provided by an embodiment of this application. In Figure 2B, radar b (main radar) includes a detection control device, that is, the detection control device is located inside radar b (main radar), and in this case, radar b (main radar) can realize the function of the detection control device.

[0110] The detection control device can acquire scene data and adjust the operating mode of one or more radars in the detection system based on the acquired scene data.

[0111] The scene data acquired by the control device may include data reported by the aforementioned multiple radars. Optionally, the scene data may also include, but is not limited to, environmental data of the terminal where the detection system is located, terminal status data, and perception data reported by perception modules different from the aforementioned multiple radars.

[0112] By using the aforementioned scenario data, we can consider covering as many different detection scenarios as possible. This will provide more precise input for controlling and adjusting the working mode of the detection system for various different detection scenarios, thereby improving the adaptability and detection performance of the detection system under various detection scenarios.

[0113] Furthermore, the aforementioned radar operating modes include any one or more of the following: radar detection mode, radar data processing mode, and radar data reporting mode. Optionally, controlling and adjusting the radar detection mode can be understood as adjusting the transmission parameters corresponding to the radar detection. Optionally, controlling and adjusting the radar data processing mode can be understood as adjusting the corresponding data processing mode of the radar. Optionally, controlling and adjusting the radar data reporting mode can be understood as adjusting the type and amount of data reported by the radar.

[0114] By controlling and adjusting the radar's detection mode, data processing mode, and data reporting mode, the adaptability and detection performance of the detection system can be improved for various detection scenarios.

[0115] As mentioned in the detection system architecture shown in Figures 2A and 2B above, the radar in the detection system can be lidar, millimeter-wave radar, centimeter-wave radar, or fusion radar, etc. To facilitate understanding of this scheme, the following description, with reference to Figure 3, uses an example of a detection system comprising n radars to illustrate the scheme provided in this application. Here, n is an integer and n is greater than 1.

[0116] As shown in Figure 3, the main radar or detection control device (or central processing unit, domain processor, domain controller, etc.) is connected to n radars. At least one radar head of the n radars can transmit detection signals and receive the echoes of the detection signals through a monolithic microwave integrated circuit (MMIC), and perform signal or data processing, such as radio frequency (RF) processing, to obtain the detection data of the radar head (also known as the sensing calculation result). The detection data may include point cloud data, RV data, channel data, and the output data of the analog-to-digital converter (ADC), etc.

[0117] At least one of the n radars can transmit its detection data to the main radar or detection control device. Optionally, the radar can transmit its detection data to the main radar or detection control device using Ethernet (ETH) or other communication methods. Accordingly, the main radar or detection control device receives detection data from at least one of the n radars.

[0118] Furthermore, the main radar or detection control device can adjust the operating mode of one or more radars in the detection system based on scene data.

[0119] The scenario data may include detection data from at least one of the aforementioned n radars, as well as environmental data of the terminal where the detection system is located, the terminal's status data, and perception data reported by perception modules different from those of the aforementioned radars. The radar's operating modes include any one or more of the following: radar detection mode, radar data processing mode, and radar data reporting mode.

[0120] Furthermore, the main radar or detection control device sends control signals to each radar in the detection system to control and adjust the operating mode of one or more radars in the detection system.

[0121] The above-described detection system architecture allows for control and adjustment of the operating modes of each radar within the detection system, thereby improving the system's adaptability and detection performance in various detection scenarios.

[0122] Based on the architecture of the detection system shown in Figures 2A, 2B, and 3, this application also provides a detection control method, as detailed in Figure 4, which is a flowchart illustrating a detection control method provided in an embodiment of this application. This detection control method is applied in the field of radar technology, including but not limited to detection control of radar system operating modes.

[0123] Specifically, the detection and control method includes, but is not limited to, the following steps:

[0124] S401: The detection and control device acquires scene data.

[0125] It is understood that the detection control device in the embodiments of this application can be a device equipped with a processor / chip that can execute computer execution instructions, or it can be a processor / chip that can execute computer execution instructions. Optionally, the detection control device can be an electronic device, or a processor / chip within an electronic device, or it can be the detection control device in Figure 2A above, or it can be radar b (main radar) in Figure 2B above, or it can be the main radar or detection control device in Figure 3 above, used to execute the detection control method in the embodiments of this application, so as to realize the control and adjustment of the working mode of each radar in the radar system, and improve the adaptability and detection performance of the radar system in various detection scenarios.

[0126] Optionally, the detection and control method in this application embodiment can be executed by the main radar in the radar system or by a detection and control device that has a communication connection with the radar system. This application embodiment does not limit this.

[0127] Optionally, the detection control device and detection control method in the embodiments of this application can be applied to, but are not limited to, vehicle systems. The vehicle equipped with the vehicle system is an intelligent driving vehicle and can be replaced by a terminal device. The terminal device can be, but is not limited to, vehicles such as commercial vehicles, passenger cars, trains, industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc. The embodiments of this application do not specifically limit this.

[0128] Optionally, the scene data may include, but is not limited to, any one or more of the following:

[0129] Environmental data of the terminal where the radar system is located, status data of the terminal, data reported by the radar system, and sensing data reported by the sensing module.

[0130] The sensing module differs from the radar system.

[0131] Optionally, the radar system may include, but is not limited to, millimeter-wave radar, lidar, ultrasonic radar, etc. The multiple radars included in the radar system may be of the same type or different types. For details, please refer to the architecture of the detection system shown in Figures 2A, 2B and 3 above, which will not be repeated here.

[0132] Optionally, the sensing module may include, but is not limited to, a camera module, as well as other radar modules different from the radar system described above.

[0133] Optionally, the data of the environment in which the above-mentioned terminal is located may include, but is not limited to, weather (sunny, rainy, foggy, etc.), road conditions (congested, uncongested, tunnel, construction, etc.), and specific driving scenarios (changing lanes, meeting oncoming traffic, overtaking, etc.).

[0134] Optionally, the status data of the aforementioned terminal may include, but is not limited to, vehicle speed, battery level, fuel level, interior temperature, or temperature difference between the inside and outside of the vehicle.

[0135] Optionally, the data reported by the aforementioned radar system may include, but is not limited to, communication quality (whether communication is congested, whether there is packet loss during transmission, etc.), data reported by each radar (raw sensing data, range and velocity (RV) data, channel data, point cloud data, target data, etc.), and operating status data of each radar (whether there is a fault, whether it is blocked, whether it is interfered with, whether the calibration is abnormal, radar power consumption, radar computing power, etc.).

[0136] Optionally, the perception data reported by the aforementioned perception module may include, but is not limited to, image or video data collected and reported by the camera module, which differs from the data reported by other radar modules in the radar system. Examples include sensors mounted on the vehicle itself, such as lidar, speed sensors, cameras, roadside equipment, etc., and / or external perception devices that can establish a connection with the vehicle, all outside of the radar system.

[0137] The scenario data in this application embodiment can cover as many different detection scenarios as possible, thereby providing more accurate input for the control and adjustment of the radar system's working mode for various different detection scenarios, so as to improve the radar system's adaptability and detection performance in various different detection scenarios.

[0138] S402: The detection and control device controls and adjusts the working mode of the radar system based on scene data.

[0139] The radar system operating mode is used to indicate the operating mode of at least one radar in the radar system. The radar operating mode includes any one or more of the following: radar detection mode, radar data processing mode, and radar data reporting mode.

[0140] Optionally, controlling the detection mode of the radar can be understood as adjusting the radar's radio frequency module, specifically controlling the transmission parameters of the radar corresponding to the detection.

[0141] Optionally, controlling and adjusting the radar's data processing mode can be understood as adjusting the radar's signal / data processing module. Specifically, it can control and adjust the radar's data processing algorithm or mode.

[0142] Optionally, controlling the radar's data reporting mode can be understood as adjusting the radar's transmission interface, specifically controlling the type and / or amount of data reported by the radar.

[0143] The detection control method in this application embodiment controls and adjusts the working mode of the radar system based on scene data. Specifically, it can adjust the detection mode, data processing mode, and data reporting mode of each radar in the radar system, so that the radar system's adaptability and detection performance can be improved under various detection scenarios through the above control adjustment.

[0144] In one possible embodiment, step S402 described above can be implemented by including but not limited to the following steps:

[0145] The detection and control device generates a first control signal based on scene data.

[0146] The detection and control device sends a first control signal to the first radar, and the first radar receives the first control signal accordingly.

[0147] The first control signal is used to control the first radar in the radar system to switch from the first operating mode to the second operating mode.

[0148] It is understandable that by receiving scene data and feeding back the first control signal, the operating mode of any one or more radars in the radar system can be controlled and adjusted. By coordinating the control and adjustment of the operating modes of each radar in the radar system, the operating mode of the radar system can be controlled and adjusted so that the radar system can meet the adaptability and detection performance of various detection scenarios.

[0149] Optionally, the first working mode differs from the second working mode, and may specifically include, but is not limited to, any one or more of the following:

[0150] (1) The wave transmission parameters for the detection corresponding to the first working mode are different from those for the detection corresponding to the second working mode.

[0151] For example, by using the first control signal to feed back the beamforming signal, the radar's detection performance for a specific area can be enhanced, thereby increasing the radar system's ability to detect a specific region of interest (ROI).

[0152] For example, by using the feedback waveform coordination signal of the first control signal, the waveform parameters of the radar can be switched to meet the detection performance requirements of specific scenarios, such as improving the velocity resolution within a specific range.

[0153] (2) The data processing mode corresponding to the first working mode is different from the data processing mode corresponding to the second working mode.

[0154] For example, the radar can be controlled by the first control signal to perform angle super-resolution processing and change the calculation range to meet the needs of a specific ROI region for higher angle resolution.

[0155] For example, the radar can be controlled by the first control signal to perform constant false alarm rate (CFAR) detection, and the algorithm or parameters can be adjusted to improve the false alarm rate in cluttered environments (such as congestion, tunnels, etc.).

[0156] (3) The data types reported in the first working mode are different from those reported in the second working mode.

[0157] For example, by switching the transmission interface signal through the feedback of the first control signal, the radar can be controlled to report sensing data, RV data, channel data, etc. using a certain type of transmission interface when the power consumption is low and the computing power is insufficient, so as to reduce the computing power burden and power consumption of the radar.

[0158] For example, by switching the transmission interface signal through the feedback of the first control signal, the radar can be controlled to report point cloud data, target data, etc. using another type of transmission interface when the power consumption is high and the computing power is sufficient, so as to enhance the radar's detection performance.

[0159] (4) The amount of data reported in the first working mode is different from the amount of data reported in the second working mode.

[0160] For example, when communication is congested, the radar is controlled by the first control signal to only report point cloud data and target data at close range, so as to maintain the basic perception function in the congested communication scenario.

[0161] For example, when communication is smooth, the radar can be controlled by the first control signal to report a wider range of sensing data, RV data, channel data, point cloud data, target data, etc., in order to enhance the radar's detection performance.

[0162] By coordinating and adjusting the operating modes of any one or more radars in the radar system through the embodiments of this application, the operating modes of the radar system can be controlled and adjusted, greatly enriching the operating modes of the radar system so that the radar system can meet the adaptability and detection performance of various detection scenarios.

[0163] In one possible embodiment, before the above-described control and adjustment of the radar system's operating mode, there are two radars in the radar system operating in different modes; and / or, after the above-described control and adjustment of the radar system's operating mode, there are two radars in the radar system operating in different modes.

[0164] It is understood that, through the embodiments of this application, not only can the operating mode of a single radar in a radar system be controlled and adjusted, but also the operating modes of multiple radars in a radar system can be differentiated and controlled and adjusted, thereby greatly enriching the operating modes of the radar system so that the radar system can meet the adaptability and detection performance of various detection scenarios.

[0165] In one possible embodiment, the first control signal generated based on scene data is used to trigger the control adjustment radar to operate in a specific manner, including but not limited to the following situations.

[0166] Scenario 1:

[0167] Based on the scene data, the first detection scene was determined to have changed into the second detection scene.

[0168] Based on the second detection scenario, a first control signal is generated.

[0169] The first detection scenario corresponds to the first working mode, and the second detection scenario corresponds to the second working mode. The first detection scenario and the second detection scenario are different.

[0170] Optionally, please refer to Figure 5, which is a schematic diagram of a control and adjustment working mode provided by an embodiment of this application.

[0171] Figure 5 shows the situation where changes in the detection scene trigger the control and adjustment of the radar's operating mode.

[0172] Before a change in the detection scene necessitates a scene switching mechanism, the main radar or detection control device keeps each radar (Radar 1, Radar 2, ..., Radar n) in operating mode 1. When a change in the detection scene is determined based on scene data, and this change triggers an adjustment of the operating modes of Radar 1 and Radar n, the main radar or detection control device generates control signals and sends them to Radar 1 and Radar n respectively, controlling Radar 1 to switch from operating mode 1 to operating mode 2, and controlling Radar n to switch from operating mode 1 to operating mode n.

[0173] It is understandable that by using changes in the detection scenario as a trigger condition to control and adjust the radar's operating mode, the radar can detect, process, and report data more effectively in various detection scenarios, thereby enabling the radar system to meet the adaptability and detection performance requirements of different detection scenarios.

[0174] Optionally, the first detection scenario described above may be changed to a second detection scenario, which may include, but is not limited to, any one or more of the following:

[0175] Changes in the environment of the terminal where the radar system is located, changes in the state of the terminal, changes in the scene corresponding to the radar system, and changes in the scene corresponding to one or more radars in the radar system.

[0176] It is understandable that changes in the detection scenario can be determined based on the acquired scenario data. When the scenario data includes data on the environment in which the terminal is located, the terminal's status data, the data reported by the radar system, and the perception data reported by the perception module, the corresponding changes in the detection scenario can include changes in the environment in which the terminal is located, changes in the terminal's status, changes in the scenario corresponding to the radar system, and changes in the scenario corresponding to one or more radars in the radar system.

[0177] By considering the changes in the detection scenarios determined in the embodiments of this application, as many different detection scenarios as possible can be covered. This allows for more precise control and adjustment of the radar system's operating mode for various detection scenarios, thereby improving the radar system's adaptability and detection performance under different detection scenarios.

[0178] Further optionally, the driving speed range corresponding to the first detection scenario and the driving speed range corresponding to the second detection scenario are different, and the detection mode corresponding to the first working mode and the detection mode corresponding to the second working mode are different.

[0179] For example, the first detection scenario corresponds to a high-speed driving scenario, and the first operating mode corresponds to a long-range detection mode. The second detection scenario corresponds to a low-speed driving scenario, and the second operating mode corresponds to a short-range high-resolution detection mode. It is understood that high-speed driving and low-speed driving here are only examples, relative concepts, not absolute concepts, and should not be used to limit the embodiments of this application.

[0180] Further optionally, the detection power consumption range corresponding to the first detection scenario and the detection power consumption range corresponding to the second detection scenario are different, and the detection mode corresponding to the first working mode and the detection mode corresponding to the second working mode are different.

[0181] For example, the first detection scenario corresponds to the high-power detection scenario, and the first operating mode corresponds to the high-power detection mode. The second detection scenario corresponds to the low-power detection scenario, and the second operating mode corresponds to the low-power detection mode. It is understood that high-power detection and low-power detection here are only examples, and are relative concepts, not absolute concepts, and should not be used to limit the embodiments of this application.

[0182] For example, in the radar system corresponding to the first detection scenario, the radars are not obstructed, while in the radar system corresponding to the second detection scenario, some radars are obstructed. By feeding back the obstruction signal through the first control signal, the radar system can control and adjust the radars in the obstructed radar system to reduce the power consumption of the obstructed radars and enhance the detection power consumption of the unobstructed radars, thus ensuring the detection performance of the radar system in scenarios with partial radar obstruction.

[0183] For example, in the radar system corresponding to the first detection scenario, the radars are not interfered with, while in the radar system corresponding to the second detection scenario, some radars are interfered with. By feeding back the interference signal through the first control signal, the radars in the radar system are controlled and adjusted to avoid interference. This reduces the power consumption of the interfered radars and enhances the detection power consumption of the undisturbed radars, thus ensuring the detection performance of the radar system in scenarios where some radars are interfered with.

[0184] Further optionally, the data processing computing power range corresponding to the first detection scenario and the data processing computing power range corresponding to the second detection scenario are different, and the data processing mode corresponding to the first working mode and the data processing mode corresponding to the second working mode are different.

[0185] For example, the first detection scenario corresponds to a high-computing-power data processing scenario, and the first working mode corresponds to a high-computing-power data processing mode. The second detection scenario corresponds to a low-computing-power data processing scenario, and the second working mode corresponds to a low-computing-power data processing mode. It is understood that high-computing-power data processing and low-computing-power data processing here are only examples and are relative concepts, not absolute concepts, and should not be used to limit the embodiments of this application.

[0186] Further optionally, the Region of Interest (ROI) corresponding to the first detection scenario and the ROI corresponding to the second detection scenario are different, and the data reporting mode corresponding to the first working mode and the data reporting mode corresponding to the second working mode are different.

[0187] For example, the first detection scenario corresponds to a scenario without vehicle cut-in, and the second detection scenario corresponds to a scenario with vehicle cut-in. Compared with the data reporting mode corresponding to the first working mode, the data reporting mode corresponding to the second working mode can also report CFAR data for the ROI area corresponding to the vehicle cut-in, so as to improve the false alarm rate of the ROI area. It is understood that the vehicle cut-in here is only an example and should not be used to limit the embodiments of this application.

[0188] Further optionally, the environments corresponding to the first detection scenario and the second detection scenario are different, and the data reporting modes corresponding to the first working mode and the second working mode are different.

[0189] For example, the first detection scenario corresponds to a sunny environment, and the second detection scenario corresponds to a rainy environment. Compared with the data reporting mode corresponding to the first working mode, the data reporting mode corresponding to the second working mode can also report quantization noise correlation interference (QNCI) data for stray areas in rainy weather, thereby enhancing the detection performance in that environmental area. It is understood that the sunny and rainy days mentioned here are only examples and should not be used to limit the embodiments of this application.

[0190] It is understood that the examples above only illustrate the control and adjustment of the working mode corresponding to a single scenario. These single-scenario examples can also be combined or supplemented to obtain the control and adjustment of the working mode corresponding to multiple scenarios. The control and adjustment of the working mode corresponding to multiple scenarios is similar to that corresponding to a single scenario, and will not be elaborated upon here.

[0191] It is understandable that the changes in the above-mentioned detection scenarios may include, but are not limited to, changes in driving speed, detection power consumption, data processing computing power, ROI, environment, etc. It is possible to consider covering as many different detection scenarios as possible, so as to more accurately control and adjust the working mode of the radar system for various different detection scenarios, thereby improving the adaptability and detection performance of the radar system under various detection scenarios.

[0192] Scenario 2:

[0193] The aforementioned scenario data includes perception data reported by perception modules, which include camera modules and / or radar modules that are different from radar systems.

[0194] In scenario one above, generating the first control signal based on the second detection scenario can be achieved through methods including but not limited to the following:

[0195] Based on the second detection scenario and sensing data, a first control signal is generated.

[0196] Optionally, please refer to Figure 6, which is a schematic diagram of another control and adjustment working mode provided by the embodiment of this application.

[0197] Figure 6 shows the situation where the radar's operating mode is controlled and adjusted based on the sensing data, in addition to the above-mentioned Figure 5.

[0198] Before a change in the detection scene necessitates a scene switching mechanism, the main radar or detection control device keeps each radar (Radar 1, Radar 2, ..., Radar n) in operating mode 1. When a change in the detection scene is determined based on scene data, and this change triggers the adjustment of the operating modes of Radar 1 and Radar n, the main radar or detection control device will also combine the sensing data reported by the sensing modules (e.g., Lidar feature data reported by the LiDAR and Camera feature data reported by the Camera module) to generate control signals. These signals will then be sent to Radar 1 and Radar n respectively, controlling Radar 1 to switch from operating mode 1 to operating mode 2, and controlling Radar n to switch from operating mode 1 to operating mode n.

[0199] For example, the lane line information collected and reported by the camera can be used to control and adjust the working modes of Radar 1 and Radar n to help Radar 1 and Radar n reduce the false alarm rate.

[0200] For example, the orientation or direction information of the target object collected and reported by LiDAR can be used to control and adjust the working mode of Radar 1 and Radar n to assist Radar 1 and Radar n in correcting the target's maneuverability or estimating its full speed.

[0201] For example, information collected and reported by Lidar and Radar can be used to mark highly reflective adhesion regions, and the operating modes of Radar 1 and Radar n can be controlled and adjusted to help Radar 1 and Radar n enhance their detection performance.

[0202] Understandably, when the scene data includes the sensing data reported by the sensing module, the radar's operating mode can be controlled and adjusted by combining the sensing data and changes in the detection scene. This allows the radar to detect, process, and report data more specifically in various detection scenarios, thereby enabling the radar system to meet the adaptability and detection performance requirements of various detection scenarios.

[0203] Scenario 3:

[0204] Based on the scene data, the change in the first detection frame is determined to be the second detection frame.

[0205] Based on the second probe frame, a first control signal is generated.

[0206] The first detection frame corresponds to the first working mode, the second detection frame corresponds to the second working mode, and the detection time corresponding to the first detection frame is different from the detection time corresponding to the second detection frame.

[0207] Optionally, the scenario data may include the timestamps corresponding to the radar's detection frames. Therefore, the detection control device can determine the change of the first detection frame to the second detection frame based on the timestamps corresponding to the radar's detection frames, thereby realizing the control and adjustment of the radar's working mode by using the time period as the trigger switching condition.

[0208] Optionally, please refer to Figure 7, which is a schematic diagram of another control and adjustment working mode provided by the embodiments of this application.

[0209] Figure 7 shows the working mode of the time-polling trigger control adjustment radar.

[0210] Using time periods as the triggering condition for switching, in the detection frame (Frame 1) corresponding to the first time period, the main radar or detection control device controls Radar 1 to operate in mode 1 and Radar n to operate in mode K. In the detection frame (Frame K) corresponding to the second time period, the main radar or detection control device controls Radar 1 to operate in mode 2 and Radar n to operate in mode L. In the detection frame (Frame N) corresponding to the third time period, the main radar or detection control device controls Radar 1 to operate in mode 3 and Radar n to operate in mode N.

[0211] It is understandable that by using time polling as a trigger condition to control and adjust the radar's operating mode, the radar can more effectively detect, process, and report data in different detection frames at different times, thereby enabling the radar system to meet the adaptability and detection performance requirements of various detection scenarios.

[0212] Scenario 4:

[0213] Based on the scene data, the change in the first data type reported by the first radar is determined to be the second data type.

[0214] The first control signal is generated based on the second data type.

[0215] The first data type corresponds to the first working mode, the second data type corresponds to the second working mode, and the first data type and the second data type are different.

[0216] Optionally, the above data types include, but are not limited to, raw sensing data, RV data, channel data, point cloud data, target data, analog-to-digital converter (ADC) output data, CFAR data, etc.

[0217] Optionally, the change from the first data type to the second data type can be a change from one data type to another, a change from one data type to multiple data types, a change from multiple data types to one data type, or a change from multiple data types to other multiple data types. The embodiments of this application do not limit this.

[0218] Optionally, please refer to Figure 8, which is a schematic diagram of another control and adjustment working mode provided by the embodiments of this application.

[0219] Figure 8 shows the working mode of the radar triggered by data type reporting.

[0220] Before the data reporting is switched, the main radar or detection control device controls Radar 1 to report data through transmission interface 1, and controls Radar n to report data through transmission interface K. When the data type of the reported data changes based on scene data, and this change triggers the adjustment of the transmission interfaces of Radar 1 and Radar n, the main radar or detection control device generates control signals and sends control signals to Radar 1 and Radar n respectively, to control Radar 1 to switch from transmission interface 1 to transmission interface 2 for data reporting, and to control Radar n to switch from transmission interface K to transmission interface L for data reporting.

[0221] It is understandable that by using changes in the reported data type as a trigger condition to control and adjust the radar's operating mode, the radar can report different data types more specifically in various detection scenarios, thereby enabling the radar system to meet the adaptability and detection performance requirements of various detection scenarios.

[0222] Scenario 5:

[0223] Based on the scene data, the change in the first data volume reported by the first radar is determined to be the second data volume.

[0224] Based on the second data volume, the first control signal is generated.

[0225] Among them, the first data volume corresponds to the first working mode, the second data volume corresponds to the second working mode, and the first data volume and the second data volume are different.

[0226] For example, when communication is congested, the radar can be controlled to report less data through the first control signal, such as only reporting point cloud data and target data at close range, in order to maintain the basic perception function in the congested communication scenario.

[0227] For example, when communication is smooth, the radar can be controlled by the first control signal to report a larger amount of data, such as sensing data, RV data, channel data, point cloud data, target data, etc., to enhance the radar's detection performance.

[0228] It is understandable that by using changes in the amount of reported data as a trigger condition to control and adjust the radar's operating mode, the radar can report different amounts of data more specifically in various detection scenarios, thereby enabling the radar system to meet the adaptability and detection performance requirements of various detection scenarios.

[0229] Situation 6:

[0230] Based on the scene data, the first data processing mode corresponding to the first radar is changed to the second data processing mode.

[0231] The first control signal is generated based on the second data processing mode.

[0232] Among them, the first data processing mode corresponds to the first working mode, the second data processing mode corresponds to the second working mode, and the first data processing mode and the second data processing mode are different.

[0233] For example, the radar can be controlled by the first control signal to perform angle super-resolution processing and change the calculation range to meet the needs of a specific ROI region for higher angle resolution.

[0234] For example, the radar can be controlled by the first control signal to perform constant false alarm rate (CFAR) detection, and the algorithm or parameters can be adjusted to improve the false alarm rate in cluttered environments (such as congestion, tunnels, etc.).

[0235] It is understandable that by using changes in the radar's data processing mode as a trigger condition to control and adjust the radar's operating mode, the radar can process data more effectively in various detection scenarios, thereby enabling the radar system to meet the adaptability and detection performance requirements of various detection scenarios.

[0236] It should be understood that the above situations one to six are merely examples illustrating several possible scenarios for generating a first control signal based on scene data to trigger the control and adjustment radar's operating mode, and should not be construed as limiting the embodiments of this application.

[0237] It should be understood that any new embodiments obtained by reasonable modifications, additions, or combinations of the above-described situations one through six are all within the protection scope of the embodiments of this application.

[0238] The methods of the embodiments of this application have been described in detail above. The following provides an apparatus for implementing any one of the methods in the embodiments of this application. For example, an apparatus is provided that includes a unit (or means) for implementing the steps performed by the device in any of the above methods.

[0239] Please refer to Figure 9, which is a schematic diagram of the structure of a detection control device provided in an embodiment of this application.

[0240] As shown in Figure 9, the detection and control device 90 may include a communication unit 901 and a processing unit 902. The communication unit 901 and the processing unit 902 may be software, hardware, or a combination of both.

[0241] The communication unit 901 can implement sending and / or receiving functions, and can also be described as a transceiver unit. The communication unit 901 can also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement the receiving function, and the sending unit is used to implement the sending function. Optionally, the communication unit 901 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0242] In one possible design, the detection control device 90 may correspond to the detection control device in the method embodiment shown in FIG4 above. For example, the detection control device 90 may be an electronic device or a chip within an electronic device. The detection control device 90 may include units for performing the operations performed by the detection control device in the method embodiment shown in FIG4 above, and each unit in the detection control device 90 is for implementing the operations performed by the detection control device in the method embodiment shown in FIG4 above. The descriptions of each unit are as follows:

[0243] Processing unit 902 is used to acquire scene data.

[0244] The processing unit 902 is also used to control and adjust the operating mode of the radar system based on scene data. The operating mode of the radar system is used to indicate the operating mode of at least one radar in the radar system. The operating mode of the radar includes any one or more of the following: radar detection mode, radar data processing mode, and radar data reporting mode.

[0245] In one possible implementation, the device further includes a communication unit 901.

[0246] The processing unit 902 is specifically used to acquire scene data through the communication unit 901.

[0247] Regarding the communication unit 901 and processing unit 902 described in this design, the steps they perform can be referred to the implementation method corresponding to the detection and control device in the method embodiment shown in Figure 4 above.

[0248] Regarding the technical effects of the implementation methods performed by the communication unit 901 and the processing unit 902 described in this design, please refer to the description of the technical effects corresponding to the method embodiment shown in FIG4 above.

[0249] According to embodiments of this application, the various units in the device shown in FIG9 can be individually or entirely merged into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effect of the embodiments of this application. The above units are based on logical function division. In practical applications, the function of one unit can also be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the electronic device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0250] It should be noted that the implementation of each unit can also refer to the corresponding description of the method embodiment shown in Figure 4 above.

[0251] The detection control device 90 described in Figure 9 can control and adjust the operating modes of each radar in the radar system, thereby improving the adaptability and detection performance of the radar system in various detection scenarios.

[0252] If the aforementioned detection and control device 90 can be an electronic device, please refer to the structural schematic diagram of the electronic device shown in Figure 10.

[0253] It should be understood that the electronic device 100 shown in FIG10 is only an example. The electronic device in the embodiments of this application may also include other components, or include components that have similar functions to the various components in FIG10, or may not be intended to include all the components in FIG10.

[0254] The electronic device 100 includes a transceiver interface 1001 and at least one processor 1002.

[0255] The electronic device 100 can correspond to a detection and control device. The transceiver interface 1001 is used to transmit and receive signals, and at least one processor 1002 executes program instructions, causing the electronic device 100 to implement the corresponding process of the method executed by the corresponding device in the above method embodiments.

[0256] In one possible design, the electronic device 100 may correspond to the detection control device in the method embodiment shown in FIG4 above. For example, the electronic device 100 may be a detection control device or a chip within the detection control device. The electronic device 100 may include components for performing the operations performed by the detection control device in the method embodiment above, and each component in the electronic device 100 is respectively for implementing the operations performed by the detection control device in the method embodiment above. Specifically, it may be as follows:

[0257] Processor 1002 is used to acquire scene data.

[0258] The processor 1002 is also used to control and adjust the operating mode of the radar system based on scene data. The operating mode of the radar system is used to indicate the operating mode of at least one radar in the radar system. The operating mode of the radar includes any one or more of the following: radar detection mode, radar data processing mode, and radar data reporting mode.

[0259] In one possible implementation, the device further includes a transceiver interface 1001.

[0260] The processor 1002 is specifically used to acquire scene data through the transceiver interface 1001.

[0261] Regarding the transceiver interface 1001 and at least one processor 1002 described in this design, the steps they perform can be referred to the implementation corresponding to the detection control device in the method embodiment shown in Figure 4 above.

[0262] For the technical effects of the implementation methods performed by the transceiver interface 1001 and at least one processor 1002 described in this design, please refer to the description of the technical effects corresponding to the method embodiment shown in FIG4 above.

[0263] In the electronic device 100 described in Figure 10, the operating modes of each radar in the radar system can be controlled and adjusted to improve the adaptability and detection performance of the radar system in various detection scenarios.

[0264] If the aforementioned detection and control device 90 can be a chip or a chip system, please refer to the schematic diagram of the chip structure shown in Figure 11.

[0265] As shown in Figure 11, chip 110 includes processor 1101 and interface 1102. The number of processors 1101 can be one or more, and the number of interfaces 1102 can be multiple. It should be noted that the functions of processor 1101 and interface 1102 can be implemented through hardware design, software design, or a combination of both; no restrictions are placed here.

[0266] Optionally, the chip 110 may also include a memory 1103 for storing necessary program instructions and data.

[0267] In this application, processor 1101 can be used to call the implementation program of the detection control method provided in one or more embodiments of this application in the detection control device from memory 1103, and execute the instructions included in the program. Interface 1102 can be used to output the execution result of processor 1101. In this application, interface 1102 can be specifically used to output various messages or information of processor 1101.

[0268] The detection control method provided by one or more embodiments of this application can be referred to the various embodiments shown in FIG4 above, which will not be repeated here.

[0269] The processor in this application embodiment can be a central processing unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0270] The memory in this application embodiment is used to provide storage space, in which data such as operating system and computer programs can be stored. The memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0271] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer-readable storage medium storing a computer program. When the computer program is run on one or more processors, it can implement the method shown in FIG4.

[0272] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer program product, which includes a computer program. When the computer program runs on a processor, it can implement the method shown in FIG4.

[0273] This application also provides a detection system that includes multiple radars, with the main radar among the multiple radars used to perform the method shown in FIG4 above.

[0274] This application also provides a detection system, which includes a detection control device and multiple radars. The detection control device is used to execute the method shown in FIG4 above.

[0275] This application embodiment also provides a terminal, which includes at least one detection control device 90, or electronic device 100, or chip 110 or the above-described detection system.

[0276] Optionally, the terminal can be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any possible scenario. This application embodiment does not limit this.

[0277] Optionally, the terminal is used to implement the method shown in Figure 4 above.

[0278] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the method in any of the above method embodiments.

[0279] It should be understood that the above-described processing device can be a chip. The units in the various device embodiments and the electronic devices in the method embodiments correspond completely, with corresponding modules or units executing corresponding steps. For example, the communication unit (transceiver) executes the receiving or sending steps in the method embodiments, while other steps besides sending and receiving can be executed by the processing unit (processor). The specific functions of each unit can be found in the corresponding method embodiments. There can be one or more processors.

[0280] It is understood that in the embodiments of this application, the electronic device may perform some or all of the steps in the embodiments of this application. These steps or operations are merely examples, and the embodiments of this application may also perform other operations or variations thereof. Furthermore, the steps may be performed in different orders as presented in the embodiments of this application, and it is not necessarily necessary to perform all the operations in the embodiments of this application.

[0281] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0282] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0283] In addition, the functional units in the various embodiments of this application 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.

[0284] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the contributing part, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0285] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A detection and control method, characterized in that, The detection and control method includes: Acquire scene data; Based on the scenario data, the operating mode of the radar system is controlled and adjusted. The operating mode of the radar system is used to indicate the operating mode of at least one radar in the radar system. The operating mode of the radar includes any one or more of the following: radar detection mode, radar data processing mode, and radar data reporting mode.

2. The detection and control method according to claim 1, characterized in that, The scene data includes one or more of the following: The environmental data of the terminal where the radar system is located, the status data of the terminal, the reported data of the radar system, and the sensing data reported by the sensing module. The sensing module is different from the radar system.

3. The detection and control method according to claim 1 or 2, characterized in that, The step of controlling and adjusting the operating mode of the radar system based on the scene data includes: Based on the scene data, a first control signal is generated. The first control signal is used to control the first radar in the radar system to switch from a first working mode to a second working mode. The first control signal is sent to the first radar.

4. The detection and control method according to claim 3, characterized in that, The first operating mode differs from the second operating mode and includes one or more of the following: The transmission parameters for detection corresponding to the first working mode are different from those for detection corresponding to the second working mode; The data processing mode corresponding to the first working mode is different from the data processing mode corresponding to the second working mode. The data type reported in the first working mode is different from the data type reported in the second working mode; The amount of data reported in the first working mode is different from the amount of data reported in the second working mode.

5. The detection and control method according to any one of claims 1 to 4, characterized in that, Before the control and adjustment of the radar system's operating mode, there are two radars in the radar system operating in different modes; and / or, after the control and adjustment of the radar system's operating mode, there are two radars in the radar system operating in different modes.

6. The detection and control method according to claim 3 or 4, characterized in that, The step of generating a first control signal based on the scene data includes: Based on the scene data, it is determined that the first detection scene changes to the second detection scene. The first detection scene corresponds to the first working mode, and the first detection scene and the second detection scene are different. The first control signal is generated based on the second detection scenario.

7. The detection and control method according to claim 6, characterized in that, The first detection scenario changes to a second detection scenario, which includes any one or more of the following: The changes in the environment of the terminal where the radar system is located, the changes in the state of the terminal, the changes in the scene corresponding to the radar system, and the changes in the scene corresponding to one or more radars in the radar system.

8. The detection and control method according to claim 6 or 7, characterized in that, The driving speed range corresponding to the first detection scenario is different from the driving speed range corresponding to the second detection scenario, and the detection mode corresponding to the first working mode is different from the detection mode corresponding to the second working mode; or, The detection power consumption range corresponding to the first detection scenario is different from the detection power consumption range corresponding to the second detection scenario, and the detection mode corresponding to the first working mode is different from the detection mode corresponding to the second working mode. or, The data processing computing power range corresponding to the first detection scenario is different from that corresponding to the second detection scenario, and the data processing mode corresponding to the first working mode is different from that corresponding to the second working mode. or, The region of interest (ROI) corresponding to the first detection scenario is different from the ROI corresponding to the second detection scenario, and the data reporting mode corresponding to the first working mode is different from the data reporting mode corresponding to the second working mode. or, The environments corresponding to the first detection scenario and the second detection scenario are different, and the data reporting modes corresponding to the first working mode and the second working mode are different.

9. The detection and control method according to any one of claims 6 to 8, characterized in that, The scene data includes perception data reported by the perception module, which includes a camera module and / or a radar module different from the radar system. The generation of the first control signal based on the second detection scenario includes: The first control signal is generated based on the second detection scenario and the sensing data.

10. The detection and control method according to claim 3 or 4, characterized in that, The step of generating a first control signal based on the scene data includes: Based on the scene data, the first detection frame is determined to change into the second detection frame. The first detection frame corresponds to the first working mode, and the detection time corresponding to the first detection frame is different from the detection time corresponding to the second detection frame. The first control signal is generated based on the second detection frame.

11. The detection and control method according to claim 3 or 4, characterized in that, The step of generating a first control signal based on the scene data includes: Based on the scene data, it is determined that the first data type reported by the first radar has changed to a second data type. The first data type corresponds to the first working mode, and the first data type is different from the second data type. The first control signal is generated based on the second data type.

12. The detection and control method according to claim 3 or 4, characterized in that, The step of generating a first control signal based on the scene data includes: Based on the scene data, the first data volume change reported by the first radar is determined to be the second data volume. The first data volume corresponds to the first working mode, and the first data volume is different from the second data volume. The first control signal is generated based on the second data volume.

13. The detection and control method according to claim 3 or 4, characterized in that, The step of generating a first control signal based on the scene data includes: Based on the scene data, the first data processing mode corresponding to the first radar is determined to change to the second data processing mode. The first data processing mode corresponds to the first working mode, and the first data processing mode is different from the second data processing mode. The first control signal is generated based on the second data processing mode.

14. A detection and control device, characterized in that, Includes units for performing the method as described in any one of claims 1 to 13.

15. A detection and control device, characterized in that, Includes a processor for performing the method as described in any one of claims 1 to 13.

16. A chip, characterized in that, It includes logic circuits and interfaces, wherein the logic circuits and the interfaces are coupled; The interface is used for inputting and / or outputting information, and the logic circuit is used for performing the method as described in any one of claims 1 to 13.

17. A detection system, characterized in that, It includes multiple radars, wherein the main radar among the multiple radars is used to perform the method as described in any one of claims 1 to 13.

18. A detection system, characterized in that, It includes a detection control device and multiple radars, the detection control device being used to perform the method as described in any one of claims 1 to 13.

19. A terminal, characterized in that, This includes the detection control device as described in claim 14, or the detection control device as described in claim 15, or the chip as described in claim 16, or the detection system as described in claim 17, or the detection system as described in claim 18.

20. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed, performs the method as described in any one of claims 1 to 13.

21. A computer program product, characterized in that, The computer program product includes a computer program, which, when executed, performs the method as described in any one of claims 1 to 13.

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