WO2020172892A1 - Procédé et appareil de commande de puissance pour radar - Google Patents

Procédé et appareil de commande de puissance pour radar Download PDF

Info

Publication number
WO2020172892A1
WO2020172892A1 PCT/CN2019/076592 CN2019076592W WO2020172892A1 WO 2020172892 A1 WO2020172892 A1 WO 2020172892A1 CN 2019076592 W CN2019076592 W CN 2019076592W WO 2020172892 A1 WO2020172892 A1 WO 2020172892A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
echo
radar
echo signal
quality parameter
Prior art date
Application number
PCT/CN2019/076592
Other languages
English (en)
Chinese (zh)
Inventor
罗鹏飞
姜彤
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 PCT/CN2019/076592 priority Critical patent/WO2020172892A1/fr
Publication of WO2020172892A1 publication Critical patent/WO2020172892A1/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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/282—Transmitters

Definitions

  • This application relates to the technical field of radar positioning, and in particular to a radar power control method and device.
  • LiDAR light detection and ranging
  • lidar can detect the position, speed, shape and other characteristics of an object by emitting laser pulses.
  • a lidar when a lidar detects an object, it can emit laser pulses at a certain angle. If the laser pulse reaches a measured object, the laser pulse will be reflected on the surface of the measured object. After the laser radar emits laser pulses, it will detect whether there are laser pulses reflected back in the air. If the laser radar detects some of the laser pulses reflected on the surface of the measured object, it can also be considered that the laser radar has detected the corresponding laser pulses emitted. The laser radar can compare the detected echo signal with the emitted laser pulse, and determine the distance between the measured object and the laser radar by comparing the time difference and phase difference between the two.
  • lidar will continue to emit laser pulses with a higher transmission power to detect objects at a distance, but it also brings certain power consumption problems for lidar, which is not conducive to reducing the power consumption of lidar.
  • This application provides a radar power control method and device to reduce the power consumption of the radar.
  • an embodiment of the present application provides a radar power control method, which can be applied to radar, and mainly includes: obtaining one or more qualities corresponding to one or more echo signals of the first detection signal transmitted by the radar. Parameters; wherein the quality parameter corresponding to the first echo signal is positively or negatively related to the signal-to-noise ratio of the first echo signal, and the first echo signal is any one of the one or more echo signals Wave signal; and, determining whether to reduce the transmission power of the radar according to the obtained one or more quality parameters.
  • the quality parameter of the echo signal is positively or negatively correlated with the signal-to-noise ratio of the echo signal
  • the quality parameter of the echo signal can reflect the signal quality of the echo signal.
  • the signal quality of the echo signal is related to the detection accuracy of the radar. Therefore, according to one or more quality parameters corresponding to one or more echo signals of the first detection signal to determine whether to reduce the transmission power of the radar, you can take into account the radar detection In the case of accuracy, the transmit power is reduced, which helps to reduce the power consumption of the radar.
  • the detection distances corresponding to the multiple echo signals can also be obtained;
  • the proportion of the quantity in the signal determines whether to reduce the transmission power of the radar, where the short-range echo signal is an echo signal whose detection distance is less than a preset distance.
  • the transmission power of ⁇ is not conducive to improving the detection accuracy. In this case, reducing the transmission power can not only reduce the power consumption of the terminal, but also improve the detection accuracy of objects (close-range objects) that account for a certain proportion of multiple objects.
  • the quality parameter corresponding to the first echo signal is positively correlated with the signal-to-noise ratio of the first echo signal
  • the one or more echo signals are multiple echo signals
  • the one or more echo signals are
  • the first quality parameter is the first quality parameter corresponding to the echo signal with the longest detection distance among the multiple echo signals
  • determining whether to reduce the transmitting power of the radar according to one or more quality parameters includes: if the first quality parameter is greater than The first threshold is determined to reduce the transmission power of the radar.
  • the quality parameter corresponding to the first echo signal is positively correlated with the signal-to-noise ratio of the first echo signal
  • the one or more echo signals are multiple echo signals
  • the one or more echo signals are
  • the first quality parameter is the first quality parameter corresponding to the echo signal with the longest detection distance among the multiple echo signals
  • determining whether to reduce the transmission power of the radar according to one or more quality parameters includes: if the first quality parameter is greater than the The first threshold is used to obtain the second quality parameters of the echo signal with the longest detection distance corresponding to the preset number of second detection signals emitted by the radar; if the second quality parameters are all greater than the first threshold, it is determined to reduce the radar's Transmit power.
  • the transmission power is reduced, which is beneficial to avoid environmental fluctuations and other disturbances. Determine the interference of the factors to the echo signal to reduce the number of repeated changes of the transmit power.
  • the quality parameter corresponding to the first echo signal is positively correlated with the signal-to-noise ratio of the first echo signal; when the first detection signal has multiple echo signals, the multiple echo signals
  • the quality parameter of the echo signal When the quality parameter of the echo signal is greater than the second threshold, it indicates that the echo signal may be a saturated signal. Because the radar cannot accurately calculate the detection range based on the saturated signal, the above method is used to improve the detection accuracy of close-range objects and to reduce the power consumption of the radar. In addition, if the close-range object includes optical sensitive components, when the close-distance object receives a stronger detection signal emitted by the radar, the optical sensitive components inside the short-distance object may be damaged. Therefore, when the quality parameter corresponding to at least one echo signal in the multiple echo signals is greater than the second threshold, the transmission power is reduced, which is also beneficial to protect the safety of optical sensitive elements in close objects (such as image sensors in cameras).
  • the quality parameter corresponding to the first echo signal is the signal-to-noise ratio of the first echo signal, or the quality parameter corresponding to the first echo signal is the peak voltage of the first echo signal and The ratio of the peak voltage of the noise signal in the first echo signal.
  • acquiring the quality parameters corresponding to one or more echo signals respectively includes: if the first echo signal is a saturated signal, according to the maximum voltage of the first echo signal or the first echo At least one of the pulse broadening of the signal calculates the quality parameter of the echo signal.
  • the method further includes: determining a third quality parameter from the quality parameters corresponding to one or more echo signals; and according to the first threshold and the third quality parameter The ratio between reduces the transmit power; where the third quality parameter satisfies at least one of the following conditions: one or more echo signals are multiple echo signals, and the third quality parameter is the detection distance in the multiple echo signals The quality parameter corresponding to the farthest echo signal; one or more echo signals are multiple echo signals, and the third quality parameter is the largest or smallest quality parameter among the multiple quality parameters respectively corresponding to the multiple echo signals ; One or more echo signals are an echo signal, and the third quality parameter is a quality parameter corresponding to an echo signal.
  • the detection accuracy of the radar may be affected by noise signals.
  • the transmission power is reduced according to the ratio between the first threshold and the third quality parameter, so that the reduced transmission power will not be too low and affect the radar detection accuracy.
  • the detection signal is transmitted with the reduced transmit power, the quality parameter of the received echo signal can be close to the first threshold, so that the radar can obtain the detection range more accurately based on the received echo signal
  • reducing the transmission power according to the ratio between the first threshold and the third quality parameter includes: obtaining the alternative transmission power of the transmission power according to the ratio between the first threshold and the third quality parameter ; According to the correspondence between the preset power interval and the preset power, determine the candidate preset power corresponding to the candidate power interval to which the candidate transmit power belongs, and adjust the transmit power to the candidate preset power.
  • the correspondence between the preset power interval and the preset power is beneficial to simplify the design of the radar.
  • an embodiment of the present application provides a device that can be applied to radar, and includes: an acquisition unit and a processing unit; wherein, the acquisition unit is configured to acquire one or more echoes of the first detection signal emitted by the radar The signal respectively corresponds to one or more quality parameters; wherein the quality parameter corresponding to the first echo signal is positively or negatively correlated with the signal-to-noise ratio of the first echo signal; the first echo signal is one or more echoes Any echo signal in the signal; a processing unit, used to determine whether to reduce the transmission power of the radar according to one or more quality parameters.
  • one or more echo signals are multiple echo signals
  • the processing unit is further used to: obtain the detection distances corresponding to the multiple echo signals; The proportion of the number of echo signals determines whether to reduce the transmission power of the radar, where the short-range echo signal is an echo signal whose detection distance is less than a preset distance.
  • the quality parameter corresponding to the first echo signal is positively correlated with the signal-to-noise ratio of the first echo signal, one or more echo signals are multiple echo signals, and one or more qualities
  • the parameter is the first quality parameter corresponding to the echo signal with the longest detection distance among the multiple echo signals, and the processing unit is specifically configured to: if the first quality parameter is greater than the first threshold, determine to reduce the transmission power of the radar.
  • the quality parameter corresponding to the first echo signal is positively correlated with the signal-to-noise ratio of the first echo signal, one or more echo signals are multiple echo signals, and one or more qualities
  • the parameter is the first quality parameter corresponding to the echo signal with the longest detection distance among the multiple echo signals
  • the processing unit is specifically configured to: if the first quality parameter is greater than the first threshold, obtain a preset number of second The detection signals respectively correspond to the second quality parameters of the echo signal with the farthest detection distance; if the second quality parameters are all greater than the first threshold, it is determined to reduce the transmission power of the radar.
  • the quality parameter corresponding to the first echo signal is positively correlated with the signal-to-noise ratio of the first echo signal; one or more quality parameters are multiple quality parameters, and the processing unit is specifically configured to: If at least one of the multiple quality parameters is greater than the preset second threshold, it is determined to reduce the transmission power of the radar.
  • the quality parameter corresponding to the first echo signal is the signal-to-noise ratio of the first echo signal, or the quality parameter corresponding to the first echo signal is the peak voltage of the first echo signal and The ratio of the peak voltage of the noise signal in the first echo signal.
  • the acquiring unit is specifically configured to: if the first echo signal is a saturated signal, calculate the echo signal according to at least one of the maximum voltage of the first echo signal or the pulse width of the first echo signal. The quality parameter of the wave signal.
  • the processing unit determines to reduce the transmit power of the radar, it is also used to: determine a third quality parameter from the quality parameters corresponding to one or more echo signals; and according to the first threshold and the third The ratio between the quality parameters reduces the transmission power; where the third quality parameter satisfies at least one of the following conditions: one or more echo signals are multiple echo signals, and the third quality parameter is the multiple echo signals The quality parameter corresponding to the echo signal with the farthest detection distance; one or more echo signals are multiple echo signals, and the third quality parameter is the largest or smallest of the multiple quality parameters corresponding to the multiple echo signals.
  • Quality parameter; one or more echo signals are an echo signal, and the third quality parameter is a quality parameter corresponding to an echo signal.
  • the processing unit is specifically configured to: obtain the candidate transmission power of the transmission power according to the ratio between the first threshold and the third quality parameter; according to the difference between the preset power interval and the preset power To determine the candidate preset power corresponding to the candidate power interval to which the candidate transmit power belongs, and adjust the transmit power to the candidate preset power.
  • an embodiment of the present application provides a radar including a processor and a transceiver; wherein the transceiver is used to transmit a first detection signal and receive one or more echo signals of the first detection signal; the processor is used to By running the program instructions, according to one or more echo signals of the first detection signal received by the transceiver, the method as in any one of the first aspect is executed.
  • an embodiment of the present application provides a readable storage medium, which includes program instructions.
  • the program instructions run on a computer, the computer executes the method provided in any one of the first aspect.
  • an embodiment of the present application provides a program product, which when it runs on a computer, causes the computer to execute the method provided in any one of the first aspect.
  • the embodiments of the present application provide a mobile platform, including a global positioning system GPS device, and the radar provided in the third aspect; wherein the GPS device is used to obtain geographic location information of the mobile platform; and the radar is used to According to the geographic location information and the one or more echo signals, the geographic location information of one or more objects is obtained.
  • Figure 1 is a schematic diagram of radar detection
  • Figure 2 is a schematic diagram of a waveform of an echo signal
  • FIG. 3 is a schematic flowchart of a possible radar power control method provided by an embodiment of this application.
  • FIG. 4 is a schematic flowchart of a possible radar power control method provided by an embodiment of this application.
  • FIG. 5 is a schematic flowchart of a possible radar power control method provided by an embodiment of this application.
  • FIG. 6 is a schematic flowchart of a possible radar power control method provided by an embodiment of this application.
  • FIG. 7 is a schematic diagram of a device provided by an embodiment of the application.
  • FIG. 8 is a schematic diagram of a device provided by an embodiment of this application.
  • FIG. 9 is a schematic diagram of an apparatus provided by an embodiment of the application.
  • lidar is often used to detect objects.
  • Common types of radar include lidar and millimeter wave radar. Taking lidar as an example, lidar can also be called LiDAR radar.
  • LiDAR radar can detect the distance between a target object and the radar by emitting a laser beam.
  • the resolution of a radar is related to the wavelength of the detection signal emitted by the radar. Because the laser radar uses a laser beam as the detection signal, and the wavelength of the laser beam is about 100,000 times smaller than the wavelength of the traditional radio detection signal, the laser radar has a higher With high resolution, it can distinguish between pedestrians and posters in real movement, modeling in a three-dimensional space, detecting static objects, accurate ranging, etc. Because of this, lidar is often used as a radar that requires high accuracy, such as vehicle-mounted radar and airborne radar.
  • FIG. 1 is a schematic diagram of radar detection.
  • the radar 100 includes a control module 101, a laser module 102 and a detector module 103.
  • the radar 100 may be a radar system, and the control module 101, the laser module 102, and the detector module 103 exist as independent hardware entities in the radar system.
  • the radar 100 may also be a radar device.
  • the detector module 103 is integrated into the radar device as a hardware module, which is not limited in the embodiment of the present application.
  • the laser module 102 can emit laser pulses in a certain direction, that is, a detection signal. If there is an object along the emission direction of the detection signal and within a certain distance from the radar 100, the detection signal can be reflected on the surface of the object. Taking the object 3 in FIG. 1 as an example, the detection signal emitted by the radar 100 may be reflected on the surface of the object 3. Among the reflected detection signals, part of the detection signals can be returned to the radar 100 as echo signals.
  • the detector module 103 detects the echo signal and provides the detected echo signal to the control module 101.
  • the control module 101 calculates the distance between the object 3 and the radar 100 according to the echo signal.
  • the laser module 102 can emit lasers with a wavelength of 600-2000nm as a detection signal. Lasers with a wavelength of 600-2000nm are often used for measurement of non-scientific items, but because they can be perceived by the human eye, restrictions are required. Maximum power to avoid damage to human eyes.
  • the laser module 102 can also emit lasers with a wavelength of 1550nm. The lasers with a wavelength of 1550nm are invisible to the human eye, so it will not cause damage to the human eye at high power. It can be used for long-distance and low-precision detection purposes. . Moreover, the 1550nm wavelength laser is invisible to night vision goggles, so it can also be used in the military field. Based on cost and feasibility considerations, when the radar 100 is used as a vehicle-mounted radar, the laser module 102 can emit laser light with a wavelength of 905 nm.
  • the detector module 103 can detect the echo signal.
  • the detector module 103 can detect the laser pulse (echo signal) reflected back to the radar 100, and convert the echo signal from the laser light by photoelectric conversion.
  • the form of pulse is transformed into the form of digital signal or analog signal.
  • the detector module 103 may be any one or more of a silicon avalanche photodiode (APD), an APD array, and a single photon avalanche photodiode (SPAD) detector array.
  • APD silicon avalanche photodiode
  • APD APD array
  • SPAD single photon avalanche photodiode
  • APD is an analog device
  • the output signal will increase with the increase of the input light intensity
  • the smallest unit of the SPAD array is SPAD
  • SPAD has only single photon detection function, so for any SPAD, as long as it receives 1 or more Each photon, it outputs a signal of the same amplitude.
  • the radar 100 in the embodiment of the present application can also be installed on a mobile platform, such as a satellite, an airplane, or a car.
  • the radar 100 needs the assistance of other devices in the mobile platform to determine its current position and turning information, so as to ensure the availability of measurement data.
  • the mobile platform may also include a global positioning system (GPS) device and an inertial measurement unit (IMU) device.
  • GPS global positioning system
  • IMU inertial measurement unit
  • the radar 100 can combine the measurement data of the GPS device and the IMU device to obtain the location of the target object. , Speed and other characteristic quantities.
  • the radar 100 can provide geographic location information of the mobile platform through a GPS device in the mobile platform, and record the posture and turning information of the mobile platform through an IMU device.
  • the radar 100 After the radar 100 determines the distance to the target object according to the echo signal, it can use at least one of the geographic location information provided by the GPS device or the attitude and steering information provided by the IMU device to determine the measurement point of the target object by relative coordinates. The system is converted into a position point on the absolute coordinate system to obtain the geographic location information of the target object, so that the radar 100 can be applied to a moving platform.
  • the radar 100 usually transmits the detection signal with a larger transmission power to ensure that it can detect distant objects. .
  • a larger transmission power is not conducive to reducing the power consumption of the radar 100.
  • a larger heat dissipation module is also required for the laser module 102 in the radar 100 to ensure that the laser module 102 can continue to work.
  • a larger transmitting power does not necessarily improve the detection accuracy of the radar 100 for close-range objects, and it may even saturate the detector module 103 due to the high echo signal strength, thereby reducing the detection of close-range objects by the radar 100 Accuracy may also damage the optical sensitive components in close objects. For example, if the close object is a camera, if the signal strength of the detection signal is too high, it may damage the image sensor in the camera.
  • the distance between the object 1, the object 2, and the object 3 and the radar 100 increases in order.
  • the detection signals emitted by the radar 100 are respectively reflected on the surfaces of the above three objects, and the echo signals from the above three objects detected by the detector module 103 can be as shown in FIG. 2.
  • the detection signal is reflected on the surface of the object 1 first, so that the radar 100 detects the echo signal from the object 1 first.
  • the radar 100 transmits the detection signal with a large transmission power, the signal strength of the echo signal returned by the object 1 is too large, which exceeds the detection range of the detector module 103, that is, the echo saturation occurs, which leads to detection.
  • the waveform of the echo signal returned by the object 1 detected by the detector module 103 is distorted. As shown in FIG. 2, the echo signal returned by the object 1 lacks peaks. If the control module 101 calculates the distance between the object 1 and the radar 100 based on the echo signal returned by the object 1 in FIG. 2, a large error will occur in the calculation result.
  • the radar 100 fixedly transmits the detection signal with a relatively large transmission power, which is not conducive to reducing the power consumption of the radar 100, and is not conducive to improving the detection accuracy of the radar 100.
  • an embodiment of the present application provides a radar power control method, which can be implemented in the control module 101 of the radar 100 in the form of software or hardware, or can be implemented in the control module 101 in a combination of software and hardware.
  • the radar can adjust the transmission power of the detection signal according to the quality parameters of the echo signal, which is beneficial to reduce the power consumption of the radar, or is also beneficial to improve the radar's detection of close objects. Accuracy.
  • the quality parameter of the echo signal there is a positive or negative correlation between the quality parameter of the echo signal and the signal-to-noise ratio of the echo signal. Specifically, if the quality parameter is positively correlated with the signal-to-noise ratio of the echo signal, the quality parameter of the echo signal increases with the increase of the signal-to-noise ratio of the echo signal. Ratio negative correlation, the quality parameter of the echo signal decreases with the increase of the signal-to-noise ratio of the echo signal.
  • the signal quality of the echo signal is mainly affected by the signal-to-noise ratio of the echo signal. Due to external interference factors and the internal noise of the detector module, there is a noise signal in the echo signal detected by the radar. It can also be considered that the echo signal includes a useful signal and a noise signal, and the useful signal can be used to calculate the detection range ( The distance between the radar and the object), the noise signal will interfere with the useful signal, which is not conducive to improving the accuracy of the calculation result. The smaller the proportion of the noise signal in the echo signal, the greater the signal-to-noise ratio in the echo signal, and the better the signal quality of the echo signal.
  • the greater the intensity of the noise signal the smaller the signal-to-noise ratio in the echo signal, and the worse the signal quality of the echo signal.
  • the quality parameter of the echo signal and the signal-to-noise ratio of the echo signal are positively correlated or negatively correlated, the signal quality of the echo signal can be reflected by the quality parameter of the echo signal.
  • the quality parameter of the echo signal in the embodiment of the present application may be the signal-to-noise ratio of the echo signal.
  • the quality parameter of the echo signal may also be the ratio of the peak voltage of the echo signal to the peak voltage of the noise signal in the echo signal.
  • the quality parameter of the echo signal may also be the reciprocal of the signal-to-noise ratio of the echo signal, etc., which will not be listed in the implementation of this application.
  • the radar can calculate the echo signal’s value according to at least one of the maximum voltage of the echo signal or the pulse width of the echo signal. Quality parameters.
  • the radar can calculate the quality parameter of the echo signal according to the pulse width w and the maximum voltage I of the echo signal.
  • FIG. 3 is a schematic flowchart of a possible radar power control method provided by an embodiment of this application. As shown in Figure 3, it mainly includes the following steps:
  • S102 Receive one or more echo signals corresponding to the detection signal. If an echo signal is received, S103 is executed. If multiple echo signals are received, S107 is executed.
  • S103 Calculate the quality parameter of an echo signal.
  • the specific implementation process is related to the specific type of the quality parameter, which is not limited in the embodiment of the present application.
  • the quality parameter is positively correlated with the signal-to-noise ratio of the echo signal, determine whether the quality parameter is greater than a first threshold. If yes, execute S105 to reduce the transmission power. If not, execute S106 to maintain the transmission power.
  • the first threshold can be determined according to the actual performance of the radar. For example, if the radar can accurately calculate the detection range of the echo signal even when the signal quality of the echo signal is low, the value of the first threshold can be Smaller.
  • the radar After the radar transmits the detection signal, it may receive one echo signal of the detection signal, or it may receive multiple echo signals of the detection signal. If only one echo signal is received, it means that there may only be one object in the transmission direction of the detection signal.
  • the radar can adjust the transmission power according to the quality parameters of the echo signal. Specifically, assuming that the quality parameter is positively correlated with the signal-to-noise ratio of the echo signal, if the quality parameter of the echo signal is greater than the first threshold, it indicates that the quality of the current echo signal is better. In this case, the transmission power of the detection signal can be reduced, that is, the next detection signal is transmitted with a lower transmission power, thereby reducing the power consumption of the radar.
  • the radar can detect stable intensity by adjusting the transmit power
  • the echo signal is close to maintain accurate detection of the object and reduce power consumption.
  • the signal strength of the echo signal is very low. This is because the object here has exceeded the detection range of the radar, and the radar can no longer adjust the transmit power for the object.
  • the signal quality of the echo signal can also be judged by comparison with a preset threshold.
  • the radar After the radar transmits the detection signal, it may also detect multiple echo signals, indicating that there may be one or more objects in the direction in which the detection signal is emitted. It can be understood that the propagation paths of the multiple echo signals are not the same, and the time for the multiple echo signals to return to the radar is also different, so the radar needs to detect the multiple echo signals within a certain time window. Based on this, the radar can continuously detect the echo signal within a preset time period after transmitting the detection signal, and use the echo signal detected within the preset time length as the echo signal of the detection signal.
  • the short-range echo signal is an echo signal whose detection distance is less than a preset distance.
  • S109 Determine whether to reduce the transmission power of the radar according to the proportion of the number of the short-range echo signals in the multiple echo signals. For example, if the proportion of the number of short-range echo signals is greater than the third threshold, the transmission power is reduced. Otherwise, keep the transmit power.
  • the echo signal 1 returned from the object 1 to the radar corresponds to a detection distance of 20m
  • the echo signal 2 returned from the object 2 to the radar corresponds to a detection distance of 50m
  • the echo signal returned from the object 3 to the radar 3 The corresponding detection distance is 80m.
  • the preset distance is 60m
  • the short-range echo can be obtained as echo signal 1 and echo signal 2.
  • the proportion of short-range echo in multiple echo signals is 0.67 .
  • the third threshold is 0.5, it can be determined that the number of short-range echoes in the multiple echo signals is greater than the third threshold, so the transmit power is reduced.
  • the value of the third threshold is related to the actual use requirements of the radar. For example, if the radar detects short-range objects prior to detecting long-range objects, the third threshold can be a smaller value (less than 0.5). Conversely, if the radar detects long-range objects prior to detecting short-range objects, the third threshold can be a larger (greater than 0.5) value.
  • the first quality parameter may be the quality parameter of the echo signal with the farthest detection distance among multiple echo signals.
  • the radar 100 receives three echo signals returned by the object 1, the object 2, and the object 3. According to the three echo signals, the object 1, the object 2 and the object 3 and the radar 100 can be calculated respectively. The distance between the three echo signals corresponds to the detection distance. Among them, the echo signal 3 returned by the object 3 has the farthest detection distance, and the radar 100 determines whether to reduce the transmission power according to the quality parameter of the echo signal 3. If the quality parameter of the echo signal 3 is greater than the first threshold, it indicates that the signal quality of the echo signal 3 is good. Appropriately reducing the transmission power of the detection signal will not affect the detection of the object 3, so the transmission power can be reduced.
  • the radar can determine whether the first quality parameter and the second quality parameter are greater than a first threshold, where the second quality parameter is a preset number of multiple detections transmitted by the radar before that.
  • the signals correspond to the quality parameters of the multiple echo signals with the farthest detection distance.
  • the radar determines that the first quality parameter is greater than the first threshold, it acquires the preset number of second quality parameters; if the preset number of second quality parameters are all greater than the first threshold, execute S403 to reduce the transmission. Power, otherwise, execute S404 to maintain the transmission power.
  • the radar transmits the detection signal (signal 6), it successively transmits 5 detection signals, which are signals 1 to 5.
  • the radar receives multiple echo signals corresponding to signal 6, if the first quality parameter is greater than the first threshold, the radar obtains the quality parameters of the echo signals corresponding to signals 1 to 5 and the farthest detection distance, namely the first 2. Quality parameters. If these second quality parameters are greater than the first threshold, the radar reduces the transmission power. It can be understood that if any detection signal (such as signal 4) corresponds to only one echo signal, it can be considered that the echo signal is the echo signal corresponding to signal 4 and with the farthest detection distance.
  • the transmission power is reduced, which is beneficial to avoid environmental fluctuations and other disturbances. Determine the interference of the factors to the echo signal to reduce the number of repeated changes of the transmit power.
  • if multiple echo signals are detected it can also be determined whether to reduce the emission according to whether there are echo signals in the multiple echo signals that may appear echo saturation. power. Taking the positive correlation between the quality parameter of the echo signal and the signal-to-noise ratio of the echo signal as an example, as shown in Figure 6, in S102, if multiple echo signals are detected, the following can also be performed as shown in Figure 6 step:
  • S502 Determine whether there is a quality parameter corresponding to at least one echo signal that is greater than a second threshold among the multiple echo signals. If yes, execute S503 to reduce the transmission power. If not, execute S504 to maintain the transmission power.
  • the value of the second threshold is determined according to the performance of the detector module in the radar. Generally, it can be considered that echo signals whose quality parameters exceed the second threshold may have echo saturation. Therefore, it can also be considered that in S502, if at least one of the multiple echo signals is likely to be a saturated signal, the transmit power is reduced.
  • the radar 100 receives three echo signals returned by object 1, object 2 and object 3: echo signals 1 to 3, the waveforms of which can be as shown in FIG.
  • the signal strength of echo signal 1 and echo signal 2 in echo signals 1 to 3 is relatively strong, assuming that the quality parameter of the echo signal is the signal-to-noise ratio, and the noise signal in echo signals 1 to 3 If the signal strength is the same, it can be determined from Figure 2 that echo signal 1 and echo signal 2 have higher quality parameters.
  • echo signal 1 is a saturated signal
  • echo signal 2 is an echo signal approaching saturation. .
  • S503 is executed to reduce the transmission power.
  • the radar cannot accurately calculate the detection range based on the saturation signal. Using the above method will not only improve the detection accuracy of close objects, but also help the radar reduce power consumption.
  • the close-range object includes optical sensitive components
  • the close-distance object receives a stronger detection signal emitted by the radar, the optical sensitive components inside the short-distance object may be damaged. Therefore, when the quality parameter corresponding to at least one echo signal in the multiple echo signals is greater than the second threshold, the transmission power is reduced, which is also beneficial to protect the safety of optical sensitive elements in close objects (such as image sensors in cameras).
  • the radar can reduce the transmission power of the detection signal when the echo signal meets certain conditions, thereby reducing the power consumption of the radar, or can also improve the detection accuracy of close objects. It can be understood that the above three embodiments can be combined arbitrarily. For example, combining the first embodiment and the third embodiment, in the technical solution after the combination, the quality parameter of the echo signal with the farthest detection distance of the radar will be greater than If the first threshold and the proportion of short-range echo signals are greater than the third threshold, the transmit power is reduced to reduce the power consumption of the radar and to take into account the detection accuracy of long-range objects and short-range objects.
  • the radar can also determine whether to reduce the transmission power according to other rules. For example, the radar can also determine whether to reduce the transmission power according to the types of objects detected. For example, if the radar determines that the detected object is a person, the transmission power can be reduced to prevent the laser pulse from burning the person's skin.
  • the embodiment of the present application also provides a specific implementation manner for reducing the transmission power. If the radar determines to reduce the transmit power, it can also perform the following steps:
  • the third quality parameter is determined from the quality parameters corresponding to the one or more echo signals; the transmission power is reduced according to the ratio between the first threshold and the third quality parameter.
  • the quality parameter of the echo signal is the third quality parameter. If there are multiple echo signals, the third quality parameter can satisfy one of the following two conditions:
  • the third quality parameter is the quality parameter corresponding to the echo signal with the farthest detection distance among the multiple echo signals.
  • the detection distance of the echo signal 3 is the farthest, and the quality parameter of the echo signal 3 may be used as the third quality parameter.
  • the third quality parameter is the largest or smallest quality parameter among the multiple quality parameters respectively corresponding to the multiple echo signals. For example, among echo signals 1 to 3, the quality parameter of echo signal 1 is the largest, and the quality parameter of echo signal 3 is the smallest. Then, the quality parameter of echo signal 1 or the quality parameter of echo signal 3 can be regarded as the third quality. parameter. It depends on the application scenario of the radar. For example, if the radar detects short-distance objects prior to detecting long-distance objects, the quality parameter of echo signal 1 is used as the third quality parameter. If the radar detects long-distance objects prior to detection For close objects, the quality parameter of the echo signal 3 is used as the third quality parameter.
  • the detection accuracy of the radar will be affected by the noise signal.
  • reducing the transmission power according to the ratio between the first threshold and the third quality parameter is beneficial to prevent the reduced transmission power from being too low and affecting the detection accuracy of the radar. That is to say, by using the reduced transmission power to transmit the detection signal, the quality parameter of the received echo signal can be close to the first threshold, so that the radar can obtain the detection range more accurately based on the received echo signal.
  • the radar can also directly reduce the transmit power according to a preset reduction factor to simplify the calculation process.
  • the radar may first calculate the candidate transmission power according to the ratio between the first threshold and the third quality parameter, or a preset reduction factor, and then calculate the candidate transmission power according to the preset power interval and the preset
  • the corresponding relationship between the powers is to determine the candidate preset power corresponding to the candidate power interval to which the candidate transmission power belongs, and adjust the transmission power to the determined candidate preset power.
  • 5W is calculated according to the ratio between the first threshold and the third quality parameter, which is the candidate transmission power.
  • the corresponding relationship between the preset power interval and the preset power in the radar 100 can be shown in Table 1 below:
  • the candidate transmission power is 5W, which belongs to the power range (3,6), and the corresponding candidate preset power can be obtained as 4.5W. After that, the radar adjusts the transmission power of the detection signal to 4.5W.
  • the control module 101 can change the transmission power of the laser module 102 by changing the size of the driving current (voltage) provided to the laser module 102. If the transmitting power of the laser module 102 is adjusted accurately, the control module 101 needs to go through complicated calculations and adjust the size of the driving current accurately, which increases the complexity of the internal implementation of the control module 101.
  • the drive currents corresponding to the three power intervals can be preset in the control module 101, and after determining the candidate power interval to which the candidate transmit power belongs, send to the laser module 102 With a corresponding drive current, the laser module 102 can transmit the detection signal according to the candidate preset power corresponding to the determined candidate power interval.
  • the system can integrate a variety of sensors, such as cameras, lidar, millimeter wave radar, and ultrasonic radar.
  • sensors such as cameras, lidar, millimeter wave radar, and ultrasonic radar.
  • lidar when adjusting the transmit power, you can also refer to the data of any one or more sensors to enhance the accuracy of the judgment.
  • lidar calculates the proportion of short-range echo signals, it can also refer to the echo signals received by millimeter wave radar and ultrasonic radar, as well as the object pictures taken by the camera, and integrate data from multiple sources to calculate Improve the accuracy of calculation results.
  • the radar may include corresponding hardware structures and/or software units that perform various functions.
  • the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software-driven hardware depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.
  • FIG. 7 shows a possible exemplary block diagram of the device involved in the embodiment of the present application, and the device 700 may exist in the radar in the form of software.
  • the apparatus 700 may include: an obtaining unit 701 and a processing unit 702.
  • the device 700 may further include a storage unit 703 for storing program codes and data of the device 700.
  • the acquisition unit 701 and the processing unit 702 may be the control module 101 in FIG. 1, which may be implemented by a processor or a controller, such as a general-purpose central processing unit (central processing unit, CPU), a general-purpose processor, and digital signal processing. (digital signal processing, DSP), application specific integrated circuits (ASIC), field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof . It can implement or execute various exemplary logical blocks, units and circuits described in conjunction with the disclosure of this application.
  • the processor may also be a combination for realizing computing functions, for example, including a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on.
  • the storage unit 703 may be a memory.
  • the device 700 may be the radar in any of the above embodiments, or may also be a semiconductor chip provided in the radar.
  • the acquiring unit 701 and the processing unit 702 can support the apparatus 700 to perform the radar actions in the above method examples.
  • the acquiring unit 701 is configured to acquire one or more quality parameters respectively corresponding to one or more echo signals of the first detection signal transmitted by the radar; wherein, the first echo signal corresponds to The quality parameter is positively correlated or negatively correlated with the signal-to-noise ratio of the first echo signal; the first echo signal is any one of one or more echo signals; the processing unit 702 is used to The quality parameter determines whether to reduce the radar's transmit power.
  • one or more echo signals are multiple echo signals
  • the processing unit 702 is further used to: obtain the detection distances corresponding to the multiple echo signals; The proportion of the number of the multiple echo signals determines whether to reduce the transmission power of the radar, and the short-range echo signal is an echo signal whose detection distance is less than a preset distance.
  • the quality parameter corresponding to the first echo signal is positively correlated with the signal-to-noise ratio of the first echo signal, one or more echo signals are multiple echo signals, and one or more qualities
  • the parameter is the first quality parameter corresponding to the echo signal with the longest detection distance among the multiple echo signals, and the processing unit 702 is specifically configured to: if the first quality parameter is greater than the first threshold, determine to reduce the transmission power of the radar.
  • the quality parameter corresponding to the first echo signal is positively correlated with the signal-to-noise ratio of the first echo signal, one or more echo signals are multiple echo signals, and one or more qualities
  • the parameter is the first quality parameter corresponding to the echo signal with the longest detection distance among the multiple echo signals
  • the processing unit 702 is specifically configured to: if the first quality parameter is greater than the first threshold, obtain the preset number of the first quality parameters emitted by the radar.
  • the two detection signals respectively correspond to the second quality parameter of the echo signal with the farthest detection distance; if the second quality parameters are both greater than the first threshold, it is determined to reduce the transmission power of the radar.
  • the quality parameter corresponding to the first echo signal is positively correlated with the signal-to-noise ratio of the first echo signal; the one or more quality parameters are multiple quality parameters, and the processing unit 702 is specifically configured to: If at least one of the multiple quality parameters is greater than the preset second threshold, it is determined to reduce the transmission power of the radar.
  • the quality parameter corresponding to the first echo signal is the signal-to-noise ratio of the first echo signal, or the quality parameter corresponding to the first echo signal is the peak voltage of the first echo signal and The ratio of the peak voltage of the noise signal in the first echo signal.
  • the acquiring unit 701 is specifically configured to: if the first echo signal is a saturated signal, calculate according to at least one of the maximum voltage of the first echo signal or the pulse width of the first echo signal The quality parameter of the echo signal.
  • the processing unit 702 determines to reduce the transmit power of the radar, it is further configured to: determine a third quality parameter from the quality parameters corresponding to one or more echo signals; according to the first threshold and the first The ratio between the three quality parameters reduces the transmission power; where the third quality parameter satisfies at least one of the following conditions: one or more echo signals are multiple echo signals, and the third quality parameter is multiple echo signals The quality parameter corresponding to the echo signal with the farthest detection distance; one or more echo signals are multiple echo signals, and the third quality parameter is the largest or smallest of the multiple quality parameters corresponding to the multiple echo signals.
  • One or more echo signals are an echo signal
  • the third quality parameter is a quality parameter corresponding to an echo signal.
  • the processing unit 702 is specifically configured to: obtain the candidate transmission power of the transmission power according to the ratio between the first threshold and the third quality parameter; The correspondence between the preset powers is determined, the candidate preset power corresponding to the candidate power interval to which the candidate transmission power belongs, and the transmission power is adjusted to the candidate preset power.
  • the device 800 includes a processor 802, a transceiver 803, and a memory 801.
  • the device 800 may further include a bus 804.
  • the transceiver 803, the processor 802, and the memory 801 can be connected to each other via a communication line 804;
  • the communication line 804 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (extended industry standard architecture). , Referred to as EISA) bus and so on.
  • the communication line 804 can be divided into an address bus, a data bus, a control bus, and so on. For ease of presentation, only one thick line is used in FIG. 8 to represent, but it does not mean that there is only one bus or one type of bus.
  • the processor 802 may be used as the control module 101 shown in FIG. 1, and may be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the present application.
  • the transceiver 803 may include a transmitter and a detector.
  • the transmitter may be used as the laser module 102 shown in FIG. 1 to transmit detection signals
  • the detector may be used as the detector module 103 shown in FIG. 1 to detect echo signals. .
  • the memory 801 may be read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM), or other types that can store information and instructions
  • the dynamic storage device can also be electrically erasable programmable read-only memory (electrically programmable read-only memory, EEPROM), compact disc read-only memory (CD-ROM) or other optical disk storage, Optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program codes in the form of instructions or data structures and can Any other medium accessed by the computer, but not limited to this.
  • the memory can exist independently and is connected to the processor through a communication line 804. The memory can also be integrated with the processor.
  • the memory 801 is used to store computer-executed instructions for executing the solutions of the present application, and the processor 802 controls the execution.
  • the processor 802 is configured to execute computer-executable instructions stored in the memory 801, so as to implement the radar power control method provided in the foregoing embodiment of the present application.
  • the processor 802 may specifically include the following structures: a trigger circuit 1011, a drive circuit 1012, a control circuit 1013, a signal processing circuit 1014, and a calculation circuit 1015.
  • the trigger circuit 1011 is used to generate a trigger signal and provide it to the drive circuit 1012 and the calculation circuit 1015.
  • the signal processing circuit 1014 is used to receive the echo signal detected by the detector module 103, and perform pre-processing on the echo signal, such as performing analog-to-digital conversion, filtering, and amplifying processing on the echo signal, and the processed echo
  • the signal is supplied to the calculation circuit 1015.
  • the calculation circuit 1015 is used to calculate the quality parameters and detection distance of the echo signal according to the trigger signal provided by the trigger circuit 1011 and the processed echo signal provided by the signal processing circuit 1014, and provide the calculation result to the control circuit 1013.
  • the control circuit 1013 is configured to determine whether the transmission power of the laser module 102 needs to be reduced according to the calculation result of the calculation circuit 1015, generate a control signal according to the judgment result, and provide the control signal to the drive circuit 1012.
  • the specific implementation can parameterize the above method embodiments, which will not be repeated in this application.
  • the driving circuit 1012 is used to generate a driving signal according to the trigger signal provided by the trigger circuit 1011 and the control signal provided by the control circuit 1013, and provide the driving signal to the laser module 102.
  • the trigger signal is used to determine the waveform of the drive signal
  • the control signal is used to determine the strength of the drive signal. The stronger the intensity of the driving signal, the greater the transmitting power of the laser module 102. Therefore, the control circuit 1013 can control and reduce the transmitting power of the laser module 102 by changing the control signal.
  • the computer-executable instructions in the embodiments of the present application may also be referred to as application program code, which is not specifically limited in the embodiments of the present application.
  • 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.

Abstract

L'invention concerne un procédé et un appareil de commande de puissance pour un radar (100). Le procédé s'applique au radar (100) et consiste principalement à : obtenir un ou plusieurs paramètres de qualité, correspondant respectivement à un ou à plusieurs signaux d'écho d'un premier signal de détection émis par le radar (100), un paramètre de qualité correspondant à un premier signal d'écho étant corrélé positivement ou négativement à un rapport signal-bruit du premier signal d'écho et le premier signal d'écho étant un signal d'écho quelconque parmi le ou les signaux d'écho ; et déterminer, selon le ou les paramètres de qualité obtenus, s'il faut réduire la puissance d'émission du radar (100). La puissance d'émission peut être réduite avec garantie de la précision de détection du radar (100), ce qui facilite la réduction de la consommation d'énergie du radar (100).
PCT/CN2019/076592 2019-02-28 2019-02-28 Procédé et appareil de commande de puissance pour radar WO2020172892A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/076592 WO2020172892A1 (fr) 2019-02-28 2019-02-28 Procédé et appareil de commande de puissance pour radar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/076592 WO2020172892A1 (fr) 2019-02-28 2019-02-28 Procédé et appareil de commande de puissance pour radar

Publications (1)

Publication Number Publication Date
WO2020172892A1 true WO2020172892A1 (fr) 2020-09-03

Family

ID=72238241

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/076592 WO2020172892A1 (fr) 2019-02-28 2019-02-28 Procédé et appareil de commande de puissance pour radar

Country Status (1)

Country Link
WO (1) WO2020172892A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023116687A1 (fr) * 2021-12-22 2023-06-29 维沃移动通信有限公司 Procédé et appareil de détermination de puissance de transmission, et dispositif

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103885038A (zh) * 2014-03-04 2014-06-25 上海无线电设备研究所 星载微波雷达系统功耗优化方法
CN204142953U (zh) * 2014-10-08 2015-02-04 中船重工鹏力（南京）大气海洋信息系统有限公司 数字化高频地波雷达可控功率输出发射机
CN105116381A (zh) * 2015-08-12 2015-12-02 西安电子科技大学 多波束雷达时间功率资源联合分配方法
CN105785395A (zh) * 2016-03-17 2016-07-20 四川知周科技有限责任公司 一种多波长光束合成的相干多普勒激光测风雷达
CN205608187U (zh) * 2016-03-17 2016-09-28 四川知周科技有限责任公司 一种多波长光束合成的相干多普勒激光测风雷达
US20170108581A1 (en) * 2014-11-10 2017-04-20 Peter Dan Morley System and apparatus for search radar processing using random matrix theory

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103885038A (zh) * 2014-03-04 2014-06-25 上海无线电设备研究所 星载微波雷达系统功耗优化方法
CN204142953U (zh) * 2014-10-08 2015-02-04 中船重工鹏力（南京）大气海洋信息系统有限公司 数字化高频地波雷达可控功率输出发射机
US20170108581A1 (en) * 2014-11-10 2017-04-20 Peter Dan Morley System and apparatus for search radar processing using random matrix theory
CN105116381A (zh) * 2015-08-12 2015-12-02 西安电子科技大学 多波束雷达时间功率资源联合分配方法
CN105785395A (zh) * 2016-03-17 2016-07-20 四川知周科技有限责任公司 一种多波长光束合成的相干多普勒激光测风雷达
CN205608187U (zh) * 2016-03-17 2016-09-28 四川知周科技有限责任公司 一种多波长光束合成的相干多普勒激光测风雷达

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023116687A1 (fr) * 2021-12-22 2023-06-29 维沃移动通信有限公司 Procédé et appareil de détermination de puissance de transmission, et dispositif

Similar Documents

Publication Publication Date Title
US11681029B2 (en) Detecting a laser pulse edge for real time detection
CN111919138B (zh) 检测激光脉冲边沿以进行实时检测
US10830881B2 (en) Active signal detection using adaptive identification of a noise floor
WO2020191727A1 (fr) Procédé et dispositif de commande de puissance radar
EP4130798A1 (fr) Procédé et dispositif d'identification de cible
WO2022126427A1 (fr) Procédé de traitement de nuage de points, appareil de traitement de nuage de points, plateforme mobile, et support de stockage informatique
US20080224893A1 (en) Object detector for a vehicle
JP6970703B2 (ja) 電子装置および方法
US11961306B2 (en) Object detection device
CN115712107A (zh) 用于激光雷达的信号处理方法、探测方法以及激光雷达
WO2020142939A1 (fr) Procédé et dispositif de traitement de signal d'écho et support de stockage
CN110687545B (zh) 一种高精度激光雷达系统
WO2020172892A1 (fr) Procédé et appareil de commande de puissance pour radar
US11624811B2 (en) Apparatus and method for increasing LIDAR sensing distance
US20200292667A1 (en) Object detector
WO2022217520A1 (fr) Procédé et appareil de détection, plate-forme mobile et support de stockage
WO2020107379A1 (fr) Procédé de correction de réflectivité pour utilisation dans un appareil de télémétrie, et appareil de télémétrie
CN111868561B (zh) 使用本底噪声的自适应识别进行有效信号检测
WO2023120479A1 (fr) Dispositif de mesure de distance et procédé de mesure de distance
KR102664396B1 (ko) 라이다 장치 및 그 동작 방법
KR20220049399A (ko) 거리 측정 장치 및 그 방법
CN116559896A (zh) 调整激光雷达测距精度的方法、装置及激光雷达

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: 19917080

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: 19917080

Country of ref document: EP

Kind code of ref document: A1