CN115144838A

CN115144838A - Method and device for configuring radar, electronic equipment and storage medium

Info

Publication number: CN115144838A
Application number: CN202210763011.XA
Authority: CN
Inventors: 王哲; 石建萍
Original assignee: Shanghai Sensetime Lingang Intelligent Technology Co Ltd
Current assignee: Shanghai Sensetime Lingang Intelligent Technology Co Ltd
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2022-10-04
Also published as: WO2022057267A1; CN112098971A; KR20220038603A; CN112098971B; JP2022546791A

Abstract

The present disclosure provides a method, an apparatus, an electronic device and a storage medium for configuring a radar, wherein the method comprises: acquiring target scanning ranges scanned by a plurality of radars, and dividing the target scanning ranges into a plurality of grids; determining target scanning delay time of a plurality of radars scanning to the same grid according to the scanning time of each radar scanning to each grid under each candidate configuration parameter set; selecting a target configuration parameter set from the plurality of sets of candidate configuration parameter sets based on the plurality of target scanning delay durations, and performing parameter configuration for the plurality of radars according to the target configuration parameter set; wherein the set of candidate configuration parameter sets includes candidate configuration parameter sets for respective radars at which a target scan delay duration is determined. According to the embodiment of the disclosure, corresponding configuration parameters are selected for the plurality of radars according to the scanning delay time, so that the time delay of the plurality of radars for data acquisition is reduced.

Description

Method and device for configuring radar, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of radar technologies, and in particular, to a method and an apparatus for configuring a radar, an electronic device, and a storage medium.

Background

In recent years, laser radars are widely applied to the fields of automatic driving, unmanned aerial vehicle exploration, mapping and the like due to the accurate ranging capability of the laser radars, and point cloud data provided by the laser radars have specific applications in related fields such as target detection, mapping, positioning, point cloud segmentation and the like.

Taking automatic driving as an example, when environmental information is collected, physical points that a single laser radar can scan are limited (that is, the amount of corresponding point cloud data is small), and complete surrounding environmental information cannot be obtained, so that a plurality of laser radars need to be arranged on a vehicle to collect point cloud data under normal conditions, and the point cloud data of the plurality of laser radars are fused, so that the collection time among the plurality of laser radars needs to be kept synchronous.

Generally, a synchronous clock is arranged to control a plurality of laser radars to trigger data acquisition at the same time point. However, the method is limited by the operation mechanism of the internal clock of the laser radar, the synchronization of the internal clocks of different laser radars is problematic, and a large acquisition time difference exists between the actual acquired original data of a plurality of laser radars, so that fused point cloud data is not accurate enough, and the perception of the vehicle to the surrounding environment is influenced.

Disclosure of Invention

The embodiment of the disclosure provides at least one scheme for configuring radars, and the relevant scanning time information is determined for grids divided by a plurality of radar scanning ranges to select corresponding configuration parameters for the plurality of radars, so that the synchronous time delay of data acquisition of the plurality of radars is reduced, and the data reliability and accuracy of subsequent application are ensured.

In a first aspect, an embodiment of the present disclosure provides a method for configuring a radar, where 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;

determining target scanning delay time of a plurality of radars scanning to the same grid according to the scanning time of each radar scanning to each grid under each candidate configuration parameter set;

selecting a target configuration parameter set from the candidate configuration parameter sets based on a plurality of target scanning delay time lengths, and performing parameter configuration on the radars according to the target configuration parameter set; wherein the set of candidate configuration parameters comprises candidate configuration parameter sets for respective radars for which a target scan delay duration is determined.

The method for configuring the radar provided by the embodiment of the disclosure may first perform grid division on a target scanning range of the obtained multiple radars, and then determine a target scanning delay time length when the multiple radars scan to the same grid according to a scanning time when each radar scans to each grid under each candidate configuration parameter set, where each target scanning delay time length corresponds to a set of candidate configuration parameter sets of the multiple radars, and each set of candidate configuration parameter set includes a candidate configuration parameter set corresponding to each of the multiple radars, that is, each set of candidate configuration parameter set may be obtained by selecting one candidate configuration parameter set from multiple candidate configuration parameter sets corresponding to each radar, and then combining the one candidate configuration parameter set selected from each radar, so that a target configuration parameter set that makes the target scanning delay time length shortest from the multiple sets of candidate configuration parameter sets may be selected based on the multiple target scanning delay time lengths, and perform parameter configuration on the multiple radars simultaneously, thereby reducing a time delay for performing point cloud data acquisition by the multiple radars, and improving synchronization.

The method mainly considers that the target scanning delay time is determined based on the relevant scanning time for scanning the grid under various candidate configuration parameter sets of each radar, and can represent the scanning time difference for scanning the same target by a plurality of radars, the larger the scanning time difference is, the weaker the synchronism of the plurality of radars is, and the smaller the scanning time difference is, the stronger the synchronism of the plurality of radars is, and the target configuration parameter set which enables the scanning time difference to be smaller can be selected for each radar.

In a possible implementation, the determining, according to the scan time of each radar to each grid under each candidate configuration parameter set, a target scan delay duration for multiple radars to scan to the same grid includes:

determining, for each of the plurality of grids, a scan time for each radar to scan to that grid under each candidate set of configuration parameters;

combining the plurality of radars pairwise, and determining the difference between the scanning time of respectively scanning the two radars in each combination to the same grid to obtain the candidate scanning delay time corresponding to the combination;

and determining target scanning delay time lengths of a plurality of radars scanning to the same grid based on the candidate scanning delay time lengths corresponding to the combinations.

In a possible implementation manner, the determining, based on the candidate scan delay durations corresponding to the respective combinations, target scan delay durations for multiple radars to scan to the same grid includes:

and selecting the candidate scanning delay time with the longest time from the candidate scanning delay time corresponding to each combination as the target scanning delay time.

In order to meet the synchronization requirement of multiple radars, for a grid, the longest candidate scanning delay time for the multiple radars to scan the grid may be selected as the target scanning delay time, so that the maximum scanning time difference for all radars to scan the same target is met, and the corresponding configuration parameters may be determined, thereby implementing parameter configuration of multiple radars.

In one possible embodiment, the selecting a target configuration parameter set from a plurality of sets of candidate configuration parameter sets based on a plurality of target scan delay durations includes:

determining the sum of target scanning delay durations corresponding to a plurality of grids under a group of candidate configuration parameter sets corresponding to the target scanning delay durations based on a target scanning delay duration of a same grid scanned by a plurality of radars;

and selecting a group of candidate configuration parameter sets with the minimum sum of target scanning delay time lengths as the target configuration parameter set.

In the embodiment of the present disclosure, the sum of the target scanning delay durations may represent the delay durations obtained after all the grids are scanned, and a longer delay duration indicates that the time synchronization performance brought by a corresponding group of candidate configuration parameter sets is worse, whereas a shorter delay duration indicates that the time synchronization performance brought by a corresponding group of candidate configuration parameter sets is better, where the parameter configuration may be performed on a plurality of radars by using a group of candidate configuration parameter sets with the smallest sum of the target scanning delay durations.

In one possible implementation, the configuration parameters in the candidate configuration parameter set include: a horizontal resolution angle and a scanning time interval corresponding to the horizontal resolution angle, and an initial phase angle value of a relative scanning positive direction and an initial scanning time corresponding to the initial phase angle value;

for any of the grids, determining a scanning time of the radar to scan the grid under the candidate configuration parameter set according to the following steps:

determining an angle range in which the grid falls relative to the positive scanning direction 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;

determining whether the current scanning angle of the radar falls into an angle range in which the grid falls or not based on a horizontal resolution angle of the radar and a scanning time interval corresponding to the horizontal resolution angle, and an initial phase angle value in a relative scanning positive direction and an initial scanning time corresponding to the initial phase angle value;

and if so, determining the current scanning time corresponding to the current scanning angle as the scanning time of the radar to the grid under the candidate configuration parameter set.

In one possible embodiment, a set of candidate configuration parameter sets for the plurality of radars is determined as follows:

acquiring a plurality of original configuration parameter sets of each radar; each original configuration parameter set comprises a plurality of original configuration parameters and a parameter value corresponding to each original configuration parameter;

selecting a standard configuration parameter from the plurality of original configuration parameters based on a preset configuration condition, and sequencing the plurality of original configuration parameter sets of each radar according to the sequence of the parameter values of the standard configuration parameter from small to large;

and according to the adjustment step length of the parameter values of the standard configuration parameters, selecting multiple candidate configuration parameter sets of the radar from the multiple original configuration parameter sets of each radar after sequencing.

Here, in order to determine a group of candidate configuration parameter sets of multiple radars, multiple original configuration parameter sets of each radar may be screened according to an adjustment step length of a parameter value of a selected standard configuration parameter, and then, multiple selected candidate configuration parameter sets for each radar may be determined, so that the group number of the determined candidate configuration parameter sets of the multiple radars may be reduced accordingly, and thus, the subsequent calculation amount may be greatly reduced on the basis of ensuring the comprehensiveness of the radar in selecting the configuration parameter sets.

In a possible implementation manner, the selecting, according to the adjustment step size of the parameter value of the standard configuration parameter, multiple candidate configuration parameter sets of each radar from the multiple sorted original configuration parameter sets of each radar includes:

selecting part of original configuration parameter sets from the sorted multiple original configuration parameter sets of each radar according to the first adjustment step length of the parameter value of the standard configuration parameter, and determining a group of reference configuration parameter sets with the minimum sum of corresponding target scanning delay time lengths on the basis of the selected part of the original configuration parameter sets of each radar;

selecting a plurality of candidate configuration parameter sets of the radar from the sorted plurality of original configuration parameter sets of each radar based on the determined original configuration parameter set corresponding to each radar in the group of reference configuration parameter sets and the second adjustment step length of the parameter value of the standard configuration parameter; wherein the second adjustment step is smaller than the first adjustment step.

The selection of the configuration parameter sets under the coarse granularity and the fine granularity is realized based on the combined setting of the first adjustment step length and the second adjustment step length, and the accuracy of the subsequent target scanning delay time length calculation is further ensured while the subsequent calculation amount is reduced.

In a possible embodiment, the plurality of radars are each provided on a travel device, and after the parameter configuration is performed for the plurality of radars according to the target configuration parameter set, the method further includes:

controlling a plurality of radars with the configured parameters to acquire radar point cloud data of a first target scene;

target detection is carried out based on the collected radar point cloud data, and target object information in the first target scene is determined;

controlling the running device based on the target object information.

Here, the data processing method provided by the embodiment of the present disclosure may be applied to target object detection, and control of a running device such as an autonomous vehicle may be realized by a target detection result.

In a possible implementation manner, the plurality of radars are respectively set at the relative positions of the target traffic intersection in the second target scene according to the set angles, and after the parameter configuration is performed on the plurality of radars according to the set of target configuration parameters, the method further includes:

controlling a plurality of radars with the configured parameters to acquire radar point cloud data of the second target scene;

and carrying out traffic state detection on the target traffic intersection based on the collected radar point cloud data to obtain a traffic detection result.

Here, the data processing method provided by the embodiment of the present disclosure can be applied to traffic state detection, and traffic detection for a traffic intersection can be realized through radar point cloud data synchronously acquired by multiple radars arranged at a target traffic intersection, particularly a traffic intersection in a wider range.

In a second aspect, an embodiment of the present disclosure further provides an apparatus for configuring a radar, where the apparatus includes:

the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a target scanning range scanned by a plurality of radars and dividing the target scanning range into a plurality of grids;

the determining module is used for determining the target scanning delay time of a plurality of 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 is used for selecting a target configuration parameter set from a plurality of groups of candidate configuration parameter sets based on a plurality of target scanning delay time lengths, and performing parameter configuration on the radars according to the target configuration parameter set; wherein the set of candidate configuration parameter sets includes candidate configuration parameter sets for respective radars at which a target scan delay duration is determined.

In a third aspect, an embodiment of the present disclosure further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor being configured to execute the machine-readable instructions stored in the memory, the processor and the memory communicating via the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of the method of configuring a radar as described in the first aspect and any of its various embodiments.

In a fourth aspect, the disclosed embodiments also provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by an electronic device, and the electronic device executes the steps of the method for configuring a radar according to the first aspect and any one of the various embodiments.

For the above description of the effects of the apparatus, the electronic device, and the computer-readable storage medium for configuring the radar, reference is made to the above description of the method for configuring the radar, and details thereof are not repeated here.

In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.

Fig. 1 illustrates a flowchart of a method for configuring a radar according to a first embodiment of the disclosure;

fig. 2 is a schematic diagram illustrating an apparatus for configuring a radar according to a second embodiment of the disclosure;

fig. 3 shows a schematic diagram of an electronic device provided in a third embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of embodiments of the present disclosure, as generally described and illustrated herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.

Research shows that in the related art, a synchronous clock is generally set to ensure that each radar obtains a clock trigger signal at the same time point, and then data acquisition is started. However, the method is limited by the operation mechanism of the internal clock of the radar, and a large acquisition time difference is easily caused between the original data acquired by each radar, so that the fused point cloud data is not accurate enough, and the perception of the vehicle to the surrounding environment is affected.

Based on the research, the present disclosure provides at least a scheme for configuring radars, which determines relevant scanning time information for a plurality of radars according to grids divided by a plurality of radar scanning ranges to select corresponding configuration parameters for the plurality of radars, thereby reducing synchronous time delay of data acquisition of the plurality of radars and ensuring data reliability and accuracy of subsequent applications.

The above-mentioned drawbacks are the results of the inventor after practical and careful study, and therefore, the discovery process of the above-mentioned problems and the solutions proposed by the present disclosure to the above-mentioned problems should be the contribution of the inventor in the process of the present disclosure.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

To facilitate understanding of the present embodiment, first, a method for configuring a radar disclosed in the embodiments of the present disclosure is described in detail, where an execution subject of the method for configuring a radar provided in the embodiments of the present disclosure is generally an electronic device with certain computing capability, and the electronic device includes, for example: a terminal device, which may be a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, a vehicle mounted device, a wearable device, or a server or other processing device. In some possible implementations, the method of configuring a radar may be implemented by a processor invoking computer readable instructions stored in a memory.

The method for configuring radar provided by the embodiment of the present disclosure is described below by taking an execution subject as a terminal device as an example.

Example one

Referring to fig. 1, a flowchart of a method for configuring a radar according to an embodiment of the present disclosure is shown, where the method includes steps S101 to S103, where:

s101, obtaining target scanning ranges scanned by a plurality of radars, and dividing the target scanning ranges into a plurality of grids;

s102, determining target scanning delay time of a plurality of radars to scan to the same grid according to the scanning time of each radar to scan to each grid under each candidate configuration parameter set;

s103, selecting a target configuration parameter set from a plurality of groups of candidate configuration parameter sets based on a plurality of target scanning delay time lengths, and performing parameter configuration on a plurality of radars according to the target configuration parameter set; wherein the set of candidate configuration parameter sets includes candidate configuration parameter sets for respective radars at which a target scan delay duration is determined.

Here, to facilitate understanding of the method for configuring a radar provided in the embodiments of the present disclosure, an application scenario of the method for configuring a radar may be first described in detail. The method for configuring the radar provided by the embodiment of the disclosure may be applied to any scene in which multiple radar synchronization is required, for example, may be applied to target object detection in automatic driving, may also be applied to traffic state detection in vehicle-road cooperation, and may also be applied to other scenes, which is not specifically limited herein.

The embodiment of the disclosure can adopt a rotary scanning radar to realize multi-radar synchronization, and the rotary scanning radar can acquire point cloud data of related targets in the surrounding environment during horizontal rotary scanning. In the process of rotary scanning, the radar can adopt a multi-line scanning mode, namely a plurality of laser tubes are used for emitting in sequence, and the structure is that the plurality of laser tubes are longitudinally arranged, namely, in the process of rotary scanning in the horizontal direction, multi-layer scanning in the vertical direction is carried out. A certain included angle is formed between every two laser tubes, the vertical emission view field can be 30-40 degrees, therefore, a data packet returned by the laser emitted by the laser tubes can be obtained when the radar equipment rotates for one scanning angle, and the data packets obtained by the scanning angles are spliced to obtain radar point cloud data.

Here, the synchronous operation related to multiple radars may be to control multiple radars to synchronously acquire radar point cloud data, and the radar point cloud data acquired synchronously by the respective radars may be fused to be applied to the respective application scenarios. In the case where it is necessary to perform a synchronization operation of a plurality of radars, time synchronization is often necessary to ensure that the delay between the radars is small.

Conventional multi-radar synchronization mainly includes three schemes: one is hard trigger synchronization, a high-precision Global Positioning System (GPS) can be generally used as a System clock, pulse phase locking is performed on each radar through a GPS pulse signal, a plurality of radars are synchronized under the same pulse signal trigger, and delay can reach millisecond level; the second is software synchronization, which can be generally to determine a unified clock domain for a plurality of radars; the third is motion compensation, because the scanning time of the rotary scanning radar is relatively long (such as 100 ms), the difference between the first point and the last point of each frame of point cloud is 100ms, under the condition that a carrier (such as a vehicle) moves, the point cloud of a scanned target is deformed, the motion of the carrier can be compensated through a high-precision GPS, and the point cloud is corrected by using a timestamp in the point cloud so as to recover the original appearance of the scanned target.

It can be known that the three multi-radar synchronization methods mainly perform synchronization from the same time to the scanning direction, the first related hard trigger synchronization method is limited by the operation mechanism of the internal clock of the radar, which easily causes a large time difference between the original data collected by each radar, thereby causing the fused point cloud data to be not accurate enough, the second related software synchronization method is independent in the collection period of each radar, and the same information cannot be collected at the same time, and the third related motion compensation synchronization method is high in complexity. Meanwhile, the three synchronization methods mentioned above mainly scan the same direction from the same time to synchronize, but the synchronization is more important to allow the same object to be scanned at the same time, and none of the above methods gives the corresponding teaching.

In order to achieve the above technical objective, the embodiments of the present disclosure provide a method for configuring a radar, where relevant scanning time information is determined for grids divided by a plurality of radar scanning ranges to select corresponding configuration parameters for a plurality of radars, so as to reduce synchronous time delay of data acquisition of the plurality of radars and ensure 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 scanning ranges when each of the plurality of radars scans. Here, still taking the rotary scanning lidar as an example of the radar, after each radar is rotationally scanned in the horizontal direction, the scanning area falling into the horizontal direction may be a circular area, and here, the scanning areas scanned by a plurality of radars are combined, that is, the target scanning range may be determined.

In practical applications, for convenience of subsequent analysis, the target scanning range may be defined as a rectangular region, a circular region, and the like, and a rectangular region may be taken as an example for illustration.

It should be noted that, since the rotary scanning lidar scans rotationally in the horizontal direction, each radar is covered in the rectangular area determined in the above manner.

In the case of determining the target scanning ranges corresponding to multiple radars, the target scanning ranges may be subjected to grid division according to a grid size, where the grid size may be an actual size, for example, a rectangular region corresponding to the target scanning range is divided into grids with lengths and widths of 0.5 meters.

In order to implement scanning synchronization for targets in a scene, the method for configuring radars provided by the embodiment of the present disclosure may determine, according to the scanning time of each radar to scan each grid under each candidate configuration parameter set, target scanning delay durations for a plurality of radars to scan the same grid, and select a target configuration parameter set according to the determined target scanning delay durations to implement 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, and each group of candidate configuration parameter sets includes a candidate configuration parameter set corresponding to each of the multiple radars, that is, each group of candidate configuration parameter sets of the multiple radars may be obtained by selecting one candidate configuration parameter set from multiple candidate configuration parameter sets corresponding to each radar and then combining the one candidate configuration parameter set selected from each radar.

Each radar in the embodiments of the present disclosure may correspond to multiple candidate configuration parameter sets, where one candidate configuration parameter set may be a set including multiple candidate configuration parameters and corresponding parameter values. The candidate configuration parameters may be parameters such as scanning frequency, horizontal resolution, initial phase angle, etc., and other candidate configuration parameters may be set in a specific application, which is not limited herein.

For the convenience of understanding the above combination process, the synchronization of three radars is exemplified here. If the first radar, the second radar and the third radar correspond to two, three and four candidate configuration parameter sets, respectively, then by the combination operation of the parameter sets, 24 (2 × 3 × 4) sets of candidate configuration parameter sets corresponding to a plurality of radars can be obtained.

In this way, each target scan delay duration may be determined based on a time difference between scanning times of any two radars respectively scanning the same grid under a corresponding set of candidate configuration parameter sets. In order to meet the parameter configuration requirements of all radars, here, for the same grid, the target scan delay duration may be determined based on the selection principle that the time difference is the largest (the corresponding scan delay duration is the longest).

Under the condition that the target scanning delay time lengths of the candidate configuration parameter sets respectively corresponding to the same grid are determined, the target scanning delay information corresponding to all grids can be determined by analyzing the target scanning delay time lengths, and the target configuration parameter sets can be selected for multiple radars based on the target scanning delay information.

In the embodiment of the disclosure, the multiple radars are correspondingly configured according to the selected target configuration parameter set, and the multiple radars which are configured with the parameters can be controlled to synchronously acquire the radar point cloud data of the relevant scene.

Here, under the condition that a group of target configuration parameter sets corresponding to a plurality of radars is selected, each radar may respectively correspond to one target configuration parameter set in the group of target configuration parameter sets, and the parameter configuration of the corresponding radar is performed based on the target configuration parameter set, so that the joint configuration of the plurality of radars is realized, and the synchronization delay of data acquisition of the plurality of radars is reduced.

The method for configuring the radar provided by the embodiment of the disclosure can determine the target scanning delay duration of a plurality of radars scanning to the same grid based on the scanning time of each radar scanning to each grid, and can be specifically realized by the following steps:

step one, aiming at each grid in a plurality of grids, determining the scanning time of each radar to the grid under each candidate configuration parameter set;

combining the plurality of radars pairwise, and determining the difference between the scanning time of the two radars in each combination respectively scanning the same grid to obtain the candidate scanning delay time corresponding to the combination;

and step three, determining target scanning delay time lengths of a plurality of radars scanning to the same grid based on the candidate scanning delay time lengths corresponding to the combinations.

The target scanning delay time can be characterized by the scanning time difference of different radars, and can be determined based on the screening result of the candidate scanning delay time corresponding to the two radars in various combinations. In order to implement parameter configuration for each radar, a candidate scan delay duration with the longest duration may be selected as a target scan delay duration.

The candidate scanning delay duration corresponding to the two radars related to each combination may be determined based on a subtraction result of scanning times of the two radars of the combination respectively scanning the same grid, that is, the larger the scanning time difference between the scanning times of the two radars scanning the same grid, the longer the corresponding candidate scanning delay duration.

In the embodiment of the present disclosure, in consideration of the critical role of the scan time of each radar scanning to the same grid in determining the candidate scan delay duration, the following steps may be used to describe the process of determining the scan time in detail.

Step one, determining an angle range in which a grid falls relative to a scanning positive direction based on position information of a radar in a target scanning range and a position range of the grid in the target scanning range;

step two, determining whether the current scanning angle of the radar falls into the angle range in which the grid falls or not based on the horizontal resolution angle of the radar, the scanning time interval corresponding to the horizontal resolution angle, the initial phase angle value in the relative scanning positive direction and the initial scanning time corresponding to the initial phase angle value;

and step three, if so, determining the current scanning time corresponding to the current scanning angle as the scanning time of the radar to scan the grid under the candidate configuration parameter set.

Here, in order to determine the scanning time of the radar to scan each grid, it may be determined whether the current scanning angle of the radar falls within the angle range corresponding to the grid, and in the case that it is determined that the current scanning angle of the radar falls within the angle range corresponding to a certain grid, it may be determined that the radar scans the certain grid, so that the scanning time of the radar to scan the certain grid may be determined based on the current scanning time corresponding to the current scanning angle.

The angle range corresponding to the grid can 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.

In particular applications, once a location range of a grid within a target scanning range is determined, a first location point of the location range that is scanned first by the radar and a second location point of the location range that is scanned last may be determined, such that a starting grid angle for the grid may be determined based on a line connecting the radar to the first location point and an ending grid angle for the grid may be determined based on a line connecting the radar to the second location point, such that the grid angle range determined by the starting grid angle and the ending grid angle may be determined as an angle range within which the grid falls with respect to a positive scanning direction.

In addition, in the embodiment of the present disclosure, the current scanning angle of the radar may be determined based on the horizontal resolution angle of the radar and the scanning time interval corresponding to the horizontal resolution angle, and the initial phase angle value with respect to the positive scanning direction and the initial scanning time corresponding to the initial phase angle value.

Here, to facilitate understanding of the calculation process of the current scanning angle, the following example may be made in conjunction with the rotary scanning lidar. On the premise that a 100ms scanning circle (corresponding to 360 °) is set, and 1800 transmissions are performed per circle, the minimum horizontal resolution angle of the radar can be calculated as 360 °/1800=0.5 ° first, and here, the current scanning angle (which can be determined based on the offset angle of the scanning positive direction) for scanning all positions in the scene within 100ms of one period is calculated from time 0. In the embodiment of the present disclosure, the current scanning angle may be determined according to the following steps:

wherein theta is used for representing the current scanning angle relative to the positive scanning direction,

for characterizing the initial phase angle value relative to the positive direction of scan, and t-t0 for characterizing the scan interval.

In the case that the current scanning angle of the radar is determined according to the above formula, a ray with an angle θ relative to the positive scanning direction may be determined from the position of the radar in the scene, and based on the determination result of the angle range in which each grid falls, it may be determined which grids in the target scanning range the ray passes through, and the scanning time to scan to the grids may also be determined.

Here, in order to facilitate the subsequent determination of the candidate scan delay duration corresponding to each combination, a plurality of scan time matrices under a candidate configuration parameter set may be determined for each radar, and each scan time matrix may record the time when each grid is first scanned by the radar under a candidate configuration parameter set. Here, taking the time 0 as the starting time as an example, at the time T =10ms, when the laser emitted by the radar passes through a part of grids, the elements in the matrix T corresponding to the grids are marked as 10ms, and so on, the time of each element on the matrix T after one scanning cycle can be calculated.

It should be noted that, in a specific application, if a grid is scanned by multiple shots, only the time of one shot may be kept, where the time of the first shot may be used, the time of the last shot may be used, or the average time of multiple shots may be used. If a grid is not scanned, the location is marked as invalid.

In addition, the scanning time matrix of the radar in the embodiment of the disclosure reflects the time when the radar scans different positions in a scene, and the time is determined by the position of the radar, the initial phase angle, the scanning frequency, the horizontal resolution and other factors. In general, the scanning frequency and horizontal resolution may be factory-determined by the radar. In the process of parameter configuration, the embodiments of the present disclosure may mainly determine how to set the initial phase angle value for different radars.

On the premise of determining the scanning time matrix corresponding to each radar, subtraction operation can be performed between the scanning time matrices aiming at the two radars in the combination, so that a candidate scanning delay time matrix can be obtained, wherein the candidate scanning delay time matrix can record the scanning time difference of each grid scanned by the two radars in the combination, namely, the candidate scanning delay time under multi-grid and multi-combination can be determined through matrix operation, namely, a parallel processing algorithm is adopted, and the data processing speed is greatly increased.

On the premise of determining the candidate scan delay period, the target scan delay period may be determined based on the maximum scan time difference. The method can be specifically realized according to the following formula:

wherein D (i, j) is used for representing the target scanning delay time length, p, q are used for representing the number of the radar, T _p (i, j) is used for representing scanning time matrix corresponding to the radar No. p, T _q And (i, j) is used for representing the scanning time matrix corresponding to the radar number q.

As can be seen from the above formula, the target scan delay time in the embodiment of the present disclosure may be determined by performing the maximum scan time difference for each grid, so that the parameter configuration of each grid may be considered.

In the method for configuring radar provided by the embodiment of the present disclosure, when a plurality of target scanning delay durations are determined, a target configuration parameter set may be selected based on the plurality of target scanning delay durations, so as to perform parameter configuration on a plurality of radars based on the selected target configuration parameter set, which may specifically be implemented by the following steps:

step one, determining the sum of target scanning delay durations corresponding to a plurality of grids under a corresponding group of candidate configuration parameter sets based on one target scanning delay duration of the same grid scanned by a plurality of radars;

and step two, selecting a group of candidate configuration parameter sets with the minimum sum of the target scanning delay time lengths as target configuration parameter sets.

Here, the multiple radars may scan the target scanning delay duration of each of the multiple grids under a set of candidate configuration parameter sets, and perform summation operation to obtain a sum of the target scanning delay durations corresponding to the multiple grids under a set of candidate configuration parameter sets, where the sum of the target scanning delay durations reflects an accumulated delay of the scanning time difference corresponding to each grid in the entire target scanning range, and the lower the accumulated delay, the more beneficial the currently selected set of candidate configuration parameter sets is to the synchronous operation of the multiple radars, so that the candidate configuration parameter set with the smallest sum of the target scanning delay durations may be selected as the target configuration parameter set in the embodiment of the present disclosure.

The following may be described in detail, taking into account the critical role of the determination of a set of candidate configuration parameter sets relating to multiple radars for the above-mentioned target configuration parameter set.

In the embodiment of the disclosure, the sum of target scanning delay time lengths of any number of radars at any installation position, any initial phase angle, any scanning frequency and any horizontal resolution can be calculated. Whether the variables can be changed or not is determined according to specific conditions, such as the installation position of the radar, certain specific positions on the vehicle body can be determined in an automatic driving scene, the selectable range is not large, the scanning frequency and the horizontal resolution are generally selected in 1-2 steps, and the initial phase angle of the radar can be freely controlled. Here, the embodiments of the present disclosure do not limit the specific scenarios.

Here, assuming that N1 kinds of initial phase angles of each radar are selectable from 0 to 360 °, N2 kinds of mounting positions are selectable, N3 kinds of scanning frequencies are selectable, N4 kinds of horizontal resolutions are selectable, and N5 radars are provided in total, there are N1 × N2 × N3 × N4 × N5 arrangement combinations in total, and each arrangement combination can correspond to the above-mentioned one set of candidate arrangement parameter sets.

In addition, the data processing method provided by the embodiment of the present disclosure may further determine a set of candidate configuration parameter sets of multiple radars according to the following steps:

step one, acquiring a plurality of original configuration parameter sets of each radar; each original configuration parameter set comprises a plurality of original configuration parameters and a parameter value corresponding to each original configuration parameter;

secondly, selecting standard configuration parameters from the multiple original configuration parameters based on preset configuration conditions, and sequencing the multiple original configuration parameter sets of each radar according to the sequence of the parameter values of the standard configuration parameters from small to large;

and step three, selecting a plurality of candidate configuration parameter sets of the radar from the sorted original configuration parameter sets of each radar according to the adjustment step of the parameter values of the standard configuration parameters.

Here, first, a plurality of original configuration parameter sets of each radar may be obtained, then, the standard configuration parameter may be selected from the plurality of original configuration parameters based on a preset configuration condition, and after the plurality of original configuration parameter sets of each radar are sorted in a descending order according to the parameter values of the standard configuration parameter, a plurality of candidate configuration parameter sets of the radar may be selected from the plurality of original configuration parameter sets of each radar after sorting according to the adjustment step size of the parameter values of the standard configuration parameter.

That is, in the embodiment of the present disclosure, based on the adjustment step size of the parameter value of the standard configuration parameter, part of the original configuration parameter sets may be selected from the multiple original configuration parameter sets as the candidate configuration parameter sets, which may reduce the amount of computation on the premise of ensuring that the data is relatively complete.

The method and the device for configuring the radar can select various candidate configuration parameter sets of each radar according to the adjustment step length according to the following steps:

step one, according to a first adjustment step length of parameter values of standard configuration parameters, selecting partial original configuration parameter sets from multiple kinds of original configuration parameter sets of each radar after sequencing, and determining a group of reference configuration parameter sets with the minimum sum of corresponding target scanning delay time lengths based on the selected partial original configuration parameter sets of each radar;

selecting a plurality of candidate configuration parameter sets of the radar from the sorted plurality of original configuration parameter sets of each radar based on one original configuration parameter set corresponding to each radar in the determined group of reference configuration parameter sets and a second adjustment step length of the parameter value of the standard configuration parameter; wherein the second adjustment step is smaller than the first adjustment step.

Here, the parameter set may be selected under a coarse-grained condition based on the first adjustment step, and then the parameter set may be selected under a fine-grained condition based on the second adjustment step.

To facilitate further understanding of the above parameter set selection process, a specific example will be described below.

Here, taking three radars as an example, if the initial phase angle is used as a standard configuration parameter, and the first adjustment step size of the parameter value of the standard configuration parameter is set to 30 °, based on the adjustment step size, part of the original configuration parameter sets may be selected from multiple original configuration parameter sets of each radar, and the initial phase angle values in the selected part of the original configuration parameter sets may be 0 °, 30 °, 60 ° … … ° in sequence, thereby achieving parameter set selection at coarse granularity. Here, if a group of reference configuration parameter sets with the minimum sum of the corresponding target scanning delay durations is determined based on the selected part of the original configuration parameter sets of each radar according to the similar method for determining the sum of the target scanning delay durations, fine-grained parameter set selection may be performed based on the set second adjustment step size if the initial phase angle values of the three radars corresponding to the determined group of reference configuration parameter sets are 0 °, 30 °, and 90 °, respectively.

If the set second adjustment step length is 5 °, then, multiple candidate configuration parameter sets of the radar may be selected from multiple original configuration parameter sets of each sorted radar based on the initial phase angle values of the three radars being 0 °, 30 °, and 90 °, respectively.

It should be noted that, in the embodiment of the present disclosure, the first adjustment step size and the second adjustment step size may be set synchronously based on all radars, or different first adjustment step sizes and second adjustment step sizes may be set for different radars, where the first adjustment step size and the second adjustment step size may be adjusted according to different application requirements, and no specific limitation is made herein.

In a specific application of the method for configuring a radar provided in the embodiment of the present disclosure, a plurality of radars may be disposed on a driving device, and may also be disposed at relative positions of a target traffic intersection, respectively, to implement different applications.

Here, in the case where a plurality of radars are provided on the traveling device, the detection application of the target object can be realized corresponding to the first target scene. In the embodiment of the disclosure, after the plurality of radars with the configured control parameters acquire the radar point cloud data of the first target scene, the target detection can be performed based on the collected radar point cloud data, the target object information in the target scene is determined, and the driving device is controlled based on the target object information.

The information about the target object can comprise the relevant pose information of the target object, so that the pose information and the running information of the running device can be combined to control the running device to make more reasonable judgment, such as whether emergency braking is needed or not, whether overtaking is available or not and the like.

It should be noted that, in the embodiment of the present disclosure, the determination of the information about the target object may be implemented based on a target object detection model obtained through pre-training, which is not described herein again.

Here, in the case where a plurality of radars are respectively set at relative positions of a target traffic intersection at set angles, a traffic detection application can be implemented corresponding to a second target scene. In the embodiment of the disclosure, especially for a traffic intersection related to a target with a large road surface range, one radar often cannot acquire complete intersection information, and here, the method for configuring the radar provided by the embodiment of the disclosure may be adopted to perform synchronous setting of multiple radars, so that radar point cloud data with more reliable and accurate data is acquired, and thus, accurate detection of a traffic state can be realized based on the acquired radar point cloud data.

It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.

Based on the same inventive concept, the embodiment of the present disclosure further provides a device for configuring a radar corresponding to the method for configuring a radar, and as the principle of solving the problem of the device in the embodiment of the present disclosure is similar to that of the method for configuring a radar in the embodiment of the present disclosure, the implementation of the device may refer to the implementation of the method, and repeated parts are not described again.

Example two

Referring to fig. 2, a schematic diagram of an apparatus for configuring a radar according to an embodiment of the present disclosure is shown, where the apparatus includes: an acquisition module 201, a determination module 202, and a configuration module 203; wherein,

an obtaining module 201, configured to obtain a target scanning range scanned by multiple radars, and divide the target scanning range into multiple grids;

a determining module 202, configured to determine, according to a scanning time of each radar to scan each grid under each candidate configuration parameter set, a target scanning delay duration for multiple radars to scan the same grid;

a configuration module 203, 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 the set of candidate configuration parameter sets includes candidate configuration parameter sets for respective radars at which a target scan delay duration is determined.

In a possible implementation, the determining module 202 is configured to determine the target scan delay durations for multiple radars to scan the same grid according to the scan time of each radar to scan each grid under each candidate configuration parameter set, according to the following steps:

determining, for each of a plurality of grids, a scan time for each radar to scan to the grid under each of the candidate sets of configuration parameters;

combining a plurality of radars pairwise, and determining the difference between the scanning time of respectively scanning the two radars in each combination to the same grid to obtain the candidate scanning delay time corresponding to the combination;

In a possible implementation, the determining module 202 is configured to determine target scan delay durations for multiple radars to scan to the same grid based on the candidate scan delay durations corresponding to the respective combinations according to the following steps:

In one possible implementation, the selecting module 203 is configured to select a target set of configuration parameters from a plurality of sets of candidate configuration parameters based on a plurality of target scan delay durations according to the following steps:

and selecting a group of candidate configuration parameter sets with the minimum sum of the corresponding target scanning delay time lengths as the target configuration parameter sets.

for any grid, a determining module 202, configured to determine a scanning time for the radar to scan to the grid under the candidate configuration parameter set according to the following steps:

and if so, determining the current scanning time corresponding to the current scanning angle as the scanning time of the radar to scan the grid under the candidate configuration parameter set.

In a possible implementation, the determining module 202 is configured to determine a set of candidate configuration parameter sets for a plurality of radars according to the following steps:

and according to the adjustment step length of the parameter values of the standard configuration parameters, selecting multiple candidate configuration parameter sets of the radar from the multiple sorted original configuration parameter sets of each radar.

In a possible implementation manner, the determining module 202 is configured to select, according to the adjustment step size of the parameter value of the standard configuration parameter, multiple candidate configuration parameter sets of the radar from the multiple sorted original configuration parameter sets of each radar according to the following steps:

selecting part of original configuration parameter sets from the sorted multiple original configuration parameter sets of each radar according to a first adjustment step length of the parameter value of the standard configuration parameter, and determining a group of reference configuration parameter sets with the minimum sum of corresponding target scanning delay time lengths based on the selected part of the original configuration parameter sets of each radar;

selecting a plurality of candidate configuration parameter sets of the radar from the plurality of sorted original configuration parameter sets of each radar based on one original configuration parameter set corresponding to each radar in the reference configuration parameter set and a second adjustment step length of the parameter value of the standard configuration parameter; wherein the second adjustment step is smaller than the first adjustment step.

In one possible embodiment, a plurality of radars are provided on a traveling apparatus, and the apparatus further includes:

the driving control module 204 is configured to control the plurality of radars with completed parameter configuration to acquire radar point cloud data of a first target scene after parameter configuration is performed on the plurality of radars according to the target configuration parameter set; target detection is carried out based on the collected radar point cloud data, and target object information in a first target scene is determined; the travel device is controlled based on the target object information.

In a possible implementation manner, a plurality of radars are respectively arranged at the relative positions of the target traffic intersection in the second target scene according to the set angles, and the apparatus further includes:

the traffic detection module 205 is configured to control the multiple radars with completed parameter configuration to acquire radar point cloud data of a second target scene after parameter configuration is performed on the multiple radars according to the target configuration parameter set; and carrying out traffic state detection on the target traffic intersection based on the collected radar point cloud data to obtain a traffic detection result.

The description of the processing flow of each module in the device and the interaction flow between the modules may refer to the related description in the above method embodiments, and will not be described in detail here.

EXAMPLE III

An embodiment of the present disclosure further provides an electronic device, as shown in fig. 3, which is a schematic structural diagram of the electronic device provided in the embodiment of the present disclosure, and the electronic device includes: a processor 301, a memory 302, and a bus 303. The memory 302 stores machine-readable instructions (for example, execution instructions corresponding to the acquisition module 201, the determination module 202, and the configuration module 203 in the apparatus for configuring a radar in fig. 2, etc.) executable by the processor 301, when the electronic device is running, the processor 301 and the memory 302 communicate via the bus 303, and when the machine-readable instructions are executed by the processor 301, the following processing is performed:

selecting a target configuration parameter set from the plurality of sets of candidate configuration parameter sets based on the plurality of target scanning delay durations, and performing parameter configuration for the plurality of radars according to the target configuration parameter set; wherein the set of candidate configuration parameter sets includes candidate configuration parameter sets for respective radars at which a target scan delay duration is determined.

For the specific execution process of the instruction, reference may be made to the steps of the method for configuring a radar described in the embodiments of the present disclosure, and details are not described here again.

The disclosed embodiments also provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method for configuring a radar described in the first method embodiment. The storage medium may be a volatile or non-volatile computer-readable storage medium.

A computer program product of a method for configuring a radar provided in an embodiment of the present disclosure includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute steps of the method for configuring a radar described in the first method embodiment, which may be specifically referred to the above method embodiments and are not described herein again.

The embodiments of the present disclosure also provide a computer program, which when executed by a processor implements any one of the methods of the foregoing embodiments. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in software functional units and sold or used as a stand-alone product, may be stored in a non-transitory computer-readable storage medium executable by a processor. Based on such understanding, the technical solutions of the present disclosure, which are essential or part of the technical solutions contributing to the prior art, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing an electronic device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A method of configuring a radar, the method comprising:

acquiring target scanning ranges scanned by a plurality of radars, and dividing the target scanning ranges into a plurality of grids;

determining the sum of target scanning delay durations corresponding to a plurality of grids under a corresponding set of candidate configuration parameter sets based on a target scanning delay duration of a same grid scanned by a plurality of radars;

selecting a group of candidate configuration parameter sets with the minimum sum of target scanning delay time lengths as the target configuration parameter set;

performing parameter configuration on the plurality of radars according to the target configuration parameter set; wherein the set of candidate configuration parameter sets includes candidate configuration parameter sets for respective radars at which a target scan delay duration is determined.

2. The method of claim 1, wherein the configuration parameters in the candidate set of configuration parameters comprise: a horizontal resolution angle and a scanning time interval corresponding to the horizontal resolution angle, and an initial phase angle value relative to the positive scanning direction and an initial scanning time corresponding to the initial phase angle value;

determining whether the current scanning angle of the radar falls into an angle range in which the grid falls or not based on a horizontal resolution angle of the radar and a scanning time interval corresponding to the horizontal resolution angle, and an initial phase angle value of a relative scanning positive direction and an initial scanning time corresponding to the initial phase angle value;

3. A method according to claim 1 or 2, characterized in that a set of candidate configuration parameter sets for the plurality of radars is determined according to the following steps:

selecting standard configuration parameters from the multiple original configuration parameters based on preset configuration conditions, and sequencing the multiple original configuration parameter sets of each radar according to the sequence of the parameter values of the standard configuration parameters from small to large;

4. The method of claim 3, wherein the selecting the plurality of candidate configuration parameter sets of each radar from the sorted plurality of original configuration parameter sets of each radar according to the adjustment step size of the parameter value of the standard configuration parameter comprises:

selecting part of original configuration parameter sets from the sorted multiple original configuration parameter sets of each radar according to the first adjustment step length of the parameter value of the standard configuration parameter, and determining a reference configuration parameter set with the minimum sum of the corresponding target scanning delay time lengths based on the selected part of the original configuration parameter sets of each radar;

selecting a plurality of candidate configuration parameter sets of the radar from the sorted plurality of original configuration parameter sets of each radar based on the determined original configuration parameter set corresponding to each radar in the reference configuration parameter set and the second adjustment step length of the parameter value of the standard configuration parameter; wherein the second adjustment step is smaller than the first adjustment step.

5. The method according to claim 1, wherein the plurality of radars are each provided on a running device, and after parameter configuration is performed for the plurality of radars according to the target configuration parameter set, the method further comprises:

controlling a plurality of radars with the parameter configuration completed to acquire radar point cloud data of a first target scene;

controlling the running device based on the target object information.

6. The method of claim 1, wherein the plurality of radars are respectively set at a relative position of a target traffic intersection in a second target scene according to a set angle, and after configuring parameters for the plurality of radars according to the set of target configuration parameters, the method further comprises:

7. The method of any one of claims 2, 4, 5 and 6, wherein determining the target scan delay duration for multiple radars to scan to the same grid according to the scan time for each radar to scan to each grid under each candidate configuration parameter set comprises:

determining, for each of the plurality of grids, a scan time for each radar to scan to the grid under each candidate set of configuration parameters;

8. The method of claim 7, wherein determining the target scan delay time for multiple radars to scan to the same grid based on the candidate scan delay time corresponding to each combination comprises:

9. An apparatus for configuring a radar, the apparatus comprising:

the configuration module is used for determining the sum of target scanning delay durations corresponding to a plurality of grids under a corresponding group of candidate configuration parameter sets based on a target scanning delay duration of a same grid scanned by a plurality of radars; selecting a group of candidate configuration parameter sets with the minimum sum of target scanning delay time lengths as the target configuration parameter set; performing parameter configuration on the plurality of radars according to the target configuration parameter set; wherein the set of candidate configuration parameter sets includes candidate configuration parameter sets for respective radars at which a target scan delay duration is determined.

10. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor being configured to execute the machine-readable instructions stored in the memory, the processor and the memory communicating via the bus when the electronic device is running, the machine-readable instructions, when executed by the processor, performing the steps of the method of configuring a radar according to any one of claims 1 to 8.

11. A computer-readable storage medium, having stored thereon a computer program, which, when executed by an electronic device, performs the steps of the method of configuring a radar according to any one of claims 1 to 8.