A vehicle-mounted obstacle avoidance laser radar waveform extraction method, laser radar and medium
A laser radar and waveform extraction technology, which is applied in the directions of electromagnetic wave re-radiation, radio wave measurement system, instrument, etc., can solve the problem of large impact on the echo dynamic range of ranging accuracy, low maturity of photon counting scheme, multi-target recognition and acquisition Weak ability and other problems, to achieve the effect of not being easy to search, overcome the difficulty of extraction, and improve the dynamic range
Active Publication Date: 2020-11-17
白犀牛智达(北京)科技有限公司
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Problems solved by technology
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-mounted obstacle avoidance laser radar waveform extraction method, laser radar and medium. The method includes the following steps: receiving an optical signal at the focal plane through a photoelectric detector, and performing photoelectric conversion to obtain an electrical analog signal of the laser radar ; convert the analog signal into the digital waveform of the echo through the high-speed AD and modulation circuit; store the digital waveform online, and obtain the echo interval of the effective waveform online through the sliding window filtering method; The effective waveform is integrated to obtain the target centroid position. The invention relates to a waveform extraction method of vehicle-mounted obstacle avoidance laser radar. The method relies on the laser echo full waveform acquisition technology system, and acquires all laser echo signals on the laser transmission channel in a single acquisition, which can be used for the full waveform data channel. Analyze the information of all sampling points on the system to obtain the position of multi-pulse and multi-centroid, 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): G01S7/487G01S17/931
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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