Laser radar multi-machine crosstalk prevention method and device, and storage medium

Abstract

The invention relates to a laser radar multi-machine crosstalk prevention method and device, and a storage medium. The method comprises the following steps: randomly generating verification information every preset first time length, wherein the verification information is used for controlling the on-off of a laser signal in a partial time period; emitting the laser signal, wherein the laser signal comprises a verification pulse and a distance measurement pulse, and on-off of the verification pulse is controlled according to the verification information; receiving an echo signal; demodulating the echo signal, determining whether the echo signal contains verification information, if so, determining that the echo signal is a normal signal, and if not, determining that the echo signal is an abnormal signal; and according to a verification result, carrying out scanning order decision and skipping. The method is composed of a dynamic verification technology and a space-time jump multiplexing technology, and the method aims at achieving the best balance between the radar scanning rate and the detection accuracy under the multi-machine coexistence condition.

Description

technical field [0001] The present invention relates to the technical field of radar, in particular to a laser radar multi-device crosstalk prevention method, device and storage medium. Background technique [0002] The current laser radar system measures the time of flight or angle of a single or multiple laser pulses at multiple angles to obtain three-dimensional spatial information. In general, the laser spot of the laser radar is small, and the receiving angle of the receiving detection module is also small. When the number of laser radars online at the same time in the adjacent space is small, two or more radars scan the same detection space at the same time. The probability is very small, so the probability of mutual crosstalk is very small. In the case that the current application is not yet popular, the problem of multi-radar crosstalk is not prominent, but in a small probability, the problem of crosstalk still exists. When lidar is popularized in application field...

AI Technical Summary

Problems solved by technology

When lidar is popularized in application fields such as electric vehicles, the probability of multiple radars appearing in the same space will be very high, and the probability that two or more radars will scan the same detection space at the same time will also increase greatly. For the laser pulses received within a certain time range, the radar cannot distinguish whether it is the laser echo emitted by itself or the laser beam or reflected echo emitted by other radars, so crosstalk may occur, which may lead to the detection of wrong spatial information. In application scenarios with extremely high safety requirements such as driving, this kind of error may be fatal

In response to this problem, there is a solution that each radar uses an identifiable unique identification code. This method can distinguish different radar pulses, but the disadvantage is that the code length of the unique code will be very long. Therefore, the time for a single point and a single measurement long, the average power of the laser is high, the security is weakened, and the scanning speed of the radar is slow; at the same time, this method requires a unified identification standard for all radars, which is difficult to implement; moreover, the attacker can obtain the radar information by monitoring the scanning light spot. Identify and establish scanning synchronization. For malicious masquerade identification attacks, this method will be induced to output wrong spatial information, and there is a huge security hole

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