Method, device and storage medium for determining pulse width of echo waveform

Abstract

The present application discloses a method, device, and storage medium for determining the pulse width of an echo waveform, belonging to the field of radar ranging technology. The method comprises: determining the area of ​​the region enclosed by the symmetrical curve of the rising edge curve of the echo waveform about the peak point and the falling edge curve of the echo waveform to obtain an asymmetric area; determining a first time difference between a first time point corresponding to a position point in the falling edge curve where the corresponding voltage is equal to the threshold voltage and a second time point corresponding to a position point in the symmetrical curve where the corresponding voltage is equal to the threshold voltage based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage; determining the pulse width of the echo waveform based on the first time difference and a second time difference between the second time point and a third time point corresponding to a third position point in the rising edge curve where the corresponding voltage is equal to the threshold voltage. This pulse width determination method is applicable not only to simple waveforms, but also to complex waveforms such as trailing waveforms, and can improve radar ranging accuracy.

Description

Technical Field

[0001] The present application relates to the field of radar ranging, and in particular to a method, device and storage medium for determining the pulse width of an echo waveform. Background Art

[0002] In the field of radar ranging technology, a radar can emit a laser, receive echo data generated by the laser's reflection from a target object, and perform distance measurement based on this echo data. For example, the leading edge value of the echo waveform corresponding to the echo data can be determined. Based on this leading edge value and the time of laser emission, the distance between the target object and the radar can be determined. The leading edge value indicates the time of reception of the echo data. To ensure the accuracy of laser ranging, after determining the leading edge value, it is usually necessary to determine the pulse width of the echo waveform. Based on the pulse width of the echo waveform, the leading edge value is then corrected for pulse width to obtain a more accurate leading edge value.

[0003] In related technologies, a TDC (Time-to-Digital Converter) timing method can be used to determine the pulse width of an echo waveform. Specifically, a threshold voltage is pre-set. After receiving echo data, a voltage comparator is used to determine two locations in the echo waveform corresponding to the echo data where the corresponding voltage is equal to the threshold voltage. These two locations are respectively used as the locations on the rising edge curve of the echo waveform where the corresponding voltage is equal to the threshold voltage and the locations on the falling edge curve where the corresponding voltage is equal to the threshold voltage. The difference between the time points corresponding to these two locations is then calculated, and the calculated difference is used as the pulse width of the echo waveform.

[0004] However, the aforementioned method of determining the pulse width of an echo waveform using TDC timing is only applicable to simple waveforms, such as full waveforms. It has low accuracy for determining the pulse width of complex waveforms, such as trailing waveforms formed by the superposition of multiple waveforms. For example, when the echo waveform is a trailing waveform, since the trailing waveform is composed of multiple superimposed waveforms, it is unclear on which rising and falling edges of the trailing waveform the two points where the voltage equals the threshold voltage, determined by a voltage comparator, lie. Consequently, it is impossible to accurately calculate the pulse width of each waveform within the trailing waveform. Summary of the Invention

[0005] This application provides a method, device, and storage medium for determining the pulse width of an echo waveform, which can address the problems in related technologies such as low accuracy of pulse width calculated using curve fitting, low adaptability to complex asymmetric waveforms, and poor ranging accuracy. The technical solution is as follows:

[0006] In a first aspect, a method for determining a pulse width of an echo waveform is provided, the method comprising:

[0007] determining a peak point of an echo waveform, wherein the echo waveform is an asymmetric waveform;

[0008] determining the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point and a falling edge curve of the echo waveform to obtain an asymmetric area;

[0009] determining a first time difference between a first time point and a second time point based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage, wherein the first time point is a time point corresponding to a first position point in the falling edge curve at which the corresponding voltage is equal to the threshold voltage, and the second time point is a time point corresponding to a second position point in the symmetric curve at which the corresponding voltage is equal to the threshold voltage;

[0010] The sum of the first time difference and the second time difference is determined as the pulse width of the echo waveform, where the second time difference refers to the time difference between the second time point and the third time point, and the third time point refers to the time point corresponding to the third position point in the rising edge curve where the corresponding voltage is equal to the threshold voltage.

[0011] Optionally, the echo waveform is a normal waveform without waveform superposition phenomenon;

[0012] Determining the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point and the falling edge curve of the echo waveform to obtain an asymmetric area includes:

[0013] The asymmetric area is obtained by determining the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point, a falling edge curve of the echo waveform, and a straight line between the first position point and the second position point.

[0014] Optionally, determining the first time difference between the first time point and the second time point according to the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage includes:

[0015] If the echo waveform is a full waveform, determining a ratio between twice the asymmetric area and a first pressure difference, and using the determined ratio as the first time difference, where the first pressure difference refers to a difference between a peak voltage corresponding to the peak point and the threshold voltage;

[0016] If the echo waveform is a saturated clipped waveform, a ratio between twice the asymmetric area and the first pressure difference is determined, and the sum of the determined ratio and an empirical deviation is used as the first time difference. The empirical deviation is determined in advance based on a deviation between a calculated first time difference corresponding to each sample saturated clipped waveform and an actual first time difference. The calculated first time difference corresponding to each sample saturated clipped waveform is determined based on a ratio between twice the asymmetric area of ​​each sample saturated clipped waveform and the first pressure difference.

[0017] Optionally, before determining the sum of the first time difference and the second time difference as the pulse width of the echo waveform, the method further includes:

[0018] Determine twice the time difference between the time point corresponding to the peak point and the third time point to obtain the second time difference;

[0019] or,

[0020] The second time difference is obtained by determining a time difference between twice the time difference between the first time point and the time point corresponding to the peak point and the first time difference.

[0021] Optionally, the echo waveform is a full waveform;

[0022] Determining the peak point of the echo waveform includes:

[0023] A sampling point having the maximum corresponding voltage is determined from the sampling points included in the echo waveform, and the determined sampling point is used as the peak point.

[0024] Optionally, the echo waveform is a saturated clipped waveform;

[0025] Determining the peak point of the echo waveform includes:

[0026] Determining a first sampling point and a second sampling point from the sampling points included in the echo waveform, wherein the first sampling point is a sampling point located on a rising edge curve of the echo waveform and corresponding to a maximum voltage, and the second sampling point is a sampling point located on a falling edge curve of the echo waveform and corresponding to a maximum voltage;

[0027] A central sampling point of a plurality of sampling points located between the first sampling point and the second sampling point among the sampling points included in the echo waveform is determined, and the central sampling point is used as the peak point.

[0028] Optionally, determining the peak point of the echo waveform includes:

[0029] Extracting sampling points whose corresponding voltages are greater than a preset voltage from the sampling points included in the echo waveform;

[0030] interpolating the extracted sampling points, wherein the density of the interpolated sampling points is greater than the density of the extracted sampling points;

[0031] Perform Gaussian function fitting on the interpolated sampling points to obtain the Gaussian function fitting equation;

[0032] The position point corresponding to the maximum value of the Gaussian function fitting equation is determined as the peak point.

[0033] Optionally, the echo waveform is a saturated clipped waveform;

[0034] The step of extracting sampling points whose corresponding voltages are greater than a preset voltage from the sampling points included in the echo waveform includes:

[0035] Sampling points whose corresponding voltages are greater than a preset voltage and less than a saturation voltage corresponding to the saturated clipped waveform are extracted from the sampling points included in the echo waveform.

[0036] Optionally, the echo waveform corresponding to the echo data is a trailing waveform formed by superimposing a first waveform and a second waveform;

[0037] Determining the peak point of the echo waveform includes:

[0038] determining a peak point of a third waveform in the trailing waveform, where the third waveform is any one of the first waveform and the second waveform and is an asymmetric waveform;

[0039] The determining of the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point and the falling edge curve of the echo waveform to obtain an asymmetric area includes:

[0040] Determine the area of ​​a region enclosed by a symmetrical curve of a rising edge curve of the third waveform about the peak point, a falling edge curve of the third waveform, and a straight line between a fourth position point and a tailing point, to obtain the asymmetric area, wherein the tailing point refers to a position where the first waveform and the second waveform intersect, the fourth position point refers to a position in the symmetrical curve where a corresponding voltage is equal to a tailing voltage, and the tailing voltage refers to a voltage corresponding to the tailing point;

[0041] The determining, based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage, a first time difference between the first time point and the second time point includes:

[0042] determining a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage;

[0043] The determining the sum of the first time difference and the second time difference as the pulse width of the echo waveform includes:

[0044] The sum of the first time difference and the second time difference corresponding to the third waveform is determined as the pulse width of the third waveform, where the second time difference corresponding to the third waveform refers to the time difference between the second time point and a third time point corresponding to a third position point in the third waveform.

[0045] Optionally, determining a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage includes:

[0046] determining a third time difference between a time point corresponding to the fourth position point and a time point corresponding to the tailing point according to the asymmetric area, the peak voltage corresponding to the peak point, and the tailing voltage corresponding to the tailing point;

[0047] Based on the third time difference, the peak voltage corresponding to the peak point, the tail voltage corresponding to the tail point, and the threshold voltage, determine the first time difference between the first time point corresponding to the first position point in the third waveform and the second time point corresponding to the second position point in the third waveform.

[0048] Optionally, determining a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform based on the third time difference, the peak voltage corresponding to the peak point, the tail voltage corresponding to the tail point, and the threshold voltage includes:

[0049] determining a product of the third time difference and a first ratio, where the first ratio is a ratio of the first difference to the second difference, the first difference is a difference between the peak voltage and the tail voltage, and the second difference is a difference between the peak voltage and the threshold voltage;

[0050] The determined product is used as a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform.

[0051] Optionally, before determining the sum of the first time difference and the second time difference as the pulse width of the echo waveform, the method further includes:

[0052] Receive echo data, where the echo data is obtained by a target object reflecting a light wave emitted by a light wave emitting device, the echo waveform is a waveform corresponding to the echo data, and the light wave is a laser or an electromagnetic wave;

[0053] determining, according to the echo data and the threshold voltage, a first leading edge value of an echo waveform corresponding to the echo data, wherein the first leading edge value is used to indicate a reception time of the echo data and the first leading edge value is the third time point;

[0054] After determining the sum of the first time difference and the second time difference as the pulse width of the echo waveform, the method further includes:

[0055] performing pulse width correction on the first leading edge value according to the pulse width to obtain a second leading edge value;

[0056] The distance between the target object and the light wave emitting device is determined according to the second frontier value.

[0057] Optionally, performing pulse width correction on the first leading edge value according to the pulse width to obtain a second leading edge value includes:

[0058] Determining the leading edge value deviation corresponding to the pulse width according to a corresponding relationship between the pulse width and the leading edge value deviation, wherein the corresponding relationship between the pulse width and the leading edge value deviation is determined in advance based on the leading edge value deviation and the pulse width between the first leading edge value and the actual leading edge value of each sample waveform in a plurality of sample waveforms;

[0059] The first leading edge value is corrected according to the determined leading edge value deviation to obtain the second leading edge value.

[0060] Optionally, determining a first leading edge value according to the echo data and the threshold voltage includes:

[0061] Performing curve fitting on the echo data to obtain a curve fitting equation;

[0062] Determining the time point corresponding to the threshold voltage according to the curve fitting equation;

[0063] The first leading edge value is determined according to a time point corresponding to the threshold voltage.

[0064] Optionally, before determining the first leading edge value according to the echo data and the threshold voltage, the method further includes:

[0065] filtering the echo data;

[0066] The step of determining a first leading edge value according to the echo data includes:

[0067] The first leading edge value is determined according to the filtered echo data, and the echo waveform is a waveform corresponding to the filtered echo data.

[0068] In a second aspect, a method for determining the pulse width of an echo waveform is provided, the method comprising:

[0069] Perform curve fitting on the sampling points in the echo waveform to obtain a curve fitting equation;

[0070] Solving the curve fitting equation for a time point corresponding to a threshold voltage, and determining, based on the solved time points, a fourth time point at which a corresponding voltage in a rising edge curve of the echo waveform is equal to the threshold voltage, and a fifth time point at which a corresponding voltage in a falling edge curve of the echo waveform is equal to the threshold voltage;

[0071] A difference between the fourth time point and the fifth time point is determined as a pulse width of the echo waveform.

[0072] Optionally, performing curve fitting on the sampling points in the echo waveform to obtain a curve fitting equation includes:

[0073] Obtaining m sampling points whose corresponding voltages are greater than a threshold voltage and n sampling points whose corresponding voltages are less than a threshold voltage from the rising edge curve of the echo waveform, performing quadratic polynomial fitting on the obtained sampling points to obtain a first fitting curve equation corresponding to the rising edge curve of the echo waveform, where m and n are both positive integers;

[0074] In the falling edge curve of the echo waveform, m sampling points whose corresponding voltages are greater than a threshold voltage and n sampling points whose corresponding voltages are less than a threshold voltage are obtained, and a quadratic polynomial fitting is performed on the obtained sampling points to obtain a second fitting curve equation corresponding to the falling edge curve of the echo waveform.

[0075] Optionally, solving the time point corresponding to the threshold voltage according to the curve fitting equation, and determining, based on the solved time point, a fourth time point at which a corresponding voltage in the rising edge curve of the echo waveform is equal to the threshold voltage, and a fifth time point at which a corresponding voltage in the falling edge curve of the echo waveform is equal to the threshold voltage, includes:

[0076] Solving the time point corresponding to the threshold voltage according to the first fitting curve equation, and using the solved time point as the fourth time point;

[0077] The time point corresponding to the threshold voltage is solved according to the second fitting curve equation, and the solved time point is used as the fifth time point.

[0078] In a third aspect, a device for determining a pulse width of an echo waveform is provided, the device comprising:

[0079] A first determining module is used to determine a peak point of an echo waveform, wherein the echo waveform is an asymmetric waveform;

[0080] a second determining module, configured to determine the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point and a falling edge curve of the echo waveform to obtain an asymmetric area;

[0081] a third determining module, configured to determine a first time difference between a first time point and a second time point based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage, wherein the first time point is a time point corresponding to a first position point in the falling edge curve at which the corresponding voltage is equal to the threshold voltage, and the second time point is a time point corresponding to a second position point in the symmetric curve at which the corresponding voltage is equal to the threshold voltage;

[0082] The fourth determination module is used to determine the sum of the first time difference and the second time difference as the pulse width of the echo waveform, where the second time difference refers to the time difference between the second time point and the third time point, and the third time point refers to the time point corresponding to the third position point in the rising edge curve where the corresponding voltage is equal to the threshold voltage.

[0083] Optionally, the echo waveform is a normal waveform without waveform superposition phenomenon;

[0084] The second determining module is used for:

[0085] The asymmetric area is obtained by determining the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point, a falling edge curve of the echo waveform, and a straight line between the first position point and the second position point.

[0086] Optionally, the third determining module is configured to:

[0087] If the echo waveform is a full waveform, determining a ratio between twice the asymmetric area and a first pressure difference, and using the determined ratio as the first time difference, where the first pressure difference refers to a difference between a peak voltage corresponding to the peak point and the threshold voltage;

[0088] If the echo waveform is a saturated clipped waveform, a ratio between twice the asymmetric area and the first pressure difference is determined, and the sum of the determined ratio and an empirical deviation is used as the first time difference. The empirical deviation is determined in advance based on a deviation between a calculated first time difference corresponding to each sample saturated clipped waveform and an actual first time difference. The calculated first time difference corresponding to each sample saturated clipped waveform is determined based on a ratio between twice the asymmetric area of ​​each sample saturated clipped waveform and the first pressure difference.

[0089] Optionally, the apparatus further includes a fifth determining module, the fifth determining module being configured to:

[0090] Determine twice the time difference between the time point corresponding to the peak point and the third time point to obtain the second time difference;

[0091] or,

[0092] The second time difference is obtained by determining a time difference between twice the time difference between the first time point and the time point corresponding to the peak point and the first time difference.

[0093] Optionally, the echo waveform is a full waveform;

[0094] The first determining module is used for:

[0095] A sampling point having the maximum corresponding voltage is determined from the sampling points included in the echo waveform, and the determined sampling point is used as the peak point.

[0096] Optionally, the echo waveform is a saturated clipped waveform;

[0097] The first determining module is used for:

[0098] Determining a first sampling point and a second sampling point from the sampling points included in the echo waveform, wherein the first sampling point is a sampling point located on a rising edge curve of the echo waveform and corresponding to a maximum voltage, and the second sampling point is a sampling point located on a falling edge curve of the echo waveform and corresponding to a maximum voltage;

[0099] A central sampling point of a plurality of sampling points located between the first sampling point and the second sampling point among the sampling points included in the echo waveform is determined, and the central sampling point is used as the peak point.

[0100] Optionally, the first determining module is configured to:

[0101] Extracting sampling points whose corresponding voltages are greater than a preset voltage from the sampling points included in the echo waveform;

[0102] interpolating the extracted sampling points, wherein the density of the interpolated sampling points is greater than the density of the extracted sampling points;

[0103] Perform Gaussian function fitting on the interpolated sampling points to obtain the Gaussian function fitting equation;

[0104] The position point corresponding to the maximum value of the Gaussian function fitting equation is determined as the peak point.

[0105] Optionally, the echo waveform is a saturated clipped waveform;

[0106] The first determining module is used for:

[0107] Sampling points whose corresponding voltages are greater than a preset voltage and less than a saturation voltage corresponding to the saturated clipped waveform are extracted from the sampling points included in the echo waveform.

[0108] Optionally, the echo waveform corresponding to the echo data is a trailing waveform formed by superimposing a first waveform and a second waveform;

[0109] The first determining module is used for:

[0110] determining a peak point of a third waveform in the trailing waveform, where the third waveform is any one of the first waveform and the second waveform and is an asymmetric waveform;

[0111] The second determining module is used for:

[0112] Determine the area of ​​a region enclosed by a symmetrical curve of a rising edge curve of the third waveform about the peak point, a falling edge curve of the third waveform, and a straight line between a fourth position point and a tailing point, to obtain the asymmetric area, wherein the tailing point refers to a position where the first waveform and the second waveform intersect, the fourth position point refers to a position in the symmetrical curve where a corresponding voltage is equal to a tailing voltage, and the tailing voltage refers to a voltage corresponding to the tailing point;

[0113] The third determining module is used for:

[0114] determining a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage;

[0115] The fourth determining module is used for:

[0116] The sum of the first time difference and the second time difference corresponding to the third waveform is determined as the pulse width of the third waveform, where the second time difference corresponding to the third waveform refers to the time difference between the second time point and a third time point corresponding to a third position point in the third waveform.

[0117] Optionally, the third determining module is configured to:

[0118] determining a third time difference between a time point corresponding to the fourth position point and a time point corresponding to the tailing point according to the asymmetric area, the peak voltage corresponding to the peak point, and the tailing voltage corresponding to the tailing point;

[0119] Based on the third time difference, the peak voltage corresponding to the peak point, the tail voltage corresponding to the tail point, and the threshold voltage, determine the first time difference between the first time point corresponding to the first position point in the third waveform and the second time point corresponding to the second position point in the third waveform.

[0120] Optionally, the third determining module is configured to:

[0121] determining a product of the third time difference and a first ratio, where the first ratio is a ratio of the first difference to the second difference, the first difference is a difference between the peak voltage and the tail voltage, and the second difference is a difference between the peak voltage and the threshold voltage;

[0122] The determined product is used as a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform.

[0123] Optionally, the device further comprises:

[0124] A receiving module, configured to receive echo data, wherein the echo data is obtained by a target object reflecting a light wave emitted by a light wave emitting device, wherein the echo waveform refers to a waveform corresponding to the echo data, and the light wave is a laser or an electromagnetic wave;

[0125] a sixth determining module, configured to determine, based on the echo data and the threshold voltage, a first leading edge value of an echo waveform corresponding to the echo data, wherein the first leading edge value is used to indicate a reception time of the echo data and the first leading edge value is the third time point;

[0126] a correction module, configured to perform pulse width correction on the first leading edge value according to the pulse width to obtain a second leading edge value;

[0127] A seventh determining module is configured to determine the distance between the target object and the light wave emitting device according to the second frontier value.

[0128] Optionally, the correction module is used to:

[0129] Determining the leading edge value deviation corresponding to the pulse width according to a corresponding relationship between the pulse width and the leading edge value deviation, wherein the corresponding relationship between the pulse width and the leading edge value deviation is determined in advance based on the leading edge value deviation and the pulse width between the first leading edge value and the actual leading edge value of each sample waveform in a plurality of sample waveforms;

[0130] The first leading edge value is corrected according to the determined leading edge value deviation to obtain the second leading edge value.

[0131] Optionally, the sixth determining module is configured to:

[0132] Performing curve fitting on the echo data to obtain a curve fitting equation;

[0133] Determining the time point corresponding to the threshold voltage according to the curve fitting equation;

[0134] The first leading edge value is determined according to a time point corresponding to the threshold voltage.

[0135] Optionally, the device further comprises:

[0136] A filtering module, configured to filter the echo data;

[0137] The sixth determination module is configured to determine the first leading edge value according to the filtered echo data, wherein the echo waveform is a waveform corresponding to the filtered echo data.

[0138] In a fourth aspect, a device for determining a pulse width of an echo waveform is provided, the device comprising:

[0139] A curve fitting module is used to perform curve fitting on the sampling points in the echo waveform to obtain a curve fitting equation;

[0140] a first determining module, configured to solve a time point corresponding to a threshold voltage according to the curve fitting equation, and determine, based on the solved time point, a fourth time point at which a corresponding voltage in a rising edge curve of the echo waveform is equal to the threshold voltage, and a fifth time point at which a corresponding voltage in a falling edge curve of the echo waveform is equal to the threshold voltage;

[0141] The second determining module is configured to determine a difference between the fourth time point and the fifth time point as a pulse width of the echo waveform.

[0142] Optionally, the curve fitting module is used to:

[0143] Obtaining m sampling points whose corresponding voltages are greater than a threshold voltage and n sampling points whose corresponding voltages are less than a threshold voltage from the rising edge curve of the echo waveform, performing quadratic polynomial fitting on the obtained sampling points to obtain a first fitting curve equation corresponding to the rising edge curve of the echo waveform, where m and n are both positive integers;

[0144] In the falling edge curve of the echo waveform, m sampling points whose corresponding voltages are greater than a threshold voltage and n sampling points whose corresponding voltages are less than a threshold voltage are obtained, and a quadratic polynomial fitting is performed on the obtained sampling points to obtain a second fitting curve equation corresponding to the falling edge curve of the echo waveform.

[0145] Optionally, the first determining module is configured to:

[0146] Solving the time point corresponding to the threshold voltage according to the first fitting curve equation, and using the solved time point as the fourth time point;

[0147] The time point corresponding to the threshold voltage is solved according to the second fitting curve equation, and the solved time point is used as the fifth time point.

[0148] In a fifth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the method described in the first or second aspect above.

[0149] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first or second aspect is implemented.

[0150] In a fifth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the steps of the method described in the first or second aspect above.

[0151] In an embodiment of the present application, the peak point of the echo waveform and the area enclosed by the symmetric curve of the rising edge curve of the echo waveform about the peak point and the falling edge curve of the echo waveform can be determined to obtain an asymmetric area. Then, based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage, a first time difference is determined between a first time point corresponding to a first position in the falling edge curve where the corresponding voltage is equal to the threshold voltage and a second time point corresponding to a second position in the symmetric curve where the corresponding voltage is equal to the threshold voltage. The pulse width of the echo waveform is then determined based on the first time difference and a second time difference between the second time point and a third time point corresponding to a third position in the rising edge curve where the corresponding voltage is equal to the threshold voltage. The first time difference determined based on the asymmetric area indicates a pulse width deviation of the asymmetric echo waveform relative to the pulse width of the symmetric portion of the echo waveform, and the second time difference indicates the pulse width of the symmetric portion of the asymmetric echo waveform. In this way, the pulse width of the echo waveform can be determined more accurately based on the pulse width deviation of the asymmetric part of the echo waveform and the pulse width of the symmetric part of the waveform. This pulse width determination method is not only applicable to simple waveforms, but also to complex waveforms such as tail waveforms. It has high adaptability and can improve the accuracy of radar ranging. BRIEF DESCRIPTION OF THE DRAWINGS

[0152] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0153] Figure 1 This is a flow chart of a radar ranging method provided by an embodiment of the present application;

[0154] Figure 2 is a schematic diagram of an echo waveform provided in an embodiment of the present application;

[0155] Figure 3 This is a schematic diagram of an echo waveform reflected by objects with different reflectivities at the same distance provided by an embodiment of the present application;

[0156] Figure 4 1 is a schematic diagram of a corresponding relationship curve between a leading edge value deviation and a pulse width provided in an embodiment of the present application;

[0157] Figure 5 This is a flow chart of a method for determining the pulse width of an echo waveform provided in an embodiment of the present application;

[0158] Figure 6 is a schematic diagram of a full waveform provided in an embodiment of the present application;

[0159] Figure 7 is a schematic diagram of a saturated clipped waveform provided in an embodiment of the present application;

[0160] Figure 8 is a schematic diagram of a tail waveform provided in an embodiment of the present application;

[0161] Figure 9 is a schematic diagram of another tailing waveform provided in an embodiment of the present application;

[0162] Figure 10 This is a schematic diagram of determining the peak point of an echo waveform provided by an embodiment of the present application;

[0163] Figure 11 This is a flow chart of another method for determining the pulse width of an echo waveform provided by an embodiment of the present application;

[0164] Figure 12 This is a flow chart of another method for determining the pulse width of an echo waveform provided in an embodiment of the present application;

[0165] Figure 13 This is a flow chart of another method for determining the pulse width of an echo waveform provided in an embodiment of the present application;

[0166] Figure 14 1 is a schematic structural diagram of a device for determining the pulse width of an echo waveform provided in an embodiment of the present application;

[0167] Figure 15 2 is a schematic structural diagram of another device for determining the pulse width of an echo waveform provided in an embodiment of the present application;

[0168] Figure 16 It is a structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0169] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0170] It should be understood that the “multiple” mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of this application, words such as “first” and “second” are used to distinguish between identical or similar items with basically the same functions and effects. Those skilled in the art can understand that words such as “first” and “second” do not limit the quantity and execution order, and words such as “first” and “second” do not necessarily limit them to be different.

[0171] Before explaining the embodiments of the present application in detail, the application scenarios of the embodiments of the present application are first explained.

[0172] Among the technical parameters of lidar, ranging accuracy is the most important one. Therefore, how to improve ranging accuracy is the top priority in lidar research.

[0173] In laser ranging technology, time discrimination error, introduced by variations in echo intensity, is one of the main sources of error. Correction methods are needed to reduce this error. A common correction method involves pulse width correction, which corrects the leading edge value calculated by the time discrimination system based on the pulse width of the echo waveform. Time discrimination error refers to the difference between the leading edge value calculated by the time discrimination system and the actual leading edge value. Therefore, to reduce this error and improve laser ranging accuracy, it is necessary to precalculate the pulse width of the echo waveform so that the leading edge value can be corrected based on the calculated pulse width.

[0174] When encountering rain, fog and other weather conditions, the laser radar will produce complex echoes. Since the pulse width determination method using the TDC timing method is less accurate for complex waveforms such as trailing waveforms, it has low adaptability to complex waveforms and is prone to affecting ranging accuracy. Therefore, in order to solve the problem that the pulse width determination method using the TDC timing method is less adaptable to complex waveforms and affects ranging accuracy, the embodiment of the present application provides a pulse width determination method that can be applied to complex waveforms, as detailed below. Figure 1 Example.

[0175] It should be understood that the method for determining the pulse width of an echo waveform provided in the embodiments of the present application can be applied not only to ranging scenarios using laser radars, but also to ranging scenarios using electromagnetic wave radars. That is, the echo waveform described in the embodiments of the present application can be an echo formed by an object reflecting laser light emitted by a laser radar, or an echo formed by an object reflecting electromagnetic waves emitted by an electromagnetic wave radar. Of course, the method for determining the pulse width of an echo waveform provided in the embodiments of the present application can also be applied to other scenarios requiring determination of the pulse width of a waveform, and the embodiments of the present application are not limited thereto.

[0176] To facilitate understanding, the radar ranging method involved in the embodiments of the present application is first described in detail.

[0177] Figure 1 This is a flow chart of a radar ranging method provided in an embodiment of the present application. The method can be applied to an electronic device, which can be a radar, a computer device connected to a radar, or an electronic module integrated in a radar. The embodiment of the present application will be described by taking the electronic device as an example. Figure 1 As shown, the method includes the following steps:

[0178] Step 101: The radar transmits light waves through a light wave transmitting device.

[0179] The radar is equipped with a light wave transmitting device for transmitting light waves, which may be lasers or electromagnetic waves. The radar may be a laser radar or an electromagnetic wave radar, and accordingly, the light wave transmitting device may be a laser transmitting device for transmitting lasers or an electromagnetic wave transmitting device for transmitting electromagnetic waves.

[0180] Step 102: The radar receives echo data, which is formed when the target object reflects the light wave emitted by the radar.

[0181] When the radar's light waves strike the surface of the object being measured, they reflect back to form an echo, allowing the radar to receive the echo data. The target object can be any object that reflects the radar's light waves and forms an echo.

[0182] A radar can receive echoes reflected from a target object. For example, it can sample the echoes to generate echo data. This echo data consists of multiple sampling points, each with a corresponding time and voltage. The time refers to the sampling time.

[0183] As an example, the radar may sample the echo formed by the reflection of the target object once every preset time period to obtain a sampling point, and then use all the obtained sampling points as echo data.

[0184] Step 103: The radar determines a first leading edge value of an echo waveform corresponding to the echo data based on the echo data and the threshold voltage. The first leading edge value is used to indicate a reception time of the echo data.

[0185] In this embodiment of the present application, a threshold method can be used to determine the leading edge value, that is, the time point corresponding to the position point where the voltage in the rising edge curve of the echo waveform is equal to the threshold voltage is used as the leading edge value of the echo waveform.

[0186] The threshold voltage is typically greater than the noise voltage and less than half the voltage at the peak of the echo waveform. The echo waveform corresponding to the echo data is the waveform obtained by connecting the multiple sampling points included in the echo data. The echo waveform can be symmetrical or complex, asymmetrical.

[0187] As an example, the first leading edge value can be determined by sampling curve fitting. Specifically, a curve fit is performed on the echo data to obtain a curve fitting equation. The time point corresponding to the threshold voltage is then determined based on the curve fitting equation. The first leading edge value is determined based on the time point corresponding to the threshold voltage.

[0188] Among them, the least squares method can be used to perform quadratic polynomial fitting on the echo data. Of course, other methods can also be used to perform curve fitting on the echo data, which is not limited in the embodiments of the present application.

[0189] For example, the process of determining the first leading edge value by curve fitting may include: obtaining m sampling points whose corresponding voltage is greater than a threshold voltage and n sampling points whose corresponding voltage is less than the threshold voltage in the rising edge curve of the echo waveform corresponding to the echo data, and then using the least squares method to perform quadratic polynomial fitting on the obtained m+n sampling points to obtain a fitting curve equation corresponding to the rising edge curve, and then solving the time point corresponding to the threshold voltage according to the curve fitting equation, and using the time point as the first leading edge value.

[0190] Where m and n are both positive integers. For example, m is 3 and n is 1.

[0191] Please refer to Figure 2 , Figure 2 Schematic diagram of an echo waveform provided by an embodiment of the present application, wherein the coordinate system of the echo waveform has a horizontal coordinate of time and a vertical coordinate of voltage. Figure 2 As shown in the figure, assuming a threshold voltage of 30 mV, three sampling points (a, b, and c) corresponding to voltages greater than 30 mV and one sampling point (d) corresponding to voltages less than 30 mV are obtained from the rising edge curve of the echo waveform. A quadratic polynomial fit is then performed on the sampling points (a, b, c, and d) using the least squares method to obtain the fitting curve equation. This curve fitting equation is then used to solve for the time point corresponding to the threshold voltage of 30 mV, which is 134.822 ns. This time point is then used as the first leading edge value of the echo waveform.

[0192] Step 104: The radar determines the pulse width of the echo waveform.

[0193] After determining the first leading edge value of the echo waveform, the pulse width of the echo waveform may be determined so as to perform pulse width correction on the first leading edge value according to the pulse width of the echo waveform.

[0194] For symmetrical waveforms or simple asymmetrical waveforms, the pulse width of the echo waveform can be calculated using curve fitting. Specifically, the threshold voltage corresponding to time point A is calculated using the curve fitting equation for the rising edge of the echo waveform, and the threshold voltage corresponding to time point B is calculated using the curve fitting equation for the falling edge of the echo waveform. The time difference between time points A and B is then calculated as the pulse width of the echo waveform.

[0195] However, for complex asymmetric waveforms, the error between the curve fitting equation and the true curve equation is large, so the accuracy of the pulse width calculated by curve fitting is low. In order to improve the accuracy of the pulse width calculation, the embodiment of the present application can adopt the following Figure 5 The method described in the embodiment is used to determine the pulse width of the echo waveform. The specific process is described below. Figure 5 Embodiments: The embodiments of the present application will not be described in detail here.

[0196] Step 105: The radar performs pulse width correction on the first leading edge value according to the pulse width of the echo waveform to obtain a second leading edge value.

[0197] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the echo waveform reflected by objects with different reflectivity at the same distance provided by an embodiment of the present application. Figure 3As shown in the figure, the first leading edge values ​​of the three echo waveforms corresponding to three objects with different reflectivities at the same distance are t0, t1, and t2, respectively, and their pulse widths are τ0, τ1, and τ2, respectively. Theoretically, since these three objects are at the same distance from the lightwave transmitter, the first leading edge values ​​of the three echo waveforms corresponding to these three objects should be the same. Assuming that the actual leading edge value corresponding to the first leading edge values ​​of these three echo waveforms is t0, the first leading edge values ​​t1 and t2 of the two waveforms with first leading edge values ​​t1 and t2, respectively, need to be corrected to t0.

[0198] The deviation between t1 and t0, and the deviation between t2 and t0, can be referred to as the leading edge deviation. In other words, the leading edge deviation refers to the deviation between the calculated first leading edge value and the actual leading edge value. For ease of explanation, the leading edge deviation of the i-th echo waveform can be denoted as Δti, where Δti = ti - t0 (i = 1, 2, 3, ..., n), and its corresponding pulse width is denoted as τi (i = 1, 2, 3, ..., n).

[0199] Research has found that the leading edge value deviation and the corresponding pulse width are usually highly monotonic. Therefore, the leading edge value deviation and pulse width of the echo waveform reflected by objects with different reflectivities at the same distance can be collected to obtain n groups of Δti and τi. These n groups of Δti and τi can then be statistically analyzed to obtain the corresponding relationship between the leading edge value deviation and the pulse width.

[0200] For example, the leading edge value deviation and pulse width of each of the multiple sample waveforms can be pre-determined. Based on the leading edge value deviation and pulse width of each of the multiple sample waveforms, a corresponding relationship between the leading edge value deviation and the pulse width can be determined. Then, based on the corresponding relationship between the pulse width and the leading edge value deviation, the leading edge value deviation corresponding to the pulse width of the echo waveform can be determined. The first leading edge value can be corrected based on the determined leading edge value deviation to obtain a second leading edge value.

[0201] The plurality of sample waveforms are echo waveforms reflected by objects of different reflectivities at the same distance. The leading edge value deviation of each sample waveform refers to the deviation between the first leading edge value of each sample waveform and the actual leading edge value. The first leading edge value of each sample waveform can be determined by curve fitting. The specific determination method can be referred to the relevant description of step 103 above. The pulse width of each sample waveform is the actual pulse width of each sample waveform. The corresponding relationship between the leading edge value deviation and the pulse width is generally highly monotonic, and the larger the pulse width, the smaller the leading edge value deviation.

[0202] As an example, a curve fitting can be performed on the leading edge deviations and pulse widths of multiple sample waveforms, and the resulting fitting curve can be used as a corresponding relationship curve between the leading edge deviations and pulse widths. Then, based on the corresponding relationship curve between the leading edge deviations and pulse widths, the leading edge deviation corresponding to the pulse width of the echo waveform can be solved.

[0203] Among them, a quadratic polynomial fitting method can be used to perform curve fitting on the leading edge value deviation and pulse width of multiple sample waveforms. Of course, other methods can also be used for curve fitting, and the embodiments of the present application do not limit this.

[0204] Please refer to Figure 4 , Figure 4 This is a schematic diagram of a corresponding relationship curve between the leading edge value deviation and the pulse width provided by an embodiment of the present application. The horizontal coordinate of the coordinate system of the corresponding relationship curve is the pulse width, and the vertical coordinate is the leading edge value deviation. Figure 4 As shown in FIG, the corresponding relationship between the leading edge value deviation and the pulse width is highly monotonic. The larger the pulse width, the larger the leading edge value deviation.

[0205] As an example, the operation of correcting the first leading edge value based on the determined leading edge value deviation includes: determining a difference between the first leading edge value and the leading edge value deviation, and using the determined difference as the second leading edge value. For example, the first leading edge value can be corrected based on the determined leading edge value deviation using the following formula (1) to obtain the second leading edge value.

[0206] t'=t-Δt (1)

[0207] Where t' is the second frontier value, t is the first frontier value, and Δt is the frontier value deviation.

[0208] Step 106: The radar determines the distance between the target object and the light wave emitting device based on the second frontier value.

[0209] As an example, the radar can determine the distance between the target object and the light wave transmitting device based on the second front value and the emission time. The emission time refers to the time point when the light wave transmitting device transmits the light wave.

[0210] For example, the distance between the target object and the light wave emitting device can be determined according to the second frontier value and the time point when the light wave emitting device emits the light wave by the following formula (2):

[0211]

[0212] Where L is the distance between the target object and the light wave emitting device, c is the propagation speed of the light wave in a vacuum, t2 is the second frontier value, t1 is the emission time, and (t2-t1) is also called the flight time.

[0213] As another example, the distance between the target object and the light wave transmitting device can be determined based on the second leading edge value, the calibrated reception time of the echo data, and the calibrated distance, wherein the calibrated reception time refers to the reception time of the echo data reflected by the object at the calibrated distance.

[0214] For example, the distance between the target object and the light wave transmitting device can be determined by the following formula (3) based on the second frontier value, the calibrated reception time of the echo data, and the calibrated distance:

[0215]

[0216] Where L is the distance between the target object and the light wave emitting device, c is the propagation speed of light waves in vacuum, t2 is the second frontier value, t 标 is the calibration receiving time, d 标 is the calibration distance.

[0217] Furthermore, after step 102, i.e., after the radar receives the echo data, the echo data may be filtered to obtain filtered echo data, and subsequent steps may be performed on the filtered echo data. For example, the first leading edge value of the echo waveform corresponding to the filtered echo data may be determined based on the filtered echo data and a threshold voltage. By filtering the echo data, the echo data can be denoised and noise reduced.

[0218] As an example, the echo data can be Gaussian filtered. Gaussian filtering has a good denoising effect on Gaussian white noise and can reduce sharp changes in the echo waveform. Gaussian filtering is a discretized window filter, which essentially convolves the echo data with a Gaussian function. Of course, other filtering methods can also be used to filter the echo data, and this embodiment of the present application is not limited to this.

[0219] For example, the echo data can be Gaussian filtered using the following formula (4):

[0220] Y G =Y*G (4)

[0221] Among them, Y G represents the echo data after filtering, Y represents the echo data before filtering, G represents the Gaussian function, and * represents the convolution calculation.

[0222] For example, the Gaussian function can be expressed as follows:

[0223]

[0224] Where G represents the Gaussian function, μ is the center of symmetry of the Gaussian function, i.e., the filter template length. Generally, dark current noise is zero, i.e., μ = 0 here. x represents time. σ is the width of the Gaussian function, i.e., the filter radius.

[0225] Different filtering results can be achieved by selecting different filter template lengths μ and filter radius σ. The filter radius σ refers to the standard deviation of the Gaussian function. A smaller standard deviation results in a poorer filtering effect on the original waveform data, while a larger standard deviation results in a better smoothing effect. The filter template length refers to the number of data points involved in a single fit. Based on the definition of a Gaussian distribution, the farther a data point is from the fitting center, the less influence it has on the filtering result.

[0226] Next, the pulse width determination method provided in the embodiment of the present application is described in detail.

[0227] Figure 5 This is a flow chart of a method for determining the pulse width of an echo waveform provided in an embodiment of the present application. This method can be applied to electronic devices, which may be radars, computer devices connected to radars, electronic modules integrated in radars, or other electronic devices. This embodiment of the present application will be described using the radar as an example. Figure 5 As shown, the method includes the following steps:

[0228] Step 501: The radar determines the peak point of the echo waveform.

[0229] The echo waveform can be either a normal waveform or a trailing waveform. A normal waveform is one that does not exhibit waveform superposition and typically has only one peak. A trailing waveform is a waveform formed by the superposition of multiple waveforms and may include multiple peaks. For example, a trailing waveform is formed by the superposition of a first waveform and a second waveform.

[0230] The normal waveform can be a full waveform or a saturated clipped waveform. Any waveform in the trailing waveform formed by the superposition of multiple waveforms can be a normal waveform or a saturated clipped waveform. A saturated clipped waveform refers to a waveform that exhibits saturation distortion, with its peaks seemingly flattened. A saturated clipped waveform is generally caused by saturation distortion, which can cause the voltage at a sampling point whose corresponding voltage is greater than the saturation voltage to become the saturation voltage. This, in turn, prevents the voltage at each point in the echo waveform from exceeding the saturation voltage, resulting in a saturated clipped waveform. A full waveform refers to a complete waveform that does not exhibit saturation distortion.

[0231] Please refer to Figure 6-Figure 9 , Figure 6-Figure 9 Schematic diagram of various asymmetric waveforms provided in the embodiment of the present application, where the horizontal and vertical axes of the coordinate system of the asymmetric waveforms are time and the vertical axis is voltage. Figure 6 and Figure 7 The waveform shown is a normal waveform, and Figure 6 The waveform shown is the full waveform. Figure 7 The waveform shown is a saturated clipped waveform. Figure 8 and Figure 9The waveform shown is a tail waveform formed by the superposition of two waveforms, and Figure 8 Each waveform in the tail waveform shown is a full waveform. Figure 9 Each of the tailing waveforms shown is a saturated clipped waveform.

[0232] The peak point of the echo waveform can be represented by (V_peak, t_peak), where V_peak refers to the peak voltage corresponding to the peak point, and t_peak refers to the time point corresponding to the peak point.

[0233] In the embodiment of the present application, the method for determining the peak point of the echo waveform varies depending on the echo waveform. Specific implementation methods for determining the peak point of the echo waveform may include the following:

[0234] The first implementation method:

[0235] 1) Full waveform

[0236] In the case where the echo waveform is a full waveform, a sampling point with the maximum corresponding voltage may be determined from the sampling points included in the full waveform, and the determined sampling point may be used as the peak point of the full waveform.

[0237] As an example, the sampling point can be searched starting from the third position point on the rising edge curve of the full waveform, and the first sampling point that satisfies the conditions described in the following formulas (6) and (7) is used as the peak point of the full waveform:

[0238] y i-2 <y i-1 &&y i-1 <y i &&y i >y i+1 &&y i+1 >y i+2 (6)

[0239] 0 <y‘ i-1 <y i '&&y i '>y' i+1 >0 (7)

[0240] Among them, y i Represents the voltage corresponding to the i-th sampling point of the full waveform, y i-2 Represents the voltage corresponding to the i-2th sampling point of the full waveform, y i-1 Represents the voltage corresponding to the i-1th sampling point of the full waveform, y i+1 Represents the voltage corresponding to the i+1th sampling point of the full waveform, y i+2 Represents the voltage corresponding to the i+2th sampling point of the full waveform, y i' represents the first-order difference value of the voltage corresponding to the i-th sampling point of the full waveform.

[0241] 2) Saturated clipped waveform

[0242] When the echo waveform is a saturated clipped waveform, a first sampling point and a second sampling point may be determined from the sampling points included in the saturated clipped waveform. Then, a central sampling point of a plurality of sampling points located between the first sampling point and the second sampling point among the sampling points included in the saturated clipped waveform may be determined, and the central sampling point may be used as a peak point of the saturated clipped waveform.

[0243] The first sampling point refers to a sampling point on the rising edge curve of the saturated clipped waveform with a maximum corresponding voltage, and the second sampling point refers to a sampling point on the falling edge curve of the saturated clipped waveform with a maximum corresponding voltage.

[0244] As an example, starting from the third position in the rising edge curve, the first sampling point i that satisfies the following formula (8) can be found as the first sampling point, and the first sampling point j that satisfies the following formula (9) can be found as the second sampling point. Sampling point i refers to the i-th sampling point in the echo waveform, and sampling point j refers to the j-th sampling point in the echo waveform.

[0245] y i <127&&y i+1 <=127 (8)

[0246] y j <=127&&y j+1 <127 (9)

[0247] Among them, y i Represents the voltage corresponding to the i-th sampling point of the full waveform, y i+1 Represents the voltage corresponding to the i+1th sampling point of the full waveform, y j Represents the voltage corresponding to the jth sampling point of the full waveform, y j+1 Represents the voltage corresponding to the j+1th sampling point of the full waveform.

[0248] As an example, determining a central sampling point of a plurality of sampling points between a first sampling point and a second sampling point as a peak point may include: after determining the first sampling point and the second sampling point, determining the number of sampling points between the first sampling point and the second sampling point; if the determined number of sampling points is an odd number, determining the sampling point most central between the first sampling point and the second sampling point as the peak point; and if the determined number of sampling points is an even number, determining the sampling point immediately preceding or immediately following the sampling point most central between the first sampling point and the second sampling point as the peak point.

[0249] For example, determining the central sampling point of a plurality of sampling points between the first sampling point and the second sampling point as the peak point may include the following steps:

[0250] Step 5011: Starting from the rising edge of the echo waveform at t_up, search for the maximum voltage V_up_max of the sampling points within the range [t_up, n+m] and determine whether V_up_max is less than the saturation voltage. If so, proceed to step 5012; otherwise, proceed to step 5013.

[0251] Wherein, t_up refers to the third time point corresponding to the third position point in the rising edge curve where the corresponding voltage is equal to the threshold voltage. The sampling points in the range [t_up, n+m] refer to the third position point and the n+m sampling points after the third position point.

[0252] The number of sampling points in the rising edge curve of a saturated clipped waveform generally does not vary much, typically n. The number of sampling points at the saturated clipped portion between the rising and falling edges is typically m. m can be set based on a statistically determined number of sampling points at the saturated clipped portion, for example, 8 or 9. Therefore, to reduce data processing overhead, the peak point can be found by searching for sampling points within the range [t_up, n+m].

[0253] If V_up_max is less than the saturation voltage, it means that the voltage at all sampling points within the range [t_up, n+m] does not exceed the saturation voltage, and the echo waveform is a saturated clipped waveform. If V_up_max is greater than or equal to the saturation voltage, it means that there are sampling points within the range [t_up, n+m] where the voltage exceeds the saturation voltage, and the echo waveform is not a saturated clipped waveform, but a full waveform.

[0254] Step 5012: Find the first sampling point in the range [t_up, n1+8] that meets the conditions described in formula (6) and formula (7), and use this sampling point as the peak point of the echo waveform.

[0255] If V_up_max is greater than or equal to the saturation voltage, it indicates that the echo waveform is a full waveform. In this case, the peak point can be determined in the same manner as the peak point of the full waveform.

[0256] Step 5013: Find the first sampling point i in the range [t_up, n1+8] that satisfies the following formula (10), and find the first sampling point j in the range [t_down-n1-8, t_down] that satisfies the following formula (11), and calculate ji. If ji is an odd number, execute step 5014; if ji is an even number, execute step 5015.

[0257] yi<127&&yi+1<=127 (10)

[0258] yi<=127&&yi+1<127 (11)

[0259] Step 5014: The 0.5*(ji)th sampling point is taken as the peak point. The voltage corresponding to the peak point is V_up_max, and the corresponding time point is the sampling time of the 0.5*(ji)th sampling point.

[0260] Step 5015: The 0.5*(ji)-1th sampling point is taken as the peak point. The voltage corresponding to the peak point is V_up_max, and the corresponding time point is the sampling time of the 0.5*(ji)-1th sampling point.

[0261] For example, the process of determining the central sampling point of the plurality of sampling points between the first sampling point and the second sampling point as the peak point can be as follows: Figure 10 shown.

[0262] 3) Tail waveform

[0263] In the case where the echo waveform is a tail waveform, the peak point of any waveform in the tail waveform can be determined.

[0264] For example, for the third waveform in the trailing waveform, if the third waveform is a full waveform, the peak point of the third waveform can be determined using the method described above for determining the peak point of a full waveform. If the third waveform is a saturated clipped waveform, the peak point of the third waveform can be determined using the method described above for determining the peak point of a saturated clipped waveform. The third waveform can be any waveform in the trailing waveform.

[0265] The second implementation method:

[0266] 1) Full waveform

[0267] If the echo waveform is a full waveform, sampling points whose corresponding voltages are greater than a preset voltage can be first extracted from the sampling points included in the echo waveform. These extracted sampling points are then interpolated, where the density of the interpolated sampling points is greater than the density of the extracted sampling points. A Gaussian function is then fitted to the interpolated sampling points to obtain a Gaussian function fitting equation. The location corresponding to the maximum value of the Gaussian function fitting equation is determined as the peak point of the echo waveform.

[0268] The preset voltage can be pre-set and used to identify noise points. For example, the preset voltage can be 20 mV. Generally, sampling points whose corresponding voltage is less than the preset voltage can be considered noise points. By extracting sampling points whose corresponding voltage is greater than the preset voltage from the sampling points included in the echo waveform, the noise points can be removed from the sampling points included in the echo waveform.

[0269] The density of the extracted sampling points can be increased by interpolating the extracted sampling points, making the sampling points denser and thus improving the accuracy of the subsequent Gaussian function fitting. For example, the density of the interpolated sampling points can be 5 or 10 times the density of the extracted sampling points.

[0270] The interpolation method used to interpolate the extracted sampling points can be quadratic interpolation or cubic spline interpolation, etc., and of course other interpolation methods can also be used, which is not limited in the embodiments of the present application. In addition, the least squares method can be used to fit the interpolated sampling points to a Gaussian function, and of course other methods can be used to fit the Gaussian function, which is not limited in the embodiments of the present application.

[0271] 2) Saturated clipped waveform

[0272] If the echo waveform is a saturated clipped waveform, sampling points whose corresponding voltages are greater than a preset voltage and less than the saturation voltage corresponding to the saturated clipped waveform are extracted from the sampling points included in the echo waveform. Interpolation is performed on the extracted sampling points, where the density of the interpolated sampling points is greater than the density of the extracted sampling points. A Gaussian function is fitted to the interpolated sampling points to obtain a Gaussian function fitting equation. The location corresponding to the maximum value of the Gaussian function fitting equation is determined as the peak point of the echo waveform.

[0273] By extracting sampling points from the echo waveform whose corresponding voltages are greater than a preset voltage and less than the saturation voltage corresponding to the saturated clipped waveform, noise points and saturated clipped sampling points can be removed from the echo waveform. Only the sampling points other than the noise points and saturated clipped sampling points are interpolated and Gaussian function fitted. In this way, a Gaussian function fitting method corresponding to the saturated clipped waveform can be more accurately fitted.

[0274] 3) Tail waveform

[0275] In the case where the echo waveform is a tail waveform, the peak point of any waveform in the tail waveform can be determined.

[0276] For example, for the third waveform in the trailing waveform, if the third waveform is a full waveform, the peak point of the third waveform can be determined using the method described above for determining the peak point of a full waveform. If the third waveform is a saturated clipped waveform, the peak point of the third waveform can be determined using the method described above for determining the peak point of a saturated clipped waveform. The third waveform can be any waveform in the trailing waveform.

[0277] Furthermore, before determining the peak point of the echo waveform, a third location and a first location of the echo waveform can be determined, and the number of sampling points between the third location and the first location can be determined. If the number of sampling points between the third location and the first location is greater than a preset threshold, the echo waveform is treated as the echo waveform to be processed, and step 501 and subsequent steps are continued. If the number of sampling points between the third location and the first location is less than or equal to the preset threshold, the echo data corresponding to the echo waveform is determined to be noise or an outlier, and the echo waveform is not processed. In this way, noise and outliers in the echo data can be eliminated, reducing data processing pressure.

[0278] The first position point is a point on the falling edge curve of the echo waveform where the corresponding voltage is the threshold voltage. For example, the third position point can be represented by the third time point t_down corresponding to the third position point, and the first position point can be represented by the first time point t_up corresponding to the first position point. The preset threshold value can be pre-set, for example, 3, 4, or 5.

[0279] Step 502: The radar determines the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point and the falling edge curve of the echo waveform to obtain an asymmetric area.

[0280] The actual received echo waveform is generally an irregular asymmetric waveform. The asymmetric area refers to the area of ​​the echo waveform excluding the area of ​​the symmetric part of the waveform.

[0281] It should be noted that the method for determining the asymmetric area varies depending on the echo waveform. The specific method for determining the asymmetric area will be described in detail below. Figure 11-13 The embodiments are described in detail respectively, and the embodiments of the present application are not described in detail here.

[0282] Step 503: The radar determines a first time difference between a first time point and a second time point based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage. The first time point refers to the time point corresponding to the first position point in the falling edge curve where the corresponding voltage is equal to the threshold voltage, and the second time point refers to the time point corresponding to the second position point in the symmetrical curve where the corresponding voltage is equal to the threshold voltage.

[0283] The first position point can be represented by (Vth, t_down), Vth represents the threshold voltage, and t_down represents the first time point.

[0284] The first time difference determined according to the asymmetric area, the peak voltage corresponding to the peak point and the threshold voltage is used to indicate the pulse width deviation of the asymmetric echo waveform relative to the pulse width of the symmetric part of the echo waveform.

[0285] It should be noted that, depending on the echo waveform, the method of determining the first time difference according to the asymmetric area, the peak voltage corresponding to the peak point and the threshold voltage is different. The specific determination method will be described in the following. Figure 11-13 The embodiments are described in detail respectively, and the embodiments of the present application are not described in detail here.

[0286] Step 504: The radar determines the sum of the first time difference and the second time difference as the pulse width of the echo waveform, where the second time difference refers to the time difference between the second time point and the third time point, and the third time point refers to the time point corresponding to the third position point in the rising edge curve where the corresponding voltage is equal to the threshold voltage.

[0287] The third position point can be represented by (vth, t_up), vth represents the threshold voltage, and t_down represents the third time point.

[0288] The second time difference is used to indicate the pulse width of the symmetric portion of the asymmetric echo waveform. Determining the pulse width of the echo waveform based on the first and second time differences, that is, determining the pulse width of the echo waveform based on the pulse width deviation of the asymmetric portion and the pulse width of the symmetric portion of the asymmetric echo waveform. Therefore, the pulse width of the asymmetric waveform can be accurately determined based on the first and second time differences.

[0289] In addition, when the number of sampling points in the falling edge curve of the echo waveform within the range [t_peak, t_down] is greater than a preset value, the pulse width of the echo waveform can be determined using the method provided in the embodiment of the present application. When the number of sampling points in the falling edge curve within the range [t_peak, t_down] is less than or equal to the preset value, the pulse width of the echo waveform can be determined using curve fitting.

[0290] The preset value may be set in advance, for example, the preset value may be 3, 4 or 5.

[0291] In an embodiment of the present application, for an asymmetric echo waveform, the peak point of the echo waveform can be determined, as well as the area of ​​the region enclosed by the symmetric curve of the rising edge curve of the echo waveform about the peak point and the falling edge curve of the echo waveform, to obtain the asymmetric area. Then, based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage, a first time difference is determined between a first time point corresponding to a first position in the falling edge curve where the corresponding voltage equals the threshold voltage and a second time point corresponding to a second position in the symmetric curve where the corresponding voltage equals the threshold voltage. The pulse width of the echo waveform is then determined based on the first time difference and a second time difference between the second time point and a third time point corresponding to a third position in the rising edge curve where the corresponding voltage equals the threshold voltage. In this manner, the pulse width deviation of the pulse width of the asymmetric echo waveform relative to the pulse width of the symmetric portion of the echo waveform can be determined. The pulse width of the echo waveform can be more accurately determined based on the pulse width deviation and the pulse width of the symmetric portion, thereby improving the accuracy of determining the pulse width of the asymmetric waveform. Furthermore, this method is applicable to complex asymmetric waveforms and has high adaptability.

[0292] For the sake of explanation, we can Figure 5 The pulse width determination method provided in the embodiment is called a pulse width estimation method. In another embodiment, when the echo waveform is a normal waveform such as a full waveform or a saturated clipped waveform, the pulse width of the echo waveform can also be determined by curve fitting.

[0293] The process of determining the pulse width of the echo waveform using curve fitting includes: performing curve fitting on sampling points in the echo waveform to obtain a curve fitting equation; solving the curve fitting equation for a time point corresponding to a threshold voltage; and determining, based on the solved time points, a fourth time point in the rising edge curve of the echo waveform at which a corresponding voltage equals the threshold voltage, and a fifth time point in the falling edge curve of the echo waveform at which a corresponding voltage equals the threshold voltage. The difference between the fourth time point and the fifth time point is determined as the pulse width of the echo waveform.

[0294] For example, m sampling points corresponding to voltages greater than a threshold voltage and n sampling points corresponding to voltages less than the threshold voltage can be obtained from the rising edge curve of the echo waveform. A quadratic polynomial fit can be performed on the obtained sampling points to obtain a first fitting curve equation corresponding to the rising edge curve of the echo waveform. The first fitting curve equation is used to solve for the time point corresponding to the threshold voltage, and the solved time point is used as the fourth time point. Furthermore, m sampling points corresponding to voltages greater than the threshold voltage and n sampling points corresponding to voltages less than the threshold voltage can be obtained from the falling edge curve of the echo waveform. A quadratic polynomial fit can be performed on the obtained sampling points to obtain a second fitting curve equation corresponding to the falling edge curve of the echo waveform. The second fitting curve equation is used to solve for the time point corresponding to the threshold voltage, and the solved time point is used as the fifth time point.

[0295] Where m and n are both positive integers. For example, m is 3 and n is 1.

[0296] As an example, if the echo waveform is a normal waveform, such as a full waveform or a saturated clipped waveform, the number of sampling points, q, on the falling edge of the echo waveform within the range [t_peak, t_down] can be determined. If q is small, for example, less than a preset value, the pulse width of the echo waveform is determined using a pulse width estimation method. If q is large, for example, greater than or equal to a preset value, the pulse width of the echo waveform is determined using curve fitting.

[0297] In addition, after the fourth time point is determined, the fourth time point may be used as the first leading edge value so as to perform pulse width correction according to the pulse width first leading edge values ​​determined at the fourth and fifth time points.

[0298] Next, the full waveform echo waveform will be taken as an example to explain the full waveform pulse width estimation method in detail.

[0299] Figure 11 This is a flow chart of another method for determining the pulse width of an echo waveform provided by an embodiment of the present application. This method can be applied to electronic devices, which may be radars, computer devices connected to radars, electronic modules integrated in radars, or other electronic devices. This embodiment of the present application will be described using the radar as an example. Figure 11 As shown, the method includes the following steps:

[0300] Step 1101: The radar determines the peak point of the full waveform.

[0301] It should be noted that the implementation process of determining the peak point of the full waveform can refer to the relevant description of the above step 501, and the embodiment of the present application will not be repeated here.

[0302] Step 1102: The radar determines the area of ​​the region enclosed by the symmetrical curve of the rising edge curve of the full waveform about the peak point, the falling edge curve of the full waveform, and the straight line between the first position point and the second position point to obtain an asymmetric area.

[0303] The first position point refers to the position point in the falling edge curve where the corresponding voltage is equal to the threshold voltage, and the second position point refers to the position point in the symmetrical curve of the rising edge curve about the peak point where the corresponding voltage is equal to the threshold voltage.

[0304] As an example, the following formula (12) or formula (13) can be used to determine the area of ​​the area enclosed by the symmetrical curve of the rising edge curve of the full waveform about the peak point, the falling edge curve of the full waveform, and the straight line between the first position point and the second position point to obtain the asymmetric area:

[0305]

[0306]

[0307] Wherein, ΔS is the asymmetric area, f2(t) is the curve equation of the falling edge curve, f1(t) is the curve equation of the rising edge curve, t_peak is the time point corresponding to the peak point, t_up is the third time point corresponding to the third position point, t_down is the first time point corresponding to the first position point, and t_peak is the time point corresponding to the peak point.

[0308] Step 1103: The radar determines the ratio between twice the asymmetric area of ​​the full waveform and the first pressure difference, and uses the determined ratio as the first time difference. The first pressure difference refers to the difference between the peak voltage corresponding to the peak point and the threshold voltage.

[0309] For example, the first time difference can be determined by the following formula (14):

[0310]

[0311] Wherein, Δτ1 is the first time difference, ΔS is the asymmetric area, v_peak is the peak voltage, and vth is the threshold voltage.

[0312] Step 1104: The radar determines the sum of the first time difference and the second time difference as the pulse width of the full waveform, where the second time difference refers to the time difference between the second time point and the third time point, and the third time point refers to the time point corresponding to the third position point in the rising edge curve where the corresponding voltage is equal to the threshold voltage.

[0313] Among them, the second time difference can be determined based on twice the time difference between the time point corresponding to the peak point and the third time point, or it can be determined based on the time difference between twice the time difference between the first time point and the time point corresponding to the peak point and the first time difference. The embodiment of the present application does not limit this.

[0314] In the first implementation, the pulse width of the full waveform can be determined according to the first time difference, the time point corresponding to the peak point, and the third time point using the following formula (15):

[0315] τ=τ2+Δτ1=2*(t_peak-t_up)+Δτ1 (15)

[0316] Wherein, τ is the pulse width of the full waveform, Δτ1 is the first time difference, τ2 is the second time difference, t_peak is the time point corresponding to the peak point, and t_up is the third time point.

[0317] In the second implementation, the pulse width of the full waveform can be determined according to the first time difference, the time point corresponding to the peak point, and the first time point using the following formula (16):

[0318] τ=τ2+Δτ1=2*(t_down-t_peak)-Δτ1 (16)

[0319] Wherein, τ is the pulse width of the full waveform, Δτ1 is the first time difference, τ2 is the second time difference, t_peak is the time point corresponding to the peak point, and t_down is the first time point.

[0320] As an example, whether to use the first or second implementation method to determine the pulse width of the echo waveform can be determined based on the degree of discreteness of the sampling points in the echo waveform. For example, if the discreteness of the sampling points in the rising edge curve of the echo waveform is small, the first implementation method is used to determine the pulse width of the echo waveform. If the discreteness of the sampling points in the curve of the echo waveform is small, the second implementation method is used to determine the pulse width of the echo waveform.

[0321] Next, a pulse width estimation method for a saturated clipped waveform will be described in detail by taking an echo waveform that is a saturated clipped waveform as an example.

[0322] Figure 12 This is a flow chart of another method for determining the pulse width of an echo waveform provided in an embodiment of the present application. This method can be applied to an electronic device, which can be a radar, a computer device connected to a radar, an electronic module integrated in a radar, or other electronic devices. This embodiment of the present application will be described using the radar as an example. Figure 12 As shown, the method includes the following steps:

[0323] Step 1201: The radar determines the peak point of the saturated clipped waveform.

[0324] It should be noted that the implementation process of determining the peak point of the saturated clipped waveform can refer to the relevant description of the above step 501, and will not be repeated here in the embodiment of the present application.

[0325] Step 1202: The radar determines the area of ​​the region enclosed by the symmetrical curve of the rising edge curve of the saturated clipped waveform about the peak point, the falling edge curve of the saturated clipped waveform, and the straight line between the first position point and the second position point to obtain an asymmetric area.

[0326] The first position point refers to the position point in the falling edge curve where the corresponding voltage is equal to the threshold voltage, and the second position point refers to the position point in the symmetrical curve of the rising edge curve about the peak point where the corresponding voltage is equal to the threshold voltage.

[0327] As an example, the above formula (12) or formula (13) can be used to determine the area of ​​the area enclosed by the symmetrical curve of the rising edge curve of the saturated clipped waveform about the peak point, the falling edge curve of the saturated clipped waveform, and the straight line between the first position point and the second position point to obtain the asymmetric area.

[0328] Step 1203: The radar determines the ratio of twice the asymmetric area of ​​the saturated clipped waveform to the first pressure difference, and uses the sum of the determined ratio and the empirical deviation as the first time difference. The first pressure difference refers to the difference between the peak voltage corresponding to the peak point and the threshold voltage.

[0329] The empirical deviation is determined in advance based on a deviation between a calculated first time difference corresponding to each sample saturated clipped waveform and an actual first time difference, and the calculated first time difference corresponding to each sample saturated clipped waveform is determined based on a ratio between twice the asymmetric area of ​​each sample saturated clipped waveform and the first pressure difference.

[0330] That is, the deviations between the first time differences estimated using non-symmetrical areas and the actual first time differences of multiple saturated clipped waveforms can be statistically analyzed in advance to obtain empirical deviations between the first time differences estimated using symmetrical areas and the actual first time differences of the saturated clipped waveforms.

[0331] Since there may be a certain error between the first time difference estimated using the asymmetric area and the actual first time difference when the echo waveform is a saturated clipped waveform, an empirical deviation is added to the first time difference estimated using the asymmetric area to obtain a more accurate first time difference.

[0332] For example, the first time difference can be determined by the following formula (17):

[0333]

[0334] Wherein, Δτ1 is the first time difference, ΔS is the asymmetric area, Δτ2 is the first time difference estimated based on the asymmetric area, Δ is the empirical deviation, v_peak is the peak voltage, and vth is the threshold voltage.

[0335] Step 1204: The radar determines the sum of the first time difference and the second time difference as the pulse width of the full waveform, where the second time difference refers to the time difference between the second time point and the third time point, and the third time point refers to the time point corresponding to the third position point in the rising edge curve where the corresponding voltage is equal to the threshold voltage.

[0336] Among them, the second time difference can be determined based on twice the time difference between the time point corresponding to the peak point and the third time point, or it can be determined based on the time difference between twice the time difference between the first time point and the time point corresponding to the peak point and the first time difference. The embodiment of the present application does not limit this.

[0337] For example, the pulse width of the saturated clipped waveform can be determined by the above formula (15) or formula (16).

[0338] Next, a method for estimating the pulse width of a tailing waveform will be described in detail by taking the tailing waveform as an example.

[0339] Figure 13 This is a flow chart of another method for determining the pulse width of an echo waveform provided in an embodiment of the present application. This method can be applied to an electronic device, which can be a radar, a computer device connected to a radar, an electronic module integrated in a radar, or other electronic devices. This embodiment of the present application will be described using the radar as an example. Figure 13 As shown, the method includes the following steps:

[0340] Step 1301: For a third waveform in the tailing waveform, the radar determines a peak point of the third waveform, where the third waveform is any waveform in the tailing waveform.

[0341] In the embodiment of the present application, when the echo waveform is a tail waveform, the pulse width of each waveform in the tail waveform can be determined separately.

[0342] For example, the tail waveform is a waveform formed by superimposing the first waveform and the second waveform, and the third waveform is any one of the first waveform and the second waveform.

[0343] For the third waveform in the tail waveform, if the tail waveform is a full waveform, you can follow the above Figure 5 The peak point of the third waveform is determined by the same method as that of the full waveform in step 501 of the embodiment. If the tail waveform is a saturated clipped waveform, the peak point of the third waveform can be determined by the method described above. Figure 5 In step 501 of the embodiment, the peak point of the third waveform is determined by determining the peak point of the saturated clipped waveform.

[0344] Step 1302: The radar determines the area of ​​the area enclosed by the symmetrical curve of the rising edge curve of the third waveform about the peak point of the third waveform, the falling edge curve of the third waveform, and the straight line between the fourth position point and the trailing point to obtain the asymmetric area of ​​the third waveform.

[0345] Among them, the tail point refers to the position point where the superimposed first waveform and second waveform intersect, the fourth position point refers to the position point in the symmetrical curve of the rising edge curve of the third waveform about the peak point of the third waveform where the corresponding voltage is equal to the tail voltage, and the tail voltage refers to the voltage corresponding to the tail point.

[0346] As an example, the following formula (18) or formula (19) can be used to determine the area of ​​the area enclosed by the symmetrical curve of the rising edge curve of the third waveform about the peak point of the third waveform, the falling edge curve of the third waveform, and the straight line between the fourth position point and the trailing point to obtain the asymmetric area:

[0347]

[0348]

[0349] Wherein, ΔS is the asymmetric area, f2(t) is the curve equation of the falling edge curve, f1(t) is the curve equation of the rising edge curve, t_peak is the time point corresponding to the peak point, t_up' is the time point corresponding to the position where the corresponding voltage on the rising edge curve is equal to the tail voltage, t_down' is the time point corresponding to the tail point, and t_peak is the time point corresponding to the peak point.

[0350] After determining the asymmetric area of ​​the third waveform, a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform can be determined based on the asymmetric area of ​​the third waveform, the peak voltage corresponding to the peak point of the third waveform, and the threshold voltage. For example, the first time difference can be determined through steps 1303 and 1304 below.

[0351] Step 1303: The radar determines a third time difference between the time point corresponding to the fourth position point and the time point corresponding to the tailing point based on the asymmetric area of ​​the third waveform, the peak voltage corresponding to the peak point of the third waveform, and the tailing voltage corresponding to the tailing point of the tailing waveform.

[0352] As an example, if the third waveform is a full waveform, the ratio between twice the asymmetric area of ​​the third waveform and the second voltage difference can be determined, and the determined ratio is used as the third time difference. The first voltage difference refers to the difference between the peak voltage corresponding to the peak point and the tail voltage corresponding to the tail point.

[0353] For example, the third time difference can be determined by the following formula (20) based on the asymmetric area of ​​the third waveform, the peak voltage corresponding to the peak point of the third waveform, and the tail voltage corresponding to the tail point:

[0354]

[0355] Wherein, Δτ3 is the third time difference, ΔS is the asymmetric area of ​​the third waveform, v_peak is the peak voltage corresponding to the peak point of the third waveform, and v_trail is the trailing voltage corresponding to the trailing point.

[0356] As another example, if the third waveform is a saturated clipped waveform, the third time difference can be determined based on the asymmetric area of ​​the third waveform, the peak voltage corresponding to the peak point of the third waveform, the tail voltage corresponding to the tail point, and empirical deviation.

[0357] For example, the ratio of twice the asymmetric area of ​​the third waveform to the second pressure difference can be determined, and the sum of the determined ratio and the empirical deviation is used as the third time difference. That is, the third time difference is determined by the following formula (21):

[0358]

[0359] Wherein, Δτ3 is the third time difference, ΔS is the asymmetric area of ​​the third waveform, v_peak is the peak voltage corresponding to the peak point of the third waveform, v_trail is the trailing voltage corresponding to the trailing point, and Δ is the empirical deviation.

[0360] As an example, a sampling point that satisfies the conditions described in the following formulas (22) to (24) may be determined from a plurality of sampling points included in the echo data, and the determined sampling point may be determined as a trailing point:

[0361] y i-2 <y i-1 &&y i-1 <y i &&y i <y i+1 &&y i+1 <y i+2 (twenty two)

[0362] y' i-1 <y’ i <0&&y' i <0 <y’ i+1 (twenty three)

[0363] y'' i-2 <y‘’ i-1 &&y'' i-1 <y‘’ i &&y'' i >y'' i+1 &&y'' i >''y i+2 (twenty four)

[0364] Among them, y i represents the voltage at the i-th sampling point, y' i Represents the first-order difference value of the voltage at the i-th sampling point, y'' i Represents the second-order difference value of the voltage at the i-th sampling point.

[0365] Step 1304: The radar determines a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform based on the third time difference, the peak voltage corresponding to the peak point of the third waveform, the tail voltage corresponding to the tail point, and the threshold voltage.

[0366] As an example, the product of the third time difference and the first ratio may be determined, and the determined product may be used as the first time difference. The first ratio refers to the ratio of the first difference to the second difference, the first difference refers to the difference between the peak voltage and the tail voltage, and the second difference refers to the difference between the peak voltage and the threshold voltage.

[0367] For example, the first time difference can be determined according to the third time difference using the following formula (25):

[0368] Δτ1=α*Δτ3(25)

[0369] Wherein, Δτ1 is the first time difference; Δτ3 is the third time difference; α is a coefficient, which can be approximately determined by the following formula (26), or the exact value of α can be obtained through multiple measurements.

[0370]

[0371] Where v_peak is the peak voltage, vth is the threshold voltage, and v_trail is the trailing voltage.

[0372] Step 1305: The radar determines the sum of the first time difference and the second time difference as the pulse width of the third waveform, where the second time difference refers to the time difference between the second time point and the third time point, and the third time point refers to the time point corresponding to the third position point in the rising edge curve of the third waveform where the corresponding voltage is equal to the threshold voltage.

[0373] Among them, the second time difference can be determined based on twice the time difference between the time point corresponding to the peak point and the third time point, or it can be determined based on the time difference between twice the time difference between the first time point and the time point corresponding to the peak point and the first time difference. The embodiment of the present application does not limit this.

[0374] For example, the pulse width of the third waveform can be determined by the above formula (15) or formula (16).

[0375] Figure 14 : This is a schematic diagram of the structure of an echo waveform pulse width determination device provided by an embodiment of the present application. The device can be implemented as part or all of a computer device by software, hardware, or a combination of both. The computer device can be a radar, a computer device connected to a radar, an electronic module integrated in a radar, etc. For example, the computer device can be the following Figure 15 Computer equipment shown. Figure 14The device includes: a first determining module 1401, a second determining module 1402, a third determining module 1403 and a fourth determining module 1404.

[0376] A first determining module 1401 is configured to determine a peak point of an echo waveform, where the echo waveform is an asymmetric waveform;

[0377] The second determining module 1402 is configured to determine the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point and a falling edge curve of the echo waveform to obtain an asymmetric area;

[0378] a third determining module 1403, configured to determine a first time difference between a first time point and a second time point based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage, wherein the first time point is a time point corresponding to a first position point in the falling edge curve at which the corresponding voltage is equal to the threshold voltage, and the second time point is a time point corresponding to a second position point in the symmetric curve at which the corresponding voltage is equal to the threshold voltage;

[0379] The fourth determination module 1404 is used to determine the sum of the first time difference and the second time difference as the pulse width of the echo waveform, where the second time difference refers to the time difference between the second time point and the third time point, and the third time point refers to the time point corresponding to the third position point in the rising edge curve where the corresponding voltage is equal to the threshold voltage.

[0380] Optionally, the echo waveform is a normal waveform without waveform superposition phenomenon;

[0381] The second determining module 1402 is configured to:

[0382] The asymmetric area is obtained by determining the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point, a falling edge curve of the echo waveform, and a straight line between the first position point and the second position point.

[0383] Optionally, the third determining module 1403 is configured to:

[0384] If the echo waveform is a full waveform, determining a ratio between twice the asymmetric area and a first pressure difference, and using the determined ratio as the first time difference, where the first pressure difference refers to a difference between a peak voltage corresponding to the peak point and the threshold voltage;

[0385] If the echo waveform is a saturated clipped waveform, a ratio between twice the asymmetric area and the first pressure difference is determined, and the sum of the determined ratio and an empirical deviation is used as the first time difference. The empirical deviation is determined in advance based on a deviation between a calculated first time difference corresponding to each sample saturated clipped waveform and an actual first time difference. The calculated first time difference corresponding to each sample saturated clipped waveform is determined based on a ratio between twice the asymmetric area of ​​each sample saturated clipped waveform and the first pressure difference.

[0386] Optionally, the device further includes a fifth determining module, the fifth determining module being configured to:

[0387] Determine twice the time difference between the time point corresponding to the peak point and the third time point to obtain the second time difference;

[0388] or,

[0389] The second time difference is obtained by determining the time difference between twice the time difference between the first time point and the time point corresponding to the peak point and the first time difference.

[0390] Optionally, the echo waveform is a full waveform;

[0391] The first determining module 1401 is used to:

[0392] A sampling point with the maximum corresponding voltage is determined from the sampling points included in the echo waveform, and the determined sampling point is used as the peak point.

[0393] Optionally, the echo waveform is a saturated clipped waveform;

[0394] The first determining module 1401 is used to:

[0395] Determining a first sampling point and a second sampling point from the sampling points included in the echo waveform, wherein the first sampling point is a sampling point located on a rising edge curve of the echo waveform and corresponding to a maximum voltage, and the second sampling point is a sampling point located on a falling edge curve of the echo waveform and corresponding to a maximum voltage;

[0396] A central sampling point of a plurality of sampling points located between the first sampling point and the second sampling point among the sampling points included in the echo waveform is determined, and the central sampling point is used as the peak point.

[0397] Optionally, the first determining module 1401 is configured to:

[0398] Extracting sampling points whose corresponding voltages are greater than a preset voltage from the sampling points included in the echo waveform;

[0399] Interpolating the extracted sampling points, where the density of the interpolated sampling points is greater than the density of the extracted sampling points;

[0400] Perform Gaussian function fitting on the interpolated sampling points to obtain the Gaussian function fitting equation;

[0401] The position point corresponding to the maximum value of the Gaussian function fitting equation is determined as the peak point.

[0402] Optionally, the echo waveform is a saturated clipped waveform;

[0403] The first determining module 1401 is used to:

[0404] Sampling points whose corresponding voltages are greater than a preset voltage and less than a saturation voltage corresponding to the saturated clipped waveform are extracted from the sampling points included in the echo waveform.

[0405] Optionally, the echo waveform corresponding to the echo data is a trailing waveform formed by superimposing the first waveform and the second waveform;

[0406] The first determining module 1401 is used to:

[0407] Determining a peak point of a third waveform in the trailing waveform, where the third waveform is any one of the first waveform and the second waveform and is an asymmetric waveform;

[0408] The second determining module 1402 is configured to:

[0409] Determine the area of ​​a region enclosed by a symmetrical curve of a rising edge curve of the third waveform about the peak point, a falling edge curve of the third waveform, and a straight line between a fourth position point and a tail point, to obtain the asymmetric area, where the tail point refers to a position where the first waveform and the second waveform intersect, the fourth position point refers to a position in the symmetrical curve where a corresponding voltage is equal to a tail voltage, and the tail voltage refers to a voltage corresponding to the tail point;

[0410] The third determining module 1403 is used to:

[0411] determining a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage;

[0412] The fourth determining module 1404 is configured to:

[0413] The sum of the first time difference and the second time difference corresponding to the third waveform is determined as the pulse width of the third waveform, where the second time difference corresponding to the third waveform refers to the time difference between the second time point and a third time point corresponding to a third position point in the third waveform.

[0414] Optionally, the third determining module 1403 is configured to:

[0415] determining a third time difference between a time point corresponding to the fourth position point and a time point corresponding to the tail point according to the asymmetric area, the peak voltage corresponding to the peak point, and the tail voltage corresponding to the tail point;

[0416] Based on the third time difference, the peak voltage corresponding to the peak point, the tail voltage corresponding to the tail point, and the threshold voltage, determine the first time difference between the first time point corresponding to the first position point in the third waveform and the second time point corresponding to the second position point in the third waveform.

[0417] Optionally, the third determining module 1403 is configured to:

[0418] Determine a product of the third time difference and a first ratio, where the first ratio is a ratio of the first difference to the second difference, the first difference is a difference between the peak voltage and the tail voltage, and the second difference is a difference between the peak voltage and the threshold voltage;

[0419] The determined product is used as a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform.

[0420] Optionally, the device further comprises:

[0421] A receiving module is used to receive echo data, which is obtained by the target object reflecting the light wave emitted by the light wave emitting device. The echo waveform refers to the waveform corresponding to the echo data, and the light wave is a laser or electromagnetic wave;

[0422] a sixth determining module, configured to determine, based on the echo data and the threshold voltage, a first leading edge value of an echo waveform corresponding to the echo data, the first leading edge value being used to indicate a reception time of the echo data and being the third time point;

[0423] a correction module, configured to perform pulse width correction on the first leading edge value according to the pulse width to obtain a second leading edge value;

[0424] The seventh determining module is configured to determine the distance between the target object and the light wave emitting device according to the second frontier value.

[0425] Optionally, the correction module is used to:

[0426] Determining the leading edge value deviation corresponding to the pulse width according to a corresponding relationship between the pulse width and the leading edge value deviation, wherein the corresponding relationship between the pulse width and the leading edge value deviation is determined in advance based on the leading edge value deviation and the pulse width between the first leading edge value and the actual leading edge value of each sample waveform in a plurality of sample waveforms;

[0427] The first leading edge value is corrected according to the determined leading edge value deviation to obtain the second leading edge value.

[0428] Optionally, the sixth determining module is configured to:

[0429] Performing curve fitting on the echo data to obtain a curve fitting equation;

[0430] Determining the time point corresponding to the threshold voltage according to the curve fitting equation;

[0431] The first leading edge value is determined according to a time point corresponding to the threshold voltage.

[0432] Optionally, the device further comprises:

[0433] A filtering module, used for filtering the echo data;

[0434] The sixth determining module is configured to determine the first leading edge value according to the filtered echo data, wherein the echo waveform is a waveform corresponding to the filtered echo data.

[0435] In an embodiment of the present application, for an asymmetric echo waveform, the peak point of the echo waveform can be determined, as well as the area of ​​the region enclosed by the symmetric curve of the rising edge curve of the echo waveform about the peak point and the falling edge curve of the echo waveform, to obtain the asymmetric area. Then, based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage, a first time difference is determined between a first time point corresponding to a first position in the falling edge curve where the corresponding voltage equals the threshold voltage and a second time point corresponding to a second position in the symmetric curve where the corresponding voltage equals the threshold voltage. The pulse width of the echo waveform is then determined based on the first time difference and a second time difference between the second time point and a third time point corresponding to a third position in the rising edge curve where the corresponding voltage equals the threshold voltage. In this manner, the pulse width deviation of the pulse width of the asymmetric echo waveform relative to the pulse width of the symmetric portion of the echo waveform can be determined. The pulse width of the echo waveform can be more accurately determined based on the pulse width deviation and the pulse width of the symmetric portion, thereby improving the accuracy of determining the pulse width of the asymmetric waveform. Furthermore, this method is applicable to complex asymmetric waveforms and has high adaptability.

[0436] Figure 15 : is a schematic diagram of the structure of another device for determining the pulse width of an echo waveform provided by an embodiment of the present application. The device can be implemented as part or all of a computer device by software, hardware, or a combination of both. The computer device can be a radar, a computer device connected to a radar, an electronic module integrated in a radar, etc. For example, the computer device can be the following Figure 15 Computer equipment shown. Figure 15 The device includes: a curve fitting module 1501, a first determination module 1502 and a second determination module 1503.

[0437] The curve fitting module 1501 is used to perform curve fitting on the sampling points in the echo waveform to obtain a curve fitting equation;

[0438] a first determining module 1502 configured to solve a time point corresponding to a threshold voltage according to the curve fitting equation, and determine, based on the solved time point, a fourth time point at which a voltage corresponding to a rising edge curve of the echo waveform is equal to the threshold voltage, and a fifth time point at which a voltage corresponding to a falling edge curve of the echo waveform is equal to the threshold voltage;

[0439] The second determining module 1503 is configured to determine a difference between the fourth time point and the fifth time point as a pulse width of the echo waveform.

[0440] Optionally, the curve fitting module 1501 is used to:

[0441] Obtaining m sampling points whose corresponding voltages are greater than a threshold voltage and n sampling points whose corresponding voltages are less than the threshold voltage from the rising edge curve of the echo waveform, performing quadratic polynomial fitting on the obtained sampling points to obtain a first fitting curve equation corresponding to the rising edge curve of the echo waveform, where m and n are both positive integers;

[0442] In the falling edge curve of the echo waveform, m sampling points corresponding to voltages greater than a threshold voltage and n sampling points corresponding to voltages less than a threshold voltage are obtained, and a quadratic polynomial fitting is performed on the obtained sampling points to obtain a second fitting curve equation corresponding to the falling edge curve of the echo waveform.

[0443] Optionally, the first determining module 1502 is configured to:

[0444] Solving the time point corresponding to the threshold voltage according to the first fitting curve equation, and using the solved time point as the fourth time point;

[0445] The time point corresponding to the threshold voltage is solved according to the second fitting curve equation, and the solved time point is used as the fifth time point.

[0446] It should be noted that the device for determining the pulse width of an echo waveform provided in the above embodiment only uses the division of the above functional modules as an example when determining the pulse width of an echo waveform. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0447] The functional units and modules in the above embodiments may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The above integrated units may be implemented in the form of hardware or software functional units. In addition, the specific names of the functional units and modules are only for the purpose of distinguishing them from each other and are not intended to limit the scope of protection of the embodiments of this application.

[0448] The echo waveform pulse width determination device and the echo waveform pulse width determination method provided in the above embodiments belong to the same concept. The specific working process and technical effects brought about by the units and modules in the above embodiments can be found in the method embodiment part and will not be repeated here.

[0449] Figure 16 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present application. Figure 16 As shown, the computer device 16 includes: a processor 160, a memory 161, and a computer program 162 stored in the memory 161 and executable on the processor 160. When the processor 160 executes the computer program 162, the steps of the method for determining the pulse width of the echo waveform in the above embodiment are implemented.

[0450] The computer device 16 can be a general-purpose computer device or a dedicated computer device. In a specific implementation, the computer device 16 can be a desktop computer, a portable computer, a network server, a PDA, a mobile phone, a tablet computer, a wireless terminal device, a communication device or an embedded device. The embodiment of the present application does not limit the type of the computer device 16. Those skilled in the art will understand that Figure 16 This is merely an example of the computer device 16 and does not constitute a limitation on the computer device 16 . The computer device 16 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0451] The processor 160 may be a central processing unit (CPU), or may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0452] In some embodiments, the memory 161 may be an internal storage unit of the computer device 16, such as a hard disk or memory of the computer device 16. In other embodiments, the memory 161 may also be an external storage device of the computer device 16, such as a plug-in hard disk, a smart memory card, or a memory card provided on the computer device 16.

[0453] (Smart Media Card, SMC), Secure Digital (SD) card, Flash Card, etc. Furthermore, the memory 161 may include both an internal storage unit of the computer device 16 and an external storage device. The memory 161 is used to store an operating system, application programs, a boot loader, data, and other programs. The memory 161 may also be used to temporarily store data that has been output or is about to be output.

[0454] An embodiment of the present application also provides a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the computer program.

[0455] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0456] An embodiment of the present application provides a computer program product, which, when executed on a computer, enables the computer to execute the steps in the above-mentioned various method embodiments.

[0457] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for determining the pulse width of an echo waveform, characterized in that: The method comprises: Determine the peak point of the echo waveform; determining the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point and the falling edge curve of the echo waveform to obtain an asymmetric area; Determining a first time difference between a first time point and a second time point based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage, including: if the echo waveform is a full waveform, determining a ratio between twice the asymmetric area and a first pressure difference, and using the determined ratio as the first time difference, where the first pressure difference refers to the difference between the peak voltage corresponding to the peak point and the threshold voltage; if the echo waveform is a saturated clipped waveform, determining a ratio between twice the asymmetric area and the first pressure difference, and using the sum of the determined ratio and an empirical deviation as the first time difference, where the empirical deviation is determined in advance based on a deviation between a calculated first time difference corresponding to each sample saturated clipped waveform in a plurality of sample saturated clipped waveforms and an actual first time difference, where the calculated first time difference corresponding to each sample saturated clipped waveform is determined based on a ratio between twice the asymmetric area of ​​each sample saturated clipped waveform and the first pressure difference; the first time point refers to a time point corresponding to a first position point in the falling edge curve where the corresponding voltage is equal to the threshold voltage, and the second time point refers to a time point corresponding to a second position point in the symmetric curve where the corresponding voltage is equal to the threshold voltage; The sum of the first time difference and the second time difference is determined as the pulse width of the echo waveform, the second time difference refers to the time difference between the second time point and the third time point, and the third time point refers to the time point corresponding to the third position point in the rising edge curve where the corresponding voltage is equal to the threshold voltage.

2. The method according to claim 1, wherein The echo waveform is a normal waveform without waveform superposition phenomenon; Determining the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point and the falling edge curve of the echo waveform to obtain an asymmetric area includes: The asymmetric area is obtained by determining the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point, a falling edge curve of the echo waveform, and a straight line between the first position point and the second position point.

3. The method according to claim 1, wherein Before determining the sum of the first time difference and the second time difference as the pulse width of the echo waveform, the method further includes: Determine twice the time difference between the time point corresponding to the peak point and the third time point to obtain the second time difference; or, The second time difference is obtained by determining a time difference between twice the time difference between the first time point and the time point corresponding to the peak point and the first time difference.

4. The method according to claim 1, wherein Determining the peak point of the echo waveform includes: Extracting sampling points whose corresponding voltages are greater than a preset voltage from the sampling points included in the echo waveform; interpolating the extracted sampling points, wherein the density of the interpolated sampling points is greater than the density of the extracted sampling points; Perform Gaussian function fitting on the interpolated sampling points to obtain the Gaussian function fitting equation; The position point corresponding to the maximum value of the Gaussian function fitting equation is determined as the peak point.

5. The method according to claim 4, wherein The echo waveform is a saturated clipped waveform; The step of extracting sampling points whose corresponding voltages are greater than a preset voltage from the sampling points included in the echo waveform includes: Sampling points whose corresponding voltages are greater than a preset voltage and less than a saturation voltage corresponding to the saturated clipped waveform are extracted from the sampling points included in the echo waveform.

6. The method according to claim 1, wherein The echo waveform corresponding to the echo data is a trailing waveform formed by superposition of the first waveform and the second waveform; Determining the peak point of the echo waveform includes: determining a peak point of a third waveform in the trailing waveform, where the third waveform is any one of the first waveform and the second waveform and is an asymmetric waveform; The determining of the area of ​​a region enclosed by a symmetrical curve of the rising edge curve of the echo waveform about the peak point and the falling edge curve of the echo waveform to obtain an asymmetric area includes: Determine the area of ​​a region enclosed by a symmetrical curve of a rising edge curve of the third waveform about the peak point, a falling edge curve of the third waveform, and a straight line between a fourth position point and a tailing point, to obtain the asymmetric area, wherein the tailing point refers to a position where the first waveform and the second waveform intersect, the fourth position point refers to a position in the symmetrical curve where a corresponding voltage is equal to a tailing voltage, and the tailing voltage refers to a voltage corresponding to the tailing point; The determining, based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage, a first time difference between the first time point and the second time point includes: determining a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage; The determining the sum of the first time difference and the second time difference as the pulse width of the echo waveform includes: The sum of the first time difference and the second time difference corresponding to the third waveform is determined as the pulse width of the third waveform, where the second time difference corresponding to the third waveform refers to the time difference between the second time point and a third time point corresponding to a third position point in the third waveform.

7. The method according to claim 6, wherein The determining, based on the asymmetric area, the peak voltage corresponding to the peak point, and the threshold voltage, a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform includes: determining a third time difference between a time point corresponding to the fourth position point and a time point corresponding to the tailing point according to the asymmetric area, the peak voltage corresponding to the peak point, and the tailing voltage corresponding to the tailing point; Based on the third time difference, the peak voltage corresponding to the peak point, the tail voltage corresponding to the tail point, and the threshold voltage, determine the first time difference between the first time point corresponding to the first position point in the third waveform and the second time point corresponding to the second position point in the third waveform.

8. The method according to claim 7, wherein The determining, based on the third time difference, the peak voltage corresponding to the peak point, the tail voltage corresponding to the tail point, and the threshold voltage, a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform comprises: determining a product of the third time difference and a first ratio, where the first ratio is a ratio of the first difference to the second difference, the first difference is a difference between the peak voltage and the threshold voltage, and the second difference is a difference between the peak voltage and the tail voltage; The determined product is used as a first time difference between a first time point corresponding to a first position point in the third waveform and a second time point corresponding to a second position point in the third waveform.

9. The method according to any one of claims 1 to 8, wherein: Before determining the sum of the first time difference and the second time difference as the pulse width of the echo waveform, the method further includes: Receive echo data, where the echo data is obtained by a target object reflecting a light wave emitted by a light wave emitting device, the echo waveform is a waveform corresponding to the echo data, and the light wave is a laser or an electromagnetic wave; determining, according to the echo data and the threshold voltage, a first leading edge value of an echo waveform corresponding to the echo data, wherein the first leading edge value is used to indicate a reception time of the echo data and the first leading edge value is the third time point; After determining the sum of the first time difference and the second time difference as the pulse width of the echo waveform, the method further includes: performing pulse width correction on the first leading edge value according to the pulse width to obtain a second leading edge value; The distance between the target object and the light wave emitting device is determined according to the second frontier value.

10. The method according to claim 9, wherein The step of performing pulse width correction on the first leading edge value according to the pulse width to obtain a second leading edge value includes: Determining the leading edge value deviation corresponding to the pulse width according to a corresponding relationship between the pulse width and the leading edge value deviation, wherein the corresponding relationship between the pulse width and the leading edge value deviation is determined in advance based on the leading edge value deviation and the pulse width between the first leading edge value and the actual leading edge value of each sample waveform in a plurality of sample waveforms; The first leading edge value is corrected according to the determined leading edge value deviation to obtain the second leading edge value.

11. The method according to claim 9, wherein The determining of a first leading edge value according to the echo data and the threshold voltage includes: Performing curve fitting on the echo data to obtain a curve fitting equation; Solving the time point corresponding to the threshold voltage according to the curve fitting equation; The first leading edge value is determined according to a time point corresponding to the threshold voltage.

12. A method for determining the pulse width of an echo waveform, characterized in that: The method comprises: Perform curve fitting on the sampling points in the echo waveform to obtain a curve fitting equation; Solving the curve fitting equation for a time point corresponding to a threshold voltage, and determining, based on the solved time points, a fourth time point at which a corresponding voltage in a rising edge curve of the echo waveform is equal to the threshold voltage, and a fifth time point at which a corresponding voltage in a falling edge curve of the echo waveform is equal to the threshold voltage; A difference between the fourth time point and the fifth time point is determined as a pulse width of the echo waveform.

13. The method according to claim 12, wherein: The curve fitting is performed on the sampling points in the echo waveform to obtain a curve fitting equation, including: Obtaining m sampling points whose corresponding voltages are greater than a threshold voltage and n sampling points whose corresponding voltages are less than a threshold voltage from the rising edge curve of the echo waveform, performing quadratic polynomial fitting on the obtained sampling points to obtain a first fitting curve equation corresponding to the rising edge curve of the echo waveform, where m and n are both positive integers; In the falling edge curve of the echo waveform, m sampling points whose corresponding voltages are greater than a threshold voltage and n sampling points whose corresponding voltages are less than a threshold voltage are obtained, and a quadratic polynomial fitting is performed on the obtained sampling points to obtain a second fitting curve equation corresponding to the falling edge curve of the echo waveform.

14. The method according to claim 13, wherein Solving the time point corresponding to the threshold voltage according to the curve fitting equation, and determining, according to the solved time point, a fourth time point at which the corresponding voltage in the rising edge curve of the echo waveform is equal to the threshold voltage, and a fifth time point at which the corresponding voltage in the falling edge curve of the echo waveform is equal to the threshold voltage, comprising: Solving the time point corresponding to the threshold voltage according to the first fitting curve equation, and using the solved time point as the fourth time point; The time point corresponding to the threshold voltage is solved according to the second fitting curve equation, and the solved time point is used as the fifth time point.

15. A computer device, characterized in that: The computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the method according to any one of claims 1 to 11 or claims 12 to 14 is implemented.

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 11 or claims 12 to 14 is implemented.

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