Detection method of laser radar, laser radar and computer storage medium

Abstract

The invention provides a detection method of a laser radar. The laser radar comprises a scanning device. The detection method comprises the following steps: S101, emitting a first group of detection light beams; S102, reflecting the first group of detection light beams to the outside of the laser radar through the scanning device, and receiving a first group of echoes of the first group of detection light beams on an obstacle to obtain a first point cloud; S103, emitting a second group of detection light beams; and S104, reflecting the second group of detection light beams to the outside of the laser radar through the scanning device, and receiving a second group of echoes of the second group of detection light beams on the obstacle to obtain a second point cloud, wherein the first point cloud and the second point cloud correspond to different detection ranges respectively. According to the invention, through time-sharing detection, control of the light intensity of the laser, the bias voltage of the detector and point cloud fusion, the problem that a distance measurement blind area exists in the laser radar of the coaxial transceiver system is effectively solved, and the resolutions of different detection ranges can be freely adjusted.

Description

technical field [0001] The invention relates to the field of photoelectric detection, in particular to a laser radar detection method, laser radar and computer storage medium. Background technique [0002] Lidar is a radar system that emits laser beams to detect characteristic quantities such as the position and speed of targets. LiDAR is widely used in autonomous driving and other fields due to its advantages of high resolution, good concealment, strong anti-interference ability, small size and light weight. Specifically, the laser radar emits a detection beam to the surrounding three-dimensional environment, and the detection beam is reflected on obstacles in the three-dimensional environment to form an echo, which is converted into an electrical signal after being received, and the signal processing unit in the laser radar receives the electrical signal And calculate the characteristic information of obstacles, such as distance, orientation and reflectivity. [0003] f...

AI Technical Summary

Problems solved by technology

like figure 2 As shown, when the stray light is too strong, the echo signal generated by the stray light is superimposed on the target echo, so that the target cannot be identified, that is, within the duration of the stray light (t1-t2), if there is a target echo, the target echo It will be covered by stray light echoes and cannot be distinguished. At the same time, the baseline of the detector will be temporarily raised, and the detection performance of the lidar will be weakened for a period of time, that is, the echo waveform of close-range targets will become weaker, and then the detection ability can be restored

During this period, the lidar cannot identify the echo signal, thus forming a short-range blind spot

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