CN116643280A - Radar control device and radar control method - Google Patents
Radar control device and radar control method Download PDFInfo
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- CN116643280A CN116643280A CN202310927519.3A CN202310927519A CN116643280A CN 116643280 A CN116643280 A CN 116643280A CN 202310927519 A CN202310927519 A CN 202310927519A CN 116643280 A CN116643280 A CN 116643280A
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- 238000004891 communication Methods 0.000 claims abstract description 47
- 238000012795 verification Methods 0.000 claims description 78
- 230000005540 biological transmission Effects 0.000 claims description 48
- 238000012545 processing Methods 0.000 claims description 36
- 230000005856 abnormality Effects 0.000 claims description 25
- 238000012790 confirmation Methods 0.000 claims description 24
- 230000004044 response Effects 0.000 claims description 24
- 230000002093 peripheral effect Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 10
- 238000013524 data verification Methods 0.000 claims description 9
- 230000000737 periodic effect Effects 0.000 claims description 8
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- 238000000429 assembly Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
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Classifications
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
Abstract
Embodiments of the present disclosure disclose a radar control apparatus and a radar control method. One embodiment of the radar control device includes: main control chip, radar control chip subassembly and radar sensor subassembly, wherein: each radar control chip in the radar control chip assembly is provided with a control channel assembly; each radar control chip in the radar control chip assembly is in communication connection with each radar sensor in the first preset number in the radar sensor assembly through each control channel in the control channel assembly; a control interface is arranged on the main control chip; the main control chip is in communication connection with each radar control chip in the radar control chip assembly through a control interface. This embodiment improves the degree of applicability and flexibility of the radar control device.
Description
Technical Field
Embodiments of the present disclosure relate to the field of radars, and in particular, to a radar control apparatus and a radar control method.
Background
When the target vehicle performs parking and running functions, the radar can be controlled to assist. Currently, in radar control, the following methods are generally adopted: a path of push-pull circuit is used for connecting with one radar sensor, and the main control chip respectively controls the operation of the radar sensor and acquires obstacle information by respectively controlling each push-pull circuit.
However, the inventors found that when radar control is performed in the above manner, there are often the following technical problems:
firstly, a push-pull circuit only controls one radar sensor, a plurality of radar sensors need a plurality of push-pull circuits, the circuit design is complex, the space of an integrated circuit is occupied, the control difficulty of a main control chip is high, and the applicability and the flexibility of a radar control device are reduced;
secondly, nonlinear distortion is easy to occur in the push-pull circuit, so that loss of acquired signals is caused, and the definition and accuracy of the acquired radar signals are reduced;
thirdly, the main control chip can only simply control the push-pull circuit of each path to collect radar signals from the radar sensors, and the radar sensors are difficult to uniformly control, so that the accuracy of the collected radar data is reduced, and the accuracy of parking control is reduced.
The above information disclosed in this background section is only for enhancement of understanding of the background of the inventive concept and, therefore, may contain information that does not form the prior art that is already known to those of ordinary skill in the art in this country.
Disclosure of Invention
The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose a radar control device and a radar control method to solve one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a radar control device including: main control chip, radar control chip subassembly and radar sensor subassembly, wherein: each radar control chip in the radar control chip assemblies is provided with a control channel assembly; each radar control chip in the radar control chip assembly is in communication connection with a first preset number of each radar sensor in the radar sensor assembly through each control channel in the control channel assembly, wherein the radar control chip is used for controlling each radar sensor in the radar sensor assembly to acquire radar data through the control channel assembly, the radar sensors are used for acquiring radar data, and the control channels are used for transmitting the radar data; a control interface is arranged on the main control chip; and the main control chip is in communication connection with each radar control chip in the radar control chip assembly through the control interface, wherein the main control chip is used for generating control signals, and the control interface is used for transmitting the control signals.
Optionally, the control interface includes: reset interface and clock interface, wherein: each radar control chip in the radar control chip assembly is provided with a radar reset interface and a radar clock interface; the reset interface included in the main control chip is in communication connection with the radar reset interface included in each radar control chip in the radar control chip assembly, wherein the main control chip is used for generating a reset signal, and the reset interface included in each radar control chip in the radar control chip assembly and the radar reset interface are used for transmitting the reset signal; the clock interface included in the main control chip is in communication connection with the radar clock interface included in each radar control chip in the radar control chip assembly, wherein the main control chip is used for generating clock signals, and the clock interface included in each radar control chip in the radar control chip assembly and the radar clock interface are used for transmitting the clock signals.
Optionally, a transmission confirmation interface is further arranged on the main control chip; and the main control chip is in communication connection with each radar control chip in the radar control chip assembly through the transmission confirmation interface, wherein each radar control chip in the radar control chip assembly is used for generating a transmission confirmation signal, and the transmission confirmation interface is used for transmitting the transmission confirmation signal.
Optionally, the radar control device further includes: the first power control chip and the second power control chip, wherein: a first power control channel component is arranged on the first power control chip; the first power control chip is in power supply connection with a second preset number of the radar sensors in the radar sensor assembly through each first power control channel in the first power control channel assembly, wherein each first power control channel in the first power control channel assembly is used for supplying power to the second preset number of the radar sensors and collecting voltage signals from the radar sensors; a second power control channel is arranged on the second power control chip; the second power control chip is in power supply connection with each radar sensor of a second preset number in the radar sensor assembly through the second power control channel, wherein the second power control channel is used for supplying power to each radar sensor of the second preset number and collecting voltage signals from each radar sensor.
Optionally, the radar control device further includes: a first enabling circuit, a second enabling circuit, a first analog-to-digital converter and a second analog-to-digital converter, wherein: the main control chip is in communication connection with the first power supply control chip through the first enabling circuit, wherein the main control chip is used for generating a modulus enabling signal and a power supply enabling signal, and the first enabling circuit is used for transmitting the modulus enabling signal and the power supply enabling signal to the first power supply control chip; the main control chip is in communication connection with the second power supply control chip through the second enabling circuit, wherein the second enabling circuit is used for transmitting the modulus enabling signal and the power supply enabling signal to the second power supply control chip; the main control chip is in communication connection with the first power supply control chip through the first analog-to-digital converter, wherein the first analog-to-digital converter is used for acquiring a voltage signal from the first power supply control chip and converting the voltage signal into voltage information according to the analog-to-digital enabling signal; the main control chip is in communication connection with the second power supply control chip through the second analog-to-digital converter, wherein the second analog-to-digital converter is used for acquiring a voltage signal from the second power supply control chip and converting the voltage signal into voltage information according to the analog-to-digital enabling signal.
In a second aspect, some embodiments of the present disclosure provide a radar control method including: each radar control chip in the radar control chip assembly is configured to generate a configured radar control chip, and the configured radar control chip assembly is obtained; controlling each configured radar control chip in the configured radar control chip assembly to perform data acquisition processing to generate radar data, so as to obtain a radar data set; performing data verification processing on each radar data in the radar data set to generate a verification result, and obtaining a verification result set; generating a parking space verification identifier based on the radar data set in response to determining that each of the verification results in the verification result set meets a preset verification condition; and sending the parking space verification identification to a parking control terminal for controlling the target vehicle to park.
The above embodiments of the present disclosure have the following advantageous effects: the radar control device according to some embodiments of the present disclosure includes: main control chip, radar control chip subassembly and radar sensor subassembly, wherein: each radar control chip in the radar control chip assemblies is provided with a control channel assembly; each radar control chip in the radar control chip assembly is in communication connection with a first preset number of each radar sensor in the radar sensor assembly through each control channel in the control channel assembly, wherein the radar control chip is used for controlling each radar sensor in the radar sensor assembly, which is in communication connection with the control channel assembly, to acquire radar data through the control channel assembly, the radar sensor is used for acquiring radar data, and the control channel is used for transmitting the radar data; a control interface is arranged on the main control chip; and the main control chip is in communication connection with each radar control chip in the radar control chip assembly through the control interface, wherein the main control chip is used for generating control signals, and the control interface is used for transmitting the control signals. Therefore, the radar control chip included in the radar control device can be connected with each radar sensor through the control channel to control each radar sensor, and the main control chip can be connected with each radar control chip through the control circuit to control the radar control chip, so that the main control chip can control each radar sensor through the radar control chip, the circuit design is simplified, the control difficulty of the main control chip is reduced, and the application degree and flexibility of the radar control device can be improved.
Drawings
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
Fig. 1 is a schematic structural view of some embodiments of a radar control device according to the present disclosure;
fig. 2 is a schematic structural view of a main control chip of a radar control device according to the present disclosure;
FIG. 3 is a schematic diagram of the configuration of a first power control chip and a second power control chip of the radar control device according to the present disclosure;
fig. 4 is a flow chart of some embodiments of a radar control method according to the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
First, referring to fig. 1, fig. 1 shows a schematic structural diagram of some embodiments of a radar control device according to the present disclosure. As shown in fig. 1, the radar control device includes: a remote monitoring device 1 and a carrier assembly 2, said remote monitoring device 1 comprising: a main control chip 1, a radar control chip assembly 2 and a radar sensor assembly 3, wherein: each of the radar control chip assemblies 2 described above is provided with a control channel assembly thereon. Wherein the radar control chip assembly 2 may include, but is not limited to, at least one of: a radar control chip 21 (e.g., E521.42) and a radar control chip 22 (e.g., E521.42). The control channel assembly provided on the radar control chip 21 may include, but is not limited to, at least one of the following: control channel 211 and control channel 212. The control channel components provided on the radar control chip 22 may include, but are not limited to, at least one of the following: control channel 221 and control channel 222. The main control chip 1 (for example, STM 32) may be an MCU (Micro controller Unit, micro control unit). The radar sensor in the radar sensor assembly 3 described above may be an ultrasonic radar. Each of the control channels in the control channel assembly described above may be a DSI3 (Display Serial Interface display serial interface) channel.
In some embodiments, each radar control chip in the radar control chip assembly 2 is communicatively coupled to a first predetermined number of individual radar sensors in the radar sensor assembly 3 via each control channel in the control channel assembly. The radar control chip is used for controlling each radar sensor in the radar sensor assembly 3, which is in communication connection with the control channel assembly, to collect radar data through the control channel assembly, the radar sensor is used for collecting radar data, and the control channel is used for transmitting the radar data. The radar data may characterize characteristic information of the obstacle points detected by the respective radar sensors. Here, the characteristic information of the above-mentioned obstacle point may be, but is not limited to, at least one of: the shape of the obstacle point, the coordinates of the obstacle point, or the distance of the obstacle point.
As an example, the first preset number may be 3.
The main control chip 1 is provided with a control interface 11.
The main control chip 1 is in communication connection with each radar control chip in the radar control chip assembly 2 through the control interface 11. The main control chip 1 is configured to generate a control signal, and the control interface 11 is configured to transmit the control signal.
Next, the main control chip 1 will be described with reference to fig. 2 and 1. Fig. 2 is a schematic structural diagram of a main control chip 1 of the radar control device according to the present disclosure. As shown in fig. 2, the main control chip 1 is further provided with a serial peripheral interface 12. The main control chip 1 is in communication connection with each radar control chip in the radar control chip assembly 2 through the serial peripheral interface 12. Wherein, the main control chip 1 is used for generating configuration information, each radar control chip in the radar control chip assembly 2 is used for transmitting the radar data according to the configuration information and a preset transmission protocol, and the serial peripheral interface 12 is used for transmitting the configuration information and the radar data. The serial peripheral interface 12 may be an SPI (Serial Peripheral interface ) interface. The configuration information may be used to configure each radar control chip in the radar control chip assembly 2.
As an example, the above-mentioned preset transmission protocol may be DSI (Display Serial Interface display serial interface) 3 protocol.
The related design of the main control chip is taken as an invention point of the embodiment of the disclosure, and solves the second technical problem of 'the definition and the accuracy reduction of the acquired radar signal' of the technical problem of the background technology. Factors that lead to reduced sharpness and accuracy of the acquired radar signals tend to be as follows: the push-pull circuit is easy to generate nonlinear distortion, and the acquired signal is lost. If the above factors are solved, the sharpness and accuracy of the acquired radar signals can be improved. In order to achieve the effect, the radar control chip can control each radar sensor to acquire data, then, the serial peripheral interface arranged on the main control chip is used for carrying out data communication with the radar control chip, and the data acquired by the radar sensors are acquired from the radar control chip, so that the definition and accuracy of radar signals can be improved.
Optionally, the control interface 11 includes: a reset interface 111 and a clock interface 112, wherein: each of the radar control chips (e.g., radar control chip 21) in the above-described radar control chip assembly 2 is provided with a radar reset interface (e.g., radar reset interface 213) and a radar clock interface (e.g., radar clock interface 214). The reset interface 111 included in the main control chip 1 is in communication connection with the radar reset interface (213) included in each radar control chip (21) in the radar control chip assembly 2. Wherein, the main control chip 1 is used for generating a reset signal, and the reset interface 111 included in the main control chip 1 and the radar reset interface (213) included in each radar control chip (21) in the radar control chip assembly 2 are used for transmitting the reset signal. The clock interface 112 included in the main control chip 1 is communicatively connected to the radar clock interface (214) included in each radar control chip (21) in the radar control chip assembly 2. Wherein, the master control chip 1 is used for generating clock signals, and the clock interface 112 included in the master control chip 1 and the radar clock interface (214) included in each radar control chip (21) in the radar control chip assembly 2 are used for transmitting the clock signals. Here, the reset signal may be used to control the reset of each radar control chip in the radar control chip assembly 2. The clock signal may be used to control the radar control chip assembly 2 to periodically collect and transmit radar data. The master control chip 1 may generate the clock signal at a predetermined frequency.
As an example, the above-mentioned preset frequency may be 500kHz (kHertz, kilohertz).
Optionally, the main control chip 1 is further provided with a transmission confirmation interface 13. The main control chip 1 is communicatively connected to each radar control chip (for example, radar control chip 21) in the radar control chip assembly 2 through the transmission confirmation interface 13. Wherein each radar control chip (21) in the radar control chip assembly 2 is configured to generate a transmission acknowledgement signal, and the transmission acknowledgement interface 13 is configured to transmit the transmission acknowledgement signal. The transmission acknowledgement signal may be used to characterize the transmission state of the radar data. The above-mentioned transmission confirmation signal may be a signal indicating that "radar data transmission is completed" or a signal indicating that "radar data transmission is not completed".
The radar control device described above will be further described with reference to fig. 3 and 1. Fig. 3 is a schematic structural view of a first power control chip and a second power control chip of the radar control device according to the present disclosure. As shown in fig. 3, the radar control device further includes: a first power control chip 4 and a second power control chip 5, wherein: the first power control chip 4 is provided with a first power control channel component. The first power control chip 4 is electrically connected to a second predetermined number of individual radar sensors in the radar sensor assembly 3 through each of the first power control channels in the first power control channel assembly. Wherein each of the first power control channels is configured to supply power to a second predetermined number of the radar sensors and to collect voltage signals from the radar sensors. The second power control chip 5 is provided with a second power control channel 51. The second power control chip 5 is electrically connected to a second preset number of individual radar sensors in the radar sensor assembly 3 through the second power control channel 51. The second power control channel is used for supplying power to each radar sensor in a second preset number and collecting voltage signals from each radar sensor.
Here, the first power control channel assembly may include, but is not limited to, at least one of: a first power control channel 41 and a first power control channel 42. The voltage signal may be characteristic of the voltage of each radar sensor in the radar sensor assembly 3.
As an example, the second preset number may be 4.
Optionally, the radar control device further includes: a first enabling circuit 6, a second enabling circuit 7, a first analog-to-digital converter 8 and a second analog-to-digital converter 9. Wherein: the main control chip 1 is in communication connection with the first power control chip 4 through the first enabling circuit 6. The main control chip 1 is configured to generate a module enable signal and a power enable signal, and the first enable circuit 6 is configured to transmit the module enable signal and the power enable signal to the first power control chip 4. The main control chip 1 is in communication connection with the second power control chip 5 through the second enabling circuit 7. Wherein the second enabling circuit 7 is configured to transmit the analog-to-digital enabling signal and the power enabling signal to the second power control chip 5. The main control chip 1 is in communication connection with the first power supply control chip 4 through the first analog-to-digital converter 8. The first analog-to-digital converter 8 is configured to obtain a voltage signal from the first power control chip 4, and convert the voltage signal into voltage information according to the analog-to-digital enable signal. The main control chip 1 is in communication connection with the second power supply control chip 5 through the second analog-to-digital converter 9. The second analog-to-digital converter 9 is configured to obtain a voltage signal from the second power control chip 5, and convert the voltage signal into voltage information according to the analog-to-digital enable signal.
Specifically, the power enable signal may be used to control the first power control chip 4 and the second power control chip 5 to supply power to the radar sensor assembly 3. The analog-to-digital enable signal may be used to control the first and second analog-to-digital converters 8, 9 to convert the voltage signal into voltage information. The first analog-to-digital converter 8 may be an ADC (Analog to Digital Converter, analog-to-digital converter). The second analog-to-digital converter 9 may be an ADC.
Therefore, the main control chip can control the first power supply control chip and the second power supply control chip to supply power to each radar sensor in real time through the first enabling circuit and the second enabling circuit, and monitor the power supply circuit in real time, so that the power supply control of each radar sensor can be improved, and the circuit abnormality can be found in time so as to give an alarm for the circuit abnormality in time.
In practice, the main control chip 1 of the above radar control device may be configured to perform the steps of:
and the first step, carrying out configuration processing on each radar control chip in the radar control chip assembly to generate a configured radar control chip, and obtaining the configured radar control chip assembly.
And secondly, controlling each configured radar control chip in the configured radar control chip assembly to perform data acquisition processing to generate radar data, and obtaining a radar data set.
And thirdly, performing data verification processing on each radar data in the radar data set to generate a verification result, and obtaining a verification result set. The main control chip performs data verification processing on each radar data in the radar data set to generate a verification result, which may be: when the last data of the radar data is data representing "data transmission is finished", information representing "check success" may be determined as the check result, and when the last data of the radar data is data representing "data transmission is not finished", information representing "check failure" may be determined as the check result.
And step four, generating a parking space verification mark based on the radar data set in response to determining that each verification result in the verification result set meets a preset verification condition. The preset verification condition may be that the verification result is information indicating "verification success".
And fifthly, sending the parking space verification identification to a parking control terminal for controlling the target vehicle to park. The parking control terminal can control the target vehicle to park according to the radar data set and the parking space verification mark.
The radar control method is used as an invention point of the embodiment of the disclosure, and solves the technical problem three of 'the accuracy reduction of parking control' in the background art. Factors that cause a decrease in the accuracy of controlling parking tend to be as follows: the main control chip can only simply control the push-pull circuit of each path to collect radar signals from radar sensors, and the radar sensors are difficult to uniformly control, so that the accuracy of the collected radar data is reduced. If the above factors are solved, the accuracy of controlling parking can be improved. To achieve this effect, the present disclosure includes a radar control device that first performs configuration processing on each radar control chip in a radar control chip assembly to generate a configured radar control chip, resulting in a configured radar control chip assembly. Thus, each configured radar control chip can be obtained so as to acquire radar data later. And secondly, controlling each configured radar control chip in the configured radar control chip assembly to perform data acquisition processing to generate radar data, and obtaining a radar data set. Therefore, the collected radar data can be obtained by controlling each radar control chip so as to carry out parking space recognition subsequently. And then, carrying out data verification processing on each radar data in the radar data set to generate a verification result, and obtaining a verification result set. Therefore, the main control chip can determine whether one data acquisition is completed or not. And then, generating a parking space verification mark based on the radar data set in response to determining that each verification result in the verification result set meets a preset verification condition. Therefore, the main control chip can identify the parking space information in the data acquired by the radar. And finally, the radar data set and the parking space verification identification are sent to a parking control terminal for controlling the target vehicle to park. Thus, the parking control terminal can control the target vehicle to park. Therefore, the main control chip can control various functions of each radar control chip by configuring each radar control chip, so that each radar sensor connected with each radar control chip can be uniformly controlled, and thus collected radar data can be uniformly processed and identified, the accuracy of the collected radar data is further improved, and the accuracy of parking control is further improved.
The above embodiments of the present disclosure have the following advantageous effects: the radar control device according to some embodiments of the present disclosure includes: main control chip, radar control chip subassembly and radar sensor subassembly, wherein: each radar control chip in the radar control chip assemblies is provided with a control channel assembly; each radar control chip in the radar control chip assembly is in communication connection with a first preset number of each radar sensor in the radar sensor assembly through each control channel in the control channel assembly, wherein the radar control chip is used for controlling each radar sensor in the radar sensor assembly, which is in communication connection with the control channel assembly, to acquire radar data through the control channel assembly, the radar sensor is used for acquiring radar data, and the control channel is used for transmitting the radar data; a control interface is arranged on the main control chip; and the main control chip is in communication connection with each radar control chip in the radar control chip assembly through the control interface, wherein the main control chip is used for generating control signals, and the control interface is used for transmitting the control signals. Therefore, the radar control chip included in the radar control device can be connected with each radar sensor through the control channel to control each radar sensor, and the main control chip can be connected with each radar control chip through the control circuit to control the radar control chip, so that the main control chip can control each radar sensor through the radar control chip, the circuit design is simplified, the control difficulty of the main control chip is reduced, and the application degree and flexibility of the radar control device can be improved.
Referring next to fig. 4, the present disclosure also provides a radar control method for the radar control apparatus of the above embodiments, as shown in fig. 3, which shows a flowchart 400 of some embodiments of the radar control method of the present disclosure. The radar control method may include the steps of:
and step 401, performing configuration processing on each radar control chip in the radar control chip assembly to generate a configured radar control chip, thereby obtaining a configured radar control chip assembly.
In some embodiments, the main control chip of the radar control device may perform configuration processing on each radar control chip in the radar control chip assembly to generate a configured radar control chip, so as to obtain a configured radar control chip assembly.
Optionally, before the configuring processing is performed on each radar control chip in the radar control chip assembly to generate a configured radar control chip, and before the configured radar control chip assembly is obtained, the main control chip may further perform initialization processing on a serial peripheral interface, a transmission confirmation interface, a reset interface, and a clock interface included in the main control chip.
In some optional implementations of some embodiments, the configuring, by the master control chip, each radar control chip in the radar control chip assembly to generate a configured radar control chip, to obtain a configured radar control chip assembly may include the following steps:
First, a clock signal is generated and transmitted to the radar control chip. The clock signal may be generated at a preset frequency, and then transmitted to the radar control chip through a clock interface included in the main control chip.
As an example, the above-mentioned preset frequency may be 500kHz (kHertz, kilohertz).
And a second step of generating a reset signal and transmitting the reset signal to the radar control chip. The reset signal can be generated and then sent to the radar control chip through a reset interface included in the main control chip. The radar control chip resets a circuit inside the radar control chip in response to receiving the reset signal.
And thirdly, transmitting preset radar configuration information to the radar control chip to configure the radar control chip in response to receiving a reset completion signal transmitted by the radar control chip, so as to obtain the configured radar control chip. The preset radar configuration information can be sent to the radar control chip through a serial peripheral interface included in the main control chip so as to configure the radar control chip. The preset radar configuration information may represent parameter information for controlling the operation of the radar control chip.
Step 402, controlling each configured radar control chip in the configured radar control chip assembly to perform data acquisition processing to generate radar data, so as to obtain a radar data set.
In some embodiments, the main control chip may control each configured radar control chip in the configured radar control chip assembly to perform data acquisition processing to generate radar data, so as to obtain a radar data set.
In some optional implementations of some embodiments, the main control chip controls each configured radar control chip in the configured radar control chip assembly to perform data acquisition processing to generate radar data, and may include the following steps:
and the first step, acquiring radar state information from the configured radar control chip. The radar state information can be obtained from the configured radar control chip through a serial peripheral interface included in the main control chip. The radar status information may characterize a communication status of the radar control chip. The radar status information may be information indicating "normal communication possible" or information indicating "normal communication impossible".
And a second step of generating communication scheme information in response to determining that the radar status information satisfies a preset communication condition, and transmitting the communication scheme information to the configured radar control chip. Wherein, can produce the communication scheme information, then send the above-mentioned communication scheme information to the radar control chip after the above-mentioned configuration through the serial peripheral interface that the above-mentioned main control chip includes. The preset communication condition may be that the radar status chip is information characterizing "normal communication possible". The communication Scheme information may be information characterizing "TDMA Scheme (time division multiple access Scheme )".
And thirdly, sending a preset acquisition start command to the configured radar control chip to control the radar sensor to start acquiring radar data, and switching a control operation mode of the radar control chip to a periodic data acquisition mode. Wherein, a preset acquisition start (CRM) command may be sent to the configured radar control chip through a serial peripheral interface included in the main control chip to control the radar sensor to start acquiring radar data, and then the control operation mode may be switched to a periodic data acquisition mode (PDCM). The preset acquisition start command may indicate that the main control chip wants to start acquiring radar data. The radar data may include, but is not limited to, at least one of: a radar identification set and a radar information set. Each radar signature in the set of radar signatures may characterize one radar sensor in the radar sensor assembly. The radar identifications in the radar identification set are in one-to-one correspondence with the radar information in the radar information set. The control operation mode may be a current operation mode of the radar control chip.
As an example, the control operation mode may be a PWM (Pulse Width Modulation ) mode.
And step four, based on the periodic data acquisition mode, sending a preset periodic acquisition command to the configured radar control chip to control the radar sensor to acquire radar data. Wherein, a preset periodic acquisition (BRC) command can be sent to the configured radar control chip to control the radar sensor to acquire radar data.
And fifthly, acquiring a transmission confirmation signal from the radar control chip. The transmission confirmation signal can be obtained from the radar control chip through a transmission confirmation interface included in the main control chip. The transmission confirmation signal may represent a data transmission state of the radar control chip. The transmission confirmation signal may be a signal indicating "data transmission complete" or a signal indicating "data transmission incomplete".
And sixthly, acquiring the radar data from the radar control chip in response to determining that the transmission confirmation signal meets a preset transmission condition. And in response to determining that the transmission confirmation signal meets a preset transmission condition, acquiring the radar data from the radar control chip through a serial peripheral interface included in the main control chip. The predetermined transmission condition may be that the transmission confirmation signal is a signal indicating "data transmission is completed".
Optionally, in response to determining that the transmission acknowledgement signal does not meet the preset transmission condition, the main control chip may further perform the step of acquiring the transmission acknowledgement signal again.
And step 403, performing data verification processing on each radar data in the radar data set to generate a verification result, thereby obtaining a verification result set.
In some embodiments, the master control chip may perform data verification processing on each radar data in the radar data set to generate a verification result, so as to obtain a verification result set. The main control chip performs data verification processing on each radar data in the radar data set to generate a verification result, which may be: when the last data of the radar data is data representing "data transmission is finished", information representing "check success" may be determined as the check result, and when the last data of the radar data is data representing "data transmission is not finished", information representing "check failure" may be determined as the check result.
And step 404, generating a parking space verification identifier based on the radar data set in response to determining that each verification result in the verification result set meets a preset verification condition.
In some embodiments, the master control chip may generate the parking space verification identifier based on the radar data set in response to determining that each of the verification results in the verification result set satisfies a preset verification condition. The preset verification condition may be that the verification result is information indicating "verification success".
Optionally, in response to determining that the verification result set includes a verification result that does not satisfy the preset verification condition, the main control chip may further execute the data acquisition processing step again.
In some optional implementations of some embodiments, the generating, by the main control chip, a parking space verification identifier based on the radar data set may include the following steps:
first, a historical radar data sequence set is acquired. The master control chip can acquire the historical radar data sequence set from the storage terminal in a wired or wireless connection mode. The storage terminal may be a terminal for storing the historical radar data sequence set. Each of the historical radar data sequences in the set of historical radar data sequences may be a respective radar data acquired within a predetermined period of time prior to the current time. The historical radar data sequences in the historical radar data sequence set are in one-to-one correspondence with the radar sensors in the radar sensor assembly.
As an example, the predetermined period of time may be, but is not limited to, at least one of: 3 minutes, 5 minutes or 10 minutes.
And secondly, splitting the radar data set to obtain a target radar data set. The main control chip can split the radar information set included in the radar data according to the radar identification set included in each radar data set to obtain the target radar data set. The target radar data in the target radar data set corresponds to the radar sensors in the radar sensor assembly one-to-one.
And thirdly, adding each target radar data in the target radar data set to a historical radar data sequence corresponding to the target radar data in the historical radar data sequence set to obtain a barrier point data sequence set. Wherein, for each target radar data in the target radar data set, the target radar data may be added to the end of a history radar data sequence corresponding to the target radar data in the history radar data sequence set to obtain a barrier point data sequence, and then each barrier point data sequence determined is determined as the barrier point data sequence set. Each obstacle point data in the obstacle point data sequence set may include, but is not limited to, at least one of: obstacle point distance values and obstacle point coordinates. The obstacle point distance value may be a distance value of the obstacle point from the target vehicle. The target vehicle may be a vehicle that is executing the radar control method described above. The above-mentioned obstacle point coordinates may be coordinates of the obstacle point in a radar coordinate system.
And step four, in response to determining that the number of the obstacle point data which meet the preset data condition in the obstacle point data sequence set is larger than the preset number, performing mutation detection processing on each obstacle point data sequence in the obstacle point data sequence set to generate mutation information, and obtaining a mutation information set. The preset data condition may be that the obstacle point data is not null. The mutation information may include, but is not limited to, at least one of the following: first mutation obstacle point data and second mutation obstacle point data. The first mutation obstacle point data and the second mutation obstacle point data may be obstacle point data in the obstacle point data sequence.
As an example, the preset number may be 3.
And fifthly, determining the mutation information which meets the preset mutation conditions in the mutation information set as initial parking space information, and obtaining an initial parking space information set. The predetermined mutation condition may be that the mutation information includes information indicating "mutation occurrence".
And sixthly, carrying out fusion processing on each piece of initial parking space information in the initial parking space information set to obtain target parking space information. For each initial parking space information in the initial parking space information set, a distance value between an obstacle point coordinate included in the first abrupt obstacle point data and an obstacle point coordinate included in the second abrupt obstacle point data may be determined as an initial parking space width value, then, an average value of the determined initial parking space width values may be determined as a target parking space width value, and then, the target parking space width value and the initial parking space information in the initial parking space information set may be determined as target parking space width values and initial parking space information included in the target parking space information.
And seventhly, verifying the target parking space information to obtain a verification result. When the target parking space width value included in the target parking space information is greater than or equal to the target threshold value, the information representing that verification is successful can be determined as a verification result. When the target parking space width value included in the target parking space information is smaller than the target threshold value, information representing "verification failure" can be determined as a verification result.
As an example, the target threshold may be, but is not limited to, at least one of: 2.5, 3 or 6.
And eighth, determining the preset parking space identification as a parking space verification identification in response to determining that the verification result meets the preset verification condition. The preset verification condition may be that the verification result is information indicating "verification success". The preset parking space identifier may be an identifier indicating "parking can be performed".
In some optional implementations of some embodiments, the main control chip performs mutation detection processing on each obstacle point data sequence in the obstacle point data sequence set to generate mutation information, and may include the following steps:
first, for each obstacle point data in the obstacle point data sequence, determining an absolute value of a difference between an obstacle point distance value included in the obstacle point data and an obstacle point distance value included in the obstacle point data immediately preceding the obstacle point data as an obstacle point distance difference.
And a second step of determining the determined distance difference value of each obstacle point as an obstacle point distance difference value sequence.
Third, in response to determining that the obstacle point distance difference value in the obstacle point distance difference value sequence is greater than a preset difference value, executing the following generation substep:
and a first sub-step of determining the first preset mutation generation information as mutation generation information. The first preset mutation generation information may be information indicating "mutation occurrence".
As an example, the preset difference may be, but is not limited to, at least one of: 2.5, 3 or 6.
And a second sub-step of determining the first obstacle point distance difference value larger than the preset difference value and corresponding obstacle point data in the obstacle point data sequence and the obstacle point distance difference value sequence as first mutation obstacle point data.
And a third sub-step of determining the corresponding obstacle point data as second abrupt change obstacle point data, wherein the second obstacle point distance difference value is larger than the preset difference value in the obstacle point distance difference value sequence in the obstacle point data sequence.
And step four, carrying out fusion processing on the mutation generation information, the first mutation obstacle point data and the second mutation obstacle point data to obtain mutation information. Wherein the mutation generation information, the first mutation obstacle point data, and the second mutation obstacle point data may be determined as mutation generation information, first mutation obstacle point data, and second mutation obstacle point data included in the mutation information.
Optionally, the main control chip may further determine the second preset mutation generating information as the mutation information in response to determining that no obstacle point distance difference in the obstacle point distance difference sequence is greater than the preset difference. The second preset mutation generation information may be information indicating "no mutation.
Therefore, the related content of the parking space verification mark can be determined whether the obstacles around the target vehicle change or not by determining whether the radar data generate mutation or not in a certain time, so that different types of parking spaces can be identified, the accuracy of parking space identification is improved, and the accuracy of parking control is improved.
And step 405, the radar data set and the parking space verification identification are sent to a parking control terminal for controlling the target vehicle to park.
In some embodiments, the main control chip may send the radar data set and the parking space verification identifier to a parking control terminal for controlling the target vehicle to park. The parking control terminal can control the target vehicle to park according to the radar data set and the parking space verification mark.
Optionally, the radar control device may further perform the steps of:
Generating a first power supply enabling signal and a second power supply enabling signal, and respectively sending the first power supply enabling signal and the second power supply enabling signal to a first power supply control chip and a second power supply control chip to control the first power supply control chip and the second power supply control chip to supply power to the radar sensor assembly. The main control chip can generate a first power supply enabling signal and a second power supply enabling signal, then the first power supply enabling signal is sent to the first power supply control chip through the first enabling circuit, and the second power supply enabling signal is sent to the second power supply control chip through the second enabling circuit. The first power enable signal may be used to control the first power control chip to power the radar sensor assembly. The second power enable signal may be used to control the second power control chip to power the radar sensor assembly.
And a second step of generating a first module enabling signal and a second module enabling signal, and respectively transmitting the first module enabling signal and the second module enabling signal to the first power control chip and the second power control chip so as to control the first power control chip and the second power control chip to respectively acquire a first voltage signal and a second voltage signal. The main control chip can generate a first module enabling signal and a second module enabling signal, then the first module enabling signal is sent to the first power supply control chip through the first enabling circuit, and the second module enabling signal is sent to the second power supply control chip through the second enabling circuit. The first analog-to-digital enable signal may be used to control the first power control chip to collect the first voltage signal. The second analog-to-digital enable signal may be used to control the second power control chip to collect a second voltage signal.
And thirdly, respectively performing analog-to-digital conversion processing on the first voltage signal and the second voltage signal to obtain first voltage information and second voltage information. The first analog-to-digital converter can perform analog-to-digital conversion processing on the first voltage signal to obtain first voltage information, and the second analog-to-digital converter can perform analog-to-digital conversion processing on the second voltage signal to obtain second voltage information.
And step four, performing abnormality detection processing on the first voltage information and the second voltage information to obtain power supply abnormality information. The first voltage information and the second voltage information can be subjected to abnormality detection processing through a preset abnormality detection method, so that power supply abnormality information is obtained. The power abnormality information may include, but is not limited to, at least one of: the power abnormality detection result and the power abnormality type information. The above-described power supply abnormality detection result may be information indicating "abnormality occurrence" or information indicating "abnormality not occurrence". The above power abnormality type information may be, but is not limited to, at least one of: information characterizing "power open" or information characterizing "power short".
As an example, the above-described preset abnormality detection method may be, but is not limited to, at least one of: a local outlier factor algorithm, a support vector machine algorithm, or an AE (Auto-Encoder) algorithm.
And fifthly, in response to determining that the power supply abnormality information meets a preset abnormality condition, sending the power supply abnormality information to a vehicle alarm terminal for executing an alarm operation. The main control chip can send the power supply abnormality information to a vehicle alarm terminal for executing alarm operation. The preset abnormal condition may be that the power supply detection result included in the power supply abnormal information is information indicating "abnormality occurs". The above-described vehicle warning terminal may be a terminal for performing a warning operation. The vehicle alarm terminal executes the alarm operation, which can be a character for displaying warning or control a loudspeaker to send out prompt sound.
The radar control method is used as an invention point of the embodiment of the disclosure, and solves the technical problem three of 'the accuracy reduction of parking control' in the background art. Factors that cause a decrease in the accuracy of controlling parking tend to be as follows: the main control chip can only simply control the push-pull circuit of each path to collect radar signals from radar sensors, and the radar sensors are difficult to uniformly control, so that the accuracy of the collected radar data is reduced. If the above factors are solved, the accuracy of controlling parking can be improved. To achieve this effect, the present disclosure includes a radar control device that first performs configuration processing on each radar control chip in a radar control chip assembly to generate a configured radar control chip, resulting in a configured radar control chip assembly. Thus, each configured radar control chip can be obtained so as to acquire radar data later. And secondly, controlling each configured radar control chip in the configured radar control chip assembly to perform data acquisition processing to generate radar data, and obtaining a radar data set. Therefore, the collected radar data can be obtained by controlling each radar control chip so as to carry out parking space recognition subsequently. And then, carrying out data verification processing on each radar data in the radar data set to generate a verification result, and obtaining a verification result set. Therefore, the main control chip can determine whether one data acquisition is completed or not. And then, generating a parking space verification mark based on the radar data set in response to determining that each verification result in the verification result set meets a preset verification condition. Therefore, the main control chip can identify the parking space information in the data acquired by the radar. And finally, the radar data set and the parking space verification identification are sent to a parking control terminal for controlling the target vehicle to park. Thus, the parking control terminal can control the target vehicle to park. Therefore, the main control chip can control various functions of each radar control chip by configuring each radar control chip, so that each radar sensor connected with each radar control chip can be uniformly controlled, and thus collected radar data can be uniformly processed and identified, the accuracy of the collected radar data is further improved, and the accuracy of parking control is further improved.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (10)
1. A radar control device, characterized by comprising: main control chip, radar control chip subassembly and radar sensor subassembly, wherein:
each radar control chip in the radar control chip assemblies is provided with a control channel assembly;
each radar control chip in the radar control chip assembly is in communication connection with a first preset number of radar sensors in the radar sensor assembly through each control channel in the control channel assembly, wherein the radar control chip is used for controlling each radar sensor in the radar sensor assembly, which is in communication connection with the control channel assembly, to acquire radar data through the control channel assembly, the radar sensor is used for acquiring radar data, and the control channel is used for transmitting the radar data;
The main control chip is provided with a control interface;
the main control chip is in communication connection with each radar control chip in the radar control chip assembly through the control interface, wherein the main control chip is used for generating control signals, and the control interface is used for transmitting the control signals.
2. The radar control device according to claim 1, wherein the main control chip is further provided with a serial peripheral interface;
the main control chip is in communication connection with each radar control chip in the radar control chip assembly through the serial peripheral interface, wherein the main control chip is used for generating configuration information, each radar control chip in the radar control chip assembly is used for sending the radar data according to the configuration information and a preset sending protocol, and the serial peripheral interface is used for transmitting the configuration information and the radar data.
3. The radar control device according to claim 2, wherein the control interface comprises: reset interface and clock interface, wherein:
each radar control chip in the radar control chip assembly is provided with a radar reset interface and a radar clock interface;
The reset interface included in the main control chip is in communication connection with the radar reset interface included in each radar control chip in the radar control chip assembly, wherein the main control chip is used for generating a reset signal, and the reset interface included in the main control chip and the radar reset interface included in each radar control chip in the radar control chip assembly are used for transmitting the reset signal;
the clock interface included in the main control chip is in communication connection with the radar clock interface included in each radar control chip in the radar control chip assembly, wherein the main control chip is used for generating clock signals, and the clock interface included in each radar control chip in the radar control chip assembly and the radar clock interface are used for transmitting the clock signals.
4. The radar control device according to claim 3, wherein the main control chip is further provided with a transmission confirmation interface;
the main control chip is in communication connection with each radar control chip in the radar control chip assembly through the transmission confirmation interface, wherein each radar control chip in the radar control chip assembly is used for generating a transmission confirmation signal, and the transmission confirmation interface is used for transmitting the transmission confirmation signal.
5. The radar control device according to claim 1, characterized in that the radar control device further comprises: the first power control chip and the second power control chip, wherein:
a first power control channel component is arranged on the first power control chip;
the first power control chip is in power supply connection with a second preset number of the radar sensors in the radar sensor assembly through each first power control channel in the first power control channel assembly, wherein each first power control channel in the first power control channel assembly is used for supplying power to the second preset number of the radar sensors and collecting voltage signals from the radar sensors;
a second power control channel is arranged on the second power control chip;
the second power control chip is in power supply connection with each radar sensor of a second preset number in the radar sensor assembly through the second power control channel, wherein the second power control channel is used for supplying power to each radar sensor of the second preset number and collecting voltage signals from each radar sensor.
6. A radar control method for a radar control device according to any one of claims 1 to 5, comprising:
Each radar control chip in the radar control chip assembly is configured to generate a configured radar control chip, and the configured radar control chip assembly is obtained;
controlling each configured radar control chip in the configured radar control chip assembly to perform data acquisition processing to generate radar data, so as to obtain a radar data set;
performing data verification processing on each radar data in the radar data set to generate a verification result, and obtaining a verification result set;
generating a parking space verification identifier based on the radar data set in response to determining that each of the verification results in the verification result set meets a preset verification condition;
and sending the radar data set and the parking space verification identification to a parking control terminal for controlling a target vehicle to park.
7. The method of claim 6, wherein the method further comprises:
and in response to determining that the verification result does not meet the preset verification condition in the verification result set, executing the data acquisition processing step again.
8. The method of claim 6, wherein the method further comprises:
generating a first power supply enabling signal and a second power supply enabling signal, and respectively sending the first power supply enabling signal and the second power supply enabling signal to a first power supply control chip and a second power supply control chip to control the first power supply control chip and the second power supply control chip to supply power to the radar sensor assembly;
Generating a first module enabling signal and a second module enabling signal, and respectively sending the first module enabling signal and the second module enabling signal to the first power supply control chip and the second power supply control chip to control the first power supply control chip and the second power supply control chip to respectively acquire a first voltage signal and a second voltage signal;
respectively performing analog-to-digital conversion processing on the first voltage signal and the second voltage signal to obtain first voltage information and second voltage information;
performing abnormality detection processing on the first voltage information and the second voltage information to obtain power supply abnormality information;
and in response to determining that the power supply abnormality information meets a preset abnormality condition, sending the power supply abnormality information to a vehicle alarm terminal for executing an alarm operation.
9. The method of claim 6, wherein the configuring each radar control chip in the radar control chip assembly to generate a configured radar control chip comprises:
generating a clock signal and transmitting the clock signal to the radar control chip;
generating a reset signal and transmitting the reset signal to the radar control chip;
And in response to receiving a reset completion signal sent by the radar control chip, sending preset radar configuration information to the radar control chip to configure the radar control chip, so as to obtain the configured radar control chip.
10. The method of claim 6, wherein the controlling each configured radar control chip of the configured radar control chip assembly to perform data acquisition processing to generate radar data comprises:
acquiring radar state information from the radar control chip;
generating communication scheme information in response to determining that the radar status information meets a preset communication condition, and transmitting the communication scheme information to the radar control chip;
transmitting a preset acquisition start command to the radar control chip to control the radar sensor to start acquiring radar data, and switching a control operation mode of the radar control chip to a periodic data acquisition mode;
based on the periodic data acquisition mode, a preset periodic acquisition command is sent to the radar control chip to control the radar sensor to acquire radar data;
acquiring a transmission confirmation signal from the radar control chip;
And acquiring the radar data from the radar control chip in response to determining that the transmission confirmation signal meets a preset transmission condition.
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