CN108732588B - Radar scanning device, method and equipment - Google Patents
Radar scanning device, method and equipment Download PDFInfo
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- CN108732588B CN108732588B CN201710264547.6A CN201710264547A CN108732588B CN 108732588 B CN108732588 B CN 108732588B CN 201710264547 A CN201710264547 A CN 201710264547A CN 108732588 B CN108732588 B CN 108732588B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The invention provides a radar scanning device, a method and equipment, wherein the radar scanning device comprises a forward detection unit, a backward detection unit, a left detection unit and a right detection unit; the detection distance between the forward detection unit and the backward detection unit is greater than the detection distance between the left detection unit and the right detection unit. The radar scanning device provided by the invention reduces unnecessary data in the left detection direction and the right detection direction by differentiating the detection distances in different directions, and is closer to the actual driving requirement, so that the safety and the reliability of the automatic driving vehicle are further improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of automatic driving, in particular to a radar scanning device, a method and equipment.
[ background of the invention ]
Lidar is a critical device in autonomous vehicles. An automatic driving system in the automatic driving vehicle acquires surrounding environment data through a laser radar, and sends a driving instruction to the automatic driving vehicle according to analysis of the surrounding environment data, so that the vehicle can automatically and safely run.
In an actual driving environment, due to driving requirements, the detection distance in the front-rear direction of the autonomous vehicle needs to be far enough, so as to ensure that the vehicle has enough reaction time when an emergency occurs. At present, the laser radar adopts a detection unit which can rotate and scan at 360 degrees quickly, and the detection distance in each direction is the same, so that the detection distance in all directions can meet the detection requirements in the front and back directions in order to ensure the actual driving requirement, and the problem of unnecessary data caused by overlong detection distance in the left and right directions is caused.
[ summary of the invention ]
In view of this, the present invention provides a radar scanning apparatus, method and device, which are used to reduce unnecessary data in left and right detection directions, so as to be closer to actual driving needs, and further improve the safety and reliability of an autonomous vehicle.
The specific technical scheme is as follows:
the invention provides a radar scanning device, which comprises a forward detection unit, a backward detection unit, a left detection unit and a right detection unit, wherein the forward detection unit is used for detecting the position of a radar; the detection distance between the forward detection unit and the backward detection unit is greater than the detection distance between the left detection unit and the right detection unit.
According to a preferred embodiment of the present invention, each detection unit scans within a respective preset detection angle range, wherein the sum of the preset detection angle ranges of each detection unit is 360 °.
According to a preferred embodiment of the present invention, the detection angle ranges of the left and right detection units are determined by lane widths, and the detection angle ranges of the front and rear detection units are determined by the detection angle ranges of the left and right detection units.
According to a preferred embodiment of the present invention, the detection angle between the left detection unit and the right detection unit is 160 °, and the detection angle between the forward detection unit and the backward detection unit is 20 °.
According to a preferred embodiment of the present invention, the forward detection unit and the backward detection unit have the same detection distance, and the left detection unit and the right detection unit have the same detection distance.
According to a preferred embodiment of the present invention, the detection distance between the forward detection unit and the backward detection unit is 200m, and the detection distance between the left detection unit and the right detection unit is 30 m.
According to a preferred embodiment of the present invention, each detection unit sequentially performs a rotational scan in a predetermined direction.
According to a preferred embodiment of the present invention, the sequentially performing the rotational scanning by the detecting units according to the preset direction includes: after the detection unit finishes scanning corresponding to a preset detection angle range according to a preset direction, triggering the next detection unit adjacent to the detection unit in the preset direction to scan, and circularly performing the scanning; each detection unit is reset after completing the scanning corresponding to the preset detection angle range.
According to a preferred embodiment of the present invention, the apparatus further comprises: and the data processing unit is used for receiving the scanning data which are sent by each detection unit and carry the detection unit identification, and splicing the received scanning data according to the scanning sequence corresponding to the detection unit identification.
The invention also provides a radar scanning method, which comprises the following steps:
scanning by using a radar scanning device comprising a forward detection unit, a backward detection unit, a left detection unit and a right detection unit; wherein the detection distance between the forward detection unit and the backward detection unit is greater than the detection distance between the left detection unit and the right detection unit.
According to a preferred embodiment of the present invention, each detection unit scans within a respective preset detection angle range, wherein the sum of the preset detection angle ranges of each detection unit is 360 °.
According to a preferred embodiment of the present invention, the detection angle ranges of the left and right detection units are determined by lane widths, and the detection angle ranges of the front and rear detection units are determined by the detection angle ranges of the left and right detection units.
According to a preferred embodiment of the present invention, the detection angle between the left detection unit and the right detection unit is 160 °, and the detection angle between the forward detection unit and the backward detection unit is 20 °.
According to a preferred embodiment of the present invention, the forward detection unit and the backward detection unit have the same detection distance, and the left detection unit and the right detection unit have the same detection distance.
According to a preferred embodiment of the present invention, the detection distance between the forward detection unit and the backward detection unit is 200m, and the detection distance between the left detection unit and the right detection unit is 30 m.
According to a preferred embodiment of the present invention, each detection unit sequentially performs a rotational scan in a predetermined direction.
According to a preferred embodiment of the present invention, the sequentially performing the rotational scanning by the detecting units according to the preset direction includes: after the detection unit finishes scanning corresponding to a preset detection angle range according to a preset direction, triggering the next detection unit adjacent to the detection unit in the preset direction to scan, and circularly performing the scanning; each detection unit is reset after completing the scanning corresponding to the preset detection angle range.
According to a preferred embodiment of the invention, the method further comprises: each detection unit sends the scanning data carrying the detection unit identification to the data processing unit; and the data processing unit splices the received scanning data according to the scanning sequence corresponding to the detection unit identifier.
By utilizing the technical scheme provided by the invention, unnecessary data in the left detection direction and the right detection direction are reduced by differentiating the detection distances in different directions, the detection distance is closer to the actual driving requirement, and the safety and the reliability of the automatic driving vehicle are further improved.
[ description of the drawings ]
Fig. 1 is a schematic view of a scanning device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating calculation of a detection angle range according to an embodiment of the present invention.
Fig. 3 is a block diagram of a computer system/server according to an embodiment of the invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
At present, the laser radar acquires environmental data around an autonomous vehicle in a 360-degree rotation scanning mode, so that the detection distance of the existing laser radar in each direction is the same. However, the required detection distance in each direction is actually different during the travel of the vehicle. In general, the detection distance in the front-rear direction needs to be sufficiently long, and the detection distance in the left-right direction can satisfy a certain condition. Therefore, the scanning mode of the existing laser radar brings unnecessary data to the automatic driving vehicle. The invention provides a radar scanning device, a radar scanning method and radar scanning equipment, which are used for realizing the differentiation of detection distances in different directions and reducing unnecessary data, so that the radar scanning device is closer to the actual driving requirement.
The invention provides a radar scanning device which is composed of 4 independent detection units and comprises a forward detection unit 1, a right detection unit 2, a backward detection unit 3 and a left detection unit 4, wherein the detection distance between the forward detection unit 1 and the backward detection unit 3 is larger than the detection distance between the right detection unit 2 and the left detection unit 4. The radar scanning device is a radar device as a whole, namely, the original radar with only 1 detection unit (or detection head) is changed into the radar formed by 4 independent detection units by redesigning the internal structure of the radar, and the 4 detection units carry out detection at different distances in respective preset detection angle ranges.
In the invention, each detection unit detects in a respective preset detection angle range, and the sum of the preset detection angle ranges of the 4 detection units is 360 degrees. The detection angle range of each detection unit can be as shown in fig. 1, and the detection range of 360 ° shown by a circle in the figure is formed by four arc lines, and each arc line represents the detection angle range corresponding to each detection unit. The detection angle ranges of the right detection unit 2 and the left detection unit 4 are determined by the actual lane width, and after the detection angle ranges of the left detection unit and the right detection unit are determined, the detection angle ranges of the forward detection unit 1 and the backward detection unit 3 can be correspondingly determined because the sum of the detection angle ranges is 360 degrees.
Specifically, when the detection angle range of the left and right detection units is determined according to the lane width, the calculation method is as follows: as shown in fig. 2, the left detection unit is taken as an example for explanation. The width of the current normal motor lane is 3.5 m-3.75 m, the distance between the current running vehicle and the farthest boundary of the next lane is 5.25m, the distance between the current running vehicle and the farthest boundary of the second lane is 8.75m, the distance between the current running vehicle and the farthest boundary of the third lane is 12.25m, and the detection diameter of the left-right detection unit is 24.5 m. In order to have a safety distance, the detection diameter of the left and right detecting unit is set to 30 m. And the left detection unit is required to detect not only the right left direction but also the left front direction, so the detection distance of the left detection unit in the left front direction is set to 30 m. And then the distance (5.25m) of the driving vehicle from the farthest boundary of the next-door lane and the detection distance (30m) of the left-direction detection unit in the left-front direction form a right-angled triangle, the included angle between the two is calculated to be about 80 degrees according to an inverse cosine formula, the detection angles of the left-direction detection unit and the right-direction detection unit are respectively determined to be 160 degrees, and the detection angles of the front-direction detection unit and the rear-direction detection unit are respectively 20 degrees due to the fact that 360-degree scanning is required.
It is understood that the detection angle range preset by each detection unit can be other values, that is, the present invention can change the detection angle range of each detection unit according to the actual driving environment. For example, if the detection distance required in the left-right direction is increased, the detection angle range of the left-right direction detection means is increased, and the detection angle range of the front-rear direction detection means is correspondingly decreased; alternatively, for example, when the detection distance required in the left-right direction is decreased, the detection angle range of the left-right direction detection means is decreased, and the detection angle range of the front-rear direction detection means is increased accordingly.
Preferably, in order to save cost and simplify design, the forward detection unit 1 and the backward detection unit 3 are the same type of detection unit, and the right detection unit 2 and the left detection unit 4 are the same type of detection unit. That is, the forward direction detecting unit 1 has the same detection distance as the backward direction detecting unit 1, and the right direction detecting unit 2 has the same detection distance as the left direction detecting unit 4. It is understood that, according to the driving requirement, different types of detection units can be selected in different directions according to the actual detection distance required in each direction, and the present invention is not limited thereto.
Optionally, in a specific implementation procedure of this embodiment, the detection distances of the forward detection unit 1 and the backward detection unit 3 may be set to be the same, and the detection distance is 200m, and the detection distances of the right detection unit 2 and the left detection unit 4 may be set to be the same, and the detection distance is 30 m. It is also possible to set the detection distance of the forward direction detection unit 1 to 300m, the detection distance of the backward direction detection unit 3 to 200m, the detection distance of the right direction detection unit 2 to 20m, and the detection distance of the left direction detection unit 4 to 30 m. The detection distance of each detection unit is not limited in the present invention.
In the invention, each detection unit sequentially performs rotary scanning within each detection angle range according to a preset direction. The preset direction may be a clockwise direction or a counterclockwise direction. However, it should be noted that the rotation direction of each detection unit during scanning must be uniform, and it is not possible that when a certain detection unit performs scanning by rotating in the counterclockwise direction, a certain detection unit performs scanning by rotating in the clockwise direction.
Optionally, in a specific implementation of this embodiment, each detection unit may perform the rotation scanning by a mechanical scanning manner, for example, a scanning manner using a conventional 64-line laser radar. The rotational scanning may also be performed by means of electromagnetic scanning, for example scanning using solid state lidar. The invention is not limited in this regard.
When each detection unit carries out rotary scanning in turn according to the preset direction, the method specifically comprises the following steps: after the detection unit finishes scanning within the corresponding preset detection angle range according to the preset direction, the next detection unit adjacent to the detection unit in the preset direction is triggered to scan within the preset detection angle range, and the scanning is performed in a circulating mode. For example, after the forward detection unit 1 completes scanning of 20 ° according to the preset direction, the right detection unit 2 is triggered to scan, after the right detection unit 2 completes scanning of 160 ° according to the preset direction, the backward detection unit 3 is triggered to scan, after the backward detection unit 3 completes scanning of 20 ° according to the preset direction, the left detection unit 4 is triggered to scan, after the left detection unit 4 completes scanning of 160 ° according to the preset direction, the forward detection unit 1 is triggered to scan, and the scanning is performed repeatedly.
The triggering between the detecting units may be implemented in a mechanical manner, may also be implemented in an electrical signal manner, and may also be implemented in a message or instruction manner, which is not limited in the present invention.
In the invention, after each detection unit finishes scanning within the respective preset detection angle range, the reset operation is carried out, namely, the detection unit returns to the initial scanning position after the scanning is finished. Through the reset operation of the detection units, the scanning direction of each detection unit is ensured to be uniform all the time, and data distortion caused by non-uniformity of the scanning direction of the detection units is avoided.
In the radar scanning device described in the present invention, a data processing unit is further included. The data processing unit is used for receiving the scanning data which are sent by each detection unit and carry the detection unit identification, and then splicing the received scanning data according to the scanning sequence corresponding to the detection unit identification. In the present invention, the data processing unit may be implemented in a software manner, for example, by setting a data processing program, and splicing the scanning data sent by each detection unit according to a scanning sequence. The method can also be implemented in hardware, for example, by using an integrated chip, and the scan data sent by each detection unit is spliced in the integrated chip according to the scan order.
For example, if the identifier of the scanning data sent by the forward detection unit 1 is 1, the identifier of the scanning data sent by the right detection unit 2 is 2, the identifier of the scanning data sent by the backward detection unit 3 is 3, and the identifier of the scanning data sent by the left detection unit 4 is 4, the data processing unit splices the scanning data sent by the detection units according to the scanning sequence of 1, 2, 3, and 4, so as to obtain the environment data of 360 ° around the vehicle.
The invention also provides a radar scanning method, which comprises the following steps: scanning by using a radar scanning device comprising a forward detection unit, a backward detection unit, a left detection unit and a right detection unit; the detection distance between the forward detection unit and the backward detection unit is larger than the detection distance between the left detection unit and the right detection unit.
In the invention, each detection unit scans in a respective preset detection angle range, and the sum of the preset detection angle ranges of each detection unit is 360 degrees. The detection angle ranges of the left detection unit and the right detection unit are determined by the lane width, and the detection angle ranges of the front detection unit and the rear detection unit are determined by the detection angle ranges of the left detection unit and the right detection unit.
Preferably, in the present invention, the detection angle range of each detection unit is determined according to the actual width of the current motor vehicle lane. Wherein, the detection angle between the left detection unit and the right detection unit is 160 degrees, and the detection angle between the forward detection unit and the backward detection unit is 20 degrees, which is calculated according to the lane width of 3.75 m. It is understood that the detection angle range preset by each detection unit can be other values, that is, the present invention can change the detection angle range of each detection unit according to the actual driving environment. For example, if the detection distance required in the left-right direction is increased, the detection angle range of the left-right direction detection means is increased, and the detection angle range of the front-rear direction detection means is correspondingly decreased; alternatively, for example, when the detection distance required in the left-right direction is decreased, the detection angle range of the left-right direction detection means is decreased, and the detection angle range of the front-rear direction detection means is increased accordingly.
Optionally, in a specific implementation process of this embodiment, the detection distances of the forward detection unit and the backward detection unit may be the same, and the detection distances of the left detection unit and the right detection unit are the same. For example, the detection distances of the forward detection unit 1 and the backward detection unit 3 are 200m, and the detection distances of the right detection unit 2 and the left detection unit 4 are 30 m. The detection distances of the detection units may be set to be different. For example, the detection distance of the forward direction detection unit 1 is set to 300m, the detection distance of the backward direction detection unit 3 is set to 200m, the detection distance of the right direction detection unit 2 is set to 20m, and the detection distance of the left direction detection unit 4 is set to 30 m. In order to save cost and simplify design, the forward detection unit and the backward detection unit preferably have the same detection distance, and the left detection unit and the right detection unit preferably have the same detection distance.
In the invention, each detection unit sequentially performs rotary scanning according to a preset direction. Specifically, after the detection unit completes scanning corresponding to the preset detection angle range according to the preset direction, the next detection unit adjacent to the detection unit in the preset direction is triggered to scan, and then after the detection unit completes scanning corresponding to the preset detection angle range according to the preset direction, the next detection unit adjacent to the detection unit in the preset direction is triggered to scan, so that the scanning is performed in a circulating manner. For example, after the forward detection unit 1 completes scanning of 20 ° according to the preset direction, the right detection unit 2 is triggered to scan, after the right detection unit 2 completes scanning of 160 ° according to the preset direction, the backward detection unit 3 is triggered to scan, after the backward detection unit 3 completes scanning of 20 ° according to the preset direction, the left detection unit 4 is triggered to scan, after the left detection unit 4 completes scanning of 160 ° according to the preset direction, the forward detection unit 1 is triggered to scan, and the scanning is performed repeatedly. The preset direction may be a clockwise direction or a counterclockwise direction.
And each detection unit resets after completing the scanning of the preset detection angle range, namely, the detection unit returns to the initial scanning position after completing the scanning, so that the scanning direction of each detection unit is ensured to be uniform all the time, and the data distortion caused by the non-uniformity of the scanning direction of the detection unit is avoided.
In the invention, after each detection unit finishes scanning in a preset detection angle range, scanning data carrying detection unit identification is sent to a data processing unit, and the data processing unit splices the received scanning data according to a scanning sequence corresponding to the detection unit identification, thereby forming environment data with different detection distances in 360 degrees and different directions around.
Fig. 3 illustrates a block diagram of an exemplary computer system/server 012 suitable for use in implementing embodiments of the invention. The computer system/server 012 shown in fig. 3 is only an example, and should not bring any limitations to the function and the scope of use of the embodiments of the present invention.
As shown in fig. 3, the computer system/server 012 is embodied as a general purpose computing device. The components of computer system/server 012 may include, but are not limited to: one or more processors or processing units 016, a system memory 028, and a bus 018 that couples various system components including the system memory 028 and the processing unit 016.
Computer system/server 012 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer system/server 012 and includes both volatile and nonvolatile media, removable and non-removable media.
Program/utility 040 having a set (at least one) of program modules 042 can be stored, for example, in memory 028, such program modules 042 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof might include an implementation of a network environment. Program modules 042 generally perform the functions and/or methodologies of embodiments of the present invention as described herein.
The computer system/server 012 may also communicate with one or more external devices 014 (e.g., keyboard, pointing device, display 024, etc.), hi the present invention, the computer system/server 012 communicates with an external radar device, and may also communicate with one or more devices that enable a user to interact with the computer system/server 012, and/or with any device (e.g., network card, modem, etc.) that enables the computer system/server 012 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 022. Also, the computer system/server 012 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) via the network adapter 020. As shown, the network adapter 020 communicates with the other modules of the computer system/server 012 via bus 018. It should be appreciated that, although not shown, other hardware and/or software modules may be used in conjunction with the computer system/server 012, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 016 executes various functional applications and data processing by executing programs stored in the system memory 028, for example, a processing method of scanning data, and may include:
and receiving the scanning data which are sent by each detection unit and carry the detection unit identification, and splicing the received scanning data according to the scanning sequence corresponding to the detection unit identification.
The computer program described above may be provided in a computer storage medium encoded with a computer program that, when executed by one or more computers, causes the one or more computers to perform the method flows and/or apparatus operations shown in the above-described embodiments of the invention. For example, the method flows executed by the one or more processors may include:
and receiving the scanning data which are sent by each detection unit and carry the detection unit identification, and splicing the received scanning data according to the scanning sequence corresponding to the detection unit identification.
By utilizing the technical scheme provided by the invention, unnecessary data in the left detection direction and the right detection direction are reduced by differentiating the detection distances in different directions, and the detection distance is closer to the actual driving requirement, so that the safety and the reliability of the automatic driving vehicle are further improved.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (17)
1. A radar scanning device is characterized by comprising a forward detection unit, a backward detection unit, a left detection unit and a right detection unit;
the detection distance between the forward detection unit and the backward detection unit is greater than the detection distance between the left detection unit and the right detection unit;
the detection angle ranges of the left detection unit and the right detection unit are determined by lane widths, and the detection angle ranges of the front detection unit and the rear detection unit are determined by the detection angle ranges of the left detection unit and the right detection unit.
2. The apparatus according to claim 1, wherein each detection unit scans within a respective predetermined detection angle range, wherein the sum of the predetermined detection angle ranges of the detection units is 360 °.
3. The apparatus according to claim 2, wherein the detection angle of the left detection unit and the right detection unit is 160 °, and the detection angle of the forward detection unit and the backward detection unit is 20 °.
4. The apparatus according to claim 1, wherein the forward detection unit and the backward detection unit have the same detection distance, and the left detection unit and the right detection unit have the same detection distance.
5. The apparatus according to claim 4, wherein the detection distance between the forward detection unit and the backward detection unit is 200m, and the detection distance between the left detection unit and the right detection unit is 30 m.
6. The apparatus of claim 2, wherein each of the detecting units performs a rotational scan in a predetermined direction in turn.
7. The apparatus of claim 6, wherein the sequentially rotating scanning of the detecting units according to the preset direction comprises:
after the detection unit finishes scanning corresponding to a preset detection angle range according to a preset direction, triggering the next detection unit adjacent to the detection unit in the preset direction to scan, and circularly performing the scanning;
each detection unit is reset after completing the scanning corresponding to the preset detection angle range.
8. The apparatus of claim 1, further comprising:
and the data processing unit is used for receiving the scanning data which are sent by each detection unit and carry the detection unit identification, and splicing the received scanning data according to the scanning sequence corresponding to the detection unit identification.
9. A method of radar scanning, the method comprising:
scanning by using a radar scanning device comprising a forward detection unit, a backward detection unit, a left detection unit and a right detection unit;
wherein the detection distance between the forward detection unit and the backward detection unit is greater than the detection distance between the left detection unit and the right detection unit;
the detection angle ranges of the left detection unit and the right detection unit are determined by lane widths, and the detection angle ranges of the front detection unit and the rear detection unit are determined by the detection angle ranges of the left detection unit and the right detection unit.
10. Method according to claim 9, characterized in that each detection unit scans within a respective preset detection angle range, wherein the sum of the preset detection angle ranges of the detection units is 360 °.
11. The method according to claim 10, wherein the detection angle of the left and right detection units is 160 °, and the detection angle of the forward and backward detection units is 20 °.
12. The method according to claim 9, wherein the forward detection unit and the backward detection unit have the same detection range, and the left detection unit and the right detection unit have the same detection range.
13. The method according to claim 12, wherein the detection distance between the forward detection unit and the backward detection unit is 200m, and the detection distance between the left detection unit and the right detection unit is 30 m.
14. The method of claim 9, wherein each of the detecting units performs a rotational scan in a predetermined direction in sequence.
15. The method of claim 14, wherein sequentially performing the rotational scanning by the detecting units according to the preset direction comprises:
after the detection unit finishes scanning corresponding to a preset detection angle range according to a preset direction, triggering the next detection unit adjacent to the detection unit in the preset direction to scan, and circularly performing the scanning;
each detection unit is reset after completing the scanning corresponding to the preset detection angle range.
16. The method of claim 9, further comprising:
each detection unit sends the scanning data carrying the detection unit identification to the data processing unit;
and the data processing unit splices the received scanning data according to the scanning sequence corresponding to the detection unit identifier.
17. An apparatus, characterized in that the apparatus comprises:
one or more processors;
storage means for storing one or more programs;
a radar scanning apparatus as claimed in any one of claims 1 to 8;
when the one or more programs are executed by the one or more processors, cause the one or more processors to perform:
and receiving the scanning data which are sent by each detection unit and carry the detection unit identification, and splicing the received scanning data according to the scanning sequence corresponding to the detection unit identification.
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| CN113267765A (en) * | 2017-10-18 | 2021-08-17 | 百度在线网络技术（北京）有限公司 | Radar scanning apparatus, method and device |
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