WO2020164121A1 - Radar et procédé de commande de gain - Google Patents

Radar et procédé de commande de gain Download PDF

Info

Publication number
WO2020164121A1
WO2020164121A1 PCT/CN2019/075246 CN2019075246W WO2020164121A1 WO 2020164121 A1 WO2020164121 A1 WO 2020164121A1 CN 2019075246 W CN2019075246 W CN 2019075246W WO 2020164121 A1 WO2020164121 A1 WO 2020164121A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
gain
module
moment
target object
Prior art date
Application number
PCT/CN2019/075246
Other languages
English (en)
Chinese (zh)
Inventor
李强
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to CN201980052105.2A priority Critical patent/CN112534302B/zh
Priority to PCT/CN2019/075246 priority patent/WO2020164121A1/fr
Publication of WO2020164121A1 publication Critical patent/WO2020164121A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

Definitions

  • This application relates to the field of automatic driving, and in particular to a radar and a gain control method.
  • Artificial intelligence is a theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge, and use knowledge to obtain the best results.
  • artificial intelligence is a branch of computer science that attempts to understand the essence of intelligence and produce a new kind of intelligent machine that can react in a similar way to human intelligence.
  • Artificial intelligence is to study the design principles and implementation methods of various intelligent machines, so that the machines have the functions of perception, reasoning and decision-making.
  • Research in the field of artificial intelligence includes robotics, natural language processing, computer vision, decision-making and reasoning, human-computer interaction, recommendation and search, and basic AI theories.
  • Autonomous driving is a mainstream application in the field of artificial intelligence.
  • Autonomous driving technology relies on the collaboration of computer vision, radar, monitoring devices, and global positioning systems to allow motor vehicles to achieve autonomous driving without requiring human active operations.
  • Self-driving vehicles use various computing systems to help transport passengers from one location to another. Some autonomous vehicles may require some initial input or continuous input from an operator (such as a navigator, driver, or passenger). The self-driving vehicle permits the operator to switch from manual mode operation to automatic driving mode or a mode in between. Since autonomous driving technology does not require humans to drive motor vehicles, it can theoretically effectively avoid human driving errors, reduce traffic accidents, and improve highway transportation efficiency. Therefore, autonomous driving technology has received more and more attention.
  • lidar can scan the range of target objects in the surrounding environment, generate 3D point clouds, and provide real-time data input for automatic driving assistance systems. It has the characteristics of high temporal and spatial resolution, high sensitivity, and strong anti-interference ability. The application of auxiliary systems is becoming more and more extensive.
  • lidar measures the distance between the lidar and the target object through the flight time of the echo signal reflected by the target object. Therefore, the power of the echo signal reflected by the target object has a greater impact on the measurement accuracy of the lidar.
  • the signal processing circuit in the lidar needs to work in the linear range to avoid the ranging error caused by the saturation or weak echo signal.
  • the industry usually detects the intensity of the echo signal and adjusts the gain of the variable gain amplifier (VGA) according to the detection result, so that the amplitude of the signal to be processed by the signal processing circuit in the laser radar is kept within a certain range , So that the signal processing circuit in the laser radar works in the linear range.
  • VGA variable gain amplifier
  • the present application provides a radar and a gain control method, so as to realize real-time adjustment of the signal gain reflected by a target object received by the radar and improve the detection accuracy of the radar.
  • the present application provides a radar that includes a transmitting module, a gain adjustment module, a gain control module, and a receiving module.
  • the gain control module is connected to the transmitting module and the gain adjustment module, respectively.
  • the gain adjustment module is also connected to the receiving module.
  • the transmitting module is used to transmit a first signal, and the first signal is used to detect a target object; the receiving module is used to receive a second signal, and output the second signal to the gain adjustment Module; wherein, the second signal is the signal reflected after the first signal encounters the target object; the gain control module is used to determine the corresponding relationship between the first propagation time and the signal gain and propagation time The gain at the first moment, and output the determined gain to the gain adjustment module; wherein, the first propagation duration is the duration from the moment when the transmitting module transmits the first signal to the first moment The first moment is the moment when the gain adjustment module receives the second signal; the gain adjustment module is configured to adjust the strength of the second signal according to the gain at the first moment.
  • the gain control module in the radar can determine the first propagation time from the moment when the transmitter module transmits the first signal to the moment when the gain adjustment module receives the second signal, and the corresponding relationship between signal gain and propagation time.
  • the gain at the time when the gain adjustment module receives the second signal so that the gain adjustment module can adjust the strength of the second signal according to the gain at the time when the second signal is received, where the second signal is The signal reflected by the first signal after encountering the target object, that is, the gain control module can determine in real time that the second signal is received through the first propagation time and the corresponding relationship between the signal gain and the propagation time
  • the real-time gain is simpler and the real-time performance is better.
  • the gain control module includes a timing module and a gain determination module.
  • the timing module is configured to determine the first propagation duration according to the time when the first signal is transmitted and the first moment;
  • the gain determining module is configured to determine the first propagation duration according to the first propagation duration and the According to the corresponding relationship, the gain at the first moment is determined, and the determined gain is transmitted to the gain adjustment module.
  • the gain control module further includes a reflectivity determination module.
  • the transmitting module is also used for transmitting a third signal, and the third signal is used for detecting the target object;
  • the receiving module is also used for receiving a fourth signal, and transmitting the fourth signal to In the gain adjustment module, the fourth signal is a signal after the third signal is reflected by the target object;
  • the timing module is further configured to: determine according to the time when the third signal is transmitted and the second time The second propagation duration, where the second propagation duration is the moment when the gain adjustment module receives the fourth signal;
  • the reflectivity determination module is configured to determine the target according to the adjusted second signal The reflectivity of the object;
  • the gain determination module is further used to: determine the gain at the second moment according to the reflectivity of the target object, the second propagation duration, and the corresponding relationship, and combine the determined gain Transmitted to the gain adjustment module;
  • the gain adjustment module is further configured to adjust the strength of the fourth signal according to the gain at the second moment.
  • the gain control module is based on the reflectivity of the target object and the first propagation. The duration and the corresponding relationship between the signal gain and the propagation duration, and determining the gain at the second moment can improve the accuracy of the determined gain, which in turn can further improve the detection accuracy of the radar.
  • the radar further includes a waveform detection module, which is respectively connected to the reflectivity determination module and the gain adjustment module.
  • the waveform detection module is configured to detect the adjusted amplitude of the second signal;
  • the reflectance determining module is specifically configured to: determine the target according to the adjusted amplitude of the second signal The reflectivity of the object.
  • the waveform detection module may be a peak detection circuit.
  • the gain control module further includes a weather estimation module.
  • the weather estimation module is configured to determine weather information according to the adjusted second signal, and the weather information is used to characterize current weather conditions; the gain determining module is also configured to: according to the target object Determine the gain at the second moment, and transmit the determined gain to the gain adjustment module.
  • the gain determining module specifically determines the gain at the second moment by any one of the following methods:
  • the gain determination module modifies the target object based on the weather information.
  • the reflectivity of the target object and then correct the determined gain at the second moment, or directly correct the gain determined when the weather factor is not considered according to the weather information, and adjust the strength of the fourth signal through the corrected gain.
  • the detection accuracy of the radar is further improved.
  • the radar further includes a waveform detection module, which is respectively connected to the reflectance determination module, the weather estimation module, and the gain adjustment module.
  • the waveform detection module is configured to detect the adjusted amplitude of the second signal and the waveform characteristics of the adjusted second signal;
  • the reflectance determination module is specifically configured to: The amplitude of the second signal determines the reflectivity of the target object;
  • the weather estimation module is specifically configured to determine the weather information according to the adjusted waveform characteristics of the second signal.
  • the gain control module further includes a weather estimation module.
  • the transmitting module is also used for transmitting a third signal, and the third signal is used for detecting the target object;
  • the receiving module is also used for receiving a fourth signal, and transmitting the fourth signal to
  • the fourth signal is a signal after the third signal is reflected by the target object;
  • the timing module is further configured to: determine according to the time when the third signal is transmitted and the second time The second propagation time length is the time when the gain adjustment module receives the fourth signal;
  • the weather estimation module is configured to determine weather information according to the adjusted second signal, so The weather information is used to characterize the current weather conditions;
  • the gain determination module is also used to: determine the gain at the second moment according to the weather information, the second propagation duration, and the corresponding relationship, and compare The determined gain is transmitted to the gain adjustment module;
  • the gain adjustment module is further configured to adjust the strength of the fourth signal according to the gain at the second moment.
  • the weather conditions on the propagation path of the signal reflected by the target object will also affect the intensity of the signal reflected by the target object. For example, in a foggy day, particles suspended in the air will scatter the signal reflected by the target object, thereby affecting all The intensity of the signal reflected by the target object when it propagates to the radar, which in turn affects the detection accuracy of the radar. Therefore, the gain determining module is based on the determined weather information, the second propagation duration, and the signal gain. The corresponding relationship of the propagation time, the gain at the second time is determined, and the influence of weather factors on the gain of the fourth signal is taken into account, which can improve the accuracy of the determined gain at the current time, thereby further improving the radar The detection accuracy.
  • the gain determining module specifically determines the gain at the second moment by the following method: determining the reference gain according to the second propagation duration and the correspondence between the signal gain and the propagation duration; according to The weather information corrects the reference gain, and determines the corrected reference gain as the gain at the second moment.
  • the gain determination module corrects the gain determined when the weather factor is not considered according to the determined weather information, and passes The modified gain adjusts the strength of the fourth signal, which can improve the accuracy of the determined gain at the second moment, and thus can further improve the detection accuracy of the radar.
  • the gain adjustment module is a variable gain amplifier VGA, or a multi-stage amplifier.
  • this application provides a gain control method applied to radar.
  • the method includes: transmitting a first signal for detecting a target object; determining the gain at the first time according to the first propagation time and the corresponding relationship between the signal gain and the propagation time, wherein the first propagation time is from the transmitting station The length of time from the moment of the first signal to the first moment, the first moment is the moment when a second signal is received, and the second signal is a signal reflected after the first signal encounters the target object When receiving the second signal, adjust the strength of the second signal according to the gain at the first moment.
  • the radar can determine the gain at the first time when the second signal is received according to the first propagation time from the moment when the first signal is transmitted to the moment when the second signal is received and the corresponding relationship between the signal gain and the propagation time.
  • the strength of the second signal is adjusted according to the determined gain, where the second signal is the signal reflected after the first signal encounters the target object, that is, the The radar can determine the gain at the first moment in real time through the first propagation time and the corresponding relationship between the signal gain and the propagation time, and when receiving the second signal, adjust the strength of the second signal in real time.
  • the implementation method is simple and the real-time performance is better.
  • the radar may also determine the reflectance of the target object according to the adjusted second signal; and , Transmit a third signal for detecting the target object; determine the gain at the second time according to the reflectivity of the target object, the second propagation time and the corresponding relationship, and adjust the gain at the second time according to the gain at the second time
  • the strength of the fourth signal wherein, the second propagation duration is the moment when the fourth signal is received, the second moment is the moment when the fourth signal is received, and the fourth signal is the first Three signals are signals reflected by the target object.
  • the radar determines the gain at the second time according to the reflectivity of the target object, the determined second propagation time, and the corresponding relationship between the signal gain and the propagation time. The accuracy of the determined gain can be improved, and the detection accuracy of the radar can be further improved.
  • the radar may specifically determine the reflectivity of the target object through the following steps: the radar detects the adjusted amplitude of the second signal, and determines according to the adjusted amplitude of the second signal The reflectivity of the target object. Specifically, the radar may estimate the amplitude of the received second signal (that is, the corresponding relationship between the propagation time of the second signal and the amplitude of the second signal according to the first propagation time). The amplitude of the second signal after loss on the propagation path), and then determine the amplitude of the second signal according to the gain at the first moment, the estimated amplitude of the second signal, and the detected amplitude of the second signal The reflectivity of the target object.
  • the radar may also determine weather information according to the adjusted second signal, and the weather information is used for Characterizing current weather conditions; determining the gain at the second moment according to the reflectivity of the target object, the weather information, the second propagation duration, and the corresponding relationship between the signal gain and the propagation duration.
  • the radar Since the weather conditions of the signal propagation path reflected by the target object will also affect the intensity of the signal reflected by the target object, and in turn will also affect the accuracy of the determined reflectivity of the target object, the radar according to the The reflectance of the target object, the weather information, the second propagation time, and the corresponding relationship between the signal gain and the propagation time, and determining the gain at the second time can improve the accuracy of the determined gain, and thus can The detection accuracy of the radar is further improved.
  • the radar may determine the gain at the current moment by but not limited to any of the following two methods:
  • Method I Correct the reflectivity of the target object according to the weather information; determine the reflectivity of the target object after the correction, the second propagation duration, and the corresponding relationship between the signal gain and the propagation duration. Describe the gain at the second moment.
  • Manner II Determine the reference gain according to the reflectivity of the target object, the second propagation time, and the correspondence between the signal gain and the propagation time; according to the weather information, the reference gain is corrected, and the corrected The reference gain is determined as the gain at the second moment.
  • the radar determines Modify the reflectivity of the target object, and then modify the determined gain at the second moment, or directly modify the determined gain when weather factors are not taken into consideration based on the determined weather information, and adjust the gain through the modified gain
  • the strength of the fourth signal can further improve the detection accuracy of the radar.
  • the radar may also determine weather information according to the adjusted second signal, and the weather information is represented by The current weather conditions; transmit a third signal for detecting the target object; determine the gain at the second time according to the weather information, the second propagation duration, and the corresponding relationship, and according to the gain at the second time, Adjust the strength of the fourth signal; the second propagation duration is the moment when the fourth signal is received, the second moment is the moment when the fourth signal is received, and the fourth signal is the third The signal is reflected by the target object.
  • the radar may determine the gain at the second time in the following manner, but is not limited to: determining a reference gain according to the second propagation duration and the corresponding relationship between the signal gain and the propagation duration; According to the weather information, the reference gain is corrected, and the corrected reference gain is determined as the gain at the second moment.
  • the weather conditions on the propagation path of the signal reflected by the target object will also affect the intensity of the signal reflected by the target object. For example, in a foggy day, particles suspended in the air will scatter the signal reflected by the target object, thereby affecting all The intensity of the signal reflected by the target object when it propagates to the radar, which in turn affects the detection accuracy of the radar. Therefore, the radar corrects the gain determined when weather factors are not taken into account according to the determined weather information, and passes the corrected gain Adjusting the strength of the fourth signal can further improve the detection accuracy of the radar.
  • the radar may specifically determine the weather information through the following steps: the radar detects and adjusts the waveform characteristics of the second signal, wherein the waveform characteristics of the second signal include the Waveform shape, steepness of the falling edge, etc.; determining the current weather condition according to the adjusted waveform characteristics of the second signal. For example, when the falling edge of the second signal is relatively gentle and the tail is long, it is a foggy or sandy day or other weather with obvious scattered particles in the air.
  • the present application also provides a computer storage medium in which computer-executable instructions are stored.
  • the computer executes the second The method provided in any possible implementation manner in the aspect.
  • the present application also provides a computer program product containing instructions that, when the instructions run on a computer, cause the computer to execute the method provided in any one of the possible implementations of the second aspect.
  • the present application also provides a chip, the chip is connected to a memory or the chip includes the memory, and is used to read and execute the software program stored in the memory to implement the above-mentioned second aspect Any one of the possible implementation methods provided.
  • Figure 1a is one of the structural schematic diagrams of a lidar increasing control device in the prior art
  • Figure 1b is the second structural schematic diagram of a lidar increasing control device in the prior art
  • FIG. 2 is a schematic structural diagram of a vehicle provided by an embodiment of the application.
  • FIG. 3 is one of the schematic structural diagrams of a radar provided by an embodiment of this application.
  • FIG. 4 is one of the schematic structural diagrams of a gain control module in a radar provided by an embodiment of the application;
  • FIG. 5 is the second structural diagram of a gain control module in a radar according to an embodiment of the application.
  • FIG. 6 is the second schematic diagram of a radar structure provided by an embodiment of this application.
  • FIG. 7 is the third structural diagram of a gain control module in a radar provided by an embodiment of the application.
  • FIG. 8a is one of the schematic structural diagrams of a gain adjustment module in a radar provided by an embodiment of the application.
  • FIG. 8b is the second structural diagram of a gain adjustment module in a radar according to an embodiment of the application.
  • FIG. 9 is the third structural diagram of a gain adjustment module in a radar according to an embodiment of the application.
  • FIG. 10 is the third schematic diagram of a radar structure provided by an embodiment of this application.
  • FIG. 11 is a fourth schematic structural diagram of a radar provided by an embodiment of this application.
  • FIG. 12 is a schematic flowchart of a gain control method provided by an embodiment of the application.
  • Lidar usually uses the flight time of the echo signal reflected by the target object to measure the distance between the laser radar and the target object. Therefore, the power of the echo signal reflected by the target object has a greater impact on the measurement accuracy of the laser radar.
  • lidar usually needs to cover a detection range of several meters to hundreds of meters. At the same time, the reflectivity of target objects detected by lidar varies greatly, which makes the power fluctuation range of the echo signal reflected by the target object. Larger. In order to ensure the ranging accuracy of the lidar, the signal processing circuit in the lidar needs to work in the linear range to avoid the ranging error caused by the saturation or weak echo signal.
  • the industry mainly adopts the following two methods to ensure that the signal processing circuit in the laser radar works in the linear range, thereby ensuring the ranging accuracy of the laser radar:
  • Manner 1 Use the increasing control device 111 as shown in FIG. 1a to adjust the amplitude of the signal to be processed by the signal processing circuit in the laser radar.
  • the increasing control device 110 includes a delay module 111, a gain set circuitry 112, and a variable gain amplifier VGA113.
  • VGA113 variable gain amplifier
  • the gain adjustment circuit 112 determines that the amplitude of the echo signal (that is, the input signal) reflected by the target object is small, increase the gain of VGA113, and when the gain adjustment circuit 112 determines that the amplitude of the input signal is large, decrease the gain of VGA113 Therefore, it is ensured that the signal output by the increasing control device 110 to the constant fraction timing (CFD) circuit is maintained within a certain linear interval, thereby reducing the drift error of the CFD circuit.
  • CFD constant fraction timing
  • the signal input to the VGA needs to be delayed by the delay module 111, so as to realize the real-time adjustment of the gain of the echo signal received by the lidar .
  • the delay module 111 in order to achieve real-time adjustment of the gain of the echo signal received by the lidar, the delay module 111 usually needs to delay more than 20 ns, which is difficult to achieve. If a coaxial cable is used to achieve a delay of more than 20 ns, the length of the coaxial cable is too long, which directly affects the volume and convenience of the entire increase control device 110. In addition, there is currently no chip that can achieve this long delay.
  • the second method is to use the increasing control device 120 shown in FIG. 1b to adjust the amplitude of the signal to be processed by the signal processing circuit in the laser radar.
  • the increasing control device 120 includes a VGA 121, a gain control module 122 and a peak detection module 123.
  • the echo signal (that is, the input signal) reflected by the target object directly enters the VGA121, and the VGA121 first amplifies the echo signal reflected by the target object according to the preset initial gain.
  • the peak detection module 123 detects the amplitude of the signal output by the VGA121, and the gain control module 122 adjusts the gain setting of the VGA121 according to the detection result of the peak detection module 123, so that The VGA121 adjusts the echo signal reflected by the target object according to the adjusted gain in the next cycle of the echo signal reflected by the target object.
  • This method is relatively simple in structure and easy to implement, but it can only be applied to the next cycle of the echo signal reflected by the target object, and the echo signal reflected by the target object is adjusted according to the adjusted gain, which has poor real-time performance.
  • the present application provides a radar and a gain control method to realize real-time adjustment of the signal gain reflected by the target object received by the radar and improve the detection accuracy of the radar.
  • improvements are mainly made to the gain control method of the radar.
  • the radar may be a radar in which the amplitude of the received signal such as a laser radar has a greater influence on the target detection accuracy.
  • the radar provided in the embodiment of the present application is a complete radar, and also has the structure of a known radar. Here, only the components involved in gain control in the radar will be described, and other components will not be repeated.
  • FIG. 2 is a functional block diagram of a vehicle 200 with an automatic driving function provided by an embodiment of the present application.
  • the vehicle 200 is configured in a fully or partially autonomous driving mode.
  • the vehicle 200 can control itself while in the automatic driving mode, and can determine the current state of the vehicle and its surrounding environment through human operations, determine the possible behavior of at least one other vehicle in the surrounding environment, and determine the other vehicle
  • the confidence level corresponding to the possibility of performing possible actions is controlled based on the determined information.
  • the vehicle 200 can be set to operate without human interaction.
  • the vehicle 200 may include various subsystems, such as a travel system 202, a sensing system 204, a control system 206, one or more peripheral devices 208 and a power supply 210, a computer system 212, and a user interface 216.
  • the vehicle 200 may include more or fewer subsystems, and each subsystem may include multiple elements.
  • each subsystem and element of the vehicle 200 may be interconnected by wires or wirelessly.
  • the travel system 202 may include components that provide power movement for the vehicle 200.
  • the travel system 202 may include an engine 218, an energy source 219, a transmission 220, and wheels/tires 221.
  • the engine 218 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine composed of a gas oil engine and an electric motor, or a hybrid engine composed of an internal combustion engine and an air compression engine.
  • the engine 218 converts the energy source 219 into mechanical energy.
  • Examples of energy sources 219 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity.
  • the energy source 219 may also provide energy for other systems of the vehicle 100.
  • the transmission 220 can transmit the mechanical power from the engine 218 to the wheels 221.
  • the transmission 220 may include a gearbox, a differential, and a drive shaft.
  • the transmission device 220 may also include other components, such as a clutch.
  • the drive shaft may include one or more shafts that can be coupled to one or more wheels 221.
  • the sensing system 204 may include several sensors that sense information about the environment around the vehicle 200.
  • the sensing system 204 may include a positioning system 222 (the positioning system may be a global positioning system (GPS) system, a Beidou system or other positioning systems), an inertial measurement unit (IMU) 224 , Radar 226, laser rangefinder 228, and camera 230.
  • the sensing system 204 may also include sensors of the internal system of the monitored vehicle 200 (for example, an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). Such detection and identification are key functions for the safe operation of the autonomous vehicle 100.
  • the positioning system 222 can be used to estimate the geographic location of the vehicle 200.
  • the IMU 224 is used to sense the position and orientation changes of the vehicle 200 based on inertial acceleration.
  • the IMU 224 may be a combination of an accelerometer and a gyroscope.
  • the radar 226 may use radio signals to sense objects in the surrounding environment of the vehicle 200. In some embodiments, in addition to sensing the object, the radar 226 may also be used to sense the speed and/or direction of the object.
  • the laser rangefinder 228 can use laser light to sense objects in the environment where the vehicle 100 is located.
  • the laser rangefinder 228 may include one or more laser sources, laser scanners, and one or more detectors, as well as other system components.
  • the camera 230 may be used to capture multiple images of the surrounding environment of the vehicle 200.
  • the camera 230 may be a still camera or a video camera.
  • the control system 206 controls the operation of the vehicle 200 and its components.
  • the control system 206 may include various components, including a steering system 232, a throttle 234, a braking unit 236, a sensor fusion algorithm 238, a computer vision system 240, a route control system 242, and an obstacle avoidance system 244.
  • the steering system 232 is operable to adjust the forward direction of the vehicle 200.
  • it may be a steering wheel system in one embodiment.
  • the throttle 234 is used to control the operating speed of the engine 218 and thereby control the speed of the vehicle 200.
  • the braking unit 236 is used to control the vehicle 200 to decelerate.
  • the braking unit 236 may use friction to slow the wheels 221.
  • the braking unit 236 may convert the kinetic energy of the wheels 221 into electric current.
  • the braking unit 236 may also take other forms to slow down the rotation speed of the wheels 221 to control the speed of the vehicle 200.
  • the computer vision system 240 may be operable to process and analyze the images captured by the camera 230 in order to identify objects and/or features in the surrounding environment of the vehicle 200.
  • the objects and/or features may include traffic signals, road boundaries and obstacles.
  • the computer vision system 240 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision technologies.
  • the computer vision system 240 may be used to map the environment, track objects, estimate the speed of objects, and so on.
  • the route control system 242 is used to determine the travel route of the vehicle 200.
  • the route control system 142 may combine data from the sensor 238, the GPS 222, and one or more predetermined maps to determine the driving route for the vehicle 200.
  • the obstacle avoidance system 244 is used to identify, evaluate, and avoid or otherwise cross over potential obstacles in the environment of the vehicle 200.
  • control system 206 may additionally or alternatively include components other than those shown and described. Alternatively, a part of the components shown above may be reduced.
  • the vehicle 200 interacts with external sensors, other vehicles, other computer systems, or users through peripheral devices 208.
  • the peripheral device 208 may include a wireless communication system 246, a car computer 248, a microphone 250, and/or a speaker 252.
  • the peripheral device 208 provides a means for the user of the vehicle 200 to interact with the user interface 216.
  • the onboard computer 248 can provide information to the user of the vehicle 200.
  • the user interface 216 can also operate the onboard computer 248 to receive user input.
  • the on-board computer 248 can be operated through a touch screen.
  • the peripheral device 208 may provide a means for the vehicle 200 to communicate with other devices located in the vehicle.
  • the microphone 250 may receive audio (eg, voice commands or other audio input) from a user of the vehicle 200.
  • the speaker 252 may output audio to the user of the vehicle 200.
  • the wireless communication system 246 may wirelessly communicate with one or more devices directly or via a communication network.
  • the wireless communication system 246 may use 3G cellular communication, such as code division multiple access (CDMA), EVD0, global system for mobile communications (GSM)/general packet radio service technology (general packet radio service technology). Packet radio service, GPRS), or 4G cellular communication, such as long term evolution (LTE), or 5G cellular communication.
  • the wireless communication system 246 may use WiFi to communicate with a wireless local area network (WLAN).
  • the wireless communication system 246 may directly communicate with the device using an infrared link, Bluetooth, or ZigBee.
  • Other wireless protocols such as various vehicle communication systems.
  • the wireless communication system 246 may include one or more dedicated short-range communication (DSRC) devices, which may include vehicles and/or roadside stations. Public and/or private data communications.
  • DSRC dedicated short-range communication
  • the power supply 210 may provide power to various components of the vehicle 200.
  • the power source 210 may be a rechargeable lithium ion or lead acid battery.
  • One or more battery packs of such batteries may be configured as a power source to provide power to various components of the vehicle 200.
  • the power source 210 and the energy source 219 may be implemented together, such as in some all-electric vehicles.
  • the computer system 212 may include at least one processor 213 that executes instructions 215 stored in a non-transitory computer readable medium such as the memory 214.
  • the computer system 212 may also be multiple computing devices that control individual components or subsystems of the vehicle 200 in a distributed manner.
  • the processor 213 may be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor may be a dedicated device such as an application specific integrated circuit (ASIC) or other hardware-based processor.
  • FIG. 2 functionally illustrates the processor, memory, and other elements of the computer 210 in the same block, those of ordinary skill in the art should understand that the processor, computer, or memory may actually include Multiple processors, computers, or memories stored in the same physical enclosure.
  • the memory may be a hard disk drive or other storage medium located in a housing other than the computer 210. Therefore, a reference to a processor or computer will be understood to include a reference to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described here, some components such as steering components and deceleration components may each have its own processor that only performs calculations related to component-specific functions .
  • the processor may be located away from the vehicle and wirelessly communicate with the vehicle.
  • some of the processes described herein are executed on a processor disposed in the vehicle and others are executed by a remote processor, including taking the necessary steps to perform a single manipulation.
  • the memory 214 may contain instructions 215 (eg, program logic), which may be executed by the processor 213 to perform various functions of the vehicle 200, including those functions described above.
  • the memory 214 may also contain additional instructions, including sending data to, receiving data from, interacting with, and/or controlling one or more of the traveling system 202, the sensing system 204, the control system 206, and the peripheral device 208 Instructions.
  • the memory 214 may also store data, such as road maps, route information, the location, direction, and speed of the vehicle, and other such vehicle data, as well as other information. Such information may be used by the vehicle 200 and the computer system 212 during operation of the vehicle 200 in autonomous, semi-autonomous, and/or manual modes.
  • the user interface 216 is used to provide information to or receive information from a user of the vehicle 200.
  • the user interface 216 may include one or more input/output devices in the set of peripheral devices 208, such as a wireless communication system 246, an in-vehicle computer 248, a microphone 250, and a speaker 252.
  • the computer system 212 may control the functions of the vehicle 200 based on input received from various subsystems (eg, the travel system 202, the sensing system 204, and the control system 206) and from the user interface 216. For example, the computer system 212 may use input from the control system 206 to control the steering unit 232 to avoid obstacles detected by the sensing system 204 and the obstacle avoidance system 244. In some embodiments, the computer system 212 is operable to provide control of many aspects of the vehicle 200 and its subsystems.
  • various subsystems eg, the travel system 202, the sensing system 204, and the control system 206
  • the computer system 212 may use input from the control system 206 to control the steering unit 232 to avoid obstacles detected by the sensing system 204 and the obstacle avoidance system 244.
  • the computer system 212 is operable to provide control of many aspects of the vehicle 200 and its subsystems.
  • one or more of these components described above may be installed or associated with the vehicle 200 separately.
  • the storage 214 may exist partially or completely separately from the vehicle 200.
  • the aforementioned components may be communicatively coupled together in a wired and/or wireless manner.
  • FIG. 2 should not be construed as a limitation to the embodiments of the present application.
  • An autonomous vehicle traveling on a road can recognize objects in its surrounding environment to determine the adjustment to the current speed.
  • the object may be other vehicles, traffic control equipment, or other types of objects.
  • each recognized object can be considered independently, and based on the respective characteristics of the object, such as its current speed, acceleration, distance from the vehicle, etc., can be used to determine the speed to be adjusted by the autonomous vehicle.
  • the self-driving car 200 or the computing device associated with the self-driving vehicle 200 may be based on the characteristics of the recognized object and the state of the surrounding environment (For example, traffic, rain, ice on the road, etc.) to predict the behavior of the identified object.
  • each recognized object depends on each other's behavior, so all recognized objects can also be considered together to predict the behavior of a single recognized object.
  • the vehicle 200 can adjust its speed based on the predicted behavior of the identified object.
  • an autonomous vehicle can determine what stable state the vehicle will need to adjust to (for example, accelerate, decelerate, or stop) based on the predicted behavior of the object.
  • other factors may also be considered to determine the speed of the vehicle 200, such as the lateral position of the vehicle 200 on the road on which it is traveling, the curvature of the road, the proximity of static and dynamic objects, and so on.
  • the computing device can also provide instructions to modify the steering angle of the vehicle 200 so that the self-driving car follows a given trajectory and/or maintains an object near the self-driving car (such as , The safe horizontal and vertical distances of cars in adjacent lanes on the road.
  • the above-mentioned vehicle 200 may be a car, truck, motorcycle, bus, boat, airplane, helicopter, lawn mower, recreational vehicle, playground vehicle, construction equipment, tram, golf cart, train, and trolley, etc.
  • the application examples are not particularly limited.
  • the present application provides a radar 300, which can be applied to the vehicle 200 shown in FIG.
  • the radar 300 includes: a transmitting module 310, a receiving module 320, a gain control module 330, and a gain adjusting module 340.
  • the gain control module 330 is connected to the transmitting module 310 and the gain adjusting module 340, respectively.
  • the gain adjustment module 340 is also connected to the receiving module 320. among them,
  • the transmitting module 310 is used for transmitting a first signal, and the first signal is used for detecting a target object.
  • the receiving module 320 is configured to receive a second signal and output the second signal to the gain adjustment module 340; wherein, the second signal is the reflection of the first signal after encountering the target object
  • the second signal is an echo signal.
  • the gain control module 330 is configured to determine the gain at the first moment according to the first propagation duration and the corresponding relationship between the signal gain and the propagation duration, and transmit the determined gain to the gain adjustment module 340; wherein, the The first propagation duration is the duration from the moment when the transmitting module 310 transmits the first signal to the first moment, and the first moment is the moment when the gain adjustment module 340 receives the second signal.
  • the gain adjustment module 340 is configured to adjust the strength of the second signal according to the gain at the first moment. Specifically, the gain adjustment module 340 may adjust the amplitude or power of the second signal according to the gain at the current moment. Wherein, the gain adjustment module 340 may preconfigure the initial value of the gain as the gain in the initial state (that is, when the radar 300 is just started).
  • the transmitting module 310 and the receiving module 320 may be transceiver circuits, etc.
  • the gain control module 330 may be a processor or a controller
  • the gain adjustment module 340 may be a gain control module. Adjusted power amplifier circuit.
  • the gain control module 330 may determine the corresponding relationship between the signal gain and the propagation time at each time within the first propagation time length according to the propagation time corresponding to each time and the corresponding relationship between the signal gain and the propagation time. The gain at each time, so that when the gain adjustment module 340 receives the second signal, it can adjust the strength of the second signal according to the gain at the current time to achieve real-time adjustment of the radar gain.
  • the gain control module 330 may include a timing module 331 and a gain determination module 332.
  • the timing module 331 is configured to determine the first propagation duration according to the time when the first signal is transmitted and the first moment; the gain determining module 332 is configured to determine the first propagation duration according to the first propagation time And the corresponding relationship between the signal gain and the propagation time, determine the gain at the first moment, and transmit the determined gain to the gain adjustment module 340.
  • the timing module 331 may be implemented by a timer
  • the gain determination module 332 may be implemented by a processor, for example, a microcontroller unit (MCU) or a central processing unit (CPU) Wait.
  • MCU microcontroller unit
  • CPU central processing unit
  • the gain control module 330 includes a timing module In addition to 331 and the gain determination module 332, a weather estimation module 333 may also be included, as shown in FIG. 5.
  • the transmitting module 310 is also used for transmitting a third signal, and the third signal is used for detecting the target object; the receiving module 320 is also used for receiving a fourth signal, and combining the fourth signal The signal is transmitted to the gain adjustment module; wherein, the fourth signal is a signal after the third signal is reflected by the target object; the timing module 331 is also used to: according to the time when the third signal is transmitted And the second time, determine the second propagation time; wherein, the second propagation time is the time when the gain adjustment module 340 receives the fourth signal; the weather estimation module 333 is configured to determine the The second signal determines weather information, the weather information is used to characterize current weather conditions; the gain determination module 332 is further used to: determine according to the weather information, the second propagation duration, and the corresponding relationship The gain at the second moment, and transmit the determined gain to the gain adjustment module 340; the gain adjustment module 340 is further configured to: adjust the strength of the fourth signal according to the gain at the second moment .
  • the gain determining module 332 may determine the gain at the second time in the following manner, but is not limited to: determining the reference gain according to the determined propagation duration and the corresponding relationship between the gain of the second signal and the propagation duration; According to the weather information, the reference gain is corrected, and the corrected reference gain is determined as the gain at the current moment.
  • the gain determining module 332 corrects the determined reference gain according to the determined weather information, and determines the corrected reference gain as the gain at the second moment, that is, the gain determining module 332 can use the received at the previous moment
  • the signal (the second signal) determines the reflectivity of the target object, and the gain at the current moment (the second moment) is determined, which can improve the accuracy of the determined gain at the current moment, thereby improving the The detection accuracy of radar 300.
  • this application does not limit the timing for the transmitting module 310 to transmit the third signal. Whenever it can satisfy that the gain adjustment module 340 receives the fourth signal, the reflectance determining module 334 The launch timing that can determine the condition of the reflectivity of the target object can be applied to this application. For example, the transmitting module 310 transmits the third signal after the receiving module 320 or the gain adjusting module 340 receives the second signal.
  • the radar 300 further includes a waveform detection module 350 which is connected to the gain control module 330 and the gain adjustment module 340 respectively.
  • the waveform detection module 350 is configured to detect the waveform characteristics of the adjusted second signal, where the waveform characteristics of the second signal include the waveform shape of the second signal, the steepness of the falling edge, etc.
  • the weather estimation module 333 determines the weather information according to the adjusted second signal, it is specifically configured to determine the weather information according to the waveform characteristics of the adjusted second signal. For example, when the falling edge of the second signal is relatively gentle and the trailing length is long, it is a foggy or sandy day, etc., when there are obvious scattered particles in the air.
  • the gain control module 330 may include a timing module 331 and a gain determination module 332, as well as Reflectivity determination module 334.
  • the transmitting module 310 is also used for transmitting a third signal, and the third signal is used for detecting the target object; the receiving module 320 is also used for receiving a fourth signal, and combining the fourth signal The signal is transmitted to the gain adjustment module; wherein, the fourth signal is a signal after the third signal is reflected by the target object; the timing module 331 is also used to: according to the time when the third signal is transmitted And a second time, determine a second propagation time; wherein, the second propagation time is the time when the gain adjustment module receives the fourth signal; the reflectivity determination module 334 is configured to determine the The second signal determines the reflectivity of the target object; the gain determination module 332 is further configured to: determine the second signal according to the reflectivity of the target object, the second propagation duration, and the corresponding relationship. And transmit the determined gain to the gain adjustment module 340; the gain adjustment module 340 is further configured to adjust the strength of the fourth signal according to the gain at the second time.
  • this application does not limit the timing for the transmitting module 310 to transmit the third signal.
  • the reflectance determining module 334 It is possible to determine the reflectivity of the target object and the transmission timing of the weather information, which can be applied to this application.
  • the transmitting module 310 transmits the third signal after the receiving module 320 or the gain adjusting module 340 receives the second signal.
  • the waveform detection module 350 may also be used to detect the adjusted amplitude of the second signal; the reflectance determination module 334 is specifically used to: according to the adjusted amplitude of the second signal To determine the reflectivity of the target object.
  • the waveform detection module 350 can be implemented by a peak detection circuit.
  • the reflectance determining module 334 may estimate the corresponding relationship between the first propagation time and the propagation time of the second signal and the amplitude of the second signal to estimate the The amplitude of the second signal (that is, the amplitude of the second signal after loss on the propagation path), and then according to the gain at the first moment, the estimated amplitude of the second signal, and the waveform detection module The amplitude of the second signal detected by 350 determines the reflectivity of the target object.
  • the gain control module 330 not only includes a timing module 331, a gain determination module 332, and a reflectivity determination module 334, but also includes a weather estimation module 333.
  • the weather estimation module 333 is used to adjust The second signal determines weather information, the weather information is used to characterize current weather conditions; the gain determination module 332 is also used to: according to the reflectivity of the target object, the weather information, the first Second, the propagation duration and the corresponding relationship between the signal gain and the propagation duration determine the gain at the second moment.
  • the waveform detection module 350 is connected to the reflectivity determination module 334, the weather estimation module 333, the gain determination module, and the gain adjustment module, respectively.
  • the waveform detection module 350 is used for detecting adjusted In addition to the amplitude of the second signal, it is also used to detect the waveform characteristics of the adjusted second signal, so that the gain control module 330 determines the waveform characteristics of the second signal after adjustment.
  • Weather information wherein the waveform characteristics of the second signal include the waveform shape of the second signal, the steepness of the falling edge, and the like.
  • the gain determining module 332 may determine the gain at the second moment by but not limited to any one of the following two methods:
  • Method A Correct the reflectivity of the target object according to the weather information; determine the reflectivity of the target object after the correction, the second propagation duration, and the corresponding relationship between the signal gain and the propagation duration. Describe the gain at the second moment.
  • the gain determination module 332 corrects the reflectance of the target object according to the current weather conditions, and may determine the gain at the second moment according to the second propagation time and the corrected reflectance of the target object Therefore, the accuracy of the determined gain can be improved, and the detection accuracy of the radar 300 can be improved.
  • Manner B Determine the reference gain according to the reflectance of the target object, the second propagation time, and the correspondence between the signal gain and the propagation time; according to the weather information, the reference gain is corrected, and the corrected The reference gain is determined as the gain at the current moment.
  • the gain determination module 332 corrects the determined reference gain according to the current weather conditions, which can improve the accuracy of the determined gain, and thus can achieve the purpose of improving the detection accuracy of the radar 300.
  • the gain adjustment module 340 can be implemented by a variable gain amplifier VGA, where the VGA can be an analog control type VGA, that is, the gain control module 330 controls the analog control through a first control signal.
  • the first control signal is an analog signal used to control the gain of the analog control type VGA, as shown in FIG. 8a; the VGA may also be a digital control type VGA, that is, the gain control
  • the module 330 controls the digital control type VGA through a second control signal, and the second control signal is a digital signal used to control the gain of the digital control type VGA, as shown in FIG. 8b.
  • the gain adjustment module 340 may be implemented by a multi-stage amplifier, as shown in FIG. 9.
  • the gain control module 330 can control the gain of each amplifier in the multi-stage amplifier through a control signal, so that the gain of the multi-stage amplifier is the gain at the current moment determined by the gain control module 330, for example
  • the control signal may simultaneously control the gain of each amplifier in the multi-stage amplifier in an encoding manner; the gain control module 330 may separately control the gain of each amplifier in the multi-stage amplifier through multiple control signals.
  • modules in the embodiments of the present application is illustrative, and is only a logical function division, and there may be other division methods in actual implementation.
  • the functional modules in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the weather estimation module 333 may be integrated with the waveform detection module 350 in a physical unit, and the physical unit may detect the adjusted waveform characteristics of the second signal, and according to the adjusted second signal Waveform characteristics, determine the current weather conditions, and output the determined weather conditions to the gain determination module 332;
  • the reflectivity determination module 334 can be integrated with the waveform detection module 350 in a physical unit, the physical unit It is possible to detect the adjusted second signal amplitude, determine the reflectance of the target object according to the adjusted second signal amplitude, and output the determined reflectance to the gain determination module 332
  • the weather estimation module 333 and the reflectivity determination module 334 and the waveform detection module 350 are integrated in a physical unit, the physical unit can detect the adjusted waveform characteristics of the second signal, according to the adjustment After the waveform characteristics of the second signal, determine the current weather conditions, and detect the adjusted second signal amplitude, and determine the reflection of the target object according to the adjusted second signal amplitude And output the determined weather conditions and reflectivity to the gain determination module 332.
  • the radar 300 may include multiple receiving modules 320 and multiple gain adjustment modules 340, by simultaneously transmitting multiple signals (for example, 2 channels, 8 channels, 16 channels, 32 channels, or 64 channels, etc.) signals, and The multiple reflected echo signals are processed to improve the detection range and detection accuracy of the radar 300, and the plurality of receiving modules 320 correspond to the plurality of gain adjustment modules 340 one-to-one. That is, the radar 300 includes at least one transmitting module 310, at least one receiving module 320, at least one gain control module 330, at least one gain adjustment module 340, wherein each gain control module 330 controls one or more gain adjustments. Module 340, the at least one receiving module 320 corresponds to the at least one gain adjustment module 340 one-to-one. Wherein, when one gain control module 330 controls multiple gain adjustment modules 340, the gain control module 330 needs to determine in parallel the current gains corresponding to the multiple gain adjustment modules 340.
  • the radar 300 includes at least one transmitting module 310, at least one receiving module 320, at least one gain
  • the radar 300 may also include one or more waveform detection modules 350. Wherein, when the radar 300 includes a waveform detection module 350, the waveform detection module 350 needs to detect the second signal fed back by each of the multiple receiving modules 310 through the corresponding gain adjustment module 340 in parallel.
  • the radar 300 includes a transmitting module 310, a plurality of receiving modules 320, a gain control module 330, a plurality of gain adjustment modules 340, and an environmental monitoring module 350; as another example, as shown in FIG. As shown, the radar 300 includes a transmitting module 310, multiple receiving modules 320, multiple gain control modules 330, and multiple gain adjustment modules 340.
  • One gain control module 330 controls a gain adjustment module group (as shown in FIG. 11). As shown in the dashed box), each gain adjustment module group includes one or more gain adjustment modules 340.
  • the gain control module 330 in the radar 300 can be based on the first propagation time from the moment when the transmitter module 310 transmits the first signal to the moment when the gain adjustment module 340 receives the second signal, and the signal gain and propagation time.
  • the corresponding relationship of the duration, the gain at the moment when the gain adjustment module 340 receives the second signal is determined, and the determined gain is transmitted to the gain adjustment module 340, so that the gain adjustment module 340 can receive the second signal according to the
  • the gain at the moment of the signal is adjusted to adjust the strength of the second signal, where the second signal is the signal reflected after the first signal encounters the target object, that is, the gain control module 330 can pass all
  • the first propagation time length and the corresponding relationship between the signal gain and the propagation time length determine the gain at the moment when the second signal is received in real time, and adjust the strength of the second signal in real time through the gain adjustment module 340, compared to
  • the existing technology has a simple implementation method and good real-time performance.
  • This application also provides a gain control method applied to radar to improve the real-time performance of signal gain adjustment during radar detection.
  • the gain control method specifically includes the following steps:
  • S1201 Transmit a first signal for detecting a target object.
  • S1202 Determine the gain at the first moment according to the first propagation duration and the corresponding relationship between the signal gain and the propagation duration.
  • the first propagation duration is the duration from the moment when the first signal is transmitted to the first moment, the first moment is the moment when a second signal is received, and the second signal is the first moment. A signal reflected after encountering the target object.
  • S1203 When receiving the second signal, adjust the strength of the second signal according to the gain at the first moment.
  • the radar may determine each time at each time within the first propagation time according to the propagation time corresponding to each time and the corresponding relationship between the signal gain and the propagation time. In order to enable the radar to adjust the strength of the second signal according to the gain at the current moment when receiving the second signal, the radar gain can be adjusted in real time.
  • weather information may be determined according to the adjusted second signal, and the weather information is used to characterize current weather conditions.
  • the radar also emits a third signal for detecting the target object, and determines the gain at the second time according to the weather information, the second propagation duration, and the corresponding relationship between the signal gain and the propagation duration, And adjust the strength of the fourth signal according to the gain at the second moment; wherein, the second propagation duration is the moment when the fourth signal is received, and the second moment is the moment when the fourth signal is received At the moment, the fourth signal is a signal after the third signal is reflected by the target object.
  • the radar may specifically determine the weather information through the following steps: the radar detects and adjusts the waveform characteristics of the second signal, wherein the waveform characteristics of the second signal include the Waveform shape, steepness of the falling edge, etc.; determining the current weather condition according to the adjusted waveform characteristics of the second signal. For example, when the falling edge of the second signal is relatively gentle and the trailing length is long, it is a foggy or sandy day, etc., when there are obvious scattered particles in the air.
  • the radar may determine the gain at the second time in the following manners, but not limited to: determining the reference gain according to the second propagation duration and the corresponding relationship between the signal gain and the propagation duration; Information, correcting the reference gain, and determining the corrected reference gain as the gain at the second moment.
  • the weather conditions on the propagation path of the second signal reflected by the target object will also affect the intensity of the signal reflected by the target object. For example, in a foggy day, particles suspended in the air will scatter the fourth signal, thereby affecting the The strength of the fourth signal when it propagates to the radar affects the detection accuracy of the radar. Therefore, the radar corrects the gain determined without considering weather factors according to the weather conditions at the current moment, and adjusts the gain by the corrected gain.
  • the strength of the fourth signal that is, the weather information determined by the signal received at the previous moment (the second signal), to determine the gain at the current moment (the second moment), can further improve the radar performance Detection accuracy.
  • the radar adjusts the second signal
  • the reflectance of the target object may be determined according to the adjusted second signal.
  • the radar also transmits a third signal for detecting the target object, and determines the second time according to the reflectivity of the target object, the second propagation duration, and the corresponding relationship between the signal gain and the propagation duration And adjust the strength of the fourth signal according to the gain at the second moment; wherein, the second propagation duration is the moment when the fourth signal is received, and the second moment is when the first signal is received.
  • the fourth signal is a signal after the third signal is reflected by the target object.
  • the radar determines that the gain at the second time can be determined based on the reflectivity of the target object, the second propagation time, and the corresponding relationship between the signal gain and the propagation time. Improving the accuracy of the determined gain can further improve the detection accuracy of the radar.
  • the radar may specifically determine the reflectance of the target object through the following steps: the radar detects the adjusted amplitude of the second signal, and determines the reflectance of the second signal according to the adjusted amplitude of the second signal.
  • the reflectivity of the target object Specifically, the radar may estimate the amplitude of the received second signal (that is, the second signal amplitude) according to the propagation time length and the corresponding relationship between the propagation time length of the second signal and the second signal amplitude. Second signal after loss on the propagation path), and then determine the target according to the gain at the first moment, the estimated amplitude of the second signal, and the detected amplitude of the second signal The reflectivity of the object.
  • the weather information may be determined according to the adjusted second signal; according to the reflectivity of the target object, the weather information, and the Second, the propagation duration and the corresponding relationship between the signal gain and the propagation duration, determining the gain at the second moment, and adjusting the strength of the fourth signal according to the gain at the second moment.
  • the radar can determine the gain at the second moment by but not limited to any of the following two methods:
  • Method I Correct the reflectivity of the target object according to the weather information; determine the reflectivity of the target object after the correction, the second propagation duration, and the corresponding relationship between the signal gain and the propagation duration. Describe the gain at the second moment.
  • Manner II Determine the reference gain according to the reflectivity of the target object, the second propagation time, and the correspondence between the signal gain and the propagation time; according to the weather information, the reference gain is corrected, and the corrected The reference gain is determined as the gain at the current moment.
  • the radar corrects the The reflectivity of the target object is then corrected for the gain at the second moment, or the gain determined when the weather factor is not considered is corrected directly according to the weather information, and the strength of the fourth signal is adjusted by the corrected gain, that is, using The weather information and the reflectivity of the target object determined by the signal (the second signal) received at the previous time, and the gain at the current time (the second time) can be determined, which can further improve the detection of the radar Accuracy.
  • the radar can determine the gain at the first time according to the first propagation time and the corresponding relationship between the signal gain and the propagation time, and when the first signal meets the second signal reflected by the target object, the The determined gain is used to adjust the strength of the second signal, wherein the first propagation duration is the duration from the moment when the first signal is transmitted to the first moment, and the first moment is when the second signal is received.
  • the time of the signal that is, the radar can determine in real time the gain at the time when the signal reflected by the target object is received through the first propagation time and the corresponding relationship between the signal gain and the propagation time, and adjust the reflection of the target object in real time.
  • the signal strength is simpler in implementation and better real-time.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un radar (300) et un procédé de commande de gain, se rapportant à une technologie de véhicule autonome dans le domaine de l'intelligence artificielle. Le radar (300) comprend : un module d'émission (310), un module de réception (320), un module de commande de gain (330) et un module de réglage de gain (340). Le module d'émission (310) est utilisé pour émettre un premier signal afin de détecter un objet cible. Le module de réception (320) est utilisé pour recevoir un second signal réfléchi lorsque le premier signal rencontre l'objet cible, et pour émettre en sortie le second signal vers le module de réglage de gain (340). Le module de commande de gain (330) est utilisé pour déterminer un gain à un premier instant en fonction d'une première durée de propagation et d'une relation de correspondance entre des gains et des durées de propagation de signal, et pour émettre en sortie le gain déterminé vers le module de réglage de gain (340), la première durée de propagation étant la durée de l'émission du premier signal par le module d'émission (310) jusqu'au premier instant, et le premier instant étant un instant où le module de réglage de gain (340) reçoit le deuxième signal. Le module de réglage de gain (340) est utilisé pour régler une intensité du second signal en fonction du gain au premier instant.
PCT/CN2019/075246 2019-02-15 2019-02-15 Radar et procédé de commande de gain WO2020164121A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980052105.2A CN112534302B (zh) 2019-02-15 2019-02-15 一种雷达以及增益控制方法
PCT/CN2019/075246 WO2020164121A1 (fr) 2019-02-15 2019-02-15 Radar et procédé de commande de gain

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/075246 WO2020164121A1 (fr) 2019-02-15 2019-02-15 Radar et procédé de commande de gain

Publications (1)

Publication Number Publication Date
WO2020164121A1 true WO2020164121A1 (fr) 2020-08-20

Family

ID=72044157

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/075246 WO2020164121A1 (fr) 2019-02-15 2019-02-15 Radar et procédé de commande de gain

Country Status (2)

Country Link
CN (1) CN112534302B (fr)
WO (1) WO2020164121A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230099685A1 (en) * 2020-03-02 2023-03-30 Calterah Semiconductor Technology (Shanghai) Co., Ltd. Automatic gain control method, sensor, and radio device

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001201560A (ja) * 2000-01-21 2001-07-27 Mitsubishi Electric Corp レーダ装置及びその制御方法
CN1904640A (zh) * 2006-06-29 2007-01-31 哈尔滨工业大学 增益调制式脉冲成像激光雷达系统
JP2008107158A (ja) * 2006-10-24 2008-05-08 Mitsubishi Electric Corp 車載用レーダ装置
CN101557204A (zh) * 2009-05-22 2009-10-14 天津大学 超声测距用多级高动态范围自动增益控制电路
CN103026255A (zh) * 2010-07-28 2013-04-03 松下电器产业株式会社 雷达装置
CN104777470A (zh) * 2015-03-20 2015-07-15 中国科学院合肥物质科学研究院 一种扩展脉冲激光近程动态增益范围电路
CN106291487A (zh) * 2016-08-04 2017-01-04 上海无线电设备研究所 一种基于agc电压和回波数据的雷达接收功率和rcs估计方法
CN106772437A (zh) * 2016-12-12 2017-05-31 中国科学院合肥物质科学研究院 自适应控制动态范围的激光雷达装置
CN208013435U (zh) * 2018-03-16 2018-10-26 深圳市砝石激光雷达有限公司 脉冲参数加密的激光测距系统
CN108919282A (zh) * 2018-05-17 2018-11-30 北京航空航天大学 一种激光雷达信号时刻鉴别系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6594000B2 (en) * 2001-01-25 2003-07-15 Science And Technology Corporation Automatic gain control system for use with multiple wavelength signal detector
CN103592640A (zh) * 2013-11-20 2014-02-19 中国船舶重工集团公司第七二四研究所 一种气象雷达收发通道增益自动高精度校准方法
CN105548975B (zh) * 2015-12-11 2017-11-10 中国科学院电子学研究所 高稳定性射频信道增益校准装置和方法
CN108401444B (zh) * 2017-03-29 2022-07-08 深圳市大疆创新科技有限公司 一种激光雷达以及基于激光雷达的时间测量方法
CN106970391B (zh) * 2017-03-31 2019-10-11 成都微光云科技有限公司 一种基于激光测距的uav地形检测系统
CN207636763U (zh) * 2017-12-16 2018-07-20 北京国科欣翼科技有限公司 高速抗饱和放大电路以及安装有该电路的激光雷达和汽车

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001201560A (ja) * 2000-01-21 2001-07-27 Mitsubishi Electric Corp レーダ装置及びその制御方法
CN1904640A (zh) * 2006-06-29 2007-01-31 哈尔滨工业大学 增益调制式脉冲成像激光雷达系统
JP2008107158A (ja) * 2006-10-24 2008-05-08 Mitsubishi Electric Corp 車載用レーダ装置
CN101557204A (zh) * 2009-05-22 2009-10-14 天津大学 超声测距用多级高动态范围自动增益控制电路
CN103026255A (zh) * 2010-07-28 2013-04-03 松下电器产业株式会社 雷达装置
CN104777470A (zh) * 2015-03-20 2015-07-15 中国科学院合肥物质科学研究院 一种扩展脉冲激光近程动态增益范围电路
CN106291487A (zh) * 2016-08-04 2017-01-04 上海无线电设备研究所 一种基于agc电压和回波数据的雷达接收功率和rcs估计方法
CN106772437A (zh) * 2016-12-12 2017-05-31 中国科学院合肥物质科学研究院 自适应控制动态范围的激光雷达装置
CN208013435U (zh) * 2018-03-16 2018-10-26 深圳市砝石激光雷达有限公司 脉冲参数加密的激光测距系统
CN108919282A (zh) * 2018-05-17 2018-11-30 北京航空航天大学 一种激光雷达信号时刻鉴别系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230099685A1 (en) * 2020-03-02 2023-03-30 Calterah Semiconductor Technology (Shanghai) Co., Ltd. Automatic gain control method, sensor, and radio device
US12047209B2 (en) * 2020-03-02 2024-07-23 Calterah Semiconductor Technology (Shanghai) Co., Ltd. Automatic gain control method, sensor, and radio device

Also Published As

Publication number Publication date
CN112534302A (zh) 2021-03-19
CN112534302B (zh) 2022-02-11

Similar Documents

Publication Publication Date Title
WO2021027568A1 (fr) Procédé et dispositif d'évitement d'obstacles
JP7540641B2 (ja) 自動運転方法、関連装置及びコンピュータ読み取り可能記憶媒体
US10906549B2 (en) Systems and methods of autonomously controlling vehicle lane change maneuver
WO2021103511A1 (fr) Procédé et appareil de détermination de domaine de conception opérationnelle (odd), et dispositif associé
WO2021000800A1 (fr) Procédé de raisonnement pour la région roulable d'une route, et dispositif
WO2022016351A1 (fr) Procédé et appareil permettant de sélectionner une décision de conduite
WO2021189210A1 (fr) Procédé de changement de voie de véhicule et dispositif associé
WO2022022384A1 (fr) Procédé et dispositif permettant de reconnaître un état de mouvement de véhicule
WO2022062825A1 (fr) Procédé, dispositif de commande de véhicule et véhicule
US20240017719A1 (en) Mapping method and apparatus, vehicle, readable storage medium, and chip
CN113859265A (zh) 一种驾驶过程中的提醒方法及设备
US12033514B2 (en) Waypoint information transmission method, apparatus and system for platooning
WO2022127502A1 (fr) Procédé et dispositif de commande
WO2022148068A1 (fr) Procédé de détection de véhicule et appareil de détection de véhicule
US20220011414A1 (en) Ranging method and apparatus based on detection signal
CN116135654A (zh) 一种车辆行驶速度生成方法以及相关设备
WO2022061702A1 (fr) Procédé, appareil et système pour des alertes de conduite
WO2021243529A1 (fr) Procédé et appareil d'estimation d'angle d'incidence (ai)
WO2020164121A1 (fr) Radar et procédé de commande de gain
CN115407344B (zh) 栅格地图创建方法、装置、车辆及可读存储介质
CN115056784B (zh) 车辆控制方法、装置、车辆、存储介质及芯片
WO2022151839A1 (fr) Procédé et appareil de planification d'itinéraire de virage de véhicule
WO2023102827A1 (fr) Procédé et dispositif de contrainte de trajet
CN115042814A (zh) 交通灯状态识别方法、装置、车辆及存储介质
WO2022041820A1 (fr) Procédé et appareil pour planification de trajectoire de changement de file

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19914937

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19914937

Country of ref document: EP

Kind code of ref document: A1