Vehicle obstacle avoidance laser radar waveform extraction method, laser radar and medium
A technology of laser radar and waveform extraction, which is applied in the fields of electromagnetic wave re-radiation, radio wave measurement system, utilization of re-radiation, etc., can solve the problem of large influence of echo dynamic range on ranging accuracy, low maturity of photon counting scheme, multi-target Identify problems such as weak acquisition ability, achieve the effect of not being easy to search, overcome the difficulty of extraction, and improve the dynamic range
Active Publication Date: 2019-07-19
白犀牛智达(北京)科技有限公司
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Among them, the system layout of the threshold identification scheme is relatively simple, but the ranging accuracy is greatly affected by the dynamic range of the echo, and the ability to recognize multiple targets is weak; the full waveform acquisition scheme of the laser echo channel has a slightly complicated system architecture and a large data flow , online real-time processing is more complicated, but it is more suitable for multi-target recognition and acquisition; the photon counting scheme is currently low in maturity and high in cost, and is not suitable for the current low-cost vehicle-mounted obstacle avoidance lidar system
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[0044] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.
[0045] Terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only, and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the embodiments of this disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise, "a plurality" Generally contain at least two.
[0046] It should be u...
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The invention discloses a vehicle obstacle avoidance laser radar waveform extraction method, a laser radar and a medium. The method comprises the following steps of receiving an optical signal at a focal plane through a photodetector, and performing photoelectric conversion to obtain a laser radar electrical analog signal; converting the analog signal into an echo digital waveform by a high speedAD and a modulation circuit; storing the digital waveform online, and acquiring an echo interval of the effective waveform online by sliding window filtering; and integrating the effective waveform toobtain a target center-of-mass position. The invention relates to a vehicle obstacle avoidance laser radar waveform extraction method which can analyze the information of all the sampling points on afull waveform data channel by acquiring all laser echo signals on a laser transmission channel during single collection based on a laser echo full waveform collection technology system to obtain multi-pulse multi-center-of-mass positions, thus achieving centimeter-level ranging accuracy.
Description
technical field [0001] The invention relates to the field of vehicle-mounted obstacle avoidance laser radar, in particular to a vehicle-mounted obstacle avoidance laser radar waveform extraction method, a laser radar and a medium, which are suitable for a vehicle-mounted laser radar system with real-time and high-speed response, and can realize real-time effective target recognition, multi-target The waveform is extracted and the distance information is obtained. [0002] technical background [0003] At present, in order to quickly respond to the distance of the moving target, obtain the ranging value accurately, and reduce the probability of false alarm of the target, the vehicle-mounted obstacle avoidance lidar usually uses a micro-pulse, high repetition frequency, quasi-continuous laser, the laser power is about 1W, and the repetition frequency is 300KHz. The system aperture is 3mm; through the lidar equation, it can be obtained that the peak power of the laser signal rea...
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IPC IPC(8): G01S7/487G01S17/93
CPCG01S7/4873G01S17/931
Inventor 王瀚基
Owner 白犀牛智达(北京)科技有限公司
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