CN-116203533-B - Radar scanning control method and device, laser radar system and readable storage medium

Abstract

The application provides a radar scanning control method and device, a laser radar system and a readable storage medium, and relates to the technical field of radar detection. According to the application, the main control unit sends the whole second pulse signal to the motor control unit when responding to the first scanning whole second alignment instruction, so that the motor control unit aligns the first effective scanning starting time point of the radar motor with the whole second pulse signal at the whole second time under the preset motor scanning strategy, and verifies the whole second time alignment condition of the radar motor when the alignment operation of the motor control unit is completed, so that the motor control unit controls the radar motor to continue to operate according to the preset motor scanning strategy when the alignment verification is successful, thereby time alignment is carried out on the first effective scanning starting time point of the radar motor and the whole second time, and the initial effective scanning position is ensured to reach the expected scanning position at the whole second time, so that the corresponding laser radar is matched with other sensing equipment to realize the time synchronization effect.

Inventors

• SUN MENG
• SHI JIAN

Assignees

• 北醒（北京）光子科技有限公司

Dates

Publication Date

20260512

Application Date

20230313

Claims (18)

1. 1. A radar scan control method, characterized in that it is applied to a laser radar system, the laser radar system includes a main control unit, a radar motor and a motor control unit, the method includes: the main control unit responds to a first scanning whole second alignment instruction and sends a whole second pulse signal to the motor control unit; The motor control unit aligns the first effective scanning starting time point of the radar motor with the whole second pulse signal at the whole second moment under a preset motor scanning strategy, and feeds back an alignment operation completion signal to the main control unit; The main control unit verifies the whole second time alignment condition of the radar motor to obtain a corresponding alignment verification result, and sends the alignment verification result to the motor control unit; and the motor control unit controls the radar motor to continue to operate according to the preset motor scanning strategy under the condition that the alignment verification result is that the verification is successful.
2. 2. The method according to claim 1, wherein the step of verifying the alignment condition of the radar motor at the whole second time by the main control unit to obtain a corresponding alignment verification result includes: acquiring a current coil counting phase signal of the radar motor, and predicting a theoretical motor motion scheme of the radar motor based on the coil counting phase signal and the preset motor scanning strategy; Transmitting a whole second alignment verification instruction to the motor control unit, wherein the whole second alignment verification instruction is used for driving the motor control unit to control the radar motor to move to the position of the motor to be verified in the next motor scanning period and feeding back a movement in-place signal; Extracting a theoretical movement time point matched with the position of the motor to be verified in the next motor scanning period from the theoretical motor movement scheme, and calculating a time length difference value between the theoretical movement time point and a receiving time point of the movement in-place signal; Comparing the time difference value with a preset time difference threshold; And if the time difference value is smaller than or equal to the preset time difference threshold value, outputting the alignment verification result as verification success, otherwise, outputting the alignment verification result as verification failure.
3. 3. The method according to claim 1 or 2, characterized in that the method further comprises: the main control unit extracts a first effective scanning ending time point from the current theoretical motor motion scheme of the radar motor under the condition that the alignment verification result is successful; the main control unit takes the first effective scanning ending time point as a time reference, and adopts the motor scanning period duration of the radar motor as a time interval to send a motor scanning synchronous pulse signal to the motor control unit; And the motor control unit controls the radar motor to move to the starting position of the effective scanning motor before the effective scanning time period of the next motor scanning period when receiving the motor scanning synchronous pulse signal each time.
4. 4. A method according to claim 3, characterized in that the method further comprises: and the motor control unit sends an alignment instruction for scanning for the whole second for the first time to the main control unit under the condition that the alignment verification result is verification failure.
5. 5. A radar scan control method, characterized in that it is applied to a main control unit included in a lidar system, where the lidar system further includes a radar motor and a motor control unit, the method comprising: Responding to a first scanning whole second alignment instruction, sending a whole second pulse signal to the motor control unit so as to drive the motor control unit to align a first effective scanning starting time point of the radar motor under a preset motor scanning strategy with the whole second pulse signal and feed back an alignment operation completion signal; receiving the alignment operation completion signal, and verifying the alignment condition of the radar motor at the whole second moment to obtain a corresponding alignment verification result; and sending the alignment verification result to the motor control unit so that the motor control unit controls the radar motor to continue to operate according to the preset motor scanning strategy when the alignment verification result is verification success.
6. 6. The method of claim 5, wherein the method further comprises: Extracting a first effective scanning ending time point from the current theoretical motor motion scheme of the radar motor under the condition that the alignment verification result is successful in verification; And taking the first effective scanning ending time point as a time reference, and adopting the motor scanning period duration of the radar motor as a time interval to send a motor scanning synchronous pulse signal to the motor control unit, so that the motor control unit controls the radar motor to move to an effective scanning motor starting position before the effective scanning time period of the next motor scanning period when receiving the motor scanning synchronous pulse signal each time.
7. 7. The method according to claim 5 or 6, characterized in that the method further comprises: And receiving a first scanning whole second alignment instruction fed back by the motor control unit under the condition that the alignment verification result is verification failure.
8. 8. The radar scanning control method is characterized by being applied to a motor control unit included in a laser radar system, wherein the laser radar system further comprises a main control unit and a radar motor, and the method comprises the following steps: receiving a whole second pulse signal sent by the main control unit in response to a first scanning whole second alignment instruction; Aligning the first effective scanning starting time point of the radar motor with the whole second pulse signal at the whole second moment under a preset motor scanning strategy, and feeding back an alignment operation completion signal to the main control unit; responding to the alignment verification operation of the main control unit, and verifying the whole second time alignment condition of the radar motor by matching with the main control unit; and receiving an alignment verification result sent by the main control unit, and controlling the radar motor to continue to operate according to the preset motor scanning strategy under the condition that the alignment verification result is successful.
9. 9. The method of claim 8, wherein the method further comprises: receiving a motor scanning synchronous pulse signal periodically transmitted by the main control unit under the condition that the alignment verification result is verification success; and when the motor scanning synchronous pulse signal is received each time, controlling the radar motor to move to the starting position of the effective scanning motor before the effective scanning time period of the next motor scanning period.
10. 10. The method according to claim 8 or 9, characterized in that the method further comprises: and under the condition that the alignment verification result is verification failure, sending an alignment instruction for scanning for the whole second for the first time to the main control unit.
11. 11. A radar scan control device, characterized in that it is applied to a main control unit included in a lidar system, wherein the lidar system further includes a radar motor and a motor control unit, the device comprising: The whole second alignment driving module is used for responding to a first scanning whole second alignment instruction, sending a whole second pulse signal to the motor control unit so as to drive the motor control unit to align the first effective scanning starting time point of the radar motor under a preset motor scanning strategy with the whole second pulse signal at a whole second moment and feeding back an alignment operation completion signal; The whole second alignment verification module is used for receiving the alignment operation completion signal, verifying the whole second moment alignment condition of the radar motor and obtaining a corresponding alignment verification result; and the verification result sending module is used for sending the alignment verification result to the motor control unit so that the motor control unit controls the radar motor to continue to operate according to the preset motor scanning strategy when the alignment verification result is verification success.
12. 12. The apparatus of claim 11, wherein the apparatus further comprises: The end time extraction module is used for extracting a first effective scanning end time point from the current theoretical motor motion scheme of the radar motor under the condition that the alignment verification result is verification success; And the motor synchronous driving module is used for sending a motor scanning synchronous pulse signal to the motor control unit by taking the first effective scanning ending time point as a time reference and adopting the motor scanning period duration of the radar motor as a time interval, so that the motor control unit controls the radar motor to move to an effective scanning motor starting position before the effective scanning time period of the next motor scanning period when receiving the motor scanning synchronous pulse signal each time.
13. 13. The apparatus according to claim 11 or 12, characterized in that the apparatus further comprises: and the alignment instruction acquisition module is used for receiving a first scanning whole second alignment instruction fed back by the motor control unit under the condition that the alignment verification result is verification failure.
14. 14. A radar scan control device, characterized in that it is applied to a motor control unit included in a lidar system, wherein the lidar system further includes a main control unit and a radar motor, the device comprising: the whole second pulse receiving module is used for receiving a whole second pulse signal sent by the main control unit in response to a first scanning whole second alignment instruction; The whole second alignment control module is used for aligning the first effective scanning starting time point of the radar motor under a preset motor scanning strategy with the whole second pulse signal at the whole second moment and feeding back an alignment operation completion signal to the main control unit; The alignment verification response module is used for responding to the alignment verification operation of the main control unit and verifying the whole second time alignment condition of the radar motor by matching with the main control unit; And the motor motion control module is used for receiving the alignment verification result sent by the main control unit and controlling the radar motor to continue to operate according to the preset motor scanning strategy under the condition that the alignment verification result is successful in verification.
15. 15. The apparatus of claim 14, wherein the apparatus further comprises: the synchronous pulse receiving module is used for receiving a motor scanning synchronous pulse signal which is periodically transmitted by the main control unit under the condition that the alignment verification result is successful in verification; And the motor motion control module is also used for controlling the radar motor to move to the starting position of the effective scanning motor before the effective scanning time period of the next motor scanning period when receiving the motor scanning synchronous pulse signal each time.
16. 16. The apparatus according to claim 14 or 15, characterized in that the apparatus further comprises: And the alignment instruction feedback module is used for sending an alignment instruction for scanning for the whole second for the first time to the main control unit under the condition that the alignment verification result is verification failure.
17. 17. A lidar system comprising a main control unit, a radar motor and a motor control unit, wherein the main control unit, the radar motor and the motor control unit cooperate with each other to implement the radar scanning control method of any one of claims 1-10.
18. 18. A readable storage medium having stored thereon a computer program, which when executed by the lidar system of claim 17, implements the radar scan control method of any of claims 1 to 10.

Description

Radar scanning control method and device, laser radar system and readable storage medium Technical Field The application relates to the technical field of radar detection, in particular to a radar scanning control method and device, a laser radar system and a readable storage medium. Background With the continuous development of science and technology, radar detection technology is widely applied in various industries, and laser radar is often required to be matched with other sensing devices (such as millimeter wave radar, cameras and the like) to achieve a desired detection effect. To ensure that the lidar can cooperate with other sensing devices to achieve a desired detection effect, it is generally necessary that the lidar be capable of transmitting a laser beam at the full second time for an effective scanning operation so that the lidar can be time-synchronized with the other sensing devices at the full second time. In the use process of the laser radar, the motor control unit is generally required to control the radar motor to realize laser scanning operation in a space dimension level, and the main control unit is required to manage the distribution condition of laser scanning time points in the time dimension level, but it is worth noting that the working clocks of the motor control unit and the main control unit are mutually independent and cannot be unified, so that the corresponding laser radar cannot always start to execute first effective scanning operation at the whole second moment, and the initial effective scanning position of the laser radar cannot reach the expected scanning position at the whole second moment. Disclosure of Invention Accordingly, an object of the present application is to provide a radar scanning control method and apparatus, a laser radar system, and a readable storage medium, which can time align a first effective scanning start time point of a radar motor with a whole second time, so as to ensure that a first effective scanning position of the whole laser radar can reach a desired scanning position at the whole second time, so as to achieve a time synchronization effect in cooperation with other sensing devices corresponding to the laser radar. In order to achieve the above object, the technical scheme adopted by the embodiment of the application is as follows: In a first aspect, the present application provides a radar scanning control method, applied to a laser radar system, where the laser radar system includes a main control unit, a radar motor, and a motor control unit, the method includes: the main control unit responds to a first scanning whole second alignment instruction and sends a whole second pulse signal to the motor control unit; The motor control unit aligns the first effective scanning starting time point of the radar motor with the whole second pulse signal at the whole second moment under a preset motor scanning strategy, and feeds back an alignment operation completion signal to the main control unit; The main control unit verifies the whole second time alignment condition of the radar motor to obtain a corresponding alignment verification result, and sends the alignment verification result to the motor control unit; and the motor control unit controls the radar motor to continue to operate according to the preset motor scanning strategy under the condition that the alignment verification result is that the verification is successful. In a second aspect, the present application provides a radar scanning control method, applied to a main control unit included in a laser radar system, where the laser radar system further includes a radar motor and a motor control unit, the method includes: Responding to a first scanning whole second alignment instruction, sending a whole second pulse signal to the motor control unit so as to drive the motor control unit to align a first effective scanning starting time point of the radar motor under a preset motor scanning strategy with the whole second pulse signal and feed back an alignment operation completion signal; receiving the alignment operation completion signal, and verifying the alignment condition of the radar motor at the whole second moment to obtain a corresponding alignment verification result; and sending the alignment verification result to the motor control unit so that the motor control unit controls the radar motor to continue to operate according to the preset motor scanning strategy when the alignment verification result is verification success. In a third aspect, the present application provides a radar scanning control method, applied to a motor control unit included in a laser radar system, where the laser radar system further includes a main control unit and a radar motor, the method includes: receiving a whole second pulse signal sent by the main control unit in response to a first scanning whole second alignment instruction; Aligning the first effective scanning starting time point of th