CN115639545A

CN115639545A - Radar pulse encoding method and apparatus, computer device, and readable storage medium

Info

Publication number: CN115639545A
Application number: CN202211587442.1A
Authority: CN
Inventors: 张燕; 冯钰志; 疏达
Original assignee: Benewake Beijing Co Ltd
Current assignee: Benewake Beijing Co Ltd
Priority date: 2022-12-12
Filing date: 2022-12-12
Publication date: 2023-01-24
Anticipated expiration: 2042-12-12
Also published as: CN115639545B

Abstract

The application provides a radar pulse coding method and device, computer equipment and a readable storage medium, and relates to the technical field of laser radars. According to the method, an initial pulse period sequence of the target laser radar is obtained by ascending sequence arrangement of a plurality of different pulse repetition periods, random number updating is carried out on a current element displacement random number of the target laser radar according to a radar identity of the target laser radar, then sequence element displacement iteration processing of sequence length times is carried out on the initial pulse period sequence according to the updated element displacement random number and the sequence length of the initial pulse period sequence, the target pulse period sequence used when the target laser radar transmits a pulse signal currently is obtained, and therefore the radar self-fixed and unique identity is applied to the radar pulse signal receiving and transmitting process, the radar pulse signal has strong signal identification, and the identification capability and the pulse signal capability of the laser radar to the pulse signal are improved.

Description

Radar pulse encoding method and apparatus, computer device, and readable storage medium

Technical Field

The application relates to the technical field of laser radars, in particular to a radar pulse encoding method and device, computer equipment and a readable storage medium.

Background

With the continuous development of scientific technology, the application of laser radar technology is more extensive, and in the practical application process of laser radar, a plurality of laser radars with the same model or different models are often used in a complex environment to cooperate with each other to realize the expected radar scanning effect. However, it is worth noting that each of the plurality of laser radars used in the same environment is often interfered by pulse signals from other laser radars, and the pulse signals belonging to the laser radars cannot be accurately identified. Therefore, how to effectively improve the identification capability of the laser radar to the pulse signal of the laser radar so as to effectively improve the anti-interference capability of the pulse signal of the laser radar is an important problem to be solved urgently in the application process of the current laser radar technology.

Disclosure of Invention

In view of this, an object of the present application is to provide a radar pulse encoding method and apparatus, a computer device, and a readable storage medium, which can apply a fixed and unique identification of a radar itself to a radar pulse signal transceiving process, so as to effectively improve signal identifiability of the radar in the radar pulse signal transceiving process, thereby effectively improving identification capability of the laser radar on the pulse signal of the radar itself and anti-interference capability of the pulse signal.

In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:

in a first aspect, the present application provides a radar pulse encoding method, the method comprising:

acquiring an initial pulse period sequence of a target laser radar, wherein the initial pulse period sequence is obtained by ascending arrangement of a plurality of different pulse repetition periods;

according to the radar identity of the target laser radar, updating the random number of the current element displacement random number of the target laser radar to obtain an updated element displacement random number;

and according to the sequence length of the initial pulse period sequence and the updated element shift random number, performing sequence element shift iterative processing on the initial pulse period sequence, wherein the iterative times of the sequence element shift iterative processing are consistent with the sequence length, and obtaining a target pulse period sequence used by the target laser radar when the target laser radar transmits pulse signals currently.

In an optional embodiment, the step of updating the random number of the current element shift random number of the target lidar according to the radar identity of the target lidar to obtain an updated element shift random number includes:

performing binary data mixing processing on the radar identity and the current element displacement random number to obtain target binary data;

circularly moving the current element by a plurality of random digits to obtain expected binary data;

and carrying out decimal conversion processing on the expected binary data obtained by shifting to obtain the updated element shifting random number.

In an optional embodiment, the step of performing binary data mixing processing on the radar identity and the current element shift random number to obtain target binary data includes:

performing binary addition operation on the radar identity and the current element shift random number to obtain corresponding binary data to be processed;

according to the actual binary digit of the radar identity, calculating a target binary fixed digit with specific bit weight characteristics aiming at the binary data to be processed;

and performing data extraction processing on the binary data to be processed according to the target binary fixed digit to obtain target binary data meeting the target binary fixed digit.

In an optional embodiment, the step of calculating a target binary fixed bit number with specific bit weight characteristics for the to-be-processed binary data according to the actual binary bit number of the radar identity includes:

performing exponential operation on the actual binary digit of the radar identity with the base of 2 to obtain an index value to be calibrated;

carrying out upward rounding operation on the index value to be calibrated to obtain an expected index value;

and performing power operation by taking the expected exponent value as a target exponent of 2 to obtain the target binary fixed digit.

In an optional implementation manner, the step of performing data extraction processing on the binary data to be processed according to the target binary fixed number to obtain target binary data meeting the target binary fixed number includes:

detecting whether the actual binary digit number of the binary data to be processed is smaller than the target binary fixed digit number;

under the condition that the actual binary digit number of the binary data to be processed is detected to be smaller than the target binary fixed digit number, carrying out high digit zero padding processing on the binary data to be processed according to the target binary fixed digit number to obtain the target binary data;

and under the condition that the actual binary digit number of the binary data to be processed is detected to be greater than or equal to the target binary fixed digit number, extracting the binary data of which the low digit number is consistent with the target binary fixed digit number from the binary data to be processed to obtain the target binary data.

In an optional embodiment, the step of performing, according to the sequence length of the initial pulse period sequence and the updated element shift random number, sequence element shift iteration processing in which the number of iterations of the initial pulse period sequence is consistent with the sequence length includes:

for each sequence element transposition iterative operation, calculating the position of a target shifting element of the current pulse period sequence to be shifted according to the execution sequence of the sequence element transposition iterative operation, the sequence length and the updated element shifting random number, wherein the current pulse period sequence to be shifted for executing the first sequence element transposition iterative operation is the initial pulse period sequence;

moving a pulse repetition period corresponding to the position of the target shift element in the current pulse period sequence to be shifted to the first sequence or the last sequence of the current pulse period sequence to be shifted to obtain a corresponding target shift pulse period sequence;

and taking the obtained target shift pulse period sequence as a pulse period sequence to be shifted for next sequence element transposition iterative operation.

In an optional embodiment, for each sequence element transposition iterative operation, the step of calculating the position of the target shift element of the current pulse period sequence to be shifted according to the execution order of the sequence element transposition iterative operation, the sequence length, and the updated element shift random number includes:

calculating a difference value between the sequence length and the execution order of the transposition iterative operation of the sequence elements to obtain a first difference value to be processed;

performing factorial operation on the first difference to be processed and the second difference to be processed respectively to obtain a first-order multiplier value corresponding to the first difference to be processed and a second-order multiplier value corresponding to the second difference to be processed, wherein the second difference to be processed is 1 greater than the first difference to be processed;

taking the updated element shift random number as a dividend and taking the second-order multiplier value as a divisor to carry out complementation operation to obtain a corresponding numerical value to be processed;

and calculating a target quotient between the value to be processed plus 1 and the second-order multiplier value, and performing rounding-up operation on the target quotient to obtain a corresponding target shift element position of the sequence element transposition iteration operation in the current pulse period sequence to be shifted.

In an alternative embodiment, the step of acquiring an initial pulse period sequence of the target lidar includes:

acquiring the average value of the pulse repetition period, the interval duration of the average period and the periodic fluctuation proportion of the target laser radar;

multiplying the average value of the pulse repetition period and the period fluctuation proportion to obtain the corresponding fluctuation period duration;

determining a minimum pulse repetition period and a maximum pulse repetition period of which the period difference value is consistent with the fluctuation period duration by taking the pulse repetition period average value as a central point;

and taking the minimum pulse repetition period as a sequence head bit, taking the maximum pulse repetition period as a sequence tail bit, and taking the average period interval duration as a sequence element interval to carry out sequence construction processing to obtain the initial pulse period sequence.

In a second aspect, the present application provides a radar pulse encoding apparatus, the apparatus comprising:

the system comprises an initial sequence acquisition module, a pulse repetition period acquisition module and a pulse repetition period acquisition module, wherein the initial sequence acquisition module is used for acquiring an initial pulse period sequence of a target laser radar, and the initial pulse period sequence is obtained by arranging a plurality of different pulse repetition periods in an ascending order;

the shifting random number updating module is used for updating the random number of the current element shifting random number of the target laser radar according to the radar identity of the target laser radar to obtain an updated element shifting random number;

and the element shifting iteration module is used for carrying out sequence element shifting iteration processing on the initial pulse period sequence according to the sequence length of the initial pulse period sequence and the updated element shifting random number, wherein the iteration times of the sequence element shifting iteration processing are consistent with the sequence length, and the target pulse period sequence used by the target laser radar when the target laser radar transmits the pulse signal at present is obtained.

In an alternative embodiment, the shifted random number updating module includes:

the binary system mixing submodule is used for carrying out binary system data mixing processing on the radar identity and the current element shifting random number to obtain target binary system data;

a binary shift submodule, configured to shift the current element by a plurality of bits at random in a cyclic manner on the target binary data, so as to obtain expected binary data;

and the binary conversion submodule is used for performing decimal conversion processing on the expected binary data obtained by shifting to obtain the updated element shifting random number.

In an alternative embodiment, the element-shifting iteration module comprises:

the shift position determining submodule is used for calculating the target shift element position of the current pulse period sequence to be shifted according to the execution sequence of the sequence element transposition iterative operation, the sequence length and the updated element shift random number aiming at each sequence element transposition iterative operation, wherein the current pulse period sequence to be shifted for executing the first sequence element transposition iterative operation is the initial pulse period sequence;

the sequence element moving submodule is used for moving a pulse repetition period corresponding to the position of the target shift element in the current pulse period sequence to be shifted to the first sequence or the last sequence of the current pulse period sequence to be shifted to obtain a corresponding target shift pulse period sequence;

and the iterative sequence confirmation submodule is used for taking the obtained target shift pulse periodic sequence as a pulse periodic sequence to be shifted for next sequence element transposition iterative operation.

In a third aspect, the present application provides a computer device comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor can execute the computer program to implement the radar pulse encoding method according to any one of the foregoing embodiments.

In a fourth aspect, the present application provides a readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the radar pulse encoding method according to any one of the preceding embodiments.

In this case, the beneficial effects of the embodiments of the present application may include the following:

according to the method, an initial pulse period sequence of the target laser radar is obtained by ascending sequence of a plurality of different pulse repetition periods, random number updating is carried out on the current element displacement random number of the target laser radar according to the radar identity of the target laser radar, then sequence element displacement iteration processing with the iteration times consistent with the sequence length is carried out on the initial pulse period sequence according to the updated element displacement random number and the sequence length of the initial pulse period sequence, the target pulse period sequence used when the target laser radar transmits a pulse signal is obtained, and therefore the fixed and unique identity of the radar is effectively applied to the radar pulse signal transceiving process, the corresponding radar pulse signal has strong signal identification, and the identification capability and the pulse signal anti-interference capability of the laser radar to the pulse signal are effectively improved.

In order to make the aforementioned objects, features and advantages of the present application comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic diagram of a computer device according to an embodiment of the present disclosure;

fig. 2 is a schematic flowchart of a radar pulse encoding method according to an embodiment of the present disclosure;

FIG. 3 is a flowchart illustrating the sub-steps included in step S210 of FIG. 2;

FIG. 4 is a flowchart illustrating the sub-steps included in step S220 in FIG. 2;

FIG. 5 is a flowchart illustrating the sub-steps included in step S230 of FIG. 2;

fig. 6 is a schematic composition diagram of a radar pulse encoding apparatus according to an embodiment of the present application;

FIG. 7 is a block diagram of the shifted random number update module shown in FIG. 6;

fig. 8 is a schematic diagram of the element shift iteration module in fig. 6.

Icon: 10-a computer device; 11-a memory; 12-a processor; 13-a communication unit; 100-radar pulse encoding means; 110-initial sequence acquisition module; 120-a shifted random number update module; 130-element shift iteration module; 121-binary mix submodule; 122-binary shift submodule; 123-binary conversion submodule; 131-a shift position determination submodule; 132-sequence element move sub-module; 133-iterative sequence validation submodule.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it is to be understood that relational terms such as the terms first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic diagram illustrating a computer device 10 according to an embodiment of the present disclosure. In the embodiment of the present application, the computer device 10 may be communicatively connected to at least one laser radar, and is configured to control each laser radar to perform pulse signal transceiving processing; the computer device 10 may also be integrated with a single lidar for controlling the lidar in which the computer device 10 is located to perform pulse signal transceiving processing. The computer device 10 can apply the fixed and unique identification of the laser radar which is controlled correspondingly to the receiving and sending process of the radar pulse signal, so that the corresponding radar pulse signal has strong signal identification performance, and the identification capability of the laser radar to the pulse signal and the anti-interference capability of the pulse signal are effectively improved; the identity of the laser radar can be a communication MAC address corresponding to the laser radar, can also be a control chip ID corresponding to the laser radar, and can also be a fixed number corresponding to the laser radar in a corresponding operating environment. The computer device 10 may be a lidar or a device with computing functionality that is independent of a lidar.

In the embodiment of the present application, the computer device 10 may include a memory 11, a processor 12, a communication unit 13, and a radar pulse encoding apparatus 100. Wherein, the respective elements of the memory 11, the processor 12 and the communication unit 13 are electrically connected to each other directly or indirectly to realize the transmission or interaction of data. For example, the memory 11, the processor 12 and the communication unit 13 may be electrically connected to each other through one or more communication buses or signal lines.

In this embodiment, the Memory 11 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 11 is used for storing a computer program, and the processor 12 can execute the computer program after receiving an execution instruction.

In this embodiment, the processor 12 may be an integrated circuit chip having signal processing capabilities. The Processor 12 may be a general-purpose Processor including at least one of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, and discrete hardware components. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that implements or executes the methods, steps and logic blocks disclosed in the embodiments of the present application.

In this embodiment, the communication unit 13 is configured to establish a communication connection between the computer device 10 and other electronic devices through a network, and to send and receive data through the network, where the network includes a wired communication network and a wireless communication network. For example, the computer device 10 may obtain radar-related parameters of the lidar from the lidar to which the communication unit 13 is communicatively connected, where the radar-related parameters may include a radar identity of the corresponding lidar, a pulse repetition period average value, an average period interval duration and a period fluctuation ratio, where the pulse repetition period average value is used to represent an average time interval duration between two adjacent pulse signals transmitted by the corresponding lidar, the average period interval duration is used to represent an average period difference between two adjacent pulse repetition periods of the corresponding lidar, and the period fluctuation ratio is used to represent a specific fluctuation condition when the pulse repetition period of the corresponding lidar fluctuates.

In this embodiment, the radar pulse encoding apparatus 100 includes at least one software functional module that can be stored in the memory 11 or in the operating system of the computer device 10 in the form of software or firmware. The processor 12 may be used to execute executable modules stored by the memory 11, such as software functional modules and computer programs included in the radar pulse encoding apparatus 100. Computer equipment 10 accessible radar pulse coding device 100 uses the fixed and only identification of laser radar itself to radar pulse signal receiving and dispatching in-process, comes to encode the periodic distribution situation of pulse repetition period in the time domain of pulse signal, makes the radar pulse signal that corresponds the production have stronger signal identifiability to effectively ensure to correspond laser radar and can have stronger identification ability to self pulse signal, promote the pulse signal interference killing feature who corresponds laser radar.

It is understood that the block diagram shown in fig. 1 is only one constituent schematic diagram of the computer device 10, and that the computer device 10 may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.

In this application, in order to ensure that the computer device 10 can apply the fixed and unique identification of the laser radar itself to the radar pulse signal transceiving process, encode the periodic distribution condition of the pulse repetition period of the pulse signal in the time domain, so that the correspondingly generated radar pulse signal has strong signal identification, and the identification capability and the pulse signal anti-interference capability of the laser radar to the pulse signal per se are effectively improved. The radar pulse encoding method provided by the present application is described in detail below.

Referring to fig. 2, fig. 2 is a schematic flowchart of a radar pulse encoding method according to an embodiment of the present disclosure. In the embodiment of the application, the radar pulse encoding method can comprise steps S210-S230.

Step S210, an initial pulse period sequence of the target laser radar is obtained, wherein the initial pulse period sequence is obtained by arranging a plurality of different pulse repetition periods in an ascending order.

In this embodiment, the target lidar is a lidar controlled by the computer device 10, and the initial pulse cycle sequence is a pulse cycle sequence corresponding to the target lidar and substantially matching with a pulse transceiving performance condition, where a plurality of different pulse repetition cycles included in the initial pulse cycle sequence are sequentially arranged in an ascending order in a time domain, that is, a pulse repetition cycle arranged at a first position of the sequence in the initial pulse cycle sequence is the smallest, and a pulse repetition cycle arranged at a last position of the sequence in the initial pulse cycle sequence is the largest.

The computer device 10 accordingly obtains an initial pulse period sequence of the target lidar that substantially matches the pulse transceiving performance condition, before each time the target lidar needs to be controlled for radar pulse signal transmission operation.

Optionally, referring to fig. 3, fig. 3 is a flowchart illustrating the sub-steps included in step S210 in fig. 2. In the embodiment of the present application, the step S210 may include sub-steps S211 to S214 to ensure that the corresponding initial pulse period sequence substantially matches the pulse transceiving performance condition of the target lidar.

And a substep S211 of obtaining the average value of the pulse repetition period, the interval duration of the average period and the periodic fluctuation ratio of the target laser radar.

In this embodiment, the pulse repetition period average value, the average period interval duration, and the period fluctuation ratio cooperatively represent the pulse transceiving performance condition of the target lidar.

And a substep S212, multiplying the average value of the pulse repetition period and the period fluctuation ratio to obtain the corresponding fluctuation period duration.

And a substep S213, determining a minimum pulse repetition period and a maximum pulse repetition period, in which the period difference value is consistent with the fluctuation period duration, by taking the average value of the pulse repetition periods as a central point.

The period difference between the maximum pulse repetition period and the minimum pulse repetition period is the fluctuation period duration, and at this time, the pulse repetition period average value is located at a central position between the maximum pulse repetition period and the minimum pulse repetition period, that is, the minimum pulse repetition period = (pulse repetition period average value-fluctuation period duration/2), and the maximum pulse repetition period = (pulse repetition period average value + fluctuation period duration/2).

And a substep S214, taking the minimum pulse repetition period as a sequence head bit, taking the maximum pulse repetition period as a sequence tail bit, and taking the average period interval duration as a sequence element interval to carry out sequence construction processing to obtain an initial pulse period sequence.

In this embodiment, a period difference between two adjacent sequence elements (pulse repetition periods) in the initial pulse period sequence is the average period interval duration, and at this time, a sequence length of the initial pulse period sequence is (fluctuation period duration/average period interval duration + 1).

The specific implementation of step S210 is illustrated by taking an example that the average value of the pulse repetition period is 4 μ S, the interval duration of the average period is 0.2 μ S, and the period fluctuation ratio is 0.4: the fluctuation period duration =4 μ s × 0.4=1.6 μ s, then the minimum pulse repetition period =4 μ s-1.6/2 μ s =3.2 μ s, and the maximum pulse repetition period =4 μ s +1.6/2 μ s =4.8 μ s, when the corresponding initial pulse period sequence is {3.2 μ s,3.4 μ s,3.6 μ s,3.8 μ s,4.0 μ s,4.2 μ s,4.4 μ s,4.6 μ s,4.8 μ s }, and the sequence length of the initial pulse period sequence = (1.6 μ s/0.2 μ s + 1) =9.

Therefore, the present application can ensure that the corresponding initial pulse period sequence substantially matches the pulse transmission/reception performance status of the target laser radar by performing the above substeps 211 to substep S214.

And step S220, updating the random number of the current element displacement random number of the target laser radar according to the radar identity of the target laser radar to obtain the updated element displacement random number.

In this embodiment, the current element shift random number is used to represent a random number that is currently used by the target lidar and needs to be applied to perform sequence element shift in a pulse repetition period distribution coding process, where the current element shift random number before the target lidar performs a radar pulse signal transmission operation for the first time is a default element shift random number 1.

When the target laser radar is required to execute radar pulse signal transmission operation each time, the computer device 10 updates the random number of the element shift random number currently used by the target laser radar according to the radar identity of the target laser radar, so that the updated element shift random number can effectively carry the relevant characteristics of the radar identity to act on the radar pulse signal transmission operation, and the updated element shift random number is the current element shift random number used by the target laser radar before the next radar pulse signal transmission operation is required to be executed.

Optionally, referring to fig. 4, fig. 4 is a flowchart illustrating the sub-steps included in step S220 in fig. 2. In this embodiment, step S220 may include substeps S221 to substep S223, so as to effectively put the relevant features of the radar identity of the target lidar into the updated element shift random number, thereby improving the secrecy and the difficulty of being cracked of the element shift random number.

And a substep S221, performing binary data mixing processing on the radar identity and the current element shift random number to obtain target binary data.

In this embodiment, the computer device 10 may perform binary conversion on the radar identity of the target lidar and the current element shift random number respectively to obtain binary data corresponding to the radar identity and the current element shift random number respectively, and then perform mixing processing on the two binary data according to a preset binary data mixing strategy, so that the finally obtained target binary data carries the relevant characteristics of the radar identity of the target lidar.

Optionally, the step of performing binary data mixing processing on the radar identity and the current element shift random number to obtain target binary data may include:

calculating a target binary fixed digit with specific bit weight characteristics aiming at binary data to be processed according to the actual binary digit of the radar identity;

In this process, for the substep of "performing binary addition operation on the radar id and the current element shift random number to obtain corresponding to-be-processed binary data", the computer device 10 may perform addition operation on the respective binary data of the radar id of the target laser radar and the current element shift random number to obtain corresponding to-be-processed binary data.

The specific implementation process of the above sub-step is exemplified by taking the radar identity as 0x14710093 and the current element shift random number is 1: the binary data obtained after binary conversion is performed on the radar identity 0x14710093 is 10100011100010000000010010011, the binary data obtained after binary conversion is performed on the current element shift random number 1 is 0000000000000000000000000001, and at this time, the corresponding binary data to be processed is 10100011100010000000010010100.

For the substep "calculating a target binary fixed bit number of a specific bit weight characteristic for binary data to be processed according to an actual binary bit number of the radar identity", the bit weight characteristic is used for representing that a corresponding binary bit number is a multiple power of 2, then the calculation process of the target binary fixed bit number can be expressed by the following formula:

；

wherein,

for representing the target binary fixed bit number,

for the purpose of representing an upward rounding function,

the actual number of binary digits used to represent the radar identity.

Thus, the sub-step of calculating a target binary fixed bit number for the binary data to be processed from the actual binary bit number of the radar identity may comprise:

performing exponential operation on the actual binary digit of the radar identity mark by taking 2 as a base to obtain an index value to be calibrated, wherein the index value to be calibrated is the index value to be calibrated

；

Carrying out upward rounding operation on the index value to be calibrated to obtain an expected index value, wherein the expected index value is the index value

；

Taking the radar id 0x14710093 as an example to illustrate the specific implementation process of the sub-step: the actual binary digit number of the radar identity 0x14710093 is 29, at this time, the exponent operation is performed on 29 by taking 2 as a base number, the rounding operation is performed on the obtained exponent to obtain 5, and the target binary fixed digit number for the binary data to be processed is 32.

The substep of performing data extraction processing on the binary data to be processed according to the target binary fixed digit to obtain the target binary data meeting the target binary fixed digit, and performing data extraction processing on the binary data to be processed according to the target binary fixed digit to obtain the target binary data meeting the target binary fixed digit may include:

and under the condition that the actual binary digit number of the binary data to be processed is detected to be greater than or equal to the target binary fixed digit number, extracting the binary data of which the low digit number is consistent with the target binary fixed digit number in the binary data to be processed to obtain the target binary data.

The specific implementation of the above sub-steps is exemplified by the binary data to be processed being 10100011100010000000010010100 or 111110100011100010000000010010100, and the target binary fixed bit number being 32: for the binary data to be processed 10100011100010000000010010100, the actual binary digit number of the binary data to be processed is 29, and since the actual binary digit number 29 is smaller than the target binary fixed digit 32, high digit zero padding needs to be performed in front of the head position of the binary data to be processed 10100011100010000000010010100, so that the target binary data obtained after zero padding has 32 binary digits, and at this time, the target binary data is 00010100011100010000000010010100; for the binary data to be processed 111110100011100010000000010010100, the actual binary bit number of the binary data to be processed is 33, and since the actual binary bit number 33 is greater than the target binary fixed bit number 32, the low-32-bit binary data needs to be extracted from the binary data to be processed 111110100011100010000000010010100, and at this time, the corresponding obtained target binary data has 32 binary bits, and the target binary data is 11110100011100010000000010010100.

Therefore, the method and the device can ensure that the binary digit number of the corresponding extracted target binary data is consistent with the target binary fixed digit number by executing the specific step flow of the substeps.

In the sub-step S222, the target binary data is circularly moved by shifting the current element by a random number of digits, so as to obtain the desired binary data.

In this embodiment, after obtaining the target binary data corresponding to the radar id of the target lidar and the current element shift random number, the computer device 10 may obtain the corresponding desired binary data by circularly left-shifting the current element shift random number of bits on the basis of the target binary data, or circularly right-shifting the current element shift random number of bits on the basis of the target binary data.

And a substep S223 of performing decimal conversion processing on the desired binary data obtained by shifting to obtain an updated element shifting random number.

In this embodiment, after obtaining the expected binary data, the computer device 10 may perform decimal conversion on the expected binary data to obtain an updated element shift random number, so that while the relevant features of the radar identity of the target lidar are effectively placed in the updated element shift random number, the secrecy and the decryption difficulty of the updated element shift random number are effectively improved by using the binary digit cycle left/right shift operation.

The specific implementation of the sub-steps S222 and S223 is exemplified by the target binary data being 00010100011100010000000010010100 and the current element-shifted random number being 1: if the target binary data 00010100011100010000000010010100 is circularly shifted left by 1 bit, the corresponding expected binary data is 00101000111000100000000100101000, and the corresponding updated element shift random number is 685900072; if the target binary data 00010100011100010000000010010100 is circularly shifted to the right by 1 bit, the corresponding expected binary data is 00001010001110001000000001001010, and the corresponding updated element shift random number is 171475018.

Therefore, by executing the substeps 221 to the substep S223, the relevant characteristics of the radar identity of the target laser radar are effectively put into the updated element shift random number, so that the secrecy and the decryption difficulty of the element shift random number are improved.

Step S230, according to the sequence length of the initial pulse periodic sequence and the updated element shift random number, performing sequence element shift iterative processing on the initial pulse periodic sequence, where the iteration number is consistent with the sequence length, to obtain a target pulse periodic sequence used by the target laser radar when the target laser radar currently transmits a pulse signal.

In this embodiment, after determining the updated element shift random number required by the target laser radar to currently execute the radar pulse signal transmission operation, the computer device 10 may execute the sequence element shift iterative processing of the sequence length times for the initial pulse period sequence according to the sequence length of the initial pulse period sequence and the updated element shift random number, so as to effectively apply the relevant features of the radar identity to the pulse repetition period distribution encoding process before the radar pulse signal transmission operation, thereby ensuring that the finally obtained target pulse period sequence can effectively ensure that the corresponding radar pulse signal has strong signal identification in the actual application, so as to effectively improve the identification capability of the laser radar to the self pulse signal and the anti-interference capability of the pulse signal. The target pulse period sequence is the pulse period sequence obtained by the last sequence element shift iteration operation.

Optionally, referring to fig. 5, fig. 5 is a flowchart illustrating sub-steps included in step S230 in fig. 2. In this embodiment, step S230 may include substeps S231-S233, so as to effectively apply the relevant features of the radar identity to the pulse repetition period distribution coding process before the radar pulse signal transmission operation, and ensure that the finally obtained target pulse period sequence can effectively ensure that the corresponding radar pulse signal has strong signal identification in practical application.

And a substep S231, for each sequence element transposition iterative operation, calculating a target shift element position of the current pulse period sequence to be shifted according to the execution order, the sequence length and the updated element shift random number of the sequence element transposition iterative operation.

In this embodiment, the current pulse period sequence to be shifted, in which the computer device 10 performs the first sequence element transposition iterative operation, is an initial pulse period sequence of the target lidar, and the current pulse period sequence to be shifted, in which the computer device 10 subsequently performs each sequence element transposition iterative operation, is a pulse period sequence obtained in the previous sequence element transposition iterative operation.

For a single sequence element transposition iterative operation, the calculation process of the target shift element position corresponding to the sequence element transposition iterative operation can be expressed by the following formula:

；

wherein,

is used for showing the firstnThe secondary sequence element transposition iteration operation is carried out on the position of the target shifting element of the current pulse period sequence to be shifted,

an updated element shift random number for representing the target lidar,

for indicating the sequence length of the initial pulse period sequence,

for the purpose of representing an upward rounding function,

for the purpose of representing the remainder function,

for representing a factorial function.

Therefore, for each sequence element transposition iterative operation, the step of calculating the position of the target shift element of the current pulse period sequence to be shifted according to the execution order of the sequence element transposition iterative operation, the sequence length, and the updated element shift random number may include:

calculating the difference between the sequence length and the execution order of the transposition iterative operation of the sequence elements to obtain a first difference to be processed, wherein the first difference to be processed is the difference to be processed

；

Performing factorial operation on the first to-be-processed difference and the second to-be-processed difference respectively to obtain a first-order multiplier value corresponding to the first to-be-processed difference and a second-order multiplier value corresponding to the second to-be-processed difference, wherein the second to-be-processed difference is greater than the first to-be-processed difference by 1, and the first-order multiplier value is the first to-be-processed difference

The second-order multiplier is

；

Taking the updated element shift random number as dividend and taking the second-order multiplier value as divisor to solvePerforming a remainder operation to obtain a corresponding value to be processed, wherein the value to be processed is the value to be processed

；

The specific implementation of the sub-step S231 is illustrated by taking the updated element shift random number as 685900072 and the sequence length of the initial pulse period sequence as 9: for the 1 st sequence element transpose iteration, 685900072 may be substituted into the above equation to serve as the transpose iterationRSubstituting 9 into the above equation serves asLWill benSubstituting =1 into the above formula to obtain a target shift element position 2 corresponding to the 1 st sequence element transposition iterative operation; for the 2 nd sequence element transpose iteration operation, 685900072 may be substituted into the above formula to serve as theRSubstituting 9 into the above equation serves asLWill benSubstituting =2 into the above formula, a target shift element position 4 corresponding to the 2 nd sequence element transposition iteration operation is obtained.

And a substep S232, moving the pulse repetition period corresponding to the position of the target shift element in the current pulse period sequence to be shifted to the sequence head or the sequence tail of the current pulse period sequence to be shifted to obtain the corresponding target shift pulse period sequence.

In this embodiment, after the computer device 10 determines the current pulse period sequence to be shifted and the corresponding target shift element position corresponding to the current sequence element transposition iterative operation, the sequence element (pulse repetition period) corresponding to the target shift element position in the current pulse period sequence to be shifted is moved to the sequence head position of the current pulse period sequence to be shifted, and all pulse repetition periods originally located in front of the sequence element (pulse repetition period) corresponding to the target shift element position in the current pulse period sequence to be shifted are moved backward by one element position, so as to obtain an operation result (i.e., the target shift pulse period sequence) of the current sequence element transposition iterative operation; the computer device 10 may also move a sequence element (pulse repetition period) in the current pulse period sequence to be shifted, which corresponds to the target shift element position, to a sequence last bit of the current pulse period sequence to be shifted, and all pulse repetition periods in the current pulse period sequence to be shifted, which are originally located behind the sequence element (pulse repetition period) corresponding to the target shift element position, are moved forward by one element position, so as to obtain an operation result of the present sequence element transposition iteration operation (i.e., the target shift pulse period sequence).

And a substep S233, taking the obtained target shift pulse period sequence as a pulse period sequence to be shifted used in next sequence element transposition iteration operation.

The specific implementation of the sub-step S231 to the sub-step S233 is exemplified by the initial pulse period sequence being {3.2 μ S,3.4 μ S,3.6 μ S,3.8 μ S,4.0 μ S,4.2 μ S,4.4 μ S,4.6 μ S,4.8 μ S }, the updated element shift random number being 685900072, and the sequence length of the initial pulse period sequence being 9: for the 1 st sequence element transposition iterative operation, the current pulse period sequence to be shifted corresponding to the 1 st sequence element transposition iterative operation is the initial pulse period sequence {3.2 μ s,3.4 μ s,3.6 μ s,3.8 μ s,4.0 μ s,4.2 μ s,4.4 μ s,4.6 μ s,4.8 μ s }, the target shift element position corresponding to the 1 st sequence element transposition iterative operation is 2, if the sequence element transposition iterative operation is implemented by shifting the target sequence element backward, it is necessary to move "3.4 μ s" in the current pulse period sequence to be shifted to the last sequence position, and the target shift pulse period sequence obtained by the 1 st sequence element transposition iterative operation is {3.2 μ s,3.6 μ s,3.8 μ s,4.0 μ s,4.2 μ s,4.4 μ s,4.6 μ s,4.8 μ s, 3.4.0 μ s }, 4.2 μ s,4.4 μ s,4.6 μ s,4.8 μ s, 3.4.4 μ s }.4.4.4 μ s.

For the 2 nd sequence element transposition iterative operation, the current pulse period sequence to be shifted corresponding to the 2 nd sequence element transposition iterative operation is the target shift pulse period sequence {3.2 μ s,3.6 μ s,3.8 μ s,4.0 μ s,4.2 μ s,4.4 μ s,4.6 μ s,4.8 μ s,3.4 μ s } obtained by the 1 st sequence element transposition iterative operation, the target shift element position corresponding to the 2 nd sequence element transposition iterative operation is 4, if the sequence element transposition iterative operation is realized by shifting the target sequence element backward, it is necessary to move "4.0 μ s" in the current pulse period sequence to be shifted to the last sequence position, and the target shift pulse period sequence obtained by the 2 nd sequence element transposition iterative operation is {3.2 μ s,3.6 μ s,3.8 μ s,4.2 μ s,4.4 μ s,4.6 μ s,4.8 μ s,4.0 μ s }, 4.0 μ s.

Therefore, when the 9 th sequence element transposition iterative operation is executed, the final target shift pulse period sequence {3.4 μ s,4.0 μ s,3.6 μ s,4.8 μ s,4.6 μ s,4.2 μ s,4.4 μ s,3.2 μ s,3.8 μ s } is obtained, and at this time, the target pulse period sequence corresponding to the radar pulse signal transmission operation at this time is {3.4 μ s,4.0 μ s,3.6 μ s,4.8 μ s,4.6 μ s,4.2 μ s,4.4 μ s,3.2 μ s,3.8 μ s }.

Under the condition, by executing the substeps S231-233, relevant features of the radar identity can be effectively applied to the pulse repetition period distribution coding process before the radar pulse signal is transmitted, so that the finally obtained target pulse period sequence can effectively ensure that the corresponding radar pulse signal has strong signal identification in practical application.

Meanwhile, the method can execute the steps S210-S230, and apply the fixed and unique identification of the laser radar to the receiving and sending process of the radar pulse signal to code the periodic distribution condition of the pulse repetition period of the pulse signal in the time domain, so that the radar pulse signal generated correspondingly has strong signal identification, thereby effectively ensuring that the corresponding laser radar can have strong identification capability on the pulse signal, and improving the anti-interference capability of the pulse signal of the corresponding laser radar.

In the present application, in order to ensure that the computer device 10 can execute the above-mentioned radar pulse encoding method through the radar pulse encoding apparatus 100, the present application implements the aforementioned functions by dividing the radar pulse encoding apparatus 100 into functional blocks. The following describes specific components of the radar pulse encoding apparatus 100 provided in the present application.

Referring to fig. 6, fig. 6 is a schematic diagram illustrating a radar pulse encoding apparatus 100 according to an embodiment of the present disclosure. In the embodiment of the present application, the radar pulse encoding apparatus 100 may include an initial sequence obtaining module 110, a shifted random number updating module 120, and an element shifting iteration module 130.

An initial sequence obtaining module 110, configured to obtain an initial pulse period sequence of the target lidar, where the initial pulse period sequence is obtained by arranging a plurality of different pulse repetition periods in an ascending order.

And a shifting random number updating module 120, configured to update a random number of the current element shifting random number of the target lidar according to the radar identity of the target lidar, to obtain an updated element shifting random number.

And the element shifting iteration module 130 is configured to perform sequence element shifting iteration processing on the initial pulse period sequence, where the iteration times of the sequence element shifting iteration processing are consistent with the sequence length, according to the sequence length of the initial pulse period sequence and the updated element shifting random number, so as to obtain a target pulse period sequence used when the target laser radar currently transmits a pulse signal.

Optionally, referring to fig. 7, fig. 7 is a schematic diagram illustrating the shifted random number updating module 120 in fig. 6. In the embodiment of the present application, the shifted random number updating module 120 may include a binary mixing sub-module 121, a binary shifting sub-module 122, and a binary converting sub-module 123.

And the binary mixing submodule 121 is configured to perform binary data mixing processing on the radar identity and the current element shift random number to obtain target binary data.

The binary shift sub-module 122 is configured to shift the current element of the target binary data by a random number of bits to obtain the desired binary data.

The binary conversion sub-module 123 is configured to perform decimal conversion processing on the expected binary data obtained by shifting, so as to obtain an updated element shifting random number.

Optionally, referring to fig. 8, fig. 8 is a schematic diagram illustrating the components of the element shifting iteration module 130 in fig. 6. In the embodiment of the present application, the element shifting iteration module 130 may include a shift position determination sub-module 131, a sequence element moving sub-module 132, and an iteration sequence determination sub-module 133.

And the shift position determining submodule 131 is configured to calculate, for each sequence element transposition iteration operation, a target shift element position of the current pulse period sequence to be shifted according to the execution order of the sequence element transposition iteration operation, the sequence length, and the updated element shift random number, where the current pulse period sequence to be shifted, which executes the first sequence element transposition iteration operation, is an initial pulse period sequence.

The sequence element shifting sub-module 132 is configured to shift a pulse repetition period corresponding to a target shift element position in the current pulse period sequence to be shifted to a sequence first bit or a sequence last bit of the current pulse period sequence to be shifted, so as to obtain a corresponding target shift pulse period sequence.

The iterative sequence confirmation submodule 133 is configured to use the obtained target shift pulse periodic sequence as a pulse periodic sequence to be shifted for next sequence element transposition iterative operation.

The radar pulse encoding device 100 according to the embodiment of the present application has the same basic principle and the same technical effects as those of the radar pulse encoding method described above. For a brief description, where not mentioned in this embodiment section, reference may be made to the above description of the radar pulse encoding method.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part. The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a readable storage medium. Based on such understanding, the technical solutions of the present application or portions thereof that contribute to the prior art may be embodied in the form of a software product, which is stored in a readable storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In summary, in the radar pulse encoding method and apparatus, the computer device, and the readable storage medium provided in the embodiments of the present application, an initial pulse period sequence of a target laser radar obtained by arranging a plurality of different pulse repetition periods in an ascending order is obtained, a random number of a current element shift random number of the target laser radar is updated according to a radar identity of the target laser radar, and then a sequence element shift iterative process is performed on the initial pulse period sequence, where an iteration number of times is consistent with a sequence length of the initial pulse period sequence, according to the updated element shift random number and the sequence length of the initial pulse period sequence, so as to obtain a target pulse period sequence used when the target laser radar currently transmits a pulse signal, thereby effectively applying a fixed and unique identity of the radar itself to a radar pulse signal transceiving process, so that a corresponding radar pulse signal has strong signal identifiability, so as to effectively improve an identification ability of the laser radar to the pulse signal itself and an anti-interference ability of the pulse signal.

The above description is only for various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of radar pulse encoding, the method comprising:

acquiring an initial pulse period sequence of a target laser radar, wherein the initial pulse period sequence is obtained by arranging a plurality of different pulse repetition periods in an ascending order;

2. The method according to claim 1, wherein the step of updating the random number of the current element shift of the target lidar according to the radar identity of the target lidar to obtain an updated random number of the element shift comprises:

circularly moving the current element to shift a plurality of random digits for the target binary data to obtain expected binary data;

3. The method according to claim 2, wherein the step of performing binary data mixing processing on the radar identity and the current element shift random number to obtain target binary data comprises:

calculating a target binary fixed digit with specific bit weight characteristics aiming at the binary data to be processed according to the actual binary digit of the radar identity;

4. The method according to claim 3, wherein the step of calculating a target binary fixed bit number of specific bit weight characteristics for the binary data to be processed from the actual binary bit number of the radar identity comprises:

5. The method according to claim 3, wherein the step of performing data extraction processing on the binary data to be processed according to the target binary fixed number to obtain target binary data satisfying the target binary fixed number comprises:

6. The method according to claim 1, wherein the step of performing, according to the sequence length of the initial pulse period sequence and the updated element shift random number, a sequence element shift iteration process in which the number of iterations of the initial pulse period sequence is consistent with the sequence length comprises:

7. The method according to claim 6, wherein the step of calculating the position of the target shift element of the current pulse period sequence to be shifted according to the execution order of the sequence element transposition iterative operations, the sequence length, and the updated element shift random number for each sequence element transposition iterative operation comprises:

calculating a difference between the sequence length and an execution order of the transposition iterative operation of the sequence elements to obtain a first difference to be processed;

and calculating a target quotient between the to-be-processed numerical value plus 1 and the second-order multiplier value, and performing rounding-up operation on the target quotient to obtain a corresponding target shift element position of the sequence element transposition iterative operation in the current to-be-shifted pulse period sequence.

8. The method of any one of claims 1-7, wherein the step of obtaining an initial sequence of pulse periods for the target lidar comprises:

9. A radar pulse encoding apparatus, the apparatus comprising:

10. The apparatus of claim 9, wherein the shifted random number updating module comprises:

the binary system mixing submodule is used for carrying out binary system data mixing processing on the radar identity and the current element displacement random number to obtain target binary system data;

11. The apparatus of claim 9 or 10, wherein the element shifting iteration module comprises:

12. A computer device comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor being configured to execute the computer program to implement the radar pulse encoding method of any one of claims 1 to 8.

13. A readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the radar pulse encoding method of any one of claims 1 to 8.