Detection control method and related apparatus

Abstract

A detection control method and a related apparatus, which are applied to the technical field of detection. The control method comprises: a control apparatus acquiring sensing data (S401); on the basis of the sensing data, the control apparatus determining a target detection mode of a detection system (S402); and on the basis of the target detection mode, the control apparatus adjusting first detection apparatuses (101a, 101c) from a current waveform generation parameter set to a first target waveform generation parameter set among at least one target waveform generation parameter set (S403). The method enables a plurality of detection apparatuses to operate collaboratively, and flexibly change a waveform generation parameter set, such that the detection system can meet detection capability requirements in a plurality of scenarios, thereby significantly improving the scenario adaptability of the detection system, improving the collaborative operation capability of the detection system, and achieving optimal detection capability in a plurality of scenarios.

Description

A detection and control method and related device Technical Field

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

[0002] With the development of detection technology, more and more detection devices are being widely used in scenarios such as detection, target recognition, and positioning, bringing great convenience to people's lives and travel. Detection devices can generate transmitted signals and receive the return signals (i.e., echoes) from the object space. Based on the return signals, information about targets in the object space can be obtained. When detection devices are installed on terminals (such as vehicles, logistics robots, etc.), they can act as the "eyes" for perceiving the environment, enabling the detection of the terminal's surroundings.

[0003] Due to the operating characteristics of the detection device, its performance is affected by the detection signal emitted by the device, and performance in multiple dimensions is often mutually exclusive. For example, when the bandwidth of the emitted detection signal is large, the range resolution of the detection device is improved, but the range finding capability will decrease. Furthermore, by applying beamforming technology, the detection device can improve its detection capability at certain angles, but correspondingly, it will lose detection capability at other angles.

[0004] When detection devices are installed in terminals, the requirements for these devices vary depending on the varying environments in which the terminals operate. Some manufacturers install multiple detection devices in their terminals to meet the needs of various scenarios, but this approach is costly and lacks flexibility. Summary of the Invention

[0005] This application provides a detection control method and related apparatus that enables multiple detection devices to work collaboratively and flexibly change the emission parameter group, so that the detection system can meet the detection capability requirements in various scenarios, significantly improve the scenario adaptability of the detection system, enhance the collaborative working capability of the detection system, and achieve optimal detection capability in various scenarios.

[0006] Firstly, this application provides a detection control method for controlling a detection system. The detection system includes multiple detection devices, each of which transmits detection signals using corresponding emission parameter sets to detect an object space. This method can be executed by a control device or a component (such as a chip or module) within the control device. Optionally, the control device is integrated into one of the detection devices, or the control device includes multiple modules, each integrated into several detection devices. Alternatively, the control device can be independent of the multiple detection devices. Exemplarily, the control device includes a central processing unit (CPU), a microcontroller unit (MCU), etc. For example, the control device can be a domain controller (DC), an electronic control unit (ECU), a vehicle integration unit (VIU), etc., where the domain controller includes an intelligent driving domain controller (such as a mobile data center). For ease of description, the following explanation uses the control device as the execution subject of this method; in actual implementation, the execution subject of this method can have other names.

[0007] The detection and control method includes: a control device acquiring sensing data; determining a target detection mode for the detection system based on the sensing data; and adjusting a first detection device from the current emission parameter group to a first target emission parameter group from at least one target emission parameter group according to the target detection mode. The target detection mode indicates at least one target emission parameter group for multiple detection devices, and the at least one target emission parameter group is used by the multiple detection devices to emit detection signals to detect the object space using the corresponding emission parameter group. At least one emission parameter differs between the current emission parameter group and the first target emission parameter group, and the first detection device belongs to multiple detection devices.

[0008] In the above scheme, multiple detection devices form a detection system. The control device can determine the target detection mode to be used by the detection system using the acquired sensing data, and adjust the emission parameter sets used by some or all of the detection devices (e.g., the first detection device) based on the target detection mode. By centrally managing multiple detection devices, analyzing sensing data, and determining the emission parameter sets required by each detection device from the perspective of the detection system, the control device enables multiple detection devices to work collaboratively and flexibly change the emission parameter sets. This allows the detection system to meet the detection capability requirements of various scenarios, significantly improving its scenario adaptability.

[0009] For example, in normal working conditions, the control device can adjust multiple detection devices in the detection system to use the same set of transmission parameters. This set of transmission parameters meets the requirements of normal working conditions, such as a set of transmission parameters with moderate range measurement capability, range resolution capability, or velocity resolution capability.

[0010] In some scenarios, the control device can improve the resolution of some detection devices and enhance the rangefinding capability of others, thereby meeting the detection performance requirements of that scenario.

[0011] Furthermore, in some scenarios, if the control device adjusts the emission parameter set of the first detection device to a emission parameter set with stronger resolution—for example, if the resolution corresponding to the first target emission parameter set is higher than that corresponding to the current emission parameter set—the resolution of the detection system can be improved. This can meet the detection capability requirements of the detection system in specific scenarios (such as scenarios requiring improved resolution, like a vehicle cutting in front), significantly improving the scenario adaptability of the detection system and achieving optimal detection capability in that scenario. Moreover, when the detection system needs to detect yaw rate, wheel position, etc., it is necessary to improve the resolution of the detection system. If the emission parameter set of the first detection device in this application is adjusted to a emission parameter set with stronger detection capability, the detection system's ability to detect yaw rate, wheel position, etc., can be improved, thereby enhancing the detection performance of the detection system.

[0012] In summary, this application enables multiple detection devices to work collaboratively and flexibly change the emission parameter set, allowing the detection system to meet the detection capability requirements in various scenarios, significantly improving the scenario adaptability of the detection system, enhancing the collaborative working capability of the detection system, and achieving optimal detection capability in various scenarios.

[0013] In some possible scenarios, multiple detection devices in the detection system are of the same type. For example, they may all be millimeter-wave radars or lidars.

[0014] In one possible implementation of the first aspect, the transmission parameters of the target transmission parameter group include at least one set of configuration parameters, each set of configuration parameters including at least one of the transmission power of the probe signal, the bandwidth of the probe signal, the transmission duration of the probe signal, and the amplitude and / or phase of the transmitting antenna array.

[0015] The power of the transmitted signal affects the detection range of the detection device; the higher the power, the farther the detection range. However, using high power for detection increases the energy consumption and heat dissipation pressure of the detection system, which can accelerate component aging and increase the risk of failure.

[0016] The bandwidth of the detection signal affects the range resolution of the detection device; a larger bandwidth results in a higher point cloud density over a greater distance, thus enhancing the range resolution. However, high-bandwidth detection requires more energy to support signal transmission and processing, significantly increasing power consumption. Furthermore, high bandwidth implies a large amount of data, leading to increased computational power consumption and higher storage requirements for storage units.

[0017] The transmission duration of the detection signal affects the velocity and range resolution capabilities of the detection device. Longer transmission durations result in stronger velocity resolution, but correspondingly, reduced range resolution. Furthermore, longer transmission durations mean a larger volume of data, leading to increased computational power consumption and higher storage requirements. Moreover, using longer transmission durations for detection increases the system's energy consumption and heat dissipation pressure, potentially accelerating component aging and increasing the risk of failure.

[0018] In some schemes, the detection performance of the detection device is also limited by storage space. Since the storage space of a detection device is typically limited, a larger bandwidth results in higher point cloud density over distance, stronger distance resolution, and thus a greater amount of data needs to be stored. Similarly, a longer transmission duration increases velocity resolution, but this also requires more data storage. This may lead to insufficient storage space for long-distance data, resulting in a shorter detection range, i.e., a decrease in range finding capability. Therefore, the detection performance of a detection device in multiple dimensions is often mutually exclusive; for example, improving resolution may decrease range finding capability.

[0019] When the amplitude and / or phase of the transmitting antenna array changes, the detection signals can reinforce each other in some directions and weaken each other in others. This results in the detection signal strength being higher in the target direction than in the non-target direction, thereby enhancing the signal strength of the detection signal within a region. This meets the detection capability requirements of the detection system in specific scenarios (such as scenarios where resolution needs to be improved within a certain range or in a certain direction), and significantly improves the scenario adaptability of the detection system.

[0020] In the above embodiments, the control device can flexibly change the configuration parameter group used by the detection device by adjusting the configuration parameter group in the wave emission parameter group of the detection device, so that the detection performance of the detection device can better meet the needs of the actual scenario, and the detection system can be flexibly applied to a variety of scenarios, thereby improving the scenario adaptability of the detection system.

[0021] In another possible implementation of the first aspect, the transmission parameters of the target transmission parameter group include multiple configuration parameter groups, and the transmission parameters of the target transmission parameter group also include alternating timing indication information, which is used to indicate the time interval and / or the alternating order of the multiple configuration parameter groups.

[0022] In another possible implementation of the first aspect, the fact that at least one transmission parameter differs between the current transmission parameter group and the first target transmission parameter group includes: both the current transmission parameter group and the first target transmission parameter group include a set of configuration parameters, and the values ​​of the configuration parameters in the current transmission parameter group and the first target transmission parameter group are different. Alternatively, the number of configuration parameter groups included in the current transmission parameter group and the first target transmission parameter group are different. Alternatively, both the current transmission parameter group and the first target transmission parameter group include multiple configuration parameter groups, and the alternation sequence of the multiple configuration parameter groups is different.

[0023] In another possible implementation of the first aspect, the sensing data includes detection data from the detection system and / or operational status data of the detection devices within the detection system. Optionally, the sensing data may also include status data of the terminal where the detection system is located, such as the terminal's speed or an image of the environment surrounding the terminal.

[0024] In another possible implementation of the first aspect, the target detection mode corresponds to the scene in which the terminal where the detection system is located is situated. Optionally, the sensing data is related to the scene in which the terminal where the detection system is located is situated.

[0025] In the above embodiments, the target detection mode corresponds to the scene in which the detection system is located, making the target detection mode more suitable for the scene requirements of the terminal. This further enables the detection system to meet the detection capability requirements in various scenarios, significantly improving the scene adaptability of the detection system, enhancing the collaborative working capability of the detection system, and achieving optimal detection capability in various scenarios.

[0026] In another possible implementation of the first aspect, the target detection mode is a first detection mode, which includes: at least two of the multiple detection devices having a target emission parameter set as the first emission parameter set, and at least one of the multiple detection devices having a target emission parameter set as the second emission parameter set. The resolution corresponding to the first emission parameter set is higher than the resolution corresponding to the second emission parameter set, and the first detection device belongs to either at least two detection devices or at least one detection device.

[0027] Optionally, the first detection device may be at least two detection devices corresponding to the first set of emission parameters, in which case the first target emission parameter set is the first emission parameter set. Alternatively, the first detection device may also be at least one detection device corresponding to the second set of emission parameters, in which case the first target emission parameter set is the second emission parameter set.

[0028] In the first detection mode, at least two detection devices, after adjustment, can use a first set of emission parameters to transmit detection signals to detect the object space with strong resolution. At least one detection device, after adjustment, can use a second set of emission parameters to transmit detection signals to detect the object space with moderate resolution. This embodiment enables at least two detection devices and at least one detection device to detect with different resolution capabilities. This allows the adjusted detection system to accommodate different resolution requirements, meeting the detection capability needs of various scenarios, significantly improving the system's scenario adaptability, enhancing its collaborative working capability, and achieving optimal detection capability in multiple scenarios.

[0029] In another possible implementation of the first aspect, at least two detection devices corresponding to the first wave emission parameter group correspond to the edge of the field of view, and at least one detection device corresponding to the second wave emission parameter group corresponds to the center of the field of view.

[0030] Optionally, the terminal where the detection system is located is a vehicle, and at least two detection devices are installed at the edges of the field of view on both sides of the vehicle's central axis along the vehicle's direction of travel, and at least one detection device is installed at the center of the field of view on the vehicle's central axis along the vehicle's direction of travel.

[0031] When the detection system is located at a vehicle, at least one detection device can detect with moderate resolution to meet the target detection requirements of the main lane (e.g., the ability to identify targets at a moderate distance and / or to identify targets with moderate resolution). At least two detection devices can detect with stronger resolution to meet the resolution requirements of the detection system in specific scenarios (e.g., scenarios requiring higher resolution, such as when a vehicle cuts in front) (e.g., the ability to accurately identify target movement), significantly improving the scenario adaptability of the detection system, enhancing its collaborative working ability, and achieving optimal detection capability in various scenarios.

[0032] In another possible implementation of the first aspect, the first transmission parameter set includes at least two of a first transmission power, a first bandwidth, and a first transmission duration, and the second transmission parameter set includes at least two of a second transmission power, a second bandwidth, and a second transmission duration. The first transmission parameter set and the second transmission parameter set satisfy at least two of the following conditions: the first transmission power is less than the second transmission power, the first bandwidth is greater than the second bandwidth, or the first transmission duration is greater than the second transmission duration.

[0033] In the above embodiments, the resolution corresponding to the first set of wave emission parameters is higher than that corresponding to the second set of wave emission parameters, meaning the waveform corresponding to the first set of wave emission parameters has a higher resolution. The control device enhances the resolution of at least two detection devices, improving their ability to detect targets (accurately identifying target movement). This meets the resolution requirements of the detection system in specific scenarios (e.g., scenarios requiring higher resolution, such as when a car cuts in front), significantly improving the system's scenario adaptability and collaborative working ability, and enabling optimal detection performance in various scenarios.

[0034] In another possible implementation of the first aspect, before adjusting the first detection device from the current emission parameter group to the first target emission parameter group in at least one target emission parameter group according to the target detection mode, at least two detection devices and at least one detection device have the same emission parameter group.

[0035] Before adjustment, at least two detection devices and at least one detection device have the same set of emission parameters, meaning they use the same resolution for detection. After adjustment, at least two detection devices and at least one detection device have different sets of emission parameters, enabling at least two detection devices and at least one detection device to detect with different resolutions. This allows the adjusted detection system to accommodate different resolution requirements. If the detection system is installed on a vehicle, the above implementation can meet the main lane's target detection needs (e.g., the ability to identify targets at a suitable distance and / or identify targets with a suitable resolution), and also meet the resolution requirements of the detection system in specific scenarios (e.g., scenarios requiring higher resolution, such as when a vehicle cuts in front) (e.g., the ability to accurately identify target movement). This significantly improves the scenario adaptability of the detection system, enhances its collaborative working ability, and enables optimal detection capabilities in various scenarios.

[0036] In another possible implementation of the first aspect, the first detection mode corresponds to the first scenario, and the first scenario satisfies at least one of the following conditions: condition 1, there is a driving path of the terminal where the target intrusion detection system is located; condition 2, there is a target of a preset type in the region of interest; condition 3, there is a target in the region of interest whose mobility meets the first condition.

[0037] The preset target types can include vulnerable road users (VRUs), such as pedestrians, cyclists, cattle, sheep, and other groups that are relatively vulnerable in road traffic. Mobility includes speed mobility, height mobility, and directional mobility. The shorter the time required for a target to change speed, the higher its speed mobility; for example, if the first condition is that the time required for a target to change speed is less than a first threshold, then the target has high speed mobility. The shorter the time required for a target to change height, the higher its height mobility; for example, if the first condition is that the time required for a target to change height is less than a second threshold, then the target has high height mobility. The shorter the time required for a target to change direction, the higher its directional mobility; for example, if the first condition is that the time required for a target to change direction is less than a third threshold, then the target has high directional mobility. For example, the first scenario includes a cut-in scenario, a reversing vehicle, and a preset target crossing the terminal's driving path. In the above first scenario, it may be necessary to maximize the resolution of the detection device to improve the target detection capability and avoid affecting the terminal's driving safety.

[0038] In another possible implementation of the first aspect, the target detection mode is a second detection mode, which includes: the target emission parameter group of N detection devices among the multiple detection devices is a third emission parameter group, the N detection devices belong to the multiple detection devices and the N detection devices are predefined, N is an integer and N is greater than 1, and the first detection device belongs to the N detection devices.

[0039] In another possible implementation of the first aspect, the second detection mode corresponds to a second scenario, which is a scenario where no preset condition is met. For example, the second detection mode could be the default detection mode of the detection system under normal circumstances. Or, for instance, the second detection mode could be a scenario such as reversing.

[0040] Optionally, the second scenario is a scenario that does not meet any preset conditions (or a normal scenario). In a normal scenario, when the terminal is a vehicle, the vehicle's detection device does not need to improve its resolution. The control device adjusts all detection devices to a set of emission parameters with moderate range and / or moderate resolution for detection, which can meet the vehicle's target detection requirements in a normal scenario (e.g., being able to identify targets at moderate distances and / or identifying targets with moderate resolution). Optionally, the second scenario can also be a reversing scenario. When the terminal is a vehicle, in a reversing scenario, the vehicle's detection device needs to improve its resolution as much as possible to improve the detection capability of nearby targets. The control device adjusts all detection devices to use a set of emission parameters with higher resolution for near-range detection, which can meet the vehicle's target detection requirements in a reversing scenario, improve the collaborative working capability of the detection system, and achieve optimal detection capability in multiple scenarios.

[0041] In another possible implementation of the first aspect, the target detection mode is a third detection mode, which includes: a first target emission parameter group including at least two configuration parameter groups and alternating timing indication information, wherein the alternating timing indication information is used to indicate the time interval and / or the order of alternation of the at least two configuration parameter groups.

[0042] In the above embodiments, after adjustment, the first detection device can alternately use at least two configuration parameter groups to emit detection signals to detect the object space, so that the first detection device can alternately detect with different resolution capabilities. This allows the adjusted first detection device to take into account the needs of different resolution capabilities, enabling the detection system to meet the detection capability requirements of various scenarios and significantly improving the scenario adaptability of the detection system.

[0043] In another possible implementation of the first aspect, the plurality of detection devices further includes a sixth detection device, and the third detection mode further includes the target emission parameter group of the sixth detection device being the sixth emission parameter group, which is different from the first target emission parameter group.

[0044] In the above embodiments, the sixth detection device can use different sets of wave emission parameters to detect the object space with the first detection device, so that the detection system can meet the detection capability requirements in various scenarios and significantly improve the scenario adaptability of the detection system.

[0045] In another possible implementation of the first aspect, the third detection mode corresponds to the third scenario, which satisfies at least one of the following conditions: Condition 1, there is a target intruding into the driving path of the terminal where the detection system is located; Condition 2, there is a target of a preset type in the region of interest; Condition 3, there is a target in the region of interest whose mobility satisfies the first condition; Condition 4, the speed of the terminal where the detection system is located satisfies the second condition.

[0046] The second condition may include a speed greater than a fourth threshold, where the first threshold is a pre-set speed threshold. When the terminal's speed exceeds the fourth threshold, the terminal's detection device needs to improve its resolution as much as possible to enhance its ability to detect targets and avoid collisions that could affect the terminal's driving safety. In the third scenario described above, the detection device may need to improve its resolution as much as possible to enhance its ability to detect targets and avoid affecting the terminal's driving safety.

[0047] In another possible implementation of the first aspect, the plurality of detection devices further includes a second detection device and a third detection device, and the target detection mode is a fourth detection mode. In the fourth detection mode, the fields of view of the first detection device and the third detection device overlap, and the overlapping area partially or completely overlaps with the field of view of the second detection device.

[0048] In the above embodiments, the field of view of some detection devices can be adjusted to enhance the signal strength of the detection signal in the overlapping area, thereby improving the resolution in the overlapping area. This enables the detection system to meet the detection capability requirements in various scenarios (such as scenarios where the resolution is improved within a certain range or in a certain direction), significantly improving the scenario adaptability of the detection system and enhancing its detection performance.

[0049] In another possible implementation of the first aspect, the fourth detection mode includes: a first target transmission parameter set including a first configuration parameter set, the first configuration parameter set including a first amplitude and / or a first phase of the transmitting antenna array; and a third detection device target transmission parameter set including a second configuration parameter set, the second configuration parameter set including a second amplitude and / or a second phase of the transmitting antenna array. Wherein, when the first detection device transmits a detection signal using the first configuration parameter set, the signal strength of the detection signal from the first detection device in the first target direction is higher than the signal strength in directions other than the first target direction. When the third detection device transmits a detection signal using the second configuration parameter set, the signal strength of the detection signal from the third detection device in the second target direction is higher than the signal strength in directions other than the second target direction. The first target direction and the second target direction correspond to the field of view of the second detection device.

[0050] Optionally, the first and second configuration parameter groups may also include other configuration parameters. For example, the first configuration parameter group may also include at least one of the following: a seventh transmission power (e.g., corresponding to a detection range of 280m), a seventh bandwidth (e.g., 1G), and a seventh transmission duration (e.g., 20ms). The second configuration parameter group may also include at least one of the following: an eighth transmission power (e.g., corresponding to a detection range of 280m), an eighth bandwidth (e.g., 1G), or an eighth transmission duration (e.g., 20ms).

[0051] Optionally, the fourth detection mode corresponds to the fourth scenario, which includes an anomaly in the second detection device. Optionally, the operational status data of the detection device in the detection system indicates that the second detection device is malfunctioning.

[0052] In another possible implementation of the first aspect, the anomaly includes at least one of occlusion, calibration misalignment, and interference.

[0053] In the above embodiments, when the second detection device malfunctions, its detection capability may decrease. The control device adjusts the first detection device to transmit a detection signal using the first configuration parameter set, so that the signal strength of the first detection device's detection signal within the field of view of the second detection device is higher than the signal strength in other directions. The control device adjusts the third detection device to transmit a detection signal using the second configuration parameter set, so that the signal strength of the third detection device's detection signal within the field of view of the second detection device is higher than the signal strength in other directions, resulting in an overlapping area between the fields of view of the first and third detection devices. This overlapping area partially or completely overlaps with the field of view of the second detection device. Therefore, the first and third detection devices can supplement the missing field of view when some or all of the second detection devices malfunction, ensuring that the detection performance of the detection system does not decrease as much as possible and guaranteeing the detection requirements.

[0054] In another possible implementation of the first aspect, the plurality of detection devices further includes a seventh detection device, and the operational status data of the detection devices in the detection system indicates that the seventh detection device is abnormal. The target detection mode is a sixth detection mode, which includes: the first target transmission parameters include at least one configuration parameter group, and the third configuration parameter group in the at least one configuration parameter group includes a third amplitude and / or a third phase of the transmitting antenna array. When the first detection device transmits a detection signal using the third configuration parameter group, the signal strength of the detection signal in the third target direction is higher than the signal strength in non-third target directions, and the third target direction corresponds to the field of view of the seventh detection device.

[0055] Optionally, the sixth detection mode corresponds to the sixth scenario, which includes the possibility that the seventh detection device is malfunctioning.

[0056] In the above embodiments, when the seventh detection device malfunctions, its detection capability may decrease. The control device adjusts the first detection device to transmit detection signals using the third configuration parameter group, so that the signal strength of the first detection device's detection signal within the field of view of the seventh detection device is higher than the signal strength in other directions. This supplements the field of view missing when some or all of the seventh detection devices malfunction, ensuring that the detection performance of the detection system does not decrease as much as possible and guaranteeing the detection requirements.

[0057] In another possible implementation of the first aspect, the target detection mode is a fifth detection mode, which includes: at least one fourth detection device among a plurality of detection devices having a fourth wave emission parameter group, and at least one fifth detection device among a plurality of detection devices having a fifth wave emission parameter group. The resolution corresponding to the fourth wave emission parameter group is higher than the resolution corresponding to the fifth wave emission parameter group; the distance between the fourth detection device and the first target is less than the distance between the fifth detection device and the first target; and the first detection device belongs to at least one fourth detection device or at least one fifth detection device.

[0058] In the fifth detection mode, the fourth detection device, after adjustment, can use the fourth wave emission parameter set to emit detection signals to detect the object space with strong resolution. The fifth detection device, after adjustment, can use the fifth wave emission parameter set to emit detection signals to detect the object space with moderate resolution. This implementation allows the fourth detection device, closer to the first target, to detect the object space with strong resolution, improving the resolution of the first target (e.g., accurately identifying the movement of the first target). Meanwhile, the fifth detection device, farther from the first target, detects the object space with moderate resolution, meeting the target detection requirements of the fifth detection device (e.g., identifying targets at moderate distances and / or identifying targets with moderate resolution). Thus, this implementation allows the adjusted detection system to accommodate different resolution requirements, enabling the detection system to meet the detection capability needs of various scenarios, significantly improving the scenario adaptability of the detection system, enhancing the collaborative working capability of the detection system, and achieving optimal detection capability in various scenarios.

[0059] In another possible implementation of the first aspect, the first target is located within a region of interest and the first target belongs to a preset type of target. Alternatively, the first target is located within a region of interest and the mobility of the first target satisfies a first condition.

[0060] The preset target types can include vulnerable road users (VRUs), such as pedestrians, cyclists, cattle, sheep, and other groups that are relatively vulnerable in road traffic. Mobility includes speed mobility, high mobility, and directional mobility. For example, a first condition is that the time required for the first target to change direction is less than a third threshold, meaning the first target has high directional mobility. In the above cases, it may be necessary to maximize the resolution of the detection device to improve the detection capability of the first target and prevent it from affecting the driving safety of the terminal.

[0061] In another possible implementation of the first aspect, adjusting the first detection device from the current emission parameter group to a first target emission parameter group in at least one target emission parameter group, according to the target detection mode, includes determining a control signal corresponding to the first detection device according to the target detection mode, and sending the control signal corresponding to the first detection device to the first detection device. The control signal corresponding to the first detection device is used to instruct the first detection device to be adjusted from the current emission parameter group to the first target emission parameter group in at least one target emission parameter group.

[0062] In the above embodiments, the control device sends a corresponding control signal to the first detection device to adjust the wave emission parameter group of the first detection device. This makes the wave emission parameter group used by the first detection device to detect the object space more in line with actual needs, enabling the detection system to be flexibly applied to various scenarios and better meet the detection capability requirements of various scenarios, thereby improving the scenario adaptability of the detection system.

[0063] Secondly, this application provides a control device including a transceiver unit and a processing unit. The transceiver unit is used to acquire sensed data. The processing unit is used to determine the target detection mode of the detection system based on the sensed data, and according to the target detection mode, adjust the first detection device from the current emission parameter group to a first target emission parameter group in at least one target emission parameter group. The detection system includes multiple detection devices, and the target detection mode is used to indicate at least one target emission parameter group for the multiple detection devices. The at least one target emission parameter group is used by the multiple detection devices to transmit detection signals to detect the object space using the corresponding emission parameter group. At least one emission parameter differs between the current emission parameter group and the first target emission parameter group, and the first detection device belongs to multiple detection devices. Optionally, the multiple detection devices are of the same type, for example, all are millimeter-wave radars.

[0064] In one possible implementation of the second aspect, the transmission parameters of the target transmission parameter group include at least one set of configuration parameters, each set of configuration parameters including at least one of the transmission power of the probe signal, the bandwidth of the probe signal, the transmission duration of the probe signal, and the amplitude and / or phase of the transmitting antenna array.

[0065] In another possible implementation of the second aspect, the transmission parameters of the target transmission parameter group include multiple configuration parameter groups, and the transmission parameters of the target transmission parameter group also include alternating timing indication information, which is used to indicate the time interval and / or alternation order of the multiple configuration parameter groups.

[0066] In another possible implementation of the second aspect, the fact that the current transmission parameter group and the first target transmission parameter group have at least one different transmission parameter includes: both the current transmission parameter group and the first target transmission parameter group include a set of configuration parameters, and the values ​​of the configuration parameters in the current transmission parameter group and the first target transmission parameter group are different. Alternatively, the current transmission parameter group and the first target transmission parameter group include different numbers of configuration parameter groups. Alternatively, both the current transmission parameter group and the first target transmission parameter group include multiple configuration parameter groups, and the alternation sequence of the multiple configuration parameter groups is different.

[0067] In another possible implementation of the second aspect, the sensing data includes detection data from the detection system and / or operational status data of the detection devices within the detection system. Optionally, the sensing data may also include status data of the terminal where the detection system is located, such as the terminal's speed or an image of the environment surrounding the terminal.

[0068] In another possible implementation of the second aspect, the target detection mode corresponds to the scene in which the terminal where the detection system is located. Optionally, the sensing data is related to the scene in which the terminal where the detection system is located.

[0069] In another possible implementation of the second aspect, the target detection mode is a first detection mode, which includes: at least two of the multiple detection devices forming a first wave emission parameter group, and at least one of the multiple detection devices forming a second wave emission parameter group. The resolution corresponding to the first wave emission parameter group is higher than the resolution corresponding to the second wave emission parameter group, and the first detection device belongs to either at least two detection devices or at least one detection device.

[0070] Optionally, the first detection device may be at least two detection devices corresponding to the first set of emission parameters, in which case the first target emission parameter set is the first emission parameter set. Alternatively, the first detection device may also be at least one detection device corresponding to the second set of emission parameters, in which case the first target emission parameter set is the second emission parameter set.

[0071] In another possible implementation of the second aspect, at least two detection devices corresponding to the first wave emission parameter group correspond to the edge of the field of view, and at least one detection device corresponding to the second wave emission parameter group corresponds to the center of the field of view.

[0072] Optionally, the terminal where the detection system is located is a vehicle, and at least two detection devices are installed at the edges of the field of view on both sides of the vehicle's central axis along the vehicle's direction of travel, and at least one detection device is installed at the center of the field of view on the vehicle's central axis along the vehicle's direction of travel.

[0073] In another possible implementation of the second aspect, the first transmission parameter set includes at least two of a first transmission power, a first bandwidth, and a first transmission duration, and the second transmission parameter set includes at least two of a second transmission power, a second bandwidth, and a second transmission duration. The first transmission parameter set and the second transmission parameter set satisfy at least two of the following conditions: the first transmission power is less than the second transmission power, the first bandwidth is greater than the second bandwidth, or the first transmission duration is greater than the second transmission duration.

[0074] In another possible implementation of the second aspect, before adjusting the first detection device from the current emission parameter group to the first target emission parameter group in at least one target emission parameter group according to the target detection mode, at least two detection devices and at least one detection device have the same emission parameter group.

[0075] In another possible implementation of the second aspect, the first detection mode corresponds to the first scenario, and the first scenario satisfies at least one of the following conditions: condition 1, there is a driving path of the terminal where the target intrusion detection system is located; condition 2, there is a target of a preset type in the region of interest; condition 3, there is a target in the region of interest whose mobility meets the first condition.

[0076] In another possible implementation of the second aspect, the target detection mode is a second detection mode, which includes: the target emission parameter group of N detection devices among the multiple detection devices is a third emission parameter group, the N detection devices belong to multiple detection devices and the N detection devices are predefined, N is an integer and N is greater than 1, and the first detection device belongs to the N detection devices.

[0077] In another possible implementation of the second aspect, the second detection mode corresponds to a second scenario, which is a scenario where no preset condition is met. In this case, the second detection mode is the default detection mode of the detection system under normal circumstances. For example, the second detection mode could be a scenario such as reversing.

[0078] In another possible implementation of the second aspect, the target detection mode is a third detection mode, which includes: a first target emission parameter group including at least two configuration parameter groups and alternating timing indication information, wherein the alternating timing indication information is used to indicate the time interval and / or the order of alternation of the at least two configuration parameter groups.

[0079] In another possible implementation of the second aspect, the plurality of detection devices further includes a sixth detection device, and the third detection mode further includes the target emission parameter group of the sixth detection device being the sixth emission parameter group, which is different from the first target emission parameter group.

[0080] In another possible implementation of the second aspect, the third detection mode corresponds to the third scenario, which satisfies at least one of the following conditions: Condition 1, there is a target intruding into the driving path of the terminal where the detection system is located; Condition 2, there is a target of a preset type in the region of interest; Condition 3, there is a target in the region of interest whose mobility meets the first condition; Condition 4, the speed of the terminal where the detection system is located meets the second condition.

[0081] In another possible implementation of the second aspect, the plurality of detection devices further includes a second detection device and a third detection device, and the target detection mode is a fourth detection mode. In the fourth detection mode, the fields of view of the first detection device and the third detection device overlap, and the overlapping area partially or completely overlaps with the field of view of the second detection device.

[0082] In another possible implementation of the second aspect, the fourth detection mode includes: a first target transmission parameter set including a first configuration parameter set, the first configuration parameter set including a first amplitude and / or a first phase of the transmitting antenna array; and a third detection device target transmission parameter set including a second configuration parameter set, the second configuration parameter set including a second amplitude and / or a second phase of the transmitting antenna array. Wherein, when the first detection device transmits a detection signal using the first configuration parameter set, the signal strength of the detection signal from the first detection device in the first target direction is higher than the signal strength in directions other than the first target direction. When the third detection device transmits a detection signal using the second configuration parameter set, the signal strength of the detection signal from the third detection device in the second target direction is higher than the signal strength in directions other than the second target direction. The first target direction and the second target direction correspond to the field of view of the second detection device.

[0083] Optionally, the fourth detection mode corresponds to the fourth scenario, which includes an anomaly in the second detection device. Optionally, the operational status data of the detection device in the detection system indicates that the second detection device is malfunctioning.

[0084] In another possible implementation of the second aspect, the anomaly includes at least one of occlusion, calibration misalignment, and interference.

[0085] In another possible implementation of the second aspect, the plurality of detection devices further includes a seventh detection device, and the operational status data of the detection devices in the detection system indicates that the seventh detection device is abnormal. The target detection mode is a sixth detection mode, which includes: the first target transmission parameters include at least one configuration parameter group, and the third configuration parameter group in the at least one configuration parameter group includes a third amplitude and / or a third phase of the transmitting antenna array. When the first detection device transmits a detection signal using the third configuration parameter group, the signal strength of the detection signal in the third target direction is higher than the signal strength in non-third target directions, and the third target direction corresponds to the field of view of the seventh detection device.

[0086] Optionally, the sixth detection mode corresponds to the sixth scenario, which includes the possibility that the seventh detection device is malfunctioning.

[0087] In another possible implementation of the first aspect, the target detection mode is a fifth detection mode, which includes: at least one fourth detection device among a plurality of detection devices having a fourth wave emission parameter group, and at least one fifth detection device among a plurality of detection devices having a fifth wave emission parameter group. The resolution corresponding to the fourth wave emission parameter group is higher than the resolution corresponding to the fifth wave emission parameter group; the distance between the fourth detection device and the first target is less than the distance between the fifth detection device and the first target; and the first detection device belongs to at least one fourth detection device or at least one fifth detection device.

[0088] In another possible implementation of the first aspect, the first target is located within a region of interest and the first target belongs to a preset type of target. Alternatively, the first target is located within a region of interest and the mobility of the first target satisfies a first condition.

[0089] In another possible implementation of the second aspect, the processing unit is further configured to determine the control signal corresponding to the first detection device according to the target detection mode, and send the control signal corresponding to the first detection device to the first detection device. The control signal corresponding to the first detection device is used to instruct the first detection device to be adjusted from the current wave transmission parameter group to a first target wave transmission parameter group in at least one target wave transmission parameter group.

[0090] Thirdly, embodiments of this application provide a computing device, the computing device including a processor and a memory, the memory storing a program, the processor executing the program stored in the memory to enable the computing device to implement the method described in any of the first aspects above.

[0091] Fourthly, this application provides a detection system, which includes multiple detection devices, each of which is used to transmit detection signals using corresponding sets of emission parameters to detect the object space.

[0092] Fifthly, this application provides a terminal, which includes the detection system described in the fourth aspect and the control device described in the second aspect, or the terminal includes the detection system described in the fourth aspect and the computing device described in the third aspect, and the terminal is used to implement the method described in any of the first aspects.

[0093] Optionally, the terminal can be a means of transportation, such as a vehicle, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any scenario. The terminal can also be a robot or other equipment, and this application does not limit this.

[0094] In a sixth aspect, embodiments of this application provide a computer-readable storage medium for storing a computer program, the computer program including instructions for performing the methods described in any of the first aspects above.

[0095] In a seventh aspect, this application provides a computer program product including computer instructions that, when executed by a control device, computing device, or processor, cause the method described in any of the first aspects to be implemented.

[0096] The solutions provided in the second to seventh aspects above are used to implement or cooperate with the methods provided in the first aspect above, and therefore can achieve the same or corresponding beneficial effects as the first aspect, which will not be elaborated here. Attached Figure Description

[0097] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0098] Figure 1 is a schematic diagram of the architecture of a detection system provided in an embodiment of this application;

[0099] Figure 2 is a schematic diagram of the architecture of another detection system provided in an embodiment of this application;

[0100] Figure 3 is a schematic diagram of the architecture of another detection system provided in an embodiment of this application;

[0101] Figure 4 is a schematic flowchart of a detection control method provided in an embodiment of this application;

[0102] Figure 5 is a schematic diagram of the installation of a detection system provided in an embodiment of this application;

[0103] Figure 6 is a schematic diagram of a first detection mode provided in an embodiment of this application;

[0104] Figure 7 is a schematic diagram of a second detection mode provided in an embodiment of this application;

[0105] Figure 8 is a schematic diagram of another second detection mode provided in the embodiments of this application;

[0106] Figure 9 is a schematic diagram of a third detection mode provided in an embodiment of this application;

[0107] Figure 10 is a schematic diagram of an alternating polling method provided in an embodiment of this application;

[0108] Figure 11 is a schematic diagram of a fourth detection mode provided in an embodiment of this application;

[0109] Figure 12 is a schematic diagram of the field of view corresponding to a fourth detection mode provided in an embodiment of this application;

[0110] Figure 13 is a schematic diagram of the field of view corresponding to another fourth detection mode provided in the embodiments of this application;

[0111] Figure 14 is a schematic diagram of the field of view corresponding to another fourth detection mode provided in the embodiments of this application;

[0112] Figure 15 is a schematic diagram of a scenario corresponding to a fifth detection mode provided in an embodiment of this application;

[0113] Figure 16 is a schematic diagram of the field of view corresponding to a sixth detection mode provided in an embodiment of this application;

[0114] Figure 17 is a schematic diagram of a control device provided in an embodiment of this application;

[0115] Figure 18 is a schematic diagram of the structure of a computing device provided in an embodiment of this application. Detailed Implementation

[0116] For ease of understanding, the following examples illustrate some concepts related to the embodiments of this application for reference. As follows:

[0117] 1. Detection device

[0118] The detection device is capable of emitting signals to detect targets. The detection device includes, but is not limited to, radar or lidar. The radar can be millimeter-wave radar, centimeter-wave radar, etc. In some scenarios, a device that integrates both radar (or lidar) and a camera (a fusion detection device) can also detect targets; this fusion detection device also falls within the scope of the detection device described in this application.

[0119] 2. Waveform emission parameter set of the detection device

[0120] The emission parameter set of the detection device may include one or more sets of configuration parameters. These are described below:

[0121] The power of the radio frequency signal generated by the transmitting module of the detection device is called the transmission power of the detection signal. The transmission power of the detection signal affects the detection range of the detection device; the higher the transmission power, the farther the detection range. However, using high transmission power for detection increases the energy consumption and heat dissipation pressure of the detection radar system, which can accelerate the aging of components and increase the risk of failure.

[0122] The bandwidth of a detection signal refers to the frequency range of the detection signal emitted by the detection device, that is, the difference between the highest and lowest frequencies of the detection signal. The bandwidth of the detection signal affects the range resolution of the detection device; a larger bandwidth results in a higher point cloud density over a greater distance, thus providing stronger range resolution. However, high-bandwidth detection requires more energy to support signal transmission and processing, significantly increasing power consumption. Furthermore, high bandwidth implies a large amount of data, leading to increased computational power consumption and higher storage requirements for storage units.

[0123] The transmission duration of a detection signal refers to the duration for which the detection device transmits the detection signal, that is, the length or time interval from transmission to termination. The transmission duration affects the velocity resolution and range resolution of the detection device; a longer transmission duration results in stronger velocity resolution, but correspondingly weaker range resolution. Furthermore, a longer transmission duration implies a larger amount of data, leading to increased computational power consumption and higher storage requirements for the storage units.

[0124] In some cases, when a detection device uses a transmitting antenna array to transmit detection signals, the transmission parameter set may also include the amplitude and / or phase of the transmitting antenna array. The antennas in the transmitting antenna array can independently transmit and receive signals; by changing the phase and / or amplitude of the antennas, the beam direction of the signal can be controlled. Therefore, when the amplitude and / or phase of the transmitting antenna array changes, the detection signals can reinforce each other in some directions and weaken each other in others, thereby achieving a higher signal strength in the target direction than in non-target directions, thus enhancing the signal strength of the detection signal within a given area.

[0125] In some cases, when the transmission parameter group of the detection device includes multiple configuration parameter groups, the transmission parameter group may also include alternating timing indication information for multiple configuration parameter groups. The alternating timing indication information is used to indicate the time interval and / or the order in which the multiple configuration parameter groups alternate.

[0126] 3. Beamforming

[0127] Beamforming, also known as beamforming or spatial filtering, is a signal processing technique that uses sensor arrays to directionally transmit and receive signals. The principles of beamforming include constructive and destructive interference. For example, at the transmitting end, adjusting the phase and / or amplitude of signals transmitted by different antennas can reinforce each other in the target direction and weaken each other in other unwanted directions. Beamforming also utilizes antenna arrays, relying on multiple spaced antennas to focus signals at a specific location. In some cases, antennas in an array can transmit and receive signals independently; by changing the phase and amplitude of the antennas, the beam direction can be controlled. Therefore, when the amplitude and / or phase of the transmitting antenna array changes, the detected signals can reinforce each other in some directions and weaken each other in others, thus achieving a higher signal strength in the target direction than in non-target directions, thereby enhancing the signal strength of the detected signal over a wide area.

[0128] 4. Detection capability

[0129] Detection capability (or detection performance) includes range measurement capability and resolution capability.

[0130] Range finding capability refers to the maximum distance at which a detection device can detect a target. Range finding capability is positively correlated with the transmission power of the detection signal; the higher the transmission power, the farther the detection distance, and the stronger the range finding capability.

[0131] In this application, the resolution capability includes distance resolution capability and / or velocity resolution capability.

[0132] Range resolution refers to the ability of a detection device to distinguish between two adjacent targets in the distance dimension, that is, the ability to accurately measure the distance difference between two targets. Range resolution is positively correlated with the bandwidth of the detection signal; the wider the bandwidth, the stronger the range resolution.

[0133] Velocity resolution refers to the ability of a detection device to distinguish targets moving at different speeds. Velocity resolution is related to the transmission duration of the detection signal; the longer the transmission duration, the stronger the velocity resolution.

[0134] 5. Yaw rate

[0135] Yaw rate refers to the rate at which a vehicle rotates around its vertical centerline, representing its rotational motion during turning. Estimating yaw rate using radar requires a high point cloud density, meaning a large bandwidth for the detection signal. Alternatively, it requires high speed accuracy or high speed resolution, meaning a longer transmission duration for the detection signal. Optionally, estimating yaw rate using radar also necessitates the radar system's ability to detect targets at close range, such as trucks within 50 meters.

[0136] 6. Wheel point

[0137] Wheel points are specific points marked on a vehicle's tires and rims. These points are used to detect and adjust tire balance to ensure smooth and comfortable driving. Detecting wheel points with radar requires the radar system to emit detection signals using a frequency-modulated continuous wave (FMCW) waveform to improve speed spread. Alternatively, radar detection of wheel points requires the radar system to have high speed accuracy or high speed resolution, meaning a longer transmission duration of the detection signal is needed.

[0138] The above descriptions of technical terms may be used in the embodiments below.

[0139] The detection system described in this application is introduced below. It should be noted that the system architecture and business scenarios described in this application are for the purpose of more clearly illustrating the technical solution of this application and do not constitute a limitation on the technical solution provided in this application. As system architecture evolves and new business scenarios emerge, the technical solution provided in this application is also applicable to similar technical problems.

[0140] Please refer to Figure 1, which is a schematic diagram of the architecture of a detection system provided in an embodiment of this application. The detection system includes a control device 102 and multiple detection devices. Figure 1 uses three detection devices as an example, which are referred to as detection device 101a, detection device 101b, and detection device 101c for ease of description. The various modules of the detection system are described below:

[0141] The detection devices possess detection capabilities, and multiple detection devices can all emit detection signals using corresponding emission parameters to detect objects in space. For example, detection device 101a can emit a detection signal and receive the echo returned by a target object in space to obtain the target object's detection data. Similarly, detection devices 101b and 101c can also obtain the target object's detection data, and the detection data from detection devices 101a, 101b, and 101c can be fused to obtain the target object's detection result. Exemplarily, the target object's detection result includes one or more information such as the target object's distance, speed, shape, or material. Optionally, the detection devices can be lidar, millimeter-wave radar, centimeter-wave radar, or fusion detection devices, etc. Optionally, multiple detection devices can be of the same type, such as all being millimeter-wave radars. In this application, multiple detection devices can be set at different positions on the terminal. For example, in Figure 1, detection device 101a is set at the left front position of the vehicle, detection device 101b is set at the middle position at the front of the vehicle, and detection device 101c is set at the right front position of the vehicle.

[0142] Of course, the number and placement of the detection devices shown in Figure 1 are merely examples. In actual use, the number and arrangement of the multiple detection devices installed on the vehicle can be additionally designed; for example, the number of multiple detection devices could be 2, 6, etc. The solution provided in this application embodiment is also applicable to systems that include more detection devices, as well as systems where the detection devices are placed in other locations. For example, in some cases, the detection system also includes one or more radars located at the rear of the vehicle, such as detection devices 101d, 101e, and 101f in Figure 1 or Figure 2.

[0143] The control device 102 has data processing and communication capabilities, and can acquire data and adjust the emission parameter groups of one or more detection devices in the detection system based on the acquired data. Exemplarily, the data acquired by the control device 102 includes sensing data, such as detection data from the detection system and / or operating status data of the detection devices in the detection system. Exemplarily, the control device 102 is connected to multiple detection devices, and the control device 102 can receive detection data (i.e., detection data from the detection system, such as detection data from detection devices 101a, 101b, and 101c) or operating status data from multiple detection devices, such as an anomaly indication from detection device 101b, through the connection lines between them. Alternatively, the sensing data may also include the status data of the terminal where the detection system is located. Exemplarily, the control device 102 and the detection system are located at the terminal, and the control device 102 has a communication connection with the terminal. The control device 102 can acquire the status data of the terminal, such as the terminal's speed or environmental images around the terminal.

[0144] In one possible implementation, the control device 102 can determine the target detection mode of the detection system based on the sensing data. The target detection mode is used to indicate at least one target emission parameter group of multiple detection devices. For example, the target detection mode is used to indicate that the target emission parameter group corresponding to detection device 101a is emission parameter group 2, the target emission parameter group corresponding to detection device 101b is emission parameter group 1, and the target emission parameter group corresponding to detection device 101c is emission parameter group 2.

[0145] In one possible implementation, the control device 102 can adjust the first detection device from the current emission parameter group to a first target emission parameter group in at least one target emission parameter group according to the target detection mode. The first target emission parameter group is the target emission parameter group corresponding to the first detection device. The current emission parameter group and the first target emission parameter group have at least one different emission parameter, and the first detection device belongs to multiple detection devices. For example, the first detection device is detection device 101a, the current emission parameter group of detection device 101a is emission parameter group 1, the target emission parameter group corresponding to detection device 101a is emission parameter group 2, and the control device 102 can adjust the detection device 101a from emission parameter group 1 to emission parameter group 2 according to the target detection mode. The performance indicated by the emission parameter group 1 and the emission parameter group 2 are different. For example, the resolution corresponding to the emission parameter group 1 is different from that corresponding to the emission parameter group 2. Taking the resolution corresponding to the emission parameter group 2 as an example that is higher than that corresponding to the emission parameter group 1, the control device 102 adjusts the detection device 101a to the emission parameter group with higher resolution, which can improve the resolution of the detection device 101a.

[0146] As one possible implementation, the control device 102 can be a physical device, such as including 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.

[0147] Of course, Figure 1 above describes the situation with the control device 102 located outside the detection device as an example. In some solutions, the control device 102 can be located inside the detection device or integrated with it. As one possible implementation, the control device 102 can be a module, chip, or software module in the detection device, such as a virtual machine, software, program code, or container. Referring to Figure 2, the detection device 101b includes the control device 102, that is, the control device 102 is located inside the detection device 101b. In this case, the detection device 101b can realize the function of the control device 102. Similarly, the detection device 101b acquires sensing data, such as the detection data of the detection devices 101a, 101b, and 101c. Further, the detection device 101b determines the target detection mode of the detection system based on the sensing data, and adjusts the detection device 101a from the wave emission parameter group 1 to the wave emission parameter group 2 according to the target detection mode.

[0148] In one possible implementation, as shown in Figure 1, detection devices 101a, 101b, and 101c send detection data to control device 102. Further, based on the detection data from detection devices 101a, 101b, and 101c, control device 102 determines the target detection mode of the detection system, i.e., the target emission parameter set corresponding to each of detection devices 101a, 101b, and 101c, and adjusts the current emission parameter sets of each detection device to their respective target emission parameter sets according to the target detection mode.

[0149] In another possible implementation, as shown in Figure 2, detection devices 101a and 101c send detection data to detection device 101b. Further, based on the detection data from detection devices 101a, 101b, and 101c, detection device 101b determines the target detection mode of the detection system, i.e., the target emission parameter sets corresponding to each of detection devices 101a, 101b, and 101c. Then, according to the target detection mode, it adjusts the current emission parameter sets of each detection device to the target emission parameter sets corresponding to each of the detection devices.

[0150] In this application, multiple detection devices form a detection system. A control device, based on the acquired sensing data, determines the target detection mode to be used by the detection system and adjusts the emission parameter sets used by some or all of the detection devices based on the target detection mode. By centrally managing multiple detection devices, analyzing sensing data, and determining the emission parameter sets required for each device from the perspective of the detection system, the control device enables multiple detection devices to work collaboratively and flexibly change their emission parameter sets. This allows the detection system to meet the detection capability requirements of various scenarios, significantly improving its scenario adaptability.

[0151] Furthermore, in some scenarios, if this application adjusts the emission parameter set of the first detection device to a emission parameter set with stronger resolution—for example, if the resolution corresponding to the first target emission parameter set is higher than that corresponding to the current emission parameter set—the resolution of the detection system can be improved. This can meet the detection capability requirements of the detection system in specific scenarios (such as scenarios requiring improved resolution, like a vehicle cutting in front), significantly improving the scenario adaptability of the detection system and achieving optimal detection capability in that scenario. Additionally, when the detection system needs to detect yawrate, wheel points, etc., it requires improved resolution. If this application adjusts the emission parameter set of the first detection device to a emission parameter set with stronger detection capability, the detection system's ability to detect yawrate, wheel points, etc., can be improved, thereby enhancing the detection performance of the detection system.

[0152] In summary, this application enables multiple detection devices to work collaboratively and flexibly change the emission parameter set, allowing the detection system to meet the detection capability requirements in various scenarios, significantly improving the scenario adaptability of the detection system, enhancing the collaborative working capability of the detection system, and achieving optimal detection capability in various scenarios.

[0153] The architecture described above mentions that the detection device in the detection system can be radar or lidar, etc. To facilitate understanding of this scheme, the following example, referring to Figure 3, illustrates the scheme provided in this application by taking a detection system comprising n radar heads and sensing data comprising the detection data from the n radar heads. Here, n is an integer and n is greater than 1.

[0154] In Figure 3, the main radar or central processing unit (or domain processor, domain controller, etc.) is connected to n radar heads. At least one of the n radar heads can transmit and receive the echo of the detection signal 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 clouds, channel data, and the output data of an analog-to-digital converter (ADC).

[0155] At least one of the n radar heads can transmit its detection data to the main radar or central processing unit. Optionally, the radar head can transmit its detection data to the main radar or central processing unit using Ethernet (ETH) or other communication methods. Accordingly, the main radar or central processing unit receives the detection data from at least one of the n radar heads.

[0156] Furthermore, the main radar or central processing unit can determine the target detection mode of the n radar heads based on the detection data of at least one of the n radar heads. The target detection mode is used to indicate the target emission parameter set of at least one of the n radar heads.

[0157] Furthermore, the main radar or central processing unit adjusts the first radar head from its current emission parameter set to the target emission parameter set corresponding to the target emission parameter set, based on the target detection mode. Here, at least one emission parameter differs between the current emission parameter set and the target emission parameter set, and the first radar head belongs to n radar heads. For example, the main radar or central processing unit sends a control signal to the first radar head, instructing it to adjust from its current emission parameter set to the target emission parameter set corresponding to the target emission parameter set, thereby switching the waveform of the first radar head. Correspondingly, the first radar head receives the control signal from the main radar or central processing unit, adjusting its emission parameter set from its current set to the target emission parameter set corresponding to the target emission parameter set, ensuring that the adjusted emission parameter set used by the first radar head for object space detection better meets actual requirements.

[0158] Optionally, there can be multiple first radar heads. The main radar or central processing unit can send corresponding control signals to multiple first radar heads, thereby adjusting the transmission parameter set of the corresponding radar head from the current transmission parameter set to the target transmission parameter set corresponding to that radar head, so as to achieve waveform switching for some or all radar heads. In this way, the main radar or central processing unit centrally manages n radar heads, analyzes the sensing data, and determines the transmission parameter set required by each radar head from the perspective of the detection system. This allows the n radar heads to work collaboratively and flexibly change the transmission parameter set, enabling the detection system to meet the detection capability requirements of various scenarios, significantly improving the scenario adaptability of the detection system, enhancing the collaborative working capability of the detection system, and achieving optimal detection capability in various scenarios.

[0159] The detection and control method provided in this application will be described below.

[0160] Please refer to Figure 4, which is a schematic flowchart of a detection control method provided in an embodiment of this application. Optionally, this detection control method can be applied to the detection system shown in Figure 1 or Figure 2. The method shown in Figure 4 includes at least the following steps:

[0161] Step S401: The control device acquires sensing data.

[0162] The control device has data processing and communication capabilities, such as the control device 102 shown in Figure 1 or the control device 102 included in the detection device 101b shown in Figure 2. Optionally, the control device can be a domain controller, a central processing unit, or a main radar, etc. The control device is connected to multiple detection devices.

[0163] In one possible implementation, the sensing data includes detection data from a detection system. The detection system includes multiple detection devices (e.g., in Figure 1, the detection system includes detection devices 101a, 101b, and 101c), each used to transmit detection signals using corresponding sets of emission parameters to detect the object space. Exemplarily, the multiple detection devices are connected to a control device. The multiple detection devices transmit detection signals using their own emission parameters to detect the object space, obtaining detection data, and then transmit the obtained detection data to the control device through their connections. Correspondingly, the control device receives the detection data from the multiple detection devices, thereby acquiring the detection data from the multiple detection devices, i.e., acquiring the detection data from the detection system. The detection data from the multiple detection devices can be fused to obtain the detection result of the object space.

[0164] In another possible implementation, the sensing data includes the operational status data of the detection devices in the detection system. For example, the control device can acquire the operational status data of the detection devices, such as anomaly indicators, through its connection with the detection devices in the detection system. The anomaly indicator is used to indicate that the detection device has malfunctioned, and the malfunction includes at least one of obstruction, calibration misalignment, and interference. When the detection device malfunctions, it may cause a decrease in the detection capability of the detection device.

[0165] In another possible implementation, the detection system is located at the terminal, and the perceived data includes the state data of the terminal where the detection system is located. For example, the control device has a communication connection with the terminal, and the control device can acquire the terminal's state data, such as the terminal's speed and images of the surrounding environment. Optionally, the terminal is equipped with other sensors different from the detection system described above, such as a speed sensor to collect the terminal's speed, or an image sensor and / or a laser sensor to collect images of the surrounding environment. Optionally, the terminal includes one of a vehicle, a drone, or a robot. For example, as shown in Figure 1 or Figure 2, the detection device is located in a vehicle, i.e., the terminal is a vehicle, and the perceived data includes the vehicle's speed or images of the surrounding environment collected by the vehicle's camera.

[0166] Step S402: The control device determines the target detection mode of the detection system based on the sensing data.

[0167] The target detection mode is used to indicate at least one target emission parameter group of multiple detection devices. At least one target emission parameter group is used by multiple detection devices to transmit detection signals to detect the object space using the corresponding emission parameter group. For example, the multiple detection devices include detection device 101a, detection device 101b, and detection device 101c. The target detection mode indicates that the target emission parameter group corresponding to detection device 101a is emission parameter group 2, the target emission parameter group corresponding to detection device 101b is emission parameter group 1, and the target emission parameter group corresponding to detection device 101c is emission parameter group 2. That is, detection device 101a needs to use emission parameter group 2 to transmit detection signals to detect the object space, detection device 101b needs to use emission parameter group 1 to transmit detection signals to detect the object space, and detection device 101c needs to use emission parameter group 2 to transmit detection signals to detect the object space.

[0168] The target transmission parameter group includes at least one set of configuration parameters, which includes at least one of the following: transmission power of the detection signal, bandwidth of the detection signal, transmission duration of the detection signal, amplitude and / or phase of the transmitting antenna array. Those skilled in the art will understand that the transmission parameters are used for transmission detection control and therefore can have various different forms of presentation. This application does not limit the specific parameter type; they can be any parameter directly or indirectly corresponding to the configuration parameters used to achieve the final detection control.

[0169] In some cases, the target detection mode belongs to at least one detection mode. At least one detection mode can be predefined or determined based on actual needs, possible conditions, or scenarios. Further optionally, the target detection mode corresponds to the scenario in which the terminal where the detection system is located. For example, different scenarios correspond to different target detection modes. Exemplarily, the control device can determine the target detection mode based on the scenario in which the terminal is located. Optionally, the scenario in which the terminal where the detection system is located is related to the sensing data. Exemplarily, the control device can determine the scenario in which the terminal where the detection system is located is based on the sensing data; for example, the control device can determine the scenario in which the terminal where the detection system is located is based on the detection data of the detection system.

[0170] To facilitate understanding, several possible detection modes are described below. Target detection modes can be any of the following.

[0171] First, in a first detection mode, the target emission parameter set of at least two of the multiple detection devices is the first emission parameter set, and the target emission parameter set of at least one of the multiple detection devices is the second emission parameter set. The resolution corresponding to the first emission parameter set is higher than the resolution corresponding to the second emission parameter set. For example, the first emission parameter set includes at least two of a first emission power, a first bandwidth, and a first emission duration; the second emission parameter set includes at least two of a second emission power, a second bandwidth, and a second emission duration. The first and second emission parameter sets satisfy at least two of the following conditions: the first emission power is less than the second emission power, the first bandwidth is greater than the second bandwidth, and the first emission duration is greater than the second emission duration.

[0172] Among them, at least two detection devices (which can be called edge detection devices for easy distinction) corresponding to the first wave emission parameter group correspond to the edge of the field of view, and at least one detection device (which can be called center detection device for easy distinction) corresponding to the second wave emission parameter group corresponds to the center of the field of view.

[0173] The edge detection device and the center detection device are described below. For example, if the terminal of the detection system is a vehicle, the edge detection device is installed at the edges of the field of view on both sides of the vehicle's central axis along the vehicle's direction of travel, and the center detection device is installed at the center of the field of view on the vehicle's central axis along the vehicle's direction of travel. Referring to Figure 1, the edge detection device includes detection device 101a, detection device 101c, detection device 101d, and detection device 101f, and the center detection device includes detection device 101b and detection device 101e.

[0174] For example, the center detection device is the detection device closest to the center of the terminal in the first direction, which is perpendicular to the front and rear ends of the terminal. The edge detection device is the detection device farther from the center of the terminal in the first direction; for example, the distance between the edge detection device and the center of the terminal in the first direction is greater than the distance between the center detection device and the center of the terminal in the first direction. Referring to Figure 5, the terminal is a vehicle, the first direction is perpendicular to the front and rear ends of the vehicle, the distance between detection device 1 and the center of the vehicle in the first direction is d1, the distance between detection device 2 and the center of the vehicle in the first direction is d2, and the distance between detection device 3 and the center of the vehicle in the first direction is d3. Where d1 and d3 are both greater than d2, in this case, detection device 1 and detection device 3 are edge detection devices, and detection device 2 is the center detection device.

[0175] For example, multiple detection devices are arranged along a first direction (which can be understood as roughly along the first direction), with edge detection devices located on both sides of the central detection device.

[0176] For example, referring to Figure 6, detection devices 101a and 101c are edge detection devices, and detection device 101b is a center detection device. The first set of transmission parameters includes at least two of the following: the transmission power of the detection signal is a first transmission power (e.g., corresponding to a detection distance of 50m), the bandwidth of the detection signal is 2G to 3G, and the transmission duration of the detection signal is 40ms. The second set of transmission parameters includes at least two of the following: the transmission power of the detection signal is a second transmission power (e.g., corresponding to a detection distance of 280m), the bandwidth of the detection signal is 1G, and the transmission duration of the detection signal is 20ms. The resolution corresponding to the first set of transmission parameters is higher than the resolution corresponding to the second set of transmission parameters.

[0177] In one possible implementation, the first detection mode corresponds to the first scenario, which is described below. The first scenario satisfies at least one of the following conditions: Condition 1, there is a travel path of the terminal where the target intrusion detection system is located; Condition 2, there is a target of a preset type in the region of interest; Condition 3, there is a target in the region of interest whose mobility meets the first condition.

[0178] The above conditions will be described exemplarily below.

[0179] Condition 1: There exists a target intrusion detection system's driving path within the terminal. For example, scenarios such as a vehicle cutting in front, a vehicle reversing, or a target crossing the terminal's driving path. In these cases, the terminal needs to improve the resolution of its edge detection devices to enhance target detection capabilities (e.g., accurately identifying target movement), while the central detection device needs to meet the main lane's target detection requirements (e.g., identifying targets at appropriate distances and / or identifying targets with appropriate resolution) to ensure the terminal's driving safety.

[0180] Condition 2: A target of a preset type exists within the region of interest. This preset type of target may include VRUs (Virtual Reality Units), such as pedestrians, cyclists, cattle, sheep, and other vulnerable groups in road traffic. In this case, the terminal needs to improve the resolution of its edge detection devices to enhance its detection capability for the preset type of target (e.g., accurately identifying target movement). The center detection device needs to meet the target detection requirements of the main lane (e.g., identifying targets at appropriate distances and / or identifying targets with appropriate resolution) to ensure the terminal's driving safety.

[0181] Condition 3: A target exists within the region of interest that satisfies the first condition regarding maneuverability. Maneuverability includes speed maneuverability, altitude maneuverability, and directional maneuverability. The shorter the time required for a target to change speed, the higher its speed maneuverability. For example, if the first condition requires the time for a target to change speed to be less than a first threshold, then the target has high speed maneuverability. Similarly, the shorter the time required for a target to change altitude, the higher its altitude maneuverability. For example, if the first condition requires the time for a target to change altitude to be less than a second threshold, then the target has high altitude maneuverability. Likewise, the shorter the time required for a target to change direction, the higher its directional maneuverability. For example, if the first condition requires the time for a target to change direction to be less than a third threshold, then the target has high directional maneuverability. Under Condition 3, the terminal needs to improve the resolution of its detection device to enhance its ability to detect highly maneuverable targets and avoid collisions or other disruptions to the terminal's driving safety.

[0182] In summary, in the first scenario described above, it is necessary to improve the resolution of the detection device as much as possible to enhance the ability to detect targets and ensure the driving safety of the terminal.

[0183] Taking a vehicle as the terminal as an example, in the scenario where the vehicle is located, the target detection mode of the detection system is the first detection mode. Referring to Figure 6, the target emission parameter sets of both detection devices 101a and 101c are the first emission parameter set, enabling detection devices 101a and 101c to detect with high resolution. This improves their ability to detect targets (accurately identifying target movement), meeting the requirement for improved resolution in the first scenario. Furthermore, the target emission parameter set of detection device 101b is the second emission parameter set, allowing it to detect the main lane with moderate resolution (e.g., identifying targets at moderate distances and / or identifying targets with moderate resolution), adapting to the needs of functions such as automatic emergency braking (AEB). Thus, the first detection mode allows the detection system to accommodate different resolution requirements, making it flexible and applicable to various scenarios, thereby improving the system's scenario adaptability.

[0184] Second, in the second detection mode, the target emission parameter groups of N detection devices out of multiple detection devices are all the same as the third emission parameter group. The N detection devices belong to multiple detection devices and are predefined, where N is an integer and greater than 1. That is, in the second detection mode, the target emission parameter groups of the N detection devices are identical.

[0185] In one possible implementation, the second detection mode corresponds to the second scenario, which is explained below. The second scenario is a scenario that does not meet any preset conditions (e.g., it does not meet the first scenario, the third scenario, the fourth scenario, or the fifth scenario). For example, the second detection mode could be the default detection mode of the detection system under normal circumstances. Another example is a scenario such as reversing.

[0186] In normal scenarios, when the terminal is a vehicle, the vehicle's detection device does not need to improve its resolution. The third wave emission parameter set can be a wave emission parameter set with moderate range and / or moderate resolution, which can meet the vehicle's target detection needs in normal scenarios (e.g., being able to identify targets at moderate distances and / or identify targets with moderate resolution). For example, referring to Figure 7, when the vehicle's scenario belongs to the normal scenario in the second scenario, the target detection mode of the detection system is the second detection mode, and detection devices 101a, 101b, and 101c belong to N detection devices among multiple detection devices. Detection devices 101a, 101b, and 101c all use the third wave emission parameter set for detection. For example, the third wave emission parameter set includes at least one of the following: third wave emission power (the detection distance corresponding to the third wave emission power is 280m), third bandwidth is 1G, and third wave emission duration is 20ms. In this case, the third wave emission parameter set can be used for long-distance detection or detection with moderate resolution, which can meet the vehicle's target detection needs in normal scenarios.

[0187] Optionally, the second scenario can also be a reversing scenario. When the terminal is a vehicle, in the reversing scenario, the vehicle's detection device needs to improve its resolution as much as possible to enhance its ability to detect nearby targets. The third set of emission parameters can be a set of emission parameters with high resolution to meet the vehicle's detection requirements for nearby targets in the reversing scenario. For example, referring to Figure 8, the multiple detection devices include detection devices located at the rear of the vehicle, such as detection device 101d, detection device 101e, and detection device 101f. When the vehicle scenario belongs to the reversing scenario in the second scenario, the target detection mode of the detection system is the second detection mode, and detection devices 101d, 101e, and 101f are among the N detection devices in the multiple detection devices. Detection devices 101d, 101e, and 101f all use a third set of emission parameters for detection. For example, the third set of emission parameters includes a fourth emission power (the detection distance corresponding to the fourth emission power is 50m), a fourth bandwidth of 2G to 3G, and a fourth emission duration of 40ms. In this case, the third set of emission parameters can be used for close-range detection, which can maximize the resolution of the detection system and improve the detection capability of the target object, thus meeting the detection requirements of close-range targets in the reversing scenario of the vehicle.

[0188] Third, in the third detection mode, the first target emission parameter group (i.e., the target emission parameter group corresponding to the first detection device) includes at least two configuration parameter groups. Further, the first target emission parameter group may also include alternating timing indication information, which indicates the time interval and / or alternation order of the at least two configuration parameter groups. The first detection device may be one of multiple detection devices. In an optional case, the alternating timing indication information may be pre-configured or defined and does not require additional indication.

[0189] In this configuration, at least two sets of configuration parameters correspond to different resolution capabilities. For example, at least two sets of configuration parameters include a fourth set and a fifth set. The fourth set includes at least two of the following: a fourth transmission power (e.g., corresponding to a detection distance of 50m), a fourth bandwidth of 2G to 3G, and a fourth transmission duration of 40ms. The fifth set includes at least two of the following: a fifth transmission power (e.g., corresponding to a detection distance of 280m), a fifth bandwidth of 1G, and a fifth transmission duration of 20ms. In this case, the resolution capability corresponding to the fourth set of configuration parameters is higher than that corresponding to the fifth set. Thus, the detection device can alternately perform detection with different resolution capabilities, allowing it to meet the needs of different resolution requirements and making the detection system flexible and applicable to various scenarios, thereby improving the scenario adaptability of the detection system.

[0190] For example, referring to Figure 9, the first detection device can be detection device 101a or detection device 101c. The first target emission parameter group includes a fourth configuration parameter group, a fifth configuration parameter group, and alternating timing indication information. The fourth configuration parameter group includes at least two of the following: a fourth emission power (e.g., corresponding to a detection distance of 50m), a fourth bandwidth of 2G to 3G, and a fourth emission duration of 40ms. The fifth configuration parameter group includes at least two of the following: a fifth emission power (the detection distance corresponding to the fourth emission power is 280m), a fifth bandwidth of 1G, and a fifth emission duration of 20ms. The resolution corresponding to the fourth configuration parameter group is higher than the resolution corresponding to the fifth configuration parameter group. In the third detection mode, the target emission parameter group corresponding to detection device 101a and detection device 101c is the first target emission parameter group. Detection devices 101a and 101c can alternately use the fourth and fifth configuration parameter groups to perform detection through the first target emission parameter group, thereby achieving alternating detection with different resolution capabilities. This allows detection devices 101a and 101c to meet the needs of different resolution capabilities, enabling the detection system to meet the detection capability requirements in various scenarios and significantly improving the scenario adaptability of the detection system.

[0191] Optionally, the above description uses both detection device 101a and detection device 101c as first detection devices. In actual use, the number of first detection devices can be more or less. The first detection devices can be flexibly set according to the needs of the scenario. That is, detection devices with different resolution capabilities can be used alternately according to the needs of the scenario. These will not be listed one by one here.

[0192] Optionally, there are several possible scenarios where the detection device alternately transmits detection signals using the fourth and fifth configuration parameter groups. For example, referring to Figure 10, the detection device performs a 1:1 single polling by transmitting a detection signal once using the fourth configuration parameter group and once using the fifth configuration parameter group. Another example is a 2:2 polling by transmitting a detection signal twice using the fourth configuration parameter group and twice using the fifth configuration parameter group, meaning the detection device alternates between transmitting a detection signal twice consecutively using the fourth configuration parameter group and twice consecutively using the fifth configuration parameter group. Yet another example is a P:Q polling by transmitting a detection signal P times using the fourth configuration parameter group and Q times using the fifth configuration parameter group, meaning the detection device alternates between transmitting a detection signal P times consecutively using the fourth configuration parameter group and Q consecutively using the fifth configuration parameter group. Here, P and Q are both integers and both greater than 0.

[0193] Optionally, the multiple detection devices also include a sixth detection device, and the third detection mode also includes the target emission parameter group of the sixth detection device being the sixth emission parameter group, and the sixth emission parameter group having at least one different emission parameter from the first target emission parameter group.

[0194] Among them, the sixth wave emission parameter group and the first target wave emission parameter group have at least one different wave emission parameter, which includes several possible situations. Several possible situations are introduced below.

[0195] Case 1: Both the sixth transmission parameter group and the first target transmission parameter group include a set of configuration parameters, but the values ​​of these configuration parameters differ between the two groups. For example, in Figure 6, both the first and second transmission parameter groups include a configuration parameter group for the transmission power, bandwidth, and duration of the detection signal. However, the bandwidth of the detection signal in the first transmission parameter group is 2G to 3G, while the bandwidth in the second transmission parameter group is 1G; the values ​​of these configuration parameters are different.

[0196] Scenario 2: The sixth transmission parameter group and the first target transmission parameter group contain different numbers of configuration parameter groups. For example, the sixth transmission parameter group includes one set of configuration parameters, such as the fourth configuration parameter group, while the first target transmission parameter group includes two sets of configuration parameters, such as the fourth and fifth configuration parameter groups. The first target transmission parameter group also includes alternating timing indication information. The fourth and fifth configuration parameter groups are described in the preceding sections.

[0197] Scenario 3: Both the sixth transmission parameter group and the first target transmission parameter group include multiple configuration parameter groups, but the alternation timing of these configuration parameter groups differs. For example, both the sixth and first target transmission parameter groups include two sets of configuration parameters, such as a fourth and a fifth configuration parameter group. However, the alternation timing indication information in the sixth transmission parameter group indicates that the time interval between the alternation of the fourth and fifth configuration parameter groups is the first time interval, while the alternation timing indication information in the first target transmission parameter group indicates that the time interval between the alternation of the fourth and fifth configuration parameter groups is the second time interval. The first and second time intervals are different; for example, the first time interval is 5ms, and the second time interval is 8ms. That is, the sixth transmission parameter group indicates that the fourth and fifth configuration parameter groups are used alternately at 5ms intervals to transmit detection signals, while the first target transmission parameter group indicates that the fourth and fifth configuration parameter groups are used alternately at 8ms intervals to transmit detection signals. The timing arrangement of the fourth and fifth configuration parameter groups in the sixth and first transmission parameter groups is different.

[0198] For example, referring to Figure 9, detection device 101b is a sixth detection device. The target emission parameter group of detection device 101b is the sixth emission parameter group. For example, the sixth emission parameter group includes at least one of the following: sixth emission power (the detection distance corresponding to the sixth emission power is 280m), sixth bandwidth is 1G, and sixth emission duration is 20ms. In this case, detection device 101b can perform long-distance detection of the main lane through the sixth emission parameter group. As shown in Figure 9, the sixth emission parameter group includes one set of configuration parameters, and the first target emission parameter group includes two sets of configuration parameters. The number of sets of configuration parameters included in the sixth emission parameter group and the first target emission parameter group are different.

[0199] In one possible implementation, the third detection mode corresponds to the third scenario, which is described below. The third scenario satisfies at least one of the following conditions: Condition 1, a target intrudes into the driving path of the terminal where the detection system is located; Condition 2, a target of a preset type exists within the region of interest; Condition 3, a target with mobility satisfying the first condition exists within the region of interest; Condition 4, the speed of the terminal where the detection system is located satisfies the second condition. The second condition may include a speed greater than a fourth threshold. The first threshold is a pre-set speed threshold. When the terminal's speed exceeds the fourth threshold, the terminal's detection device needs to improve its resolution as much as possible to enhance the detection capability of the target and avoid collisions that could affect the terminal's driving safety. Conditions 1, 2, and 3 can be found in the relevant descriptions in Scenario 1. In the above third scenario, the detection device needs to improve its resolution to enhance the detection capability of the target and ensure the terminal's driving safety.

[0200] For example, referring to Figure 9, the first detection device can be detection device 101a and detection device 101c, and detection device 101b belongs to the sixth detection device. The resolution capability corresponding to the fourth configuration parameter group is higher than that corresponding to the fifth configuration parameter group. When the vehicle scene information meets the conditions of the third scene, detection device 101a and detection device 101c can use the fourth and fifth configuration parameter groups alternately to perform detection through the first target emission parameter group, thereby achieving alternating detection with different resolution capabilities, so that detection device 101a and detection device 101c can take into account the needs of different resolution capabilities. Detection device 101b can perform long-distance detection of the main lane or detection with a moderate resolution capability through the sixth emission parameter group. In this way, the detection system can perform long-distance detection of the main lane to meet the needs of functions such as AEB, and can also perform close-range detection, which can improve the resolution capability of the detection system and meet the demand for improved resolution capability in the third scene, making the detection system flexibly applicable to multiple scenes and improving the scene adaptability of the detection system.

[0201] Fourth, in the fourth detection mode, the fields of view of the first and third detection devices overlap, and this overlapping area partially or completely overlaps with the field of view of the second detection device. The second and third detection devices are multiple detection devices.

[0202] For example, in the fourth detection mode, the first target transmission parameter set includes a first configuration parameter set, which includes a first amplitude and / or a first phase of the transmitting antenna array. The third detection device's target transmission parameter set includes a second configuration parameter set, which includes a second amplitude and / or a second phase of the transmitting antenna array. When the first detection device transmits a detection signal using the first configuration parameter set, the signal strength of the detection signal from the first detection device in the first target direction is higher than the signal strength in directions other than the first target direction. When the third detection device transmits a detection signal using the second configuration parameter set, the signal strength of the detection signal from the third detection device in the second target direction is higher than the signal strength in directions other than the second target direction. The first target direction and the second target direction correspond to the field of view of the second detection device, such that the signal strength of the detection signal from the first detection device within the field of view of the second detection device is higher than the signal strength in other directions, and so that the signal strength of the detection signal from the third detection device within the field of view of the second detection device is higher than the signal strength in other directions.

[0203] For example, referring to Figure 11, the second detection device can be detection device 101b, the first detection device can be detection device 101a, and the third detection device can be detection device 101c. The first target transmission parameter group (i.e., the target transmission parameter group corresponding to detection device 101a) includes a first configuration parameter group, which includes the first amplitude and / or the first phase of the transmitting antenna array. The target transmission parameter group of detection device 101c includes a second configuration parameter group, which includes the second amplitude and / or the second phase of the transmitting antenna array. Referring to Figure 12, in the fourth detection mode, detection device 101a can use the first configuration parameter group to transmit a detection signal, such that the signal strength of the detection signal of detection device 101a within the field of view of detection device 101b is higher than the signal strength in other directions, thus causing the detection signal of detection device 101a to be shifted to the right, with the first target direction being to the right. In the fourth detection mode, detection device 101c can use the second configuration parameter set to emit a detection signal, such that the signal strength of the detection signal of detection device 101c within the field of view of detection device 101b is higher than the signal strength in other directions, thus causing the detection signal of detection device 101a to shift to the left, with the second target direction being to the left. In this way, the fourth detection mode enhances the signal strength of the detection system within the field of view of detection device 101b, enabling the detection system to meet the detection capability requirements in various scenarios (such as scenarios requiring increased resolution within a certain range or direction), significantly improving the scene adaptability and detection performance of the detection system.

[0204] In one possible implementation, the fourth detection mode corresponds to a fourth scenario, which includes an anomaly in the second detection device. For example, the operating status data of the detection devices in the detection system indicates that the second detection device is malfunctioning. When the second detection device malfunctions, its detection capability may decrease. In the above embodiment, the fourth detection mode causes the fields of view of the first and third detection devices to overlap, and this overlapping area partially or completely overlaps with the field of view of the second detection device. Therefore, the first and third detection devices can compensate for the reduced detection capability caused by the partial or complete malfunction of the second detection device, ensuring that the detection performance of the detection system does not decrease as much as possible, thus guaranteeing detection usage requirements and ensuring the driving safety of the terminal.

[0205] For example, referring to Figures 11 and 12, when the vehicle's scene information meets the fourth scene condition (e.g., the detection device 101b is malfunctioning), the vehicle's intelligent driving system function may be affected, such as a decrease in the performance of the main lane's AEB (Autonomous Emergency Braking). In this case, if the target detection mode of the detection system is the fourth detection mode, the fields of view of detection devices 101a and 101c overlap. This overlapping area partially or completely overlaps with the field of view of detection device 101b. Thus, detection devices 101a and 101c can supplement the reduced detection capability caused by the malfunction of some or all of detection device 101b, ensuring that the detection performance of the detection system does not decrease as much as possible, guaranteeing the detection usage requirements, and ensuring the driving safety of the terminal.

[0206] Optionally, the first and second configuration parameters may also include other configuration parameters. For example, referring to Figure 13, detection device 101b is a second detection device. The first target transmission parameter group (i.e., the target transmission parameter group corresponding to detection device 101a) includes a first configuration parameter group, which includes at least one of the following: a seventh transmission power (e.g., corresponding to a detection distance of 280m), a seventh bandwidth of 1G, and a seventh transmission duration of 20ms; and a first amplitude and / or a first phase of the transmitting antenna array. The target transmission parameter group of the third detection device includes a second configuration parameter group, which includes at least one of the following: an eighth transmission power (e.g., corresponding to a detection distance of 280m), an eighth bandwidth of 1G, and an eighth transmission duration of 20ms; and a second amplitude and / or a second phase of the transmitting antenna array. Referring to Figure 14, detection device 101a can use the first configuration parameter set to emit a detection signal. The emitted detection signal has a longer detection range, meaning the range-finding capability corresponding to the first configuration parameter set is higher. Furthermore, the signal strength of the detection signal from detection device 101a within the field of view of detection device 101b is higher than the signal strength in other directions, causing the detection signal from detection device 101a to deflect to the right, with the first target direction being to the right. Detection device 101c can use the second configuration parameter set to emit a detection signal. The emitted detection signal has a longer detection range, meaning the range-finding capability corresponding to the second configuration parameter set is higher. Furthermore, the signal strength of the detection signal from detection device 101c within the field of view of detection device 101b is higher than the signal strength in other directions, causing the detection signal from detection device 101a to deflect to the left, with the second target direction being to the left.

[0207] Referring to Figures 13 and 14, since the detection device 101b is located at the center of the field of view, it typically needs to have a high range measurement capability to ensure the functionality of features such as the main lane AEB. When the detection device 101b malfunctions, the vehicle's intelligent driving system functions may be affected, for example, the performance of the main lane AEB may decrease, requiring supplementation of the field of view lost when the detection device 101b malfunctions. By having the detection device 101a emit a detection signal using the first configuration parameters in the fourth detection mode, not only does the detection device 101a have a high range measurement capability, but the signal strength of the detection signal from the detection device 101a within the field of view of the detection device 101b is also higher than the signal strength in other directions. This causes the detection signal from the detection device 101a to shift to the right, thus supplementing part of the field of view lost when the detection device 101b malfunctions. Similarly, by having detection device 101c transmit detection signals using the second configuration parameters in the fourth detection mode, not only does detection device 101c have a higher range measurement capability, but the signal strength of detection signal 101c within the field of view of detection device 101b is also higher than the signal strength in other directions. Even if the detection signal of detection device 101c is shifted to the left, it can compensate for some of the field of view lost when detection device 101b malfunctions. Thus, in detection mode four, the first and third detection devices can compensate for some or all of the field of view lost when the second detection device malfunctions, ensuring that the detection performance of the detection system does not degrade as much as possible, thus guaranteeing detection usage requirements and ensuring the driving safety of the terminal.

[0208] Optionally, the first configuration parameter group may also include parameters related to beamforming, such that the signal strength of the detection signal from the first detection device within the field of view of the second detection device is higher than the signal strength in other directions. Similarly, the second configuration parameter group may also include parameters related to beamforming, such that the signal strength of the detection signal from the third detection device within the field of view of the second detection device is higher than the signal strength in other directions.

[0209] It should be noted that the parameters included in the above configuration parameter group may also include other design parameters, such as signal processing parameters (e.g., beamforming weights, sidelobe suppression parameters, etc.) or system parameters (installation angle and position of the detection device, frequency agility parameters, etc.) and other parameters related to the field of view (or field of view) of the detection device. The control device can adjust the parameters related to the field of view (or field of view) of the detection device in the first target emission parameter group to shift the detection signal of the first detection device towards the field of view of the detection device with an anomaly, thereby supplementing the missing field of view when some or all of the detection devices are abnormal. This ensures that the intelligent driving system functions of the vehicle can continue to be maintained, guaranteeing the detection needs and ensuring the driving safety of the terminal.

[0210] Fifth, the fifth detection mode, wherein the target emission parameter group of at least one fourth detection device among multiple detection devices is the fourth emission parameter group, and the target emission parameter group of at least one fifth detection device among multiple detection devices is the fifth emission parameter group. The resolution corresponding to the fourth emission parameter group is higher than the resolution corresponding to the fifth emission parameter group, and the distance between the fourth detection device and the first target is less than the distance between the fifth detection device and the first target. That is, the detection device closer to the first target has a higher resolution. For example, the fourth emission parameter group includes at least two of the ninth emission power, ninth bandwidth, and ninth emission duration, and the fifth emission parameter group includes at least two of the tenth emission power, tenth bandwidth, and tenth emission duration. The fourth and fifth emission parameter groups satisfy at least two of the following: the ninth emission power is less than the tenth emission power, the ninth bandwidth is greater than the tenth bandwidth, and the ninth emission duration is greater than the tenth emission duration.

[0211] For example, referring to Figure 15, detection device 4 is positioned at the left front of the vehicle, and detection device 5 is positioned at the right front of the vehicle, with the first target located at the right front of the vehicle. The distance between detection device 4 and the first target is d4, and the distance between detection device 5 and the first target is d5. Since d4 is greater than d5, the distance between detection device 5 and the first target is closer. In this case, detection device 5 is the fourth detection device, and detection device 4 is the fifth detection device. That is, the target emission parameter set of detection device 5 is the fourth emission parameter set, and the target emission parameter set of detection device 4 is the fifth emission parameter set. The resolution of detection device 5 is higher than that of detection device 4. For example, the fourth emission parameter set includes at least two of the following: the emission power of the detection signal is the ninth emission power (e.g., corresponding to a detection distance of 50m), the bandwidth of the detection signal is 2G to 3G, and the emission duration of the detection signal is 40ms. The fifth set of transmission parameters includes at least two of the following: the transmission power of the detection signal is the tenth transmission power (e.g., corresponding to a detection distance of 280m), the bandwidth of the detection signal is 1G, and the transmission duration of the detection signal is 20ms. The resolution corresponding to the fourth set of transmission parameters is higher than that corresponding to the fifth set of transmission parameters.

[0212] In one possible implementation, the fifth detection mode corresponds to the fifth scenario, which is described below. The fifth scenario is that the first target satisfies any of the following designs: Design 1, the first target is located within the region of interest and the first target belongs to a preset type of target; Design 2, the first target is located within the region of interest and the mobility of the first target satisfies the first condition.

[0213] The above designs will be described in illustrative ways below.

[0214] Design 1: The first target is located within the region of interest and belongs to a preset target type. The preset target type may include VRUs (Virtual Recognition Units), such as pedestrians, cyclists, cattle, sheep, and other vulnerable groups in road traffic. In this case, the terminal needs to improve the resolution of detection devices closer to the first target to enhance its detection capability (e.g., accurately identifying the movement of the first target). Other detection devices need to meet the detection requirements for other targets (e.g., being able to identify targets at moderate distances and / or identify targets with moderate resolution) to ensure the terminal's driving safety.

[0215] Design 2: The first target is located within the region of interest, and the mobility of the first target satisfies the first condition. See condition 3 above for a related description. When the first target satisfies Design 2, the terminal needs to improve the resolution of detection devices closer to the first target to enhance the detection capability of highly mobile first targets and avoid collisions or other impacts on the terminal's driving safety.

[0216] In summary, in the fifth scenario described above, it is necessary to improve the resolution of the detection device that is closer to the first target as much as possible, so as to improve the detection capability of the first target and ensure the driving safety of the terminal.

[0217] Sixth, the sixth detection mode, where the first target transmission parameters include at least one set of configuration parameters, and the third set of configuration parameters within that set includes the third amplitude and / or third phase of the transmitting antenna array. The system also includes a seventh detection device, whose operational status data indicates an anomaly. When the first detection device transmits a detection signal using the third set of configuration parameters, the signal strength in the third target direction is higher than the signal strength in directions other than the third target direction. The third target direction corresponds to the field of view of the seventh detection device.

[0218] In one possible implementation, the sixth detection mode corresponds to the sixth scenario. The sixth scenario includes an anomaly in the seventh detection device. For example, the operational status data of the detection devices in the detection system indicates that the seventh detection device is malfunctioning.

[0219] For example, referring to Figure 16, the seventh detection device is located on the right side of the vehicle's front end, and the first detection device is located on the left side of the vehicle's front end. When the seventh detection device malfunctions, its detection capability may decrease. The first target transmission parameters include a third configuration parameter group, a sixth configuration parameter group, and alternating timing indication information. The third configuration parameter group includes at least one of the following: eleventh transmission power (e.g., corresponding to a detection distance of 280m), eleventh bandwidth of 1G, and eleventh transmission duration of 20ms, as well as the third amplitude and / or third phase of the transmitting antenna array. The sixth configuration parameter group includes a twelfth transmission power (e.g., corresponding to a detection distance of 50m), a twelfth bandwidth of 2G to 3G, and a twelfth transmission duration of 40ms. The alternating timing indication information is used to indicate the time interval and / or the order in which the third and sixth configuration parameter groups alternate. When the vehicle's detection system malfunctions (e.g., the seventh detection device malfunctions), the first detection device can alternately use the third and sixth configuration parameter groups to transmit detection signals. When the first detection device transmits a detection signal using the third configuration parameter set, the signal strength of the first detection device's signal within the field of view of the seventh detection device is higher than the signal strength in other directions. This causes the detection signal of the first detection device to deflect to the right, with the third target direction being to the right. Therefore, the above implementation can supplement the missing field of view when some or all of the seventh detection device malfunctions, ensuring the continued operation of the vehicle's intelligent driving system, guaranteeing detection needs, and ensuring the driving safety of the terminal.

[0220] Similarly, the third configuration parameter group may also include parameters related to beamforming, such that the signal strength of the detection signal from the first detection device within the field of view of the seventh detection device is higher than the signal strength in other directions.

[0221] Step S403: The control device adjusts the first detection device from the current wave transmission parameter group to the first target wave transmission parameter group in at least one target wave transmission parameter group according to the target detection mode.

[0222] Among them, the first target emission parameter group is the target emission parameter group corresponding to the first detection device, and the first detection device belongs to multiple detection devices.

[0223] The current emission parameter group and the first target emission parameter group have at least one different emission parameter. For example, if the first detection device is detection device 101a or detection device 101c, the control device can adjust detection device 101a and detection device 101c from the second emission parameter group (i.e., the second emission parameter group is the current emission parameter group) to the first emission parameter group according to the first detection mode. At this time, the values ​​of the configured parameters in the current emission parameter group and the target emission parameter group are different.

[0224] Similarly, the following are examples of transmission parameters that differ from the first target transmission parameter group in at least one aspect: Both the current transmission parameter group and the first target transmission parameter group include a set of configuration parameters, but the values ​​of the configuration parameters in the current transmission parameter group and the first target transmission parameter group are different. Alternatively, the current transmission parameter group and the target transmission parameter group include different numbers of configuration parameter groups. Or, both the current transmission parameter group and the target transmission parameter group include multiple configuration parameter groups, but the alternation sequence of these multiple configuration parameter groups is different.

[0225] Referring to Figure 6, in the first detection mode, the target emission parameter group of detection devices 101a and 101c is the first emission parameter group, and the target emission parameter group of detection device 101b is the second emission parameter group. For example, if the current emission parameter group of detection devices 101a, 101b, and 101c is the second emission parameter group, the control device can adjust detection device 101a from the second emission parameter group to the first emission parameter group (i.e., the first detection device is detection device 101a) according to the first detection mode. Again, for example, the control device can adjust detection device 101c from the second emission parameter group to the first emission parameter group (i.e., the first detection device is detection device 101c) according to the first detection mode.

[0226] Referring to Figure 7, in the normal scenario of the second detection mode, the target emission parameter group of detection devices 101a, 101b, and 101c is the third emission parameter group. Exemplarily, the current emission parameter group of detection devices 101a and 101c is the first emission parameter group, and the current emission parameter group of detection device 101b is the second emission parameter group. The control device can adjust detection device 101a from the first emission parameter group to the third emission parameter group according to the second detection mode. Again, exemplarily, the control device can adjust detection device 101b from the second emission parameter group to the third emission parameter group according to the second detection mode. Again, exemplarily, the control device can adjust detection device 101c from the first emission parameter group to the third emission parameter group according to the second detection mode.

[0227] Referring to Figure 9, in the third detection mode, the target emission parameter group of detection devices 101a and 101c is the first target emission parameter group, and the target emission parameter group of detection device 101b is the fourth emission parameter group. For example, if the current emission parameter group of detection devices 101a, 101b, and 101c is the second emission parameter group, the control device can adjust detection device 101a from the second emission parameter group to the first target emission parameter group according to the third detection mode. Again, for example, the control device can adjust detection device 101b from the second emission parameter group to the fourth emission parameter group according to the third detection mode. Again, for example, the control device can adjust detection device 101c from the second emission parameter group to the first target emission parameter group according to the third detection mode.

[0228] Referring to Figure 13, in the fourth detection mode, the target emission parameter group of detection device 101a is the first target emission parameter group, detection device 101b is abnormal, and the target emission parameter group of detection device 101c includes the second configuration parameter group. For example, the current emission parameter groups of detection devices 101a, 101b, and 101c are all the second emission parameter group. The control device can adjust detection device 101a from the second emission parameter group to the first target emission parameter group according to the fourth detection mode. Again, for example, the control device can adjust detection device 101c from the second emission parameter group to its target emission parameter group according to the fourth detection mode.

[0229] The above shows several possible adjustment methods for the first, second, third, and fourth detection modes. In actual use, there may be other possible adjustment methods, similar to the examples above, which will not be listed here.

[0230] The above description uses a first detection device as an example to illustrate how the control device adjusts the detection device from the current emission parameter group to the target emission parameter group. In actual use, there may be multiple detection devices that need adjustment, i.e., there may be multiple first detection devices. For example, referring to Figure 6, in the first detection mode, the target emission parameter group of detection devices 101a and 101c is the first emission parameter group, and the target emission parameter group of detection device 101b is the second emission parameter group. If the current emission parameter group of detection devices 101a, 101b, and 101c is the second emission parameter group, then both detection devices 101a and 101c need to be adjusted from the first emission parameter group to the second emission parameter group. The control device can adjust both detection devices 101a and 101c from the first emission parameter group to the second emission parameter group according to the first detection mode. It can be understood that at this time, both detection devices 101a and 101c can be first detection devices. Other detection modes are similar and will not be exemplified here.

[0231] Based on the previous explanations, it is understandable that the detection system can switch detection modes. For example, in the second scenario, the target detection mode is the second detection mode, and when the scenario in which the terminal is located changes to the first scenario, the target detection mode needs to be switched back to the first detection mode.

[0232] In one possible implementation, the control device can determine a first control signal corresponding to the first detection device based on the target detection mode, and send the first control signal corresponding to the first detection device to the first detection device. The first control signal corresponding to the first detection device is used to instruct the first detection device to adjust from the current emission parameter group to the target emission parameter group corresponding to the first detection device. Accordingly, the first detection device receives the first control signal corresponding to the first detection device and adjusts itself from the current emission parameter group to the target emission parameter group corresponding to the first detection device. Thus, the control device can adjust the first detection device from the current emission parameter group to a first target emission parameter group in at least one target emission parameter group.

[0233] As another possible implementation, the control device can determine a second control signal based on the target detection mode and send the second control signal to the first detection device. The second control signal is used to indicate at least one target emission parameter group among the multiple detection devices. Accordingly, the first detection device receives the second control signal, determines whether it needs to adjust its own emission parameter group, and if adjustment is needed, adjusts the first detection device from its current emission parameter group to the first target emission parameter group among the at least one target emission parameter group (i.e., the first target emission parameter group is the target emission parameter group corresponding to the first detection device). Thus, the control device can adjust the first detection device from its current emission parameter group to the first target emission parameter group among the at least one target emission parameter group. For example, the multiple detection devices include detection device 101a, detection device 101b, and detection device 101c. The target detection mode is used to indicate that the target emission parameter group corresponding to detection device 101a is emission parameter group 2, the target emission parameter group corresponding to detection device 101b is emission parameter group 1, and the target emission parameter group corresponding to detection device 101c is emission parameter group 2. The second control signal is used to indicate that the target emission parameter group corresponding to the detection device 101a is emission parameter group 2, the target emission parameter group corresponding to the detection device 101b is emission parameter group 1, and the target emission parameter group corresponding to the detection device 101c is emission parameter group 2. Taking the first detection device as detection device 101a as an example, if the current emission parameter group of detection device 101a is emission parameter group 1, after receiving the second control signal, detection device 101a will adjust from emission parameter group 1 to emission parameter group 2.

[0234] It should be noted that the above examples show several possible sets of transmission parameters (such as the first, second, or third set). In actual use, there may be many more possible sets of transmission parameters, which will not be listed here. Similarly, the above examples show several possible sets of configuration parameters (such as the first, second, or third set). In actual use, there may be many more possible sets of configuration parameters, which will not be listed here. It is understood that the specific values ​​of detection distance, bandwidth, and transmission duration corresponding to the transmission power in the above configuration parameters are merely illustrative. The specific values ​​of detection distance, bandwidth, and transmission duration corresponding to the transmission power in the configuration parameters can be flexibly set according to the needs of specific scenarios. That is, the configuration parameter sets used by the transmission parameter sets can be flexibly set, enabling the detection system to be flexibly applied to various scenarios and improving the scenario adaptability of the detection system.

[0235] In some possible implementations, after the emission parameter group of the first detection device is adjusted from the current emission parameter group to the first target emission parameter group, at least two of the multiple detection devices have different emission parameter groups. For example, the multiple detection devices include detection device 101a, detection device 101b, and detection device 101c. The target detection mode is used to indicate that the target emission parameter group corresponding to detection device 101a is emission parameter group 2, the target emission parameter group corresponding to detection device 101b is emission parameter group 1, and the target emission parameter group corresponding to detection device 101c is emission parameter group 2. After the emission parameter group of detection device 101a is adjusted to emission parameter group 2, the emission parameter group of detection device 101b is adjusted to emission parameter group 1, and the emission parameter group of detection device 101c is adjusted to emission parameter group 2, there are instances where the emission parameter groups of detection device 101b and detection device 101a are different, and there are instances where the emission parameter groups of detection device 101b and detection device 101c are different. In this way, multiple detection devices in the detection system can use different sets of waveform parameters to transmit detection signals to detect the object space, enabling multiple detection devices to work together with multiple waveforms. This allows the detection system to be flexibly applied to various scenarios and improves its scene adaptability.

[0236] Optionally, at least one of the multiple detection devices can continuously and alternately emit detection signals using at least two sets of configuration parameters without requiring adjustment by the control device based on the sensing data. This allows the detection devices to alternately detect with different resolution capabilities, enabling the detection system to meet the needs of different resolution capabilities and satisfy the detection capability requirements in various scenarios, significantly improving the scenario adaptability of the detection system. For example, if the multiple detection devices include detection device 101a, detection device 101b, and detection device 101c, after detecting vehicle startup, at least one of detection devices 101a, 101b, and 101c can continuously and alternately emit detection signals using at least two sets of configuration parameters without requiring adjustment by the control device based on the sensing data.

[0237] Alternatively, at least two of the multiple detection devices can continuously transmit detection signals using different sets of emission parameters without requiring adjustment by the control device based on the sensing data. This allows multiple detection devices to detect with different resolution capabilities, enabling them to work collaboratively and allowing the detection system to meet the detection capability requirements of various scenarios, significantly improving the scenario adaptability of the detection system. For example, the multiple detection devices include detection device 101a, detection device 101b, and detection device 101c. After detecting vehicle startup, detection device 101a and detection device 101c can continuously transmit detection signals using a first set of emission parameters, while detection device 101b can continuously transmit detection signals using a second set of emission parameters, without requiring adjustment by the control device based on the sensing data.

[0238] In the embodiment shown in Figure 4, the control device can determine the target detection mode to be used by the detection system based on the sensing data, and adjust the emission parameter sets used by some or all of the detection devices in the detection system based on the target detection mode. For example, the control device adjusts the first detection device from the current emission parameter set to the first target emission parameter set, so that the emission parameter set used by the first detection device to detect the object space after adjustment is more in line with actual needs. By centrally managing multiple detection devices, analyzing sensing data, and determining the emission parameter sets required by each detection device from the perspective of the detection system, the control device enables multiple detection devices to work collaboratively and flexibly change the emission parameter sets, allowing the detection system to meet the detection capability requirements in various scenarios and significantly improving the scenario adaptability of the detection system.

[0239] Furthermore, in some scenarios, if this application adjusts the emission parameter set of the first detection device to a emission parameter set with stronger resolution—for example, if the resolution corresponding to the first target emission parameter set is higher than that corresponding to the current emission parameter set—the resolution of the detection system can be improved. This can meet the detection capability requirements of the detection system in specific scenarios (such as scenarios requiring improved resolution, like a vehicle cutting in front), significantly improving the scenario adaptability of the detection system and achieving optimal detection capability in that scenario. Additionally, when the detection system needs to detect yaw rate, wheel position, etc., it requires improved resolution. If this application adjusts the emission parameter set of the first detection device to a emission parameter set with stronger detection capability, the detection system's ability to detect yaw rate, wheel position, etc., can be improved, thereby enhancing the detection performance of the detection system.

[0240] In summary, this application enables multiple detection devices to work collaboratively and flexibly change the emission parameter set, allowing the detection system to meet the detection capability requirements in various scenarios, significantly improving the scenario adaptability of the detection system, enhancing the collaborative working capability of the detection system, and achieving optimal detection capability in various scenarios.

[0241] The methods of the embodiments of this application have been described in detail above. Below, some apparatuses for implementing the foregoing methods are described. It should be understood that the division of units in the apparatuses provided in the embodiments of this application is only a logical functional division; in actual implementation, they can be fully or partially integrated onto a single physical entity, or they can be physically separated.

[0242] Furthermore, the units or modules in the device can be implemented in the form of processor calling software. For example, the device includes a processor connected to a memory, which stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit of the device. The processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is either internal or external to the device.

[0243] Alternatively, the units or modules in the device can be implemented in the form of hardware circuits. The functionality of some or all units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD), such as a field-programmable gate array (FPGA). This PLD can include a large number of logic gates, and the connection relationships between these logic gates can be configured through configuration files to achieve the functionality of some or all of the above units. All units of the above device can be implemented entirely through processor-invoked software, entirely through hardware circuits, or partially through processor-invoked software with the remaining parts implemented through hardware circuits.

[0244] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU) or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor is a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. Therefore, each unit in the device can be one or more processors (or processing circuits) configured to implement the above methods, such as a CPU, GPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor types.

[0245] Furthermore, the units or modules in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units or modules are integrated together as a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA.

[0246] Several possible devices are listed below.

[0247] Please refer to Figure 17, which is a schematic diagram of a control device provided in an embodiment of this application, namely control device 170. Optionally, the control device 170 can be an independent device, such as the control device 102 shown in Figure 1. Alternatively, the control device 170 can also be a component in an independent device (such as a node), such as a chip or integrated circuit. The control device 170 is used to execute the steps performed by the control device in the detection control method shown in Figure 4 above.

[0248] As shown in Figure 17, the control device 170 includes a transceiver unit 1701 and a processing unit 1702. The transceiver unit 1701 is used to perform one or more operations such as acquiring, receiving, listening, transmitting, and sending, for example, acquiring sensing data. The sensing data includes detection data from the detection system and / or operational status data of the detection devices within the detection system. It further includes other operations for implementing the detection control method.

[0249] The processing unit 1702 is used to perform one or more operations such as processing, calculation, determination, generation, and updating. For example, it is used to determine the target detection mode of the detection system based on sensing data. The detection system includes multiple detection devices, and the target detection mode is used to indicate at least one target emission parameter group of the multiple detection devices. The at least one target emission parameter group is used by the multiple detection devices to emit detection signals to detect the object space using the corresponding emission parameter group. The processing unit 1702 is also used to adjust the first detection device from the current emission parameter group to the first target emission parameter group in the at least one target emission parameter group according to the target detection mode. Wherein, the current emission parameter group and the first target emission parameter group have at least one different emission parameter, and the first detection device belongs to multiple detection devices. Optionally, the multiple detection devices are of the same type, for example, all are millimeter-wave radars.

[0250] For related descriptions, please refer to the description of the embodiment shown in Figure 4, which will not be described in detail here.

[0251] Please refer to Figure 18, which is a schematic diagram of the structure of a computing device provided in an embodiment of this application. The computing device is connected to a control device. A computing device is a device with processing capabilities; this device can be a physical device, such as a host, or a virtual device, such as a virtual machine or a container.

[0252] As shown in Figure 18, the computing device 180 includes a processor 1801, a memory 1802, and one or more programs, and may include a communication interface 1803. It should be understood that this application does not limit the number of processors and memories in the computing device 180.

[0253] Processor 1801 is a module that performs calculations and may include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a micro controller unit (MCU), or one or more integrated circuits for controlling the execution of programs in the above schemes.

[0254] Memory 1802 provides storage space, in which application data, user data, operating system, and computer programs can be optionally stored. Memory 1802 may include read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0255] The memory 1802 can exist independently and be connected to the processor 1801 via a bus. Alternatively, the memory 1802 can be integrated with the processor 1801.

[0256] The communication interface 1803 is used to provide information input or output to the at least one processor. And / or, the communication interface 1803 can be used to receive data transmitted externally and / or transmit data externally. The communication interface 1803 can be a wired link interface, such as an Ethernet cable, or a wireless link interface (Bluetooth, general wireless transmission, and other wireless communication technologies, etc.). Optionally, the communication interface 1803 may also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0257] In this embodiment, one or more programs are stored in the memory 1802 in the form of program code and configured to be executed by the processor 1801. The programs include instructions for implementing the steps performed by the control device in the detection control method shown in FIG. 4. That is, the memory 1802 stores executable instructions, and the processor 1801 executes these executable instructions to implement the method implemented by the control device in the detection control method shown in FIG. 4. In other words, the memory 1802 stores instructions for executing the steps performed by the control device in the detection control method shown in FIG. 4.

[0258] This application also provides a detection system, which includes multiple detection devices, each used to transmit detection signals using corresponding emission parameter sets to detect the object space. For example, the detection system is shown in Figure 1 or Figure 2.

[0259] This application embodiment also provides a terminal, which includes the aforementioned detection system and the aforementioned control device 170, or the terminal includes the aforementioned detection system and the aforementioned computing device 180, and the terminal is used to implement the detection control method shown in FIG4.

[0260] Optionally, the terminal can be a means of transportation, such as a vehicle, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any scenario. The terminal can also be a robot or other equipment, and this application does not limit this.

[0261] This application also provides a computer program product containing computer instructions. The computer program product may be a software or program product containing computer instructions, capable of running on a computing device or stored on any usable medium. When the computer instructions are executed by a processor, the aforementioned detection and control method is implemented, such as the detection and control method shown in FIG4.

[0262] This application also provides a computer-readable storage medium. This computer-readable storage medium is used to store a computer program, the computer program including instructions for implementing the aforementioned detection control method, such as the detection control method shown in FIG4.

[0263] The computer-readable storage medium can be any available medium that can be stored by any of the control devices, computing devices, or detection devices, or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium, or a semiconductor medium (e.g., a solid-state drive).

[0264] In this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0265] In this application, "at least one" in the embodiments refers to one or more items, and "more than one" refers to two or more items. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: 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. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0266] Furthermore, unless otherwise stated, the use of ordinal numbers such as "first" and "second" in the embodiments of this application is for distinguishing multiple objects and is not for limiting the order, sequence, priority or importance of multiple objects.

[0267] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0268] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of this application.

Claims

1. A detection and control method, characterized in that, The method includes: Acquire sensor data; The target detection mode of the detection system is determined based on the sensing data. The detection system includes multiple detection devices. The target detection mode is used to indicate at least one target emission parameter group of the multiple detection devices. The at least one target emission parameter group is used by the multiple detection devices to emit detection signals to detect the object space using the corresponding emission parameter group. According to the target detection mode, the first detection device is adjusted from the current wave emission parameter group to the first target wave emission parameter group in the at least one target wave emission parameter group, wherein the current wave emission parameter group and the first target wave emission parameter group have at least one different wave emission parameter, and the first detection device belongs to the plurality of detection devices.

2. The method according to claim 1, characterized in that, The target transmission parameter set includes at least one set of configuration parameters, and each set of configuration parameters includes at least one of the following: transmission power of the detection signal, bandwidth of the detection signal, transmission duration of the detection signal, amplitude and / or phase of the transmitting antenna array.

3. The method according to claim 1 or 2, characterized in that, The sensing data includes the detection data of the detection system and / or the operating status data of the detection devices in the detection system.

4. The method according to any one of claims 1 to 3, characterized in that, The target detection mode corresponds to the scene in which the terminal where the detection system is located.

5. The method according to any one of claims 1-4, characterized in that, The target detection mode is a first detection mode, which includes: The target emission parameter set of at least two of the plurality of detection devices is the first emission parameter set. The target emission parameter set of at least one of the plurality of detection devices is the second emission parameter set. Wherein, the resolution corresponding to the first set of emission parameters is higher than the resolution corresponding to the second set of emission parameters, and the first detection device belongs to the at least two detection devices or to the at least one detection device.

6. The method of claim 5, wherein, The at least two detection devices corresponding to the first wave emission parameter group correspond to the edge of the field of view, and the at least one detection device corresponding to the second wave emission parameter group corresponds to the center of the field of view.

7. The method according to claim 5 or 6, characterized in that, The first transmission parameter set includes at least two of the following: first transmission power, first bandwidth, and first transmission duration; the second transmission parameter set includes at least two of the following: second transmission power, second bandwidth, and second transmission duration. The first wave transmission parameter set and the second wave transmission parameter set satisfy at least two of the following conditions: The first transmitted power is less than the second transmitted power. The first bandwidth is greater than the second bandwidth, or, The duration of the first wave transmission is greater than the duration of the second wave transmission.

8. The method according to any one of claims 5-7, characterized in that, Before the first detection device is adjusted from the current emission parameter group to the first target emission parameter group in the at least one target emission parameter group according to the target detection mode, the emission parameter groups corresponding to the at least two detection devices and the at least one detection device are the same.

9. The method according to any one of claims 5-8, characterized in that, The first detection mode corresponds to the first scenario, and the first scenario satisfies at least one of the following conditions: Condition 1: There exists a travel path of the target intruding into the terminal where the detection system is located; Condition 2: A target of a preset type exists within the region of interest; Condition 3: There is a target within the region of interest whose mobility satisfies the first condition.

10. The method according to any one of claims 1 to 4, characterized in that, The target detection mode is a second detection mode, which includes: The target emission parameter group of N detection devices in the plurality of detection devices is the third emission parameter group. The N detection devices belong to the plurality of detection devices and the N detection devices are predefined. N is an integer and N is greater than 1. The first detection device belongs to the N detection devices.

11. The method according to any one of claims 1 to 4, characterized in that, The target detection mode is the third detection mode, which includes: The first target transmission parameter group includes at least two configuration parameter groups and alternating timing indication information, wherein the alternating timing indication information is used to indicate the time interval and / or the alternation order of the at least two configuration parameter groups.

12. The method of claim 11, wherein, The third detection mode corresponds to the third scenario, and the third scenario satisfies at least one of the following conditions: Condition 1: There exists a travel path of the target intruding into the terminal where the detection system is located; Condition 2: A target of a preset type exists within the region of interest; Condition 3: There is a target within the region of interest whose mobility satisfies the first condition; Condition 4: The speed of the terminal where the detection system is located satisfies the second condition.

13. The method according to any one of claims 1 to 4, characterized in that, The plurality of detection devices also includes a second detection device and a third detection device; The target detection mode is the fourth detection mode. In the fourth detection mode, the fields of view of the first detection device and the third detection device overlap, and the overlapping area partially or completely overlaps with the field of view of the second detection device.

14. The method of claim 13, wherein, The fourth detection mode includes: The first target transmission parameter group includes a first configuration parameter group, which includes the first amplitude and / or first phase of the transmitting antenna array. The target emission parameter set of the third detection device includes a second configuration parameter set, which includes the second amplitude and / or second phase of the transmitting antenna array. When the first detection device transmits a detection signal using the first configuration parameter group, the signal strength of the detection signal of the first detection device in the first target direction is higher than the signal strength in the non-first target direction; When the third detection device transmits a detection signal using the second configuration parameter set, the signal strength of the detection signal of the third detection device in the direction of the second target is higher than the signal strength in the direction of the non-second target.

15. The method according to any one of claims 1-4, characterized in that, The target detection mode is the fifth detection mode, which includes: The target emission parameter set of at least one fourth detection device among the plurality of detection devices is the fourth emission parameter set. The target emission parameter group of at least one fifth detection device among the plurality of detection devices is the fifth emission parameter group. The resolution of the fourth wave emission parameter group is higher than that of the fifth wave emission parameter group, the distance between the fourth detection device and the first target is less than the distance between the fifth detection device and the first target, and the first detection device belongs to either the at least one fourth detection device or the at least one fifth detection device.

16. The method of claim 11, wherein, The first target is located within the region of interest and belongs to a preset type of target; Alternatively, the first target is located within the region of interest and the mobility of the first target satisfies the first condition.

17. A control device characterized by comprising: The control device includes: The transceiver unit is used to acquire sensed data; Processing unit, used for: The target detection mode of the detection system is determined based on the sensing data. The detection system includes multiple detection devices. The target detection mode is used to indicate at least one target emission parameter group of the multiple detection devices. The at least one target emission parameter group is used by the multiple detection devices to emit detection signals to detect the object space using the corresponding emission parameter group. According to the target detection mode, the first detection device is adjusted from the current wave emission parameter group to the first target wave emission parameter group in the at least one target wave emission parameter group, wherein the current wave emission parameter group and the first target wave emission parameter group have at least one different wave emission parameter, and the first detection device belongs to the plurality of detection devices.

18. A computing device, comprising: The computing device includes a processor and a memory, the memory storing a program, and the processor executing the program to cause the computing device to perform the method as described in any one of claims 1-16.

19. A detection system, characterized by The detection system includes multiple detection devices, each of which is used to transmit detection signals using corresponding sets of emission parameters to detect the object space.

20. A terminal, characterized by The terminal includes the detection system as described in claim 19 and the control device as described in claim 17, or the terminal includes the detection system as described in claim 19 and the computing device as described in claim 18.

21. The terminal according to claim 20, characterized by The terminal is one of a vehicle, a drone, or a robot.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, the computer program including instructions for performing the method as described in any one of claims 1-16.

23. A computer program product, characterized in that, The computer program product includes instructions that, when executed by a processor, cause the method as described in any one of claims 1-16 to be implemented.

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