WO2022057267A1 - 一种配置雷达的方法、装置、电子设备及存储介质 - Google Patents
一种配置雷达的方法、装置、电子设备及存储介质 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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- G—PHYSICS
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- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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- 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
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- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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- G01S7/4861—Circuits for detection, sampling, integration or read-out
Definitions
- the present disclosure relates to the technical field of radar, and in particular, to a method, an apparatus, an electronic device and a storage medium for configuring a radar.
- LiDAR has been widely used in the fields of autonomous driving, UAV exploration, map mapping and other fields due to its accurate ranging ability
- the point cloud data provided by LiDAR has generated information such as target detection, mapping, positioning, Specific applications in related fields such as point cloud segmentation.
- the embodiments of the present disclosure provide at least one solution for configuring radars, determining relevant scanning time information for grids divided by multiple radar scanning ranges to select corresponding configuration parameters for multiple radars, thereby reducing the synchronization of multiple radar data collections Delay, improve the data reliability and accuracy of subsequent applications.
- an embodiment of the present disclosure provides a method for configuring a radar, the method comprising:
- a target configuration parameter set is selected from multiple sets of the candidate configuration parameter sets, and parameter configuration is performed for the multiple radars according to the target configuration parameter set; wherein, a set of candidate configuration parameter sets includes A set of candidate configuration parameters for each radar used to determine the duration of a target scan delay.
- the obtained target scanning ranges of multiple radars can be divided into grids; then the scanning of each grid can be scanned under each candidate configuration parameter set according to each radar. time, to determine the target scanning delay duration of multiple radars scanning to the same grid; in some possible implementations, each target scanning delay duration corresponds to a set of candidate configuration parameters of multiple radars, and each set of candidate configuration parameters is set in Including one candidate configuration parameter set corresponding to multiple radars, that is, each group of candidate configuration parameter sets can be selected from a variety of candidate configuration parameter sets corresponding to each radar, and then from each It is obtained by combining a candidate configuration parameter set selected by the radar; in this way, the target configuration parameter set with the shortest target scanning delay time can be selected from multiple sets of candidate configuration parameter sets based on multiple target scanning delay time, and the target configuration parameter set with the shortest target scanning delay time can be synchronized. Parameters are configured for multiple radars. In this way, the time delay of point cloud data
- the target scanning delay time is determined based on the relative scanning time of scanning the grid under various candidate configuration parameter sets of each radar, which can characterize the scanning time difference of multiple radars scanning the same target, and the scanning
- the larger the time difference the weaker the synchronization of multiple radars.
- the smaller the scanning time difference the stronger the synchronization of multiple radars.
- a target configuration parameter set that makes the scanning time difference smaller can be selected for each radar. For the target entered into the grid, it can be achieved that the radar data collected by multiple radars synchronously scans the target at the same time, which can improve the reliability and accuracy of the point cloud data for subsequent related applications.
- an embodiment of the present disclosure further provides an apparatus for configuring a radar, the apparatus comprising:
- an acquisition module configured to acquire a target scanning range scanned by a plurality of radars, and divide the target scanning range into a plurality of grids;
- a determination module configured to determine the target scanning delay time of multiple radars scanning to the same grid according to the scanning time of each radar scanning to each grid under each candidate configuration parameter set;
- a configuration module configured to select a target configuration parameter set from multiple sets of candidate configuration parameter sets based on the multiple target scanning delay durations, and perform parameter configuration for the plurality of radars according to the target configuration parameter set; wherein, a set of candidate configuration parameters
- the parameter set includes a set of candidate configuration parameters for each radar used to determine a target scanning delay time.
- embodiments of the present disclosure further provide an electronic device, including: a processor, a memory, and a bus, where the memory stores machine-readable instructions executable by the processor, and the processor is configured to execute the Machine-readable instructions stored in a memory, when the electronic device is running, the processor communicates with the memory through a bus, and the machine-readable instructions are executed by the processor to execute the first aspect and its various aspects.
- the steps of the method for configuring a radar according to any one of the embodiments.
- an embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is run by an electronic device, the electronic device executes the first The steps of a method of configuring a radar according to any of the aspects and various embodiments thereof.
- an embodiment of the present disclosure provides a computer program, including computer-readable code, when the computer-readable code is executed in an electronic device, a processor in the electronic device executes any one of the above.
- the described method of configuring the radar is not limited to:
- FIG. 1A is a schematic diagram of a system architecture to which a method for configuring a radar according to an embodiment of the present disclosure can be applied;
- FIG. 1B shows a flowchart of a method for configuring a radar provided by an embodiment of the present disclosure
- FIG. 2 shows a schematic diagram of an apparatus for configuring a radar provided by an embodiment of the present disclosure
- FIG. 3 shows a schematic diagram of an electronic device provided by an embodiment of the present disclosure.
- the present disclosure provides at least a solution for configuring radars, and determining relevant scanning time information for grids divided by multiple radar scanning ranges to select corresponding configuration parameters for multiple radars, thereby reducing multiple radar data
- the synchronization delay of acquisition improves the data reliability and accuracy of subsequent applications.
- the execution subject of the method for configuring a radar provided by the embodiment of the present disclosure is generally an electronic device with a certain computing capability.
- the electronic device includes, for example, a terminal device or a server or other processing device, and the terminal device can be a user equipment (User Equipment, UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (Personal Digital Assistant, PDA), handheld devices, computing devices, in-vehicle devices, wearable devices, etc.
- the method of configuring the radar may be implemented by the processor calling computer-readable instructions stored in the memory.
- FIG. 1A is a schematic diagram of a system architecture to which a method for configuring a radar according to an embodiment of the present disclosure can be applied; as shown in FIG. 1A , the system architecture includes: a terminal 111 , a network 112 , and a plurality of radars 113 to 11n .
- the terminal 111 and the plurality of radars 113 to 11n may establish a communication connection through the network 112, and the terminal 111 obtains the target scanning ranges of the plurality of radars 113 to 11n through the network 112 and performs grid division; then, the terminal 111 according to The scanning time for each radar to scan to each grid under each candidate configuration parameter set, determine the target scanning delay time of multiple radars 113 to 11n scanning to the same grid; finally, select from multiple groups of candidate configuration parameter sets A target configuration parameter set with the shortest target scanning delay time, and synchronously configure parameters for multiple radars 113 to 11n. In this way, the time delay of the point cloud data collection performed by the plurality of radars 113 to 11n can be reduced, and the synchronization can be improved.
- the method for configuring a radar provided by an embodiment of the present disclosure is described below by taking the execution subject as a terminal device as an example.
- FIG. 1B is a flowchart of a method for configuring a radar provided by an embodiment of the present disclosure, the method includes steps S101 to S103 , wherein:
- S103 Based on multiple target scanning delay durations, select a target configuration parameter set from multiple sets of candidate configuration parameter sets, and perform parameter configuration for multiple radars according to the target configuration parameter set; A set of candidate configuration parameters for each radar for the target scan delay time.
- an application scenario of the radar configuration method may be described in detail first.
- the method for configuring radars provided by the embodiments of the present disclosure can be adapted to any scenario that requires synchronization of multiple radars; for example, it can be applied to target object detection in automatic driving, and can also be applied to traffic state detection in vehicle-road collaboration. It can be applied to other scenarios, and no specific limitation is made here.
- a rotating scanning radar can be used to realize multi-radar synchronization, and the rotating scanning radar here can acquire point cloud data of relevant targets in the surrounding environment when rotating and scanning in the horizontal direction.
- the radar can use a multi-line scanning method, that is, using multiple laser tubes to emit sequentially, and the structure is that multiple laser tubes are arranged longitudinally, that is, in the process of rotating and scanning in the horizontal direction, the multi-layer vertical direction is carried out. scanning.
- There is a certain angle between each laser tube, and the vertical emission field can be 30° to 40°; in this way, when the radar equipment rotates by one scanning angle, one data packet returned by the laser emitted by multiple laser tubes can be obtained.
- the radar point cloud data can be obtained by splicing the data packets obtained from each scanning angle.
- the multi-radar synchronization operation may be to control multiple radars to synchronously collect radar point cloud data, and to fuse the radar point cloud data synchronously collected by each radar can be applied to the above application scenarios.
- time synchronization is often required to reduce the delay between radars.
- the traditional multi-radar synchronization mainly includes three schemes: one is hard trigger synchronization, usually a high-precision global positioning system (Global Positioning System, GPS) can be used as the system clock, and each radar is pulse-locked by the GPS pulse signal. , multiple radars are synchronized under the same pulse signal trigger, and the delay can reach the millisecond level; the second is software synchronization, usually a unified clock domain can be determined for multiple radars; the third is motion compensation, due to the rotating scanning radar.
- the scanning time is relatively long (such as 100 milliseconds (ms)), and the difference between the first point and the last point of each frame of point cloud is 100ms.
- the point cloud of the scanned target is deformed , where the motion of the vehicle can be compensated by high-precision GPS, and the time stamp in the point cloud can be used to correct the point cloud to restore the original appearance of the scanned target.
- the above three multi-radar synchronization methods mainly scan this direction from the same moment for synchronization.
- the first involved hard trigger synchronization method is concerned, it is limited by the operation mechanism of the internal clock of the radar, which is easy to cause
- each radar has an independent collection period and cannot guarantee the same time collection.
- the complexity is higher for the third involved motion compensation synchronization method.
- the three synchronization methods mentioned above are mainly to scan this direction from the same moment for synchronization, but the core of synchronization is to allow the same target to be scanned at the same moment. The above methods do not give the above corresponding revelation.
- the embodiments of the present disclosure provide a method for configuring a radar.
- the method determines relevant scanning time information for grids divided by multiple radar scanning ranges to select a corresponding configuration for multiple radars. parameters, thereby reducing the synchronization delay of multiple radar data collection, and improving the data reliability and accuracy of subsequent applications.
- the target scanning range in the embodiment of the present disclosure may be a superimposed range obtained by superimposing the scanning range of each radar in the plurality of radars when scanning.
- the scanning area that falls into the horizontal direction may be a circular area.
- the scanning range of the target can be determined by combining the scanning areas scanned by multiple radars.
- the target scanning range can be defined as a rectangular area, a circular area, etc.
- a rectangular area can be used as an example for illustration.
- the target scanning range can be divided into grids according to the grid size, where the grid size can be the actual size, such as dividing the rectangular area corresponding to the target scanning range into lengths and a grid with a width of 0.5 meters.
- the method for configuring radars may determine, according to the scanning time of each radar scanning to each grid under each candidate configuration parameter set, that multiple radars scan to the same
- the target scan delay duration of a grid is selected by selecting a target configuration parameter set according to the determined multiple target scan delay durations to realize parameter configuration.
- each target scanning delay time in the embodiment of the present disclosure corresponds to a group of candidate configuration parameter sets of multiple radars
- each group of candidate configuration parameter sets includes a candidate configuration parameter set corresponding to the multiple radars respectively, that is, , each group of candidate configuration parameter sets of multiple radars may be a candidate configuration parameter set selected from multiple candidate configuration parameter sets corresponding to each radar, and then a candidate configuration parameter set selected from each radar is combined. owned.
- Each radar in the embodiment of the present disclosure may correspond to multiple candidate configuration parameter sets, and one candidate configuration parameter set here may be a set including multiple candidate configuration parameters and corresponding parameter values.
- the candidate configuration parameters here may be parameters such as scanning frequency, horizontal resolution, and initial phase angle. In some possible implementations, other candidate configuration parameters may be set, which are not specifically limited here.
- the synchronization of three radars can be taken as an example for illustration here. If the first radar, the second radar and the third radar correspond to two, three and four candidate configuration parameter sets, respectively, in this way, through the combined operation of the above parameter sets, the 24 (2 ⁇ 3 ⁇ 4) group candidate configuration parameter set.
- the scanning delay time of each target may be determined based on the time difference between the scanning times of any two radars respectively scanning the same grid under a corresponding set of candidate configuration parameters for multiple radars.
- the target scanning delay duration may be determined based on the selection principle of the largest time difference (corresponding to the longest scanning delay duration).
- the target scan delay information corresponding to all grids can be determined by analyzing the target scan delay time. Based on this target scan delay The information can be used to select a set of target configuration parameter sets for multiple radars.
- corresponding parameter configuration is performed on multiple radars according to a selected set of target configuration parameter sets, and the multiple radars after parameter configuration can be controlled to synchronously collect radar point cloud data of the relevant scene.
- each radar may correspond to a target configuration parameter set in a set of target configuration parameter sets.
- the target configuration parameter set is used to configure the parameters of the corresponding radar, so as to realize the joint configuration of multiple radars and reduce the synchronization delay of data collection of multiple radars.
- multiple point cloud data of the target can be obtained at the same time, so that the reliability and accuracy of the point cloud data of subsequent related applications can be improved.
- the method for configuring radars can determine the target scanning delay time of multiple radars scanning to the same grid based on the scanning time of each radar scanning to each grid. Specifically, the following steps can be implemented:
- Step 1 For each grid in the plurality of grids, determine the scanning time for each radar to scan the grid under each candidate configuration parameter set;
- Step 2 Combining multiple radars in pairs, determining the difference between the scanning times of the two radars in each combination scanning the same grid respectively, and obtaining the candidate scanning delay time corresponding to the combination;
- Step 3 Based on the candidate scanning delay durations corresponding to each combination, determine the target scanning delay durations of the multiple radars scanning the same grid.
- the target scanning delay duration may represent the scanning time difference of different radars, and may be determined based on the screening results of candidate scanning delay durations corresponding to two radars in multiple combinations. In order to realize the parameter configuration for each radar, the candidate scan delay duration with the longest duration can be selected as the target scan delay duration.
- the candidate scanning delay durations corresponding to the two radars of each combination can be determined based on the result of the subtraction of the scanning times of the two radars of the combination respectively scanning the same grid, that is, the two radars scan the same grid.
- Step 1 Based on the position information of the radar in the target scanning range and the position range of the grid in the target scanning range, determine the angular range in which the grid falls relative to the scanning positive direction;
- Step 2 Based on the horizontal resolution angle of the radar and the scanning time interval corresponding to the horizontal resolution angle, as well as the initial phase angle value relative to the positive scanning direction and the initial scanning time corresponding to the initial phase angle value, determine whether the current scanning angle of the radar falls.
- Step 3 In response to the current scanning angle falling into the angle range in which the grid falls, determine the current scanning time corresponding to the current scanning angle as the scanning time when the radar scans the grid under the candidate configuration parameter set. .
- the scan time for the radar to scan to this grid can be determined based on the current scan time corresponding to the current scan angle.
- the angular range corresponding to the above grid may be determined based on the position information of the radar in the target scanning range and the position range of the grid in the target scanning range.
- the radar scans the first position point of this position range first and the last position range that the radar scans to this position range.
- Two position points in this way, a starting grid angle for this grid can be determined based on the line connecting the radar and the first position point, and a starting grid angle for this grid can be determined based on the line connecting the radar and the second position point.
- An end grid angle of in this way, the grid angle range determined by the start grid angle and the end grid angle can be determined as the angle range within which the grid falls relative to the positive scanning direction.
- the radar's horizontal resolution angle and the scanning time interval corresponding to the horizontal resolution angle, as well as the initial phase angle value relative to the positive scanning direction and the initial scanning moment corresponding to the initial phase angle value may be used to determine the radar. Current scan angle.
- ⁇ is used to represent the current scanning angle relative to the positive scanning direction
- ⁇ is used to represent the initial phase angle value relative to the positive scanning direction
- tt 0 represents the scanning time interval
- the position of the radar in the scene can be used as the starting point to determine a ray with an angle ⁇ relative to the positive scanning direction.
- each scan time matrix may record is the moment when each grid is first scanned by the radar under a candidate configuration parameter set.
- a grid is scanned by multiple transmissions, only the moment when it is scanned can be retained.
- the moment when the grid is scanned for the first time can be used, or the The time of the last scan, or the average time of multiple scans. If a raster is not scanned, the location is marked as invalid.
- the scanning time matrix of the radar in the embodiment of the present disclosure reflects the time when the radar scans to different positions in the scene, and this time is determined by the position of the radar, the initial phase angle, the scanning frequency, the horizontal resolution and other factors. .
- the scanning frequency and horizontal resolution can be determined by the radar from the factory. In the process of parameter configuration in the embodiment of the present disclosure, it may be mainly determined how to set the initial phase angle value for different radars.
- the subtraction operation between the scanning time matrices can be performed for the two radars in the combination, so that the candidate scanning delay time matrix can be obtained, and the candidate scanning delay matrix here can be recorded.
- the difference is the scanning time difference between the two radars in the combination of each grid, that is, through the matrix operation, the candidate scanning delay time can be determined under the multi-grid and multi-combination, which is equivalent to using a kind of parallel processing. algorithm, which will greatly improve the speed of data processing.
- the target scan delay duration may be determined based on the maximum scan time difference. Specifically, it can be implemented according to formula (2):
- D(i, j) represents the target scanning delay time
- p, q represents the radar number
- T p (i, j) represents the scanning time matrix corresponding to the radar number p
- T q (i, j) represents the number q The scan time matrix corresponding to the radar.
- the target scanning delay duration in the embodiment of the present disclosure may be determined by performing the maximum scanning time difference for each grid, so that the parameter configuration of each grid can be taken into account.
- a target configuration parameter set may be selected based on the multiple target scanning delay durations, so as to perform a target configuration parameter set for multiple radars based on the selected target configuration parameter set.
- Parameter configuration can be achieved through the following steps:
- Step 1 Determine the sum of the target scanning delay durations corresponding to multiple grids under a corresponding set of candidate configuration parameter sets based on the scanning delay duration of a target scanned by multiple radars to the same grid;
- Step 2 Select a group of candidate configuration parameter sets with the smallest sum of target scanning delay durations as the target configuration parameter set.
- the target scanning delay durations of multiple radars scanned to each of the multiple grids under a set of candidate configuration parameters may be summed to obtain a set of candidate configurations.
- the sum of the target scanning delays corresponding to multiple grids, the sum of the target scanning delays reflects the cumulative delay of the scanning time difference corresponding to each grid in the entire target scanning range.
- a group of candidate configuration parameter sets with the smallest sum of target scanning delay durations may be selected as the target configuration parameter set.
- the accumulated delay Z is obtained by summing D(i,j) on (i,j), as shown in formula (3) shown:
- the sum of the target scanning delay time at any installation position, any initial phase angle, any scanning frequency, and any horizontal resolution can be calculated for any number of radars. Whether these variables can be changed depends on the situation.
- the installation position of the radar may be some specific positions on the car body in the automatic driving scenario.
- the optional range is not large.
- the initial phase angle of the radar are free to dominate. In some possible implementation manners, the embodiments of the present disclosure do not limit specific scenarios.
- the initial phase angle of each radar can be selected from N1 types from 0 to 360°
- the installation position can be selected from N2 types
- the scanning frequency can be selected from N3 types
- the horizontal resolution can be selected from N4 types.
- the data processing method provided by the embodiment of the present disclosure can also determine a set of candidate configuration parameter sets of multiple radars according to the following steps:
- Step 1 Obtain multiple original configuration parameter sets of each radar; each original configuration parameter set includes multiple original configuration parameters and parameter values corresponding to each original configuration parameter;
- Step 2 Selecting standard configuration parameters from a plurality of original configuration parameters based on preset configuration conditions, and sorting the various original configuration parameter sets of each radar according to the parameter values of the standard configuration parameters in ascending order;
- Step 3 According to the adjustment step size of the parameter values of the standard configuration parameters, multiple candidate configuration parameter sets of the radar are selected from the sorted multiple original configuration parameter sets of each radar.
- multiple original configuration parameter sets of each radar can be obtained first, and then standard configuration parameters can be selected from multiple original configuration parameters based on preset configuration conditions; After sorting the various original configuration parameter sets of each radar in order from small to large, you can select from the sorted various original configuration parameter sets of each radar according to the adjustment step size of the parameter values of the standard configuration parameters.
- a variety of candidate configuration parameter sets for the radar are derived.
- some kinds of original configuration parameter sets may be selected from various original configuration parameter sets as candidate configuration parameter sets based on the adjustment step size of the parameter values of standard configuration parameters. , to reduce the amount of computation.
- multiple candidate configuration parameter sets for each radar can be selected according to the adjustment step size according to the following steps:
- Step 1 According to the first adjustment step size of the parameter value of the standard configuration parameter, select some original configuration parameter sets from the various original configuration parameter sets of each radar after sorting, and based on the selected part of the radar configuration parameters The original configuration parameter set, to determine a set of reference configuration parameter sets with the smallest sum of the corresponding target scanning delay time;
- Step 2 Based on the determined set of one original configuration parameter set corresponding to each radar in a set of reference configuration parameters, and the second adjustment step size of the parameter values of the standard configuration parameters, from the sorted multiple original configuration parameters of each radar. From the configuration parameter set, multiple candidate configuration parameter sets of the radar are selected; wherein, the second adjustment step size is smaller than the first adjustment step size.
- the parameter set selection under the coarse-grained condition may be performed based on the first adjustment step size, and then the parameter set selection under the fine-grained condition may be performed based on the second adjustment step size.
- the initial phase angle is used as a standard configuration parameter
- the first adjustment step of the parameter value of the standard configuration parameter is set to 30° as an example, based on this adjustment
- the step size can select some original configuration parameter sets from various original configuration parameter sets of each radar, and the initial phase angle values in the selected part of the original configuration parameter sets can be 0°, 30°, 60°... 360°, thus realizing the parameter set selection under coarse granularity.
- a set of reference configurations with the smallest sum of the corresponding target scanning delay time is determined.
- Parameter set for example, the initial phase angle values of the three radars corresponding to the determined set of reference configuration parameter sets are 0°, 30°, and 90° respectively, that is, fine-grained parameters can be performed based on the set second adjustment step size Set selection.
- the initial phase angle values of the three radars can be 0°, 30°, and 90° from the sorted sets of various original configuration parameters of each radar.
- various candidate configuration parameter sets of the radar are selected respectively.
- the first adjustment step size and the second adjustment step size may be synchronously set based on all radars, or different first adjustment step size and second adjustment step may be set for different radars
- the step size can be adjusted according to different application requirements here, and no specific restrictions are made here.
- multiple radars may be set on the traveling device, and may also be set at the relative positions of the target traffic intersections to achieve different applications.
- Each radar can also be set in the relevant position of other related applications, and no specific limitation is made here.
- the detection application of the target object can be implemented, corresponding to the first target scene.
- target detection may be performed based on the collected radar point cloud data, target object information in the target scene may be determined, and target object information may be determined based on the target scene.
- Object information to control the traveling device.
- the information about the target object may include the relevant pose information of the target object, so that the traveling device can be controlled to make a more reasonable judgment in combination with the pose information and the traveling information of the traveling device itself; Overtaking etc.
- the determination of the target object information in the embodiment of the present disclosure may be implemented based on a target object detection model obtained by pre-training, and details are not described herein.
- a traffic detection application can be implemented, corresponding to the second target scene.
- a radar especially for a target traffic intersection involving a large road surface, a radar often cannot obtain complete intersection information.
- the method of configuring radar is used to set the synchronization of multiple radars, so as to collect radar point cloud data with more reliable and accurate data; in this way, based on the collected radar point cloud data, accurate detection of traffic status can be realized.
- the writing order of each step does not mean a strict execution order but constitutes any limitation on the implementation process, and the specific execution order of each step should be based on its function and possible Internal logic is determined.
- an apparatus for configuring a radar corresponding to the method for configuring a radar is also provided in the embodiment of the present disclosure.
- the apparatus reference may be made to the implementation of the method, and the repetition will not be repeated.
- the apparatus includes: an acquisition module 201, a determination module 202, and a configuration module 203; wherein,
- the acquisition module 201 is configured to acquire the target scanning range scanned by multiple radars, and divide the target scanning range into a plurality of grids;
- the determining module 202 is configured to determine the target scanning delay time of the multiple radars scanning to the same grid according to the scanning time of each radar scanning to each grid under each candidate configuration parameter set;
- the configuration module 203 is configured to select a target configuration parameter set from multiple sets of candidate configuration parameter sets based on multiple target scanning delay durations, and perform parameter configuration for multiple radars according to the target configuration parameter set; wherein, a set of candidate configuration parameter sets includes A set of candidate configuration parameters for each radar used to determine the duration of a target scan delay.
- the determining module 202 is configured to, according to the following steps, according to the scanning time of each radar scanning to each grid under each candidate configuration parameter set, determine that multiple radars scan the same grid
- the target scan delay duration is:
- the target scanning delay durations of multiple radars scanning to the same grid are determined.
- the determining module 202 is configured to determine the target scanning delay duration for scanning the same grid from multiple radars based on the candidate scanning delay durations corresponding to each combination according to the following steps:
- the longest candidate scan delay duration is selected from the candidate scan delay durations corresponding to each combination as the target scan delay duration.
- the selection module is configured to select a target configuration parameter set from multiple sets of candidate configuration parameter sets based on multiple target scanning delay durations according to the following steps:
- a set of candidate configuration parameter sets with the smallest sum of corresponding target scanning delay durations is selected as the target configuration parameter set.
- the configuration parameters in the candidate configuration parameter set include: the horizontal resolution angle and the scanning time interval of the horizontal resolution angle, and the initial phase angle value relative to the positive scanning direction and the difference between the initial phase angle value initial scan time;
- the determining module 202 is configured to determine the scan time for the radar to scan to the grid under the candidate configuration parameter set according to the following steps:
- the current scan time corresponding to the current scan angle is determined as the scan time when the radar scans the grid under the candidate configuration parameter set.
- the determining module 202 is configured to determine a set of candidate configuration parameter sets for multiple radars according to the following steps:
- each original configuration parameter set includes multiple original configuration parameters and parameter values corresponding to each original configuration parameter;
- standard configuration parameters are selected from multiple original configuration parameters, and the various original configuration parameter sets of each radar are sorted according to the parameter values of the standard configuration parameters in ascending order;
- multiple candidate configuration parameter sets of the radar are selected from the sorted multiple original configuration parameter sets of each radar.
- the determining module 202 is configured to select the multiplicity of the radars from the sorted sets of various original configuration parameters of each radar according to the adjustment step size of the parameter values of the standard configuration parameters according to the following steps. There are several candidate configuration parameter sets:
- some original configuration parameter sets are selected from the various original configuration parameter sets of each radar after sorting, and based on the selected part of the original configuration parameters of each radar Set, determine a set of reference configuration parameters with the minimum sum of the corresponding target scanning delay time;
- the second adjustment step size is smaller than the first adjustment step size.
- multiple radars are arranged on the traveling device, and the above-mentioned device further includes:
- the driving control module 204 is configured to collect the radar point cloud data of the first target scene for the plurality of radars after the parameter configuration is performed for the plurality of radars according to the target configuration parameter set; Detecting and determining target object information in the first target scene; and controlling the driving device based on the target object information.
- the multiple radars are respectively set at relative positions of the target traffic intersection in the second target scene according to the set angle, and the above-mentioned device further includes:
- the traffic detection module 205 is configured to, after parameter configuration is performed for the multiple radars according to the target configuration parameter set, to control the multiple radars whose parameter configuration is completed to collect the radar point cloud data of the second target scene; The traffic state detection is carried out at the traffic intersection, and the traffic detection result is obtained.
- An embodiment of the present disclosure further provides an electronic device.
- a schematic structural diagram of the electronic device provided by the embodiment of the present disclosure includes: a processor 301 , a memory 302 , and a bus 303 .
- the memory 302 stores machine-readable instructions executable by the processor 301 (for example, the execution instructions corresponding to the acquisition module 201, the determination module 202, the configuration module 203 in the apparatus for configuring the radar in FIG. 2, etc.), when the electronic device is running,
- the communication between the processor 301 and the memory 302 is through the bus 303, and the machine-readable instructions are executed by the processor 301 to perform the following processing:
- a target configuration parameter set is selected from multiple sets of candidate configuration parameter sets, and parameter configuration is performed for multiple radars according to the target configuration parameter set; wherein, a set of candidate configuration parameter sets includes determining a target scanning delay duration The set of candidate configuration parameters for each radar of .
- Embodiments of the present disclosure further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the steps of the method for configuring a radar described in the foregoing method embodiments are executed.
- the storage medium may be a volatile or non-volatile computer-readable storage medium.
- the computer program product of the method for configuring a radar includes a computer-readable storage medium storing program codes, and the instructions included in the program code can be used to execute the method for configuring the radar in the above method embodiments. For details, refer to the above method embodiments, which will not be repeated here.
- Embodiments of the present disclosure also provide a computer program, which implements any one of the methods in the foregoing embodiments when the computer program is executed by a processor.
- the computer program product can be specifically implemented by hardware, software or a combination thereof.
- the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc. Wait.
- the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
- each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
- the functions, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a processor-executable non-volatile computer-readable storage medium.
- the computer software products are stored in a storage medium, including Several instructions are used to cause an electronic device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present disclosure.
- the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .
- the present disclosure provides a method, device, electronic device and storage medium for configuring a radar, wherein the method includes: acquiring a target scanning range scanned by a plurality of radars, and dividing the target scanning range into a plurality of grids; The scanning time of each radar scanning to each grid under each candidate configuration parameter set, and determining the target scanning delay time of multiple radars scanning to the same grid; A target configuration parameter set is selected centrally, and parameter configuration is performed for multiple radars according to the target configuration parameter set; wherein, a set of candidate configuration parameter sets includes candidate configuration parameter sets for each radar used to determine a target scanning delay time.
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Abstract
Description
Claims (12)
- 一种配置雷达的方法,其中,所述方法由电子设备执行,所述方法包括:获取多个雷达进行扫描的目标扫描范围,并将所述目标扫描范围划分为多个栅格;根据每个雷达在每种候选配置参数集下扫描到每个栅格的扫描时间,确定多个雷达扫描到同一个栅格的目标扫描延迟时长;基于多个目标扫描延迟时长,从多组候选配置参数集中选择目标配置参数集,并根据所述目标配置参数集为所述多个雷达进行参数配置;其中,一组候选配置参数集包括用于确定一个目标扫描延迟时长的各个雷达的候选配置参数集。
- 根据权利要求1所述的方法,其中,所述根据每个雷达在每种候选配置参数集下扫描到每个栅格的扫描时间,确定多个雷达扫描到同一个栅格的目标扫描延迟时长,包括:针对所述多个栅格中的每个栅格,确定每个雷达在每种候选配置参数集下扫描到该栅格的扫描时间;将所述多个雷达两两组合,确定每个组合中的两个雷达分别扫描到同一个栅格的扫描时间之差,得到该组合对应的候选扫描延迟时长;基于各个组合对应的候选扫描延迟时长,确定多个雷达扫描到同一个栅格的目标扫描延迟时长。
- 根据权利要求2所述的方法,其中,所述基于各个组合对应的候选扫描延迟时长,确定多个雷达扫描到同一个栅格的目标扫描延迟时长,包括:从各个组合对应的候选扫描延迟时长中选取出时长最长的候选扫描延迟时长,作为所述目标扫描延迟时长。
- 根据权利要求1至3任一所述的方法,其中,所述基于多个目标扫描延迟时长,从多组候选配置参数集中选择目标配置参数集,包括:基于多个雷达扫描到同一个栅格的一个目标扫描延迟时长,确定在对应的一组候选配置参数集下,所述多个栅格对应的目标扫描延迟时长之和;选取目标扫描延迟时长之和最小的一组候选配置参数集作为所述目标配置参数集。
- 根据权利要求1至4任一所述的方法,其中,所述候选配置参数集中的配置参数包括:水平分辨角和所述水平分辨角的扫描时间间隔、以及相对扫描正方向的初始相位角度值和所述初始相位角度值的初始扫描时刻;针对任一所述栅格,确定所述雷达在所述候选配置参数集下扫描到该栅格的扫描时间,包括:基于所述雷达在所述目标扫描范围中的位置信息以及所述栅格在所述目标扫描范围中的位置范围,确定所述栅格相对所述扫描正方向所落入的角度范围;基于所述雷达的水平分辨角和所述水平分辨角的扫描时间间隔、以及相对扫描正方向的初始相位角度值和所述初始相位角度值的初始扫描时刻,确定所述雷达的当前扫描角度是否落入所述栅格所落入的角度范围;响应于所述当前扫描角度落入所述栅格所落入的角度范围,将与所述当前扫描角度对应的当前扫描时刻,确定为所述雷达在所述候选配置参数集下扫描到所述栅格的扫描时间。
- 根据权利要求4或5所述的方法,其中,确定所述多个雷达的一组候选配置参数集,包括:获取每个雷达的多种原始配置参数集;其中,每种原始配置参数集中包括多个原始配置参数及每个原始配置参数的参数值;基于预设配置条件从所述多个原始配置参数中选取出标准配置参数,并按照所述标准配置参数的参数值由小到大的顺序对每个雷达的多种原始配置参数集进行排序;按照所述标准配置参数的参数值的调整步长,从排序后的每个雷达的多种原始配置参数集中选取出该雷达的多种候选配置参数集。
- 根据权利要求6所述的方法,其中,所述按照所述标准配置参数的参数值的调整步长,从排序后的每个雷达的多种原始配置参数集中选取出该雷达的多种候选配置参数集,包括:按照所述标准配置参数的参数值的第一调整步长,从排序后的每个雷达的多种原始配置参数集中选取出部分种原始配置参数集,并基于选取出的各个雷达的部分种原始配置参数集,确定对应的目标扫描延迟时长之和最小的参考配置参数集;基于确定的参考配置参数集中与每个雷达对应的一种原始配置参数集,以及所述标准配置参数的参数值的第二调整步长,从排序后的每个雷达的多种原始配置参数集中,选取出该雷达的多种候选配置参数集;其中,所述第二调整步长小于所述第一调整步长。
- 根据权利要求1至7任一所述的方法,其中,所述多个雷达均设置在行驶装置上,在所述根据所述目标配置参数集为所述多个雷达进行参数配置之后,所述方法还包括:控制参数配置完成的多个雷达采集第一目标场景的雷达点云数据;基于所述雷达点云数据进行目标检测,确定所述第一目标场景中的目标对象信息;基于所述目标对象信息,控制所述行驶装置。
- 根据权利要求1至7任一所述的方法,其中,所述多个雷达分别按照设定角度设置在第二目标场景中目标交通路口的相对位置处,所述在根据所述目标配置参数集为所述多个雷达进行参数配置之后,所述方法还包括:控制参数配置完成的多个雷达采集所述第二目标场景的雷达点云数据;基于所述雷达点云数据对所述目标交通路口进行交通状态检测,得到交通检测结果。
- 一种配置雷达的装置,其中,所述装置包括:获取模块,配置为获取多个雷达进行扫描的目标扫描范围,并将所述目标扫描范围划分为多个栅格;确定模块,配置为根据每个雷达在每种候选配置参数集下扫描到每个栅格的扫描时间,确定多个雷达扫描到同一个栅格的目标扫描延迟时长;配置模块,配置为基于多个目标扫描延迟时长,从多组候选配置参数集中选择目标配置参数集,并根据所述目标配置参数集为所述多个雷达进行参数配置;其中,一组候选配置参数集包括用于确定一个目标扫描延迟时长的各个雷达的候选配置参数集。
- 一种电子设备,其中,包括:处理器、存储器和总线,所述存储器存储有所述处理器可执行的机器可读指令,所述处理器用于执行所述存储器中存储的机器可读指令,当电子设备运行时,所述处理器与所述存储器之间通过总线通信,所述机器可读指令被所述处理器执行时执行如权利要求1至9任一所述的配置雷达的方法的步骤。
- 一种计算机可读存储介质,其中,所述计算机可读存储介质上存储有计算机程序,所述计算机程序被电子设备运行时,所述电子设备执行如权利要求1至9任一所述的配置雷达的方法的步骤。
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JP2022546791A (ja) | 2022-11-09 |
CN112098971A (zh) | 2020-12-18 |
CN115144838A (zh) | 2022-10-04 |
CN112098971B (zh) | 2022-07-15 |
KR20220038603A (ko) | 2022-03-29 |
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