Data processing method and device based on laser radar

Abstract

The embodiment of the invention provides a data processing method and device based on a laser radar. The method comprises the steps that signal characteristic parameters are acquired; and determining an extended echo intensity value of the target echo signal according to the signal characteristic parameters. According to the embodiment of the invention, the method achieves the extension of the echo intensity of the target echo signal through the laser radar, improves the discrimination degree of a close-range target, reduces the crosstalk phenomenon of a sensor in the laser radar, and enables a real target to be effectively distinguished from a false target with the crosstalk phenomenon.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a data processing method and device based on laser radar. Background Art

[0002] Currently, the echo intensity of the target echo signal from the lidar is key information for distinguishing different targets. Since the laser intensity follows the inverse square law with distance during propagation, the echo signal will decay rapidly as the fourth power of the distance. Usually, a larger laser power is required to ensure ranging performance.

[0003] However, a larger laser power will make the echo energy of nearby targets too large, resulting in echo intensity saturation, thereby losing the echo intensity information of close-range targets, making close-range targets difficult to distinguish and aggravating the crosstalk phenomenon of the lidar sensor. Summary of the Invention

[0004] In view of the above problems, a laser radar-based data processing method and device are proposed to overcome the above problems or at least partially solve the above problems, including:

[0005] A laser radar-based data processing method, the method comprising:

[0006] Obtain signal characteristic parameters;

[0007] An extended echo intensity value of the target echo signal is determined according to the signal characteristic parameters.

[0008] Optionally, determining the extended echo intensity value of the target echo signal according to the signal characteristic parameter includes:

[0009] Determining the saturation depth of the target echo signal according to the signal characteristic parameters; wherein the saturation depth is a quantitative parameter of the pixel saturation degree of the sensor in the laser radar;

[0010] An extended echo intensity value of the target echo signal is determined according to the saturation depth.

[0011] Optionally, the signal characteristic parameters include an echo half-width starting position parameter, an echo half-width ending position parameter, and an echo peak position parameter. Determining the saturation depth of the target echo signal according to the signal characteristic parameters includes:

[0012] The saturation depth of the target echo signal is determined according to the echo half-width starting position parameter, the echo half-width ending position parameter, the echo peak position parameter, and the average echo half-width parameter.

[0013] Optionally, determining the saturation depth of the target echo signal according to an echo half-width starting position parameter, an echo half-width ending position parameter, an echo peak position parameter, and an average echo half-width parameter includes:

[0014] Determine a first position difference between an echo half-width end position parameter and an echo half-width start position parameter;

[0015] Determine a second position difference between the echo peak position parameter and the echo half-width starting position parameter;

[0016] The saturation depth of the target echo signal is determined according to the first position difference, the second position difference, and the mean echo half width parameter.

[0017] Optionally, determining the extended echo intensity value of the target echo signal according to the saturation depth includes:

[0018] Acquire mapping control parameters set for the sensor;

[0019] The saturation depth is mapped to an extended echo intensity value of the target echo signal according to the mapping control parameter.

[0020] Optionally, the mapping control parameters include: a mapping speed control parameter and a mapping range control parameter.

[0021] Optionally, mapping the saturation depth to an extended echo intensity value of the target echo signal according to the mapping control parameter includes:

[0022] Determine the echo half-width threshold parameters;

[0023] The saturation depth is mapped to an extended echo intensity value of the target echo signal according to the mapping control parameter and the echo half-width threshold parameter.

[0024] Optionally, the signal characteristic parameters further include a minimum echo intensity value and an original echo intensity value, and determining an echo half-width threshold parameter includes:

[0025] The echo half-width threshold parameter is determined according to the minimum echo intensity value and the original echo intensity value.

[0026] Optionally, before determining the saturation depth of the target echo signal according to the signal characteristic parameter, the method further includes:

[0027] When the target echo signal reaches a saturation state, determining a saturation depth of the target echo signal according to the signal characteristic parameter.

[0028] Optionally, the saturation state is a state when the sensor in the laser radar reaches an upper limit of photon counting.

[0029] Optionally, the laser radar is a forward-facing laser radar of the vehicle.

[0030] Optionally, the sensor in the laser radar is a single photon avalanche diode sensor.

[0031] A laser radar-based data processing device, the device being used for:

[0032] Obtain the signal characteristic parameters output by the sensor in the laser radar for the target echo signal;

[0033] An extended echo intensity value of the target echo signal is determined according to the signal characteristic parameter.

[0034] An electronic device includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the method described above when executed by the processor.

[0035] A vehicle comprises the device as described above, or comprises the electronic device as described above.

[0036] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0037] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the computer program implements the method described above.

[0038] The embodiments of the present invention have the following advantages:

[0039] In an embodiment of the present invention, by obtaining signal characteristic parameters and determining the extended echo intensity value of the target echo signal based on the signal characteristic parameters, the laser radar can expand the echo intensity of the target echo signal, thereby improving the discrimination of close-range targets and reducing the crosstalk phenomenon occurring in the sensor of the laser radar, so that the real target and the false target caused by the crosstalk phenomenon can be effectively distinguished. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the description of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 is a flowchart of the steps of a laser radar-based data processing method provided by some embodiments of the present invention;

[0042] Figure 2a is a scene graph before intensity expansion provided by some embodiments of the present invention;

[0043] Figure 2b is an intensity-expanded scene graph provided by some embodiments of the present invention;

[0044] Figure 2c is a scene graph before intensity expansion provided by some embodiments of the present invention;

[0045] Figure 2d is an intensity-expanded scene graph provided by some embodiments of the present invention;

[0046] Figure 2e is a schematic diagram of an intensity expansion effect provided by some embodiments of the present invention;

[0047] Figure 2f is a schematic diagram of an intensity mapping function provided by some embodiments of the present invention;

[0048] Figure 3 is a flowchart of another laser radar-based data processing method provided by some embodiments of the present invention;

[0049] Figure 4 is a flowchart of another laser radar-based data processing method provided by some embodiments of the present invention;

[0050] Figure 5 is a flowchart of another laser radar-based data processing method provided by some embodiments of the present invention;

[0051] Figure 6 This is a flowchart of the steps of another laser radar-based data processing method provided in some embodiments of the present invention. DETAILED DESCRIPTION

[0052] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0053] In a related technology, global echo intensity expansion is achieved by improving the laser detection control circuit and combining it with a special lighting strategy. The main idea is:

[0054] 1. Controlling laser power, such as by performing multiple test probes to estimate the target's echo intensity and using this feedback to adjust the transmitted laser power. However, this approach requires a longer time to determine the laser transmit power, making it unsuitable for dynamic vehicle scenarios. Furthermore, while reducing laser power reduces the likelihood of sensor saturation, it also reduces the ranging range.

[0055] 2. To ensure ranging capability, strong and weak illumination are applied sequentially over time to obtain echoes from distant and near targets, respectively. However, this approach requires multiple measurements, which is not conducive to dynamic scene measurements. Furthermore, this approach requires stitching together the distant and near measurement results, which increases computational complexity due to the sensor's nonlinear response and motion deviations.

[0056] 3. Design a special sensor control circuit to control the response characteristics of the SAPD (Single Avalanche Diode Photon) sensor, changing the sensor's sensitivity and thus achieving an increase in overall echo intensity. However, this solution requires special circuit design, is difficult to implement, and cannot be effectively applied to already packaged sensors. Moreover, the change in sensor sensitivity will also affect ranging capabilities.

[0057] Another related technology utilizes specialized optical design to achieve amplification of overall echo intensity. This solution utilizes optical field-of-view reception to separate strong and weak laser echo signals. However, this solution requires specialized optical design and calibration, is bulky and costly, and is difficult to mass-produce.

[0058] Another related technology uses the grayscale image information from the camera to supplement the LiDAR intensity information. This solution assumes that saturated intensity information has been lost and uses the visual grayscale information of the same scene to supplement the LiDAR echo reflection intensity. However, on the one hand, this solution relies on an additional camera, and the sensor needs to be installed on a sensor platform (such as a vehicle) with the LiDAR and complete external parameter calibration. On the other hand, this solution assumes that road targets have the same reflectivity relationship in the visible light band and the infrared band. This solution requires additional sensors and different calibration work for different vehicle models. It also ignores the difference in visible light and laser echo intensity, which may lead to information distortion.

[0059] As can be seen, related technologies focus on specialized optical designs, control circuit designs, illumination control strategies, or the introduction of reference information from other sensors, achieving a trade-off between ranging range and close-range intensity discrimination through splicing and fusion. However, these solutions are insufficient for automotive applications in terms of adaptability to dynamic motion scenarios and the complexity and cost of mass production.

[0060] In the embodiment of the present invention, the saturation depth is calculated based on the signal characteristics output by the SAPD sensor in the laser radar to quantitatively describe the difference in the saturation state. Then, according to the intensity mapping function, the saturation depth is mapped to the echo intensity. Then, this calculation is performed for each pixel to obtain the expanded intensity result. Figure 2a (scene graph before intensity scaling) and Figure 2b (Scene image after intensity expansion) The original close-range scene with saturated intensity has been expanded, which increases the discrimination and expands the dynamic range. Figure 2c (scene graph before intensity scaling) and Figure 2d (Scene graph after intensity expansion), on the basis of improving the dynamic range, it also makes it possible to effectively distinguish real targets from false targets caused by crosstalk.

[0061] Specifically, the embodiments of the present invention have the following effects:

[0062] 1. No special optical design or sensor control circuit is required. It has low implementation complexity and is highly adaptable to mass-produced sensor solutions from different manufacturers.

[0063] 2. No external sensor reference information is required, which can meet the requirements of mass production, debugging and calibration.

[0064] 3. It does not require complex lighting strategies, avoids multiple measurements and data splicing, and can adapt well to dynamic vehicle scenes.

[0065] The following further describes the embodiments of the present invention:

[0066] Reference Figure 1 , shows a flowchart of a laser radar-based data processing method provided by some embodiments of the present invention, which may specifically include the following steps:

[0067] Step 101: Acquire signal characteristic parameters.

[0068] Among them, the signal characteristic parameters are the output of the sensor in the lidar for the target echo signal.

[0069] In some embodiments of the present invention, the laser radar may be a forward-facing laser radar of a vehicle, and the sensor in the laser radar may be a single photon avalanche diode (SAPD) sensor.

[0070] In scenarios such as vehicle driving, such as autonomous driving, lidar can be used to detect targets in the environment and obtain target echo signals. In some cases, the target echo signal contains a variety of information such as the target's distance, speed, and angle. By extracting and processing these signal characteristic parameters, accurate identification and positioning of the target in the environment can be achieved. In scenarios such as autonomous driving, this data processing method can greatly improve the vehicle's perception of the surrounding environment, thereby enhancing vehicle safety and the reliability of autonomous driving.

[0071] The signal characteristic parameters output by the sensor for the target echo signal may include those shown in Table 1 below:

[0072]

[0073] Table 1

[0074] Step 102: Determine the extended echo intensity value of the target echo signal according to the signal characteristic parameters.

[0075] In some embodiments of the present invention, before determining the saturation depth of the target echo signal according to the signal characteristic parameter, the method further includes:

[0076] When the target echo signal reaches a saturation state, determining a saturation depth of the target echo signal according to the signal characteristic parameter.

[0077] The saturation state refers to the state when the sensor in the laser radar reaches the upper limit of photon counting.

[0078] In actual applications, the raw echo intensity value output by the lidar sensor is determined by reading the sensor's photon count. When the echo carries too many photons and the sensor reaches the photon count limit, the sensor will be saturated and the output raw echo intensity value will also reach the maximum value. However, this sensor saturation is limited by the saturation of the sensor hardware. In fact, there will be larger echo intensity values, but the sensor cannot output a larger echo intensity value.

[0079] Based on this, the echo intensity value can be expanded according to the signal characteristic parameters output by the sensor for the target echo signal, breaking through the hardware limitations of the sensor and obtaining the extended echo intensity value of the target echo signal. The extended echo intensity value is greater than the maximum value of the original echo intensity value that the sensor can output.

[0080] like Figure 2eThe horizontal axis is the time unit, the vertical axis is the echo intensity value, and the curve is the actual echo intensity change curve (that is, without considering the sensor hardware limitations). The four circles in the figure are the original echo intensity values of the sensor output sampling points. It can be seen that the original echo intensity value when the sensor reaches saturation is less than 150, that is, the sensor cannot output an echo intensity greater than 150. By calculating the extended echo intensity, an echo intensity greater than 150 can be obtained, thereby expanding the range of echo intensity.

[0081] In some examples, such calculation is performed for each pixel to obtain an expanded intensity result, that is, an expanded echo intensity value. Figure 2a (scene graph before intensity scaling) and Figure 2b (Scene image after intensity expansion) The original close-range scene with saturated intensity has been expanded, which increases the discrimination and expands the dynamic range. Figure 2c (scene graph before intensity scaling) and Figure 2d (Scene graph after intensity expansion), on the basis of improving the dynamic range, it also makes it possible to effectively distinguish real targets from false targets caused by crosstalk.

[0082] In an embodiment of the present invention, the extended echo intensity value of the target echo signal is determined based on the signal characteristic parameters, thereby realizing the expansion of the echo intensity of the target echo signal by the laser radar, improving the discrimination of close-range targets, and reducing the crosstalk phenomenon occurring in the sensor of the laser radar, so that the real target and the false target caused by the crosstalk phenomenon can be effectively distinguished.

[0083] In some embodiments of the present invention, determining the extended echo intensity value of the target echo signal according to the signal characteristic parameter includes:

[0084] Sub-step 11: determining the saturation depth of the target echo signal based on the signal characteristic parameters; wherein the saturation depth is a quantitative parameter of the pixel saturation degree of the sensor in the laser radar.

[0085] In actual applications, even if the sensor enters saturation, its output histogram waveform is still related to the echo intensity. Since targets with higher reflectivity return more photons, the sensor will enter saturation faster and the overall rising edge of the waveform will be steeper, that is, the degree to which the sensor enters saturation varies.

[0086] Based on this, the saturation depth of the target echo signal can be determined according to the signal characteristic parameters, and then the difference in this saturation state can be quantitatively described.

[0087] In some embodiments of the present invention, the signal characteristic parameters include an echo half-width starting position parameter, an echo half-width ending position parameter, and an echo peak position parameter. Determining the saturation depth of the target echo signal based on the signal characteristic parameters includes:

[0088] The saturation depth of the target echo signal is determined according to the echo half-width starting position parameter, the echo half-width ending position parameter, the echo peak position parameter, and the average echo half-width parameter.

[0089] In some embodiments of the present invention, determining the saturation depth of the target echo signal according to an echo half-width starting position parameter, an echo half-width ending position parameter, an echo peak position parameter, and an average echo half-width parameter includes:

[0090] Determine a first position difference between an echo half-width end position parameter and an echo half-width start position parameter; determine a second position difference between an echo peak position parameter and an echo half-width start position parameter; and determine a saturation depth of the target echo signal based on the first position difference, the second position difference, and the average echo half-width parameter.

[0091] In some examples, the saturation depth x can be calculated using the following formula:

[0092]

[0093] Among them, the echo half-width starting position parameter hvs, the echo half-width ending position parameter hve, and the echo peak position parameter pp are parameters directly output by the sensor, and the average echo half-width parameter (average half value width) hw0 is determined by the system transmission waveform or based on valid echo statistics.

[0094] Sub-step 12: determining an extended echo intensity value of the target echo signal according to the saturation depth.

[0095] After obtaining the saturation depth, since the saturation depth is a quantitative parameter of the pixel saturation degree of the sensor, even if the sensor enters saturation, the saturation depth of different echo intensities is different, the corresponding echo intensity can be determined according to the saturation depth as the extended echo intensity value.

[0096] In some embodiments of the present invention, determining the extended echo intensity value of the target echo signal according to the saturation depth includes:

[0097] Acquire a mapping control parameter set for the sensor; and map the saturation depth to an extended echo intensity value of the target echo signal according to the mapping control parameter.

[0098] In some embodiments of the present invention, mapping control parameters include: a mapping speed control parameter and a mapping range control parameter. The mapping speed control parameter is used to control the mapping speed (e.g., the sensitivity of different sensors to saturation depth depends on the sensor's saturation characteristics), and the mapping range control parameter is used to control the mapping range to normalize intensity. In some examples, the values of the mapping control parameters can be determined based on empirical values or combined with intensity calibration experiments.

[0099] In some embodiments of the present invention, mapping the saturation depth to an extended echo intensity value of the target echo signal according to the mapping control parameter includes:

[0100] Determine an echo half-width threshold parameter; and map the saturation depth to an extended echo intensity value of the target echo signal according to the mapping control parameter and the echo half-width threshold parameter.

[0101] In practical applications, an intensity mapping function may be used to map the saturation depth to an extended echo intensity value of the target echo signal according to a mapping control parameter and an echo half-width threshold parameter.

[0102] In some examples, the intensity mapping function may be formulated as follows:

[0103]

[0104] Among them, f(x,l,k) is the intensity mapping function, X is the saturation depth, L is the mapping speed control parameter, K is the mapping range control parameter, hv th is the echo half-width threshold parameter, such as Figure 2f , the horizontal axis is the saturation depth, the vertical axis is

[0105] In some embodiments of the present invention, the signal characteristic parameters further include an echo minimum intensity value and an original echo intensity value, and determining the echo half-width threshold parameter includes:

[0106] The echo half-width threshold parameter is determined according to the minimum echo intensity value and the original echo intensity value.

[0107] In some examples, the echo half-width threshold parameter hv th It can be determined using the following formula:

[0108]

[0109] Reference Figure 3 , shows a flowchart of another laser radar-based data processing method provided by some embodiments of the present invention, which may specifically include the following steps:

[0110] Step 301: Acquire signal characteristic parameters.

[0111] Step 302: Determine the saturation depth of the target echo signal based on the signal characteristic parameters; wherein the saturation depth is a quantitative parameter of the pixel saturation degree of the sensor in the laser radar.

[0112] Step 303: Determine the extended echo intensity value of the target echo signal according to the saturation depth.

[0113] Reference Figure 4 , shows a flowchart of another laser radar-based data processing method provided by some embodiments of the present invention, which may specifically include the following steps:

[0114] Step 401, acquiring signal characteristic parameters; wherein the signal characteristic parameters include echo half-width starting position parameter, echo half-width ending position parameter, and echo peak position parameter.

[0115] Step 402, determine the saturation depth of the target echo signal based on the echo half-width starting position parameter, the echo half-width ending position parameter, the echo peak position parameter, and the average echo half-width parameter; wherein the saturation depth is a quantitative parameter of the pixel saturation degree of the sensor in the laser radar.

[0116] Step 403: Determine the extended echo intensity value of the target echo signal according to the saturation depth.

[0117] Reference Figure 5 , shows a flowchart of another laser radar-based data processing method provided by some embodiments of the present invention, which may specifically include the following steps:

[0118] Step 501: Acquire signal characteristic parameters.

[0119] Step 502: Determine the saturation depth of the target echo signal based on the signal characteristic parameters; wherein the saturation depth is a quantitative parameter of the pixel saturation degree of the sensor in the laser radar.

[0120] Step 503: Acquire mapping control parameters set for the sensor.

[0121] Step 504: Determine the echo half-width threshold parameter.

[0122] Step 505: Map the saturation depth to an extended echo intensity value of the target echo signal according to the mapping control parameter and the echo half-width threshold parameter.

[0123] Reference Figure 6, shows a flowchart of another laser radar-based data processing method provided by some embodiments of the present invention, which may specifically include the following steps:

[0124] Step 601: Acquire signal characteristic parameters.

[0125] Step 602: Determine the saturation depth of the target echo signal based on the signal characteristic parameters; wherein the saturation depth is a quantitative parameter of the pixel saturation degree of the sensor in the laser radar.

[0126] Step 603: Acquire mapping control parameters set for the sensor.

[0127] Step 604: Determine the echo half-width threshold parameter according to the echo minimum intensity value and the original echo intensity value.

[0128] Step 605: Map the saturation depth to an extended echo intensity value of the target echo signal according to the mapping control parameter and the echo half-width threshold parameter.

[0129] It should be noted that for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0130] Some embodiments of the present invention also provide a laser radar-based data processing device, configured to:

[0131] Obtain signal characteristic parameters;

[0132] An extended echo intensity value of the target echo signal is determined according to the signal characteristic parameters.

[0133] In some embodiments of the present invention, determining the extended echo intensity value of the target echo signal according to the signal characteristic parameter includes:

[0134] Determining the saturation depth of the target echo signal according to the signal characteristic parameters; wherein the saturation depth is a quantitative parameter of the pixel saturation degree of the sensor in the laser radar;

[0135] An extended echo intensity value of the target echo signal is determined according to the saturation depth.

[0136] In some embodiments of the present invention, the signal characteristic parameters include an echo half-width starting position parameter, an echo half-width ending position parameter, and an echo peak position parameter. Determining the saturation depth of the target echo signal based on the signal characteristic parameters includes:

[0137] The saturation depth of the target echo signal is determined according to the echo half-width starting position parameter, the echo half-width ending position parameter, the echo peak position parameter, and the average echo half-width parameter.

[0138] In some embodiments of the present invention, determining the saturation depth of the target echo signal according to an echo half-width starting position parameter, an echo half-width ending position parameter, an echo peak position parameter, and an average echo half-width parameter includes:

[0139] Determine a first position difference between an echo half-width end position parameter and an echo half-width start position parameter;

[0140] Determine a second position difference between the echo peak position parameter and the echo half-width starting position parameter;

[0141] The saturation depth of the target echo signal is determined according to the first position difference, the second position difference, and the mean echo half width parameter.

[0142] In some embodiments of the present invention, determining the extended echo intensity value of the target echo signal according to the saturation depth includes:

[0143] Acquire mapping control parameters set for the sensor;

[0144] The saturation depth is mapped to an extended echo intensity value of the target echo signal according to the mapping control parameter.

[0145] In some embodiments of the present invention, the mapping control parameters include: a mapping speed control parameter and a mapping range control parameter.

[0146] In some embodiments of the present invention, mapping the saturation depth to an extended echo intensity value of the target echo signal according to the mapping control parameter includes:

[0147] Determine the echo half-width threshold parameters;

[0148] The saturation depth is mapped to an extended echo intensity value of the target echo signal according to the mapping control parameter and the echo half-width threshold parameter.

[0149] In some embodiments of the present invention, the signal characteristic parameters further include an echo minimum intensity value and an original echo intensity value, and determining the echo half-width threshold parameter includes:

[0150] The echo half-width threshold parameter is determined according to the minimum echo intensity value and the original echo intensity value.

[0151] In some embodiments of the present invention, before determining the saturation depth of the target echo signal according to the signal characteristic parameter, the method further includes:

[0152] When the target echo signal reaches a saturation state, determining a saturation depth of the target echo signal according to the signal characteristic parameter.

[0153] In some embodiments of the present invention, the saturation state is the state when the sensor in the laser radar reaches the upper limit of photon counting.

[0154] In some embodiments of the present invention, the laser radar is a forward-facing laser radar of a vehicle.

[0155] In some embodiments of the present invention, the sensor in the laser radar is a single photon avalanche diode sensor.

[0156] In an embodiment of the present invention, by obtaining the signal characteristic parameters output by the sensor in the laser radar for the target echo signal, and determining the extended echo intensity value of the target echo signal based on the signal characteristic parameters, the laser radar can expand the echo intensity of the target echo signal, thereby improving the discrimination of close-range targets and reducing the crosstalk phenomenon occurring in the sensor in the laser radar, so that real targets and false targets caused by the crosstalk phenomenon can be effectively distinguished.

[0157] Some embodiments of the present invention further provide an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the above method when executed by the processor.

[0158] Some embodiments of the present invention further provide a vehicle, comprising the apparatus as described above, or comprising the electronic device as described above.

[0159] Some embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above method is implemented.

[0160] Some embodiments of the present invention further provide a computer program product, including a computer program, which implements the above method when executed by a processor.

[0161] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0162] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0163] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0164] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0165] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0166] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0167] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0168] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0169] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "includes," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the above elements.

[0170] The above is a detailed introduction to a data processing method and device based on laser radar. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A data processing method based on laser radar, characterized in that: The method comprises: Obtain signal characteristic parameters; An extended echo intensity value of the target echo signal is determined according to the signal characteristic parameters.

2. The method according to claim 1, characterized in that Determining an extended echo intensity value of the target echo signal according to the signal characteristic parameter includes: Determining the saturation depth of the target echo signal according to the signal characteristic parameters; wherein the saturation depth is a quantitative parameter of the pixel saturation degree of the sensor in the laser radar; An extended echo intensity value of the target echo signal is determined according to the saturation depth.

3. The method according to claim 2, characterized in that The signal characteristic parameters include an echo half-width starting position parameter, an echo half-width ending position parameter, and an echo peak position parameter. Determining the saturation depth of the target echo signal based on the signal characteristic parameters includes: The saturation depth of the target echo signal is determined according to the echo half-width starting position parameter, the echo half-width ending position parameter, the echo peak position parameter, and the average echo half-width parameter.

4. The method according to claim 3, characterized in that Determining the saturation depth of the target echo signal according to the echo half-width starting position parameter, the echo half-width ending position parameter, the echo peak position parameter, and the average echo half-width parameter includes: Determine a first position difference between an echo half-width end position parameter and an echo half-width start position parameter; Determine a second position difference between the echo peak position parameter and the echo half-width starting position parameter; The saturation depth of the target echo signal is determined according to the first position difference, the second position difference, and the mean echo half width parameter.

5. The method according to any one of claims 2 to 4, characterized in that Determining an extended echo intensity value of the target echo signal according to the saturation depth includes: Acquire mapping control parameters set for the sensor; The saturation depth is mapped to an extended echo intensity value of the target echo signal according to the mapping control parameter.

6. The method according to claim 5, characterized in that The mapping control parameters include: a mapping speed control parameter and a mapping range control parameter.

7. The method according to claim 5, characterized in that Mapping the saturation depth to an extended echo intensity value of the target echo signal according to the mapping control parameter includes: Determine the echo half-width threshold parameters; The saturation depth is mapped to an extended echo intensity value of the target echo signal according to the mapping control parameter and the echo half-width threshold parameter.

8. The method according to claim 7, characterized in that Signal characteristic parameters also include the minimum echo intensity value, the original echo intensity value, and the echo half-width threshold parameters, including: The echo half-width threshold parameter is determined according to the minimum echo intensity value and the original echo intensity value.

9. The method according to any one of claims 1 to 4, characterized in that Before determining the saturation depth of the target echo signal according to the signal characteristic parameters, the method further includes: When the target echo signal reaches a saturation state, determining a saturation depth of the target echo signal according to the signal characteristic parameter.

10. The method according to claim 9, characterized in that The saturation state is the state when the sensor in the laser radar reaches the upper limit of photon counting.

11. The method according to any one of claims 1 to 4, characterized in that The laser radar is a forward-facing laser radar of the vehicle.

12. The method according to any one of claims 1 to 4, characterized in that The sensor in the laser radar is a single photon avalanche diode sensor.

13. A data processing device based on laser radar, characterized in that: The device is used to: Obtain signal characteristic parameters; An extended echo intensity value of the target echo signal is determined according to the signal characteristic parameters.

14. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the method according to any one of claims 1 to 12 when executed by the processor.

15. A vehicle, characterized in that: Includes the device as claimed in claim 13, or includes the electronic device as claimed in claim 14.

16. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

17. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 12.

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