CN213338017U - Radar device, intelligent driving device, and intelligent transportation system - Google Patents
Radar device, intelligent driving device, and intelligent transportation system Download PDFInfo
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- CN213338017U CN213338017U CN202021468137.7U CN202021468137U CN213338017U CN 213338017 U CN213338017 U CN 213338017U CN 202021468137 U CN202021468137 U CN 202021468137U CN 213338017 U CN213338017 U CN 213338017U
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Abstract
The present disclosure provides a radar apparatus, an intelligent driving apparatus, and an intelligent transportation system, wherein the radar apparatus includes: the radar system comprises a radar controller, a radar component and a field programmable gate array FPGA; the radar controller is electrically connected with the radar component and the FPGA respectively; the radar controller is used for controlling the radar component to scan a target scene to obtain three-dimensional point cloud data of the target scene and transmitting the three-dimensional point cloud data to the FPGA; and the FPGA is used for detecting the three-dimensional point cloud data to obtain a target detection result. According to the embodiment of the invention, the radar device is utilized to complete the processing of the three-dimensional point cloud data, so that the quick response and the safety of the intelligent traffic system are ensured.
Description
Technical Field
The present disclosure relates to the technical field of radar devices, and particularly, to a radar apparatus, an intelligent driving apparatus, and an intelligent transportation system.
Background
An Intelligent Transportation System (ITS) is an Intelligent transportation System, which effectively and comprehensively applies information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operational research, artificial intelligence and the like to transportation, service control and vehicle manufacturing, strengthens the relation among vehicles, roads and users, and thus forms a comprehensive transportation System which ensures safety, improves efficiency, improves environment and saves energy. The general time delay of current intelligent transportation system is too big, unable quick response, causes intelligent transportation system's real-time nature unable assurance.
Disclosure of Invention
In view of the above, the present disclosure is directed to at least a radar apparatus, an intelligent driving apparatus, and an intelligent transportation system.
In a first aspect, the disclosed embodiments provide a radar apparatus, a radar controller, a radar component, and a field programmable gate array FPGA; the radar controller is electrically connected with the radar component and the FPGA respectively; the radar controller is used for controlling the radar component to scan a target scene to obtain three-dimensional point cloud data of the target scene and transmitting the three-dimensional point cloud data to the FPGA; and the FPGA is used for detecting the three-dimensional point cloud data to obtain a target detection result.
Therefore, the radar controller controls the radar component to detect the target scene to obtain the three-dimensional point cloud data of the target scene, the three-dimensional point cloud data are transmitted to the FPGA, then the three-dimensional point cloud data are detected through the FPGA to obtain a target detection result, the radar device is directly utilized to complete processing of the three-dimensional point cloud data, the danger degree caused by packet loss, error codes and the like in the transmission process of the three-dimensional point cloud data is reduced, the transmitted data volume is small, the quick response of the intelligent traffic system is guaranteed, and the real-time performance is guaranteed.
In one possible embodiment, the FPGA includes an on-chip processor and an on-chip logic circuit; the on-chip processor is used for preprocessing the three-dimensional point cloud data and transmitting the obtained preprocessed data to the on-chip logic circuit; and the on-chip logic circuit is used for processing the preprocessed data to obtain the target detection result.
In a possible embodiment, the radar apparatus further comprises a first memory; the first memory is respectively connected with the radar controller and the on-chip processor; the first memory is used for storing the three-dimensional point cloud data.
Therefore, data intercommunication between the radar controller and the on-chip processor is achieved through the first memory, the speed is high, and the efficiency is high.
In a possible embodiment, the method further comprises: a second memory; the second memory is connected with the on-chip processor; wherein the second memory is used for storing network parameters of the neural network; the on-chip processor is further used for reading the network parameters from the second memory and transmitting the network parameters to the on-chip logic circuit; and the on-chip logic circuit is used for processing the preprocessed data based on the network parameters to obtain a target detection result.
Therefore, the neural network is deployed in the radar device, the three-dimensional point cloud data are processed by the radar device, the three-dimensional point cloud data do not need to be transmitted to other equipment, the data transmission quantity is reduced, the response speed is increased, and the safety of intelligent driving is improved.
In a possible implementation, the FPGA further includes: an on-chip memory; the on-chip processor is specifically configured to read the network parameters of the neural network from the second storage into the memory, and input the network parameters and the preprocessing data in the memory to the on-chip logic circuit.
In a possible embodiment, the radar apparatus further includes: a communication component; the communication component is connected with the radar controller; and the radar controller is used for outputting the target detection result through the communication component.
Thus, the target detection result is output to other target devices.
In a second aspect, an embodiment of the present disclosure provides a smart driving apparatus, including: a traveling body, a traveling apparatus controller, and a radar apparatus according to any one of the possibilities of the first aspect; wherein the running device controller and the radar device are both mounted on the running body; the running gear controller is electrically connected with the radar device; the travel device controller is configured to control the travel subject to travel based on a target detection result output by the radar device.
In this way, the radar device provided in the embodiment of the present disclosure is used to detect the environment around the traveling subject, and therefore, when the traveling subject is controlled to travel based on the target detection result output from the radar device, higher safety is achieved.
In a possible embodiment, there are a plurality of said radar devices; and detecting the target scenes in different directions of the running device by different radar devices to obtain target detection results respectively corresponding to the target scenes in different directions.
Therefore, the all-around detection of the running device can be realized, and the intelligent running safety is ensured.
In a possible embodiment, the device further comprises a mounting rack; the radar device is installed on the preset position of the traveling main body through the installation frame.
In a third aspect, an embodiment of the present disclosure further provides an intelligent transportation system, including: the system comprises a cloud server, an intelligent driving device and a road end detection device, wherein the intelligent driving device and the road end detection device are both provided with the radar device in any one of the first aspect; the cloud server is respectively in wireless connection with the intelligent running device and the road end detection device; the intelligent driving device is used for detecting the surrounding scenes of the intelligent driving device and outputting a target detection result of the vehicle end; the road end detection device is arranged beside the road and used for detecting a road scene and outputting a target detection result of the road end; and the cloud server is used for carrying out analysis evaluation and/or decision planning based on the target detection result of the vehicle end and the target detection result of the road end, and feeding back the analysis evaluation result and/or decision planning result to the intelligent driving device.
Therefore, the radar devices in the intelligent driving device and the road end detection device can process the three-dimensional point cloud data acquired by the radar devices through the internal FPGA to obtain a target detection result, and the target detection result is sent to the cloud server, so that the data interaction amount between the radar devices and the cloud server is reduced, the data transmission efficiency is improved, the data transmission integrity is ensured, and the response speed and the safety of an intelligent transportation system are improved.
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
To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present disclosure and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings may be obtained from the drawings without inventive effort.
Fig. 1 shows a schematic structural diagram of a radar apparatus provided in an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of another radar apparatus provided in the embodiments of the present disclosure;
fig. 3 is a schematic structural diagram illustrating an intelligent driving apparatus provided in an embodiment of the present disclosure;
fig. 4 shows a schematic structural diagram of an intelligent transportation system provided by an 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 the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, 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.
The intelligent transportation system usually uses a radar as a sensing module, the radar transmits three-dimensional point cloud data obtained by detection to other computing platforms such as an upper computer and a data processing module connected with the radar, and the other computing platforms perform target detection or other algorithm processing through the other computing platforms, and finally the three-dimensional point cloud data are uploaded to a cloud server of the intelligent transportation system for analysis and evaluation, and the control of the intelligent transportation system is realized based on the analysis and evaluation result.
However, in practice, the point cloud data output by the radar is affected by the communication bandwidth, and packet loss, error code and other conditions easily occur in the data transmission process, so that the safety of the intelligent traffic system cannot be guaranteed.
Meanwhile, in a real road traffic situation, due to the complex traffic situation on the road, an intelligent traffic system is generally required to be capable of rapidly detecting and analyzing, and performing road planning and related vehicle control support on vehicles. At present, the intelligent traffic system generally has overlarge time delay and cannot respond quickly, so that the real-time performance of the intelligent traffic system cannot be ensured.
Based on this, the embodiment of the present disclosure provides a radar apparatus, which includes a radar controller and a Field Programmable Gate Array (FPGA), where the radar controller is electrically connected to the FPGA, and the radar controller controls a radar component to detect a target scene to obtain three-dimensional point cloud data of the target scene, and transmits the three-dimensional point cloud data to the FPGA, and the FPGA detects the three-dimensional point cloud data to obtain a target detection result, so that the radar apparatus is directly used to complete processing of the three-dimensional point cloud data, reduce a risk degree caused by packet loss and error codes in a transmission process of the three-dimensional point cloud data, and the amount of transmitted data is small, thereby ensuring fast response of an intelligent transportation system and real-time performance.
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 and explained in subsequent figures.
In order to facilitate understanding of the embodiment, a radar device disclosed in the embodiment of the present disclosure is first described in detail, and the radar device provided in the embodiment of the present disclosure may be applied to other fields requiring detection by using a radar, besides the field of intelligent transportation.
Referring to fig. 1, a radar apparatus provided in an embodiment of the present disclosure includes: a radar controller 11, a field programmable gate array FPGA12, and a radar component 13; wherein the radar controller 11 is electrically connected with the FPGA12 and the radar component 13 respectively;
the radar controller 11 is configured to detect a target scene, obtain three-dimensional point cloud data of the target scene, and transmit the three-dimensional point cloud data to the FPGA 12;
and the FPGA12 is used for detecting the three-dimensional point cloud data to obtain a target detection result.
According to the radar device provided by the embodiment of the disclosure, the target scene is detected through the radar controller 11, the three-dimensional point cloud data of the target scene is obtained, the three-dimensional point cloud data is transmitted to the FPGA12, then the three-dimensional point cloud data is detected through the FPGA12, and a target detection result is obtained, so that the radar device is directly utilized to complete the processing of the three-dimensional point cloud data, the risk degree caused by packet loss and error codes in the transmission process of the three-dimensional point cloud data is reduced, the transmitted data volume is small, the quick response of an intelligent traffic system is further ensured, and the real-time performance is ensured.
The radar apparatus provided by the embodiments of the present disclosure is described in detail below.
In a specific implementation, when detecting the target scene, the radar controller 11 may scan the target scene by driving the radar component 13, for example, and obtain a scanning result, which may be three-dimensional point cloud data.
The radar Controller 11 is a master device for controlling the operation of the radar component by changing the wiring of the master circuit or the control circuit and changing the resistance value in the circuit according to a predetermined sequence, and is composed of a program counter, an instruction register, an instruction decoder, a timing generator, and an operation Controller, and includes, for example, a Programmable Logic Controller (PLC), a single chip microcomputer, and the like.
The radar component 13 includes, for example: a signal transmitter, and a signal receiver. The radar controller 11 transmits detection waves, such as laser detection waves and electromagnetic detection waves, through the driving signal transmitter, and receives reflected waves formed by reflecting the detection waves by obstacles in the target scene through the driving signal receiver, so as to obtain three-dimensional point cloud data of the target scene.
In a possible implementation manner, after obtaining the three-dimensional point cloud data, the radar controller 11 can directly transmit the three-dimensional point cloud data to the FPGA12, and the FPGA12 detects the three-dimensional point cloud data to obtain a target detection result.
Illustratively, as shown in FIG. 2, the FPGA12 includes an on-chip processor 121 and on-chip logic 122;
the on-chip processor 121 is configured to pre-process the three-dimensional point cloud data, and transmit the obtained pre-processed data to the on-chip logic circuit 122; the on-chip logic circuit 122 is configured to process the preprocessed data to obtain the target detection result.
In specific implementation, after obtaining the three-dimensional point cloud data, the radar controller 11 transmits the three-dimensional point cloud data to the on-chip processor 121, and the on-chip processor 121 performs preprocessing on the three-dimensional point cloud data to obtain preprocessed data.
In another possible implementation manner, as shown in fig. 2, a radar apparatus provided in an embodiment of the present disclosure further includes: a first memory 14.
Wherein the first memory 14 is respectively connected with the radar controller 11 and the on-chip processor 121; the first memory 14 is used for storing three-dimensional point cloud data.
The radar controller 11 is capable of storing the three-dimensional point cloud data to the first memory 14; the on-chip processor 121 is capable of reading the three-dimensional point cloud data from the first memory 14.
In a specific implementation, in one possible implementation, the first memory 14 is, for example, a memory independent from the FPGA12, such as a Double Data Rate (DDR) 3 or a DDR 4; in another possible embodiment, the first memory 14 is, for example, an on-chip memory (not shown in fig. 2) provided in the FPGA 12. In the embodiment shown in fig. 2, the first memory 14 is a memory separate from the FPGA 12.
In this way, after the radar controller 11 drives the radar component 13 to scan a target scene to obtain three-dimensional point cloud data, the three-dimensional point cloud data is stored in the first memory 14; the on-chip processor 121 can read the three-dimensional point cloud data from the first memory 14 and preprocess the three-dimensional point cloud data.
Exemplary pre-processing of the three-dimensional point cloud data includes, for example: format conversion is carried out on the three-dimensional point cloud data to obtain preprocessed data with a format meeting certain format requirements, the preprocessed data comprising obstacles are intercepted from the three-dimensional point cloud data, effective data are obtained from the three-dimensional point cloud data, and the like. Wherein the valid data is, for example, three-dimensional point cloud data indicating the existence of an obstacle.
In another embodiment of the present disclosure, referring to fig. 2, the radar apparatus provided in the embodiment of the present disclosure further includes a second memory 15. The second memory 15 is connected to the on-chip processor 121.
Here, the second memory 15 is, for example, a memory independent of the FPGA12, such as an SSR3, a DDR4, or the like; also for example is; on-chip memory provided in the FPGA 12. In the example shown in fig. 2, the second memory 15 is on-chip memory on the FPGA 12.
The first memory 14 and the second memory 15 may be the same memory or different memories.
In this case, the on-chip processor 121 is further configured to read the network parameter from the second memory and pass the network parameter to the on-chip logic circuit 122; the on-chip logic circuit 122 is specifically configured to process the preprocessed data based on the network parameters and the stored network structure of the neural network, so as to obtain a target detection result.
In particular implementations, the neural network includes, for example, a neural network that has been trained to implement obstacle detection. Network parameters, for example, include: weight parameters of the neural network, structural parameters of the neural network, and the like.
The network parameters of the neural network are stored in the second memory 15 in advance; after the radar apparatus is started, the FPGA12 is initialized, and the on-chip processor 121 reads the network parameters of the neural network from the second memory 15 and transmits the network parameters to the on-chip logic circuit 122. After the preprocessed data are transmitted into the on-chip logic circuit 122, the on-chip logic circuit 122 can process the preprocessed data based on the network parameters to obtain a target detection result.
Here, the target detection result includes, for example, an obstacle detection result.
In another possible embodiment, on-chip memory 16 is also included in the FPGA 12. The on-chip processor 121 is specifically configured to read the network parameters of the neural network from the second storage into the memory, and input the network parameters and the preprocessing data in the memory to the on-chip logic circuit 122.
In another embodiment of the present disclosure, referring to fig. 2, the radar apparatus further includes: a communication component 17.
The communication component is connected with the radar controller 11;
the radar controller 11 is configured to output the target detection result through the communication component 17.
Therefore, the target detection result can be output to target equipment such as an upper computer, a cloud server and the like.
The wireless communication section 17 includes, for example: one or more of a bluetooth Communication chip, a Wireless-Fidelity (Wi-Fi) Communication chip, a Code Division Multiple Access (CDMA 2000) Communication chip, a Global System for Mobile Communication (GSM) Communication chip, an infrared Communication chip, an Intelligent Synchronous Multiplexer (ISM), a Radio Frequency Identification (RFID) Communication chip, a Universal Mobile Telecommunications System (UMTS), and a ZigBee Communication chip.
The wireless communication module 17 and the radar controller 11 are connected to each other by, for example, a data bus.
It should be noted that all actions of the radar controller 11 and the FPGA12 provided in the embodiments of the present disclosure are performed by using existing software. The circuits referred to are all known control circuits, and the present application only utilizes these known software and circuits.
Referring to fig. 3, an embodiment of the present disclosure further provides an intelligent driving apparatus, including: a traveling body 31, a traveling device controller 32, and a radar device 33 according to any one of the embodiments of the present disclosure;
wherein the running gear controller 32 and the radar device 33 are both mounted on the running body 31; the travel device controller 32 is electrically connected to the radar device 33;
the travel device controller 32 is configured to control the travel of the travel subject 31 based on the target detection result output from the radar device 33.
The intelligent driving device provided by the embodiment of the present disclosure detects the environment around the driving body 31 by using the radar device provided by the embodiment of the present disclosure, and has higher safety when the driving body is controlled to drive based on the target detection result output by the radar device.
Illustratively, the intelligent driving device in the embodiment of the present disclosure is, for example and without limitation, any one of the following: an autonomous vehicle, a vehicle equipped with an Advanced Driving Assistance System (ADAS), a robot, or the like.
In the example shown in fig. 3, the intelligent traveling body is provided as an automobile having an automatic driving function.
The running device controller 32 controls, for example, acceleration, deceleration, steering, braking, etc. of the running body 31, or may play voice prompt information to prompt the driver to control acceleration, deceleration, steering, braking, etc. of the running device.
The travel device Controller 32 is a master command device that controls the travel of the travel subject 31 or plays a voice prompt by changing the wiring of the master circuit or the control circuit and changing the resistance value in the circuit in a predetermined order, and is composed of a program counter, a command register, a command decoder, a timing generator, and an operation Controller, and includes, for example, a Programmable Logic Controller (PLC), a single chip microcomputer, and the like.
In one possible embodiment, there are a plurality of radar devices; the plurality of radar devices are respectively used for detecting target scenes in different directions of the running device to obtain target detection results corresponding to the target scenes in different directions.
Therefore, the all-around detection of the running device can be realized, and the intelligent running safety is ensured.
Another embodiment of the present disclosure provides an intelligent device, further including: a mounting frame; the radar device is installed on the preset position of the traveling main body through the installation frame.
The specific structure of the mounting bracket can be set according to the specific installation position of the radar, the shape, the structure and other adaptability of the running main body.
Referring to fig. 4, an embodiment of the present disclosure further provides an intelligent transportation system, including: a cloud server 41, an intelligent traveling device 42, and a road-side detection device 43;
the intelligent driving device 42 and the road end detection device 43 are both equipped with a radar device 44 according to any one of the embodiments of the present disclosure;
wherein, the cloud server 41 and the radar device 42 are wirelessly connected;
the cloud server 41 is wirelessly connected with the intelligent driving device 42 and the road end detection device 43 respectively;
the intelligent driving device 42 is used for detecting the surrounding scenes and outputting the target detection result of the vehicle end;
the road end detection device 43 is arranged beside the road and used for detecting a road scene and outputting a target detection result of the road end;
the cloud server 41 is configured to perform analysis, evaluation and/or decision planning based on the target detection result of the vehicle end and the target detection result of the road end, and feed back the analysis, evaluation and/or decision planning result to the intelligent driving device 42.
In the intelligent transportation system provided by the embodiment of the present disclosure, the radar device 44 in the intelligent driving device 42 and the road end detection device 43 can process the three-dimensional point cloud data acquired by the radar device through the internal FPGA to obtain the target detection result, and send the target detection result to the cloud server 41, thereby reducing the data interaction amount with the cloud server 41, improving the efficiency of data transmission, ensuring the integrity of data transmission, and improving the response speed and the security of the intelligent transportation system.
In specific implementation, after obtaining the analysis and evaluation result, the cloud server 41 may further control the operation of the entire intelligent transportation system according to the evaluation result.
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 and explained in subsequent figures.
In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the disclosed products are conventionally placed in use, and are only for convenience in describing and simplifying the present disclosure, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present disclosure, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art.
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 present disclosure, which should be construed in light of the above teachings. Are intended to be covered by the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. A radar apparatus, comprising: the radar system comprises a radar controller, a radar component and a field programmable gate array FPGA; the radar controller is electrically connected with the radar component and the FPGA respectively;
the radar controller is used for controlling the radar component to scan a target scene to obtain three-dimensional point cloud data of the target scene and transmitting the three-dimensional point cloud data to the FPGA;
and the FPGA is used for detecting the three-dimensional point cloud data to obtain a target detection result.
2. The radar apparatus of claim 1, wherein the FPGA comprises an on-chip processor and an on-chip logic circuit;
the on-chip processor is used for preprocessing the three-dimensional point cloud data and transmitting the obtained preprocessed data to the on-chip logic circuit;
and the on-chip logic circuit is used for processing the preprocessed data to obtain the target detection result.
3. The radar apparatus of claim 2, further comprising a first memory; the first memory is respectively connected with the radar controller and the on-chip processor; the first memory is used for storing the three-dimensional point cloud data.
4. The radar apparatus according to claim 2 or 3, further comprising: a second memory; the second memory is connected with the on-chip processor;
wherein the second memory is used for storing network parameters of the neural network;
the on-chip processor is further used for reading the network parameters from the second memory and transmitting the network parameters to the on-chip logic circuit;
and the on-chip logic circuit is used for processing the preprocessed data based on the network parameters to obtain a target detection result.
5. The radar apparatus of claim 4, wherein the FPGA further comprises: an on-chip memory;
the on-chip processor is specifically configured to read the network parameters of the neural network from the second storage into the memory, and input the network parameters and the preprocessing data in the memory to the on-chip logic circuit.
6. A radar apparatus according to any one of claims 1 to 3, further comprising: a communication component; the communication component is connected with the radar controller;
and the radar controller is used for outputting the target detection result through the communication component.
7. An intelligent driving device, comprising: a running body, a running device controller, and the radar apparatus according to any one of claims 1 to 6;
wherein the running device controller and the radar device are both mounted on the running body; the running gear controller is electrically connected with the radar device;
the travel device controller is configured to control the travel subject to travel based on a target detection result output by the radar device.
8. The intelligent running device according to claim 7, wherein there are a plurality of the radar devices;
and detecting the target scenes in different directions of the running device by different radar devices to obtain target detection results respectively corresponding to the target scenes in different directions.
9. The intelligent running device according to claim 7 or 8, further comprising a mounting rack;
the radar device is installed on the preset position of the traveling main body through the installation frame.
10. An intelligent transportation system, comprising: the system comprises a cloud server, an intelligent driving device and a road end detection device, wherein the radar device of any one of claims 1-6 is arranged in each of the intelligent driving device and the road end detection device;
the cloud server is respectively in wireless connection with the intelligent running device and the road end detection device;
the intelligent driving device is used for detecting the surrounding scenes of the intelligent driving device and outputting a target detection result of the vehicle end;
the road end detection device is arranged beside the road and used for detecting a road scene and outputting a target detection result of the road end;
and the cloud server is used for carrying out analysis evaluation and/or decision planning based on the target detection result of the vehicle end and the target detection result of the road end, and feeding back the analysis evaluation result and/or decision planning result to the intelligent driving device.
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