Laser emission power adjustment method and device, laser radar and storage medium

Abstract

The application is suitable for the field of laser radar technology, and provides a laser emission power adjustment method and device, a laser radar and a computer readable storage medium. The method comprises the following steps: emitting laser to at least one preset angle, and the emission power of the laser is a first power value; receiving echo signals of the laser at each preset angle; for each preset angle, analyzing the echo signals at the preset angle to obtain signal characteristics of the preset angle; for each preset angle, determining the emission power of the laser emitted at the preset angle in the next time according to the signal characteristics of the preset angle. According to the signal characteristics of the echo signals of the laser emitted this time, the application determines the emission power of the laser emitted in the next time, can adjust the laser emission power in real time according to the laser echo condition, improves the ranging accuracy, and avoids damage of the receiving unit of the laser radar due to the too large returned laser power.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of laser radar, and particularly relates to a laser emission power adjustment method and device, a laser radar and a computer readable storage medium. BACKGROUND

[0002] With the development of autonomous vehicles, vehicle-mounted radars are receiving more and more attention. Traditional vehicle-mounted radars include laser radars, ultrasonic radars, millimeter wave radars, etc. Pulsed laser radars have the advantages of fast ranging speed, long ranging distance, strong anti-interference ability, and no need for cooperative targets, and therefore are rapidly developing in the detection field with centimeter-level precision requirements.

[0003] In the pulsed laser radar technology, the reflectivity and distance of the measured object vary, so that the energy dynamic range of the laser return signal is very large. For a laser radar, a high detection capability is usually set to maintain detection of a long-distance or low-reflectivity target object, which causes the laser return signal to be in an oversaturated state when a near-distance or high-reflectivity target object is detected. The signal pulse width will continuously increase with the increase of the return signal energy, resulting in an inability to obtain accurate distance. In the case of a high-reflectivity measured object, the laser power returned to the receiving system is too large, which can easily damage the receiving system and cause the laser radar to fail. SUMMARY

[0004] The embodiments of the application provide a laser emission power adjustment method, device, laser radar and computer readable storage medium, which can determine the emission power of the next laser emission according to the characteristics of the return signal of the current laser emission.

[0005] In a first aspect, the embodiments of the application provide a laser emission power adjustment method, which includes:

[0006] emitting laser light to at least one preset angle, the emission power of the laser light being a first power value;

[0007] receiving the return signal of the laser light of each preset angle;

[0008] for each preset angle, analyzing the return signal of the preset angle to obtain the signal characteristics of the preset angle;

[0009] for each preset angle, determining the emission power of the next laser emission at the preset angle according to the signal characteristics of the preset angle.

[0010] The analysis of the return signal of the preset angle to obtain the signal characteristics of the preset angle includes:

[0011] acquiring a current signal characteristic value of the echo signal at the preset angle, the current signal characteristic value including at least one of a current signal amplitude, a current echo pulse width, and a current echo area;

[0012] determining the signal characteristic according to the current signal characteristic value, the signal characteristic including an ideal waveform and a non-ideal waveform, the ideal waveform being a waveform in which the signal characteristic value at the preset angle satisfies a preset range, and the non-ideal waveform being a waveform in which the signal characteristic value at the preset angle is greater than or less than the preset range;

[0013] determining a transmission power of the laser to be emitted at the preset angle next time according to the signal characteristic at the preset angle, including:

[0014] if the signal characteristic is the ideal waveform, the transmission power is equal to the first power value;

[0015] if the signal characteristic is the non-ideal waveform, the transmission power is adjusted to a second power value.

[0016] wherein the transmission power is adjusted to the second power value, including:

[0017] pre-setting at least two preset power values;

[0018] if the current signal characteristic value is greater than the preset range, selecting a preset power value smaller than the first power value as the second power value;

[0019] if the current signal characteristic value is smaller than the preset range, selecting a preset power value greater than or equal to the first power value as the second power value.

[0020] exemplarily, the transmission power is adjusted to the second power value, including:

[0021] acquiring a power adjustment coefficient according to a proportional relationship between the current signal characteristic value of the echo signal and a corresponding target signal characteristic value, wherein the power adjustment coefficient = current signal characteristic value / corresponding target signal characteristic value, and the target signal characteristic value includes at least one of a preset target signal amplitude, a target echo pulse width, and a target echo area;

[0022] calculating the second power value, wherein the second power value = power adjustment coefficient * first power value.

[0023] wherein the current signal characteristic value of the echo signal at the preset angle is acquired, including:

[0024] obtaining at least one of the current signal amplitude, the current echo pulse width, and the current echo area according to a waveform of the echo signal;

[0025] or,

[0026] According to the waveform of the echo signal, one of the current signal amplitude, the current echo pulse width and the current echo area of the current signal characteristic value is obtained;

[0027] According to the previously obtained corresponding relationship and one of the current signal characteristic values, any one of the other two of the current signal characteristic values is obtained, the corresponding relationship is the corresponding relationship of signal amplitude and echo pulse width, the corresponding relationship of signal amplitude and echo area or the corresponding relationship of echo pulse width and echo area;

[0028] or,

[0029] According to the waveform of the echo signal, two of the current signal amplitude, the current echo pulse width and the current echo area of the current signal characteristic value are obtained;

[0030] According to the previously obtained corresponding relationship and two of the current signal characteristic values, the remaining one of the current signal characteristic values is obtained, the corresponding relationship is the corresponding relationship of signal amplitude and echo pulse width, echo area.

[0031] Further, before obtaining the current signal characteristic value of the echo signal of the preset angle, the method further comprises:

[0032] In the case that the transmission power of the laser radar is set to the maximum value and the current state of the echo signal reaches the maximum value, the transmission power is gradually reduced, and the signal amplitude, echo pulse width and echo area of the echo signal are recorded;

[0033] According to the recorded signal amplitude, echo pulse width and echo area, the corresponding relationship of signal amplitude and echo pulse width, the corresponding relationship of signal amplitude and echo area, the corresponding relationship of echo pulse width and echo area or the corresponding relationship of signal amplitude and echo pulse width, echo area is obtained.

[0034] In a second aspect, the embodiments of the present application provide a laser transmission power adjustment device, comprising:

[0035] The light emitting unit is configured to emit laser to at least one preset angle, and the transmission power of the laser is a first power value;

[0036] The receiving unit is configured to receive the echo signal of the laser of each preset angle;

[0037] The main control unit is configured to analyze the echo signal of each preset angle and obtain signal characteristics, and is further configured to determine the transmission power of the laser emitted at the preset angle next time according to the signal characteristics of the preset angle.

[0038] Further, the laser emission power adjusting device further comprises:

[0039] an angle control unit, configured to adjust the angle of the light emitting unit when emitting laser light at the at least two preset angles, so that the light emitting unit emits laser light at the at least two preset angles in sequence.

[0040] In a third aspect, an embodiment of the present application provides a laser radar, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to any one of the first aspect when executing the computer program.

[0041] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable by a processor to implement the method according to any one of the first aspect.

[0042] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a laser radar, causes the laser radar to perform the method according to any one of the first aspect.

[0043] It can be understood that the beneficial effects of the above-mentioned second aspect to fifth aspect can be referred to the related description of the first aspect, which will not be repeated here.

[0044] Compared with the prior art, the beneficial effects of the embodiments of the present application are as follows: the signal characteristics are obtained by analyzing the echo signal of the laser; whether the echo signal is oversaturated is determined according to the signal characteristics, and the emission power of the next laser emission is adjusted according to the signal characteristics. The emission power of the next laser emission is determined according to the signal characteristics of the echo signal of the current laser emission, which can adjust the laser emission power in real time according to the laser echo, improve the ranging accuracy, and avoid damage to the receiving unit of the laser radar due to the excessive return laser power. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0046] Figure 1 is a structural schematic diagram of a laser radar provided by an embodiment of the present application;

[0047] Figure 2 is a flowchart of a laser emission power adjusting method provided by an embodiment of the present application;

[0048] Figure 3 is a waveform diagram of a signal feature provided by an embodiment of the present application;

[0049] Figure 4 is a flow diagram of a laser emission power adjustment method provided by another embodiment of the present application;

[0050] Figure 5 is a structural diagram of a laser emission power adjustment device provided by an embodiment of the present application;

[0051] Figure 6 is a structural diagram of a laser radar provided by another embodiment of the present application. DETAILED DESCRIPTION

[0052] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular sequences of steps, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0053] It should be understood that the term “includes” when used in the specification and the appended claims herein, specifies the presence of stated features, integers, steps, operations, elements, and / or components but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0054] It should also be understood that the term “and / or” when used in the specification and the appended claims herein, means any one or more of the associated listed items can be present, and all possible combinations of one or more of the associated listed items are included.

[0055] As used in the description of the application and the appended claims herein, the term “if’ can be interpreted as meaning “when” or “upon” or “in response to a determination” or “in response to a detection” depending on the context. Similarly, the phrase “if determined” or “if detected [the described condition or event]” can be interpreted as meaning “upon a determination” or “in response to a determination” or “upon a detection of [the described condition or event]” or “in response to a detection of [the described condition or event]” depending on the context.

[0056] In addition, in the description of the application and the appended claims herein, the terms “first”, “second”, “third”, etc. are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0057] Reference within the specification of this application to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" or "in some embodiments" in various places within specified descriptions in this specification are not necessarily all referring to the same embodiment, however, but can refer to one or more but not all embodiments. The terms "including," "comprising," "carrying," "having," "containing," and variations thereof do not exclude the presence of additional items or materials while the terms "a" and "an" do not exclude a plurality or multitude of such items or materials. Furthermore, as used herein, the term "exemplary" or "for example" does not indicate a recommendation as preferred over other embodiments.

[0058] The application is implemented based on a laser radar. Figure 1 is a structural schematic diagram of the laser radar provided by an embodiment of the application, as Figure 1 shown, the laser radar comprises: a light emitting unit 41 controlled by a master control unit 44, configured to emit ranging lasers with different powers; a mirror group unit 43, configured to optically collimate the ranging lasers of the light emitting unit 41, and converge the diffuse ranging laser signals of the measured target onto a receiving unit 42; the receiving unit 42, configured to convert the ranging laser signals converged by the mirror group unit 43 into optical signals, and perform amplification processing to generate laser echo signals; the master control unit 44, capable of adjusting the power emitted by the light emitting unit 41, acquiring the time difference between the light emitting moment and the laser echo signals, completing distance conversion and outputting.

[0059] For a scanning laser radar, the laser radar periodically changes the scanning angle to obtain the distance information of the measured object in a region, and further comprises: a ranging angle control unit 45, configured to periodically change the ranging angle of the laser radar, form a scanning field of view of the laser radar, and transmit the angle information to the master control unit 44.

[0060] Since the color, angle, material, and distance of the measured object in different scanning angles of the laser radar may be different in actual application scenarios, the laser emission power and the echo signal between different scanning angles of the laser radar do not have mutual reference value, and the laser echo signals between the same angles in different scanning cycles have mutual reference value.

[0061] The laser emission power adjustment method provided by the embodiment of the application can be applied to the emission power adjustment scene of the laser radar, so that the laser radar can adjust the emission power of the next time according to the received echo signal, avoid the non-ideal echo signal caused by the fixed power emission of the laser, and thus affect the ranging result or damage the receiving unit.

[0062] Figure 2 is a flowchart of the laser emission power adjustment method provided by the embodiment. As Figure 2As shown, the laser emission power adjustment method comprises the following steps:

[0063] S11, emitting laser to at least one preset angle, and the emission power of the laser is a first power value.

[0064] If the laser radar is set to range to a fixed direction, the laser is emitted to the preset angle, the emitted laser is linear, and the emission power of the laser is the first power value.

[0065] If the laser radar is set to range to variable angles, such as ranging to each direction of a certain area, a device for adjusting the emission angle can be arranged at the emission end of the laser radar, so that the emission end of the laser radar emits laser to different preset angles under the driving of the device; the laser is periodically scanned in a planar manner, and the laser is emitted once for each adjustment of an angle; the emission power of the laser between different preset angles can be the same or different, and there is no necessary connection. In this embodiment, there is a correlation between the emission powers of the laser emitted at the same preset angle multiple times.

[0066] S12, receiving the echo signal of the laser of each preset angle.

[0067] The receiving end of the laser radar receives the echo signal from each preset angle respectively, and the echo signal of each preset angle needs to be processed respectively.

[0068] S13, for each preset angle, analyzing the echo signal of the preset angle to obtain the signal feature of the preset angle.

[0069] The current signal feature value of the echo signal of the preset angle is obtained, and the current signal feature value includes at least one of the current signal amplitude, the current echo pulse width and the current echo area.

[0070] For example, a waveform diagram can be generated according to the waveform of the echo signal, and at least one of the current signal amplitude, the current echo pulse width and the current echo area can be obtained by reading the waveform diagram. In other embodiments, the current signal feature value of the echo signal can be obtained in other ways, for example, in the case of echo signal saturation, the signal amplitude is limited by the power voltage and appears to be cut off, and the waveform diagram can no longer accurately represent the signal; at this time, the signal amplitude of the echo signal can be obtained by fitting the intersection point according to the time and amplitude of multiple timing points on the rising and falling edges. The signal amplitude obtained by fitting the intersection point is not limited by the power voltage and can continuously change, thereby continuing to represent the signal strength.

[0071] According to the current signal feature value, the signal feature is determined, and the signal feature includes an ideal waveform and a non-ideal waveform. The ideal waveform is a waveform in which the signal feature value at the preset angle satisfies a preset range, and the non-ideal waveform is a waveform in which the signal feature value at the preset angle is greater than or less than the preset range.

[0072] Figure 3 is a waveform diagram of the signal feature provided by the embodiment. As shown, the vertical coordinate represents the amplitude V of the echo signal, and the horizontal coordinate represents the time t of the single echo signal. The time difference between the rising edge and the falling edge of the echo signal is the echo pulse width T, and the area enclosed by the curve of the echo signal and the horizontal coordinate axis is the echo area S. In the figure, curve 31 is an ideal waveform, and curve 30 and curve 32 are non-ideal waveforms, where signal amplitudes V1 < V2 ≤ V3, echo pulse widths T1 < T2 < T3, and echo areas S1 < S2 < S3. Figure 3

[0073] The ideal waveform needs to be obtained by testing the laser radar. Specifically, when the ranging result of the laser radar fluctuates within the allowed error range and meets the set accuracy requirement, the waveform of the echo signal can be considered as an ideal waveform, and the preset range of the signal feature value of the ideal waveform can be obtained accordingly. It can be understood that the waveform with a signal feature value greater than or less than the preset range is considered as a non-ideal waveform. When the echo signal is in a non-ideal waveform, the ranging result of the laser radar deviates from the actual result, and the deviation may have exceeded the allowed error range.

[0074] In summary, by judging whether the current signal feature value of the echo signal at the preset angle is within the preset range, it is determined whether the waveform of the echo signal is an ideal waveform or a non-ideal waveform.

[0075] S14, for each preset angle, determining the transmission power of the next laser transmission at the preset angle according to the signal feature of the preset angle.

[0076] If the signal feature is an ideal waveform, the transmission power is equal to the first power value, that is, the original transmission power is kept unchanged when the next laser is transmitted. If the signal feature is a non-ideal waveform, the transmission power is adjusted to the second power value.

[0077] Exemplarily, adjusting the transmission power to the second power value includes:

[0078] pre-setting at least two preset power values; if the current signal feature value is greater than the preset range, selecting a preset power value smaller than the first power value as the second power value; if the current signal feature value is smaller than the preset range, selecting a preset power value greater than or equal to the first power value as the second power value.

[0079] By adjusting the transmission power in the form of preset power values, the effect of gradually approaching the ideal waveform of the echo signal can be achieved.

[0080] ​In other embodiments, the transmitting power is adjusted to the second power value, and the transmitting power can also be adjusted by a power adjustment coefficient. Specifically, the power adjustment coefficient is obtained according to the proportional relationship between the current signal characteristic value of the echo signal and the corresponding target signal characteristic value, where the power adjustment coefficient = current signal characteristic value / corresponding target signal characteristic value, and the target signal characteristic value includes at least one of a preset target signal amplitude, a target echo pulse width, and a target echo area; and the second power value is calculated, where the second power value = power adjustment coefficient * first power value.

[0081] In formula, the second power value P[N+1] = n * first power value P[N] when the fixed angle ranging is used, and the second power value P[N+1][theta] = n * first power value P[N][theta] when the variable angle ranging is used, where N is the measurement times, n is the power adjustment coefficient, and theta is the ranging angle.

[0082] The target signal characteristic value can be obtained according to the test of the laser radar in step S13, that is, when the ranging result of the laser radar fluctuates within the allowable error range and meets the set accuracy requirement, the target signal characteristic value can be obtained according to the ideal waveform of the corresponding echo signal, which is usually the signal characteristic value under the condition that the echo signal is not saturated, and can be a median value or a mean value in a preset range of the signal characteristic value.

[0083] The transmitting power is adjusted by the power adjustment coefficient, so that the transmitting power can be directly adjusted to the ideal value when the laser is emitted next time, and the echo signal with the ideal waveform is obtained.

[0084] As a possible implementation manner, step S13 further includes obtaining the ranging result according to the echo signal, and labeling the confidence for the ranging result according to the signal characteristic.

[0085] The closer the signal characteristic value of the echo signal is to the ideal waveform, the higher the ranging accuracy is, and the higher the confidence labeled for the ranging result is; otherwise, the lower the ranging accuracy is, and the lower the confidence labeled should be.

[0086] The confidence can guide the user to select and use the ranging result before the transmitting power is adjusted to obtain a more accurate ranging result, for example, only when the confidence reaches a certain standard value, the ranging result is used, otherwise the ranging result is abandoned, and the ranging is re-performed after the transmitting power is adjusted. Meanwhile, the lower the confidence is, the more power adjustment is needed to improve the confidence.

[0087] On the basis of the above embodiments, the manner of obtaining the current signal characteristic value can also include other manners. Figure 4 is a flowchart of a laser transmitting power adjustment method provided by another embodiment of the present application. As shown in Figure 4 the method includes the following steps:

[0088] S21, obtaining a corresponding relationship between signal characteristic values.

[0089] This step is a pre-calibration process of the laser radar, which needs to be completed before step S24. After the calibration is completed, the laser radar can be used in the required scene.

[0090] The pre-calibration process includes:

[0091] 1. Set the transmission power of the laser radar transmitting end to the maximum value, place the 100% reflective surface of the measured object in front of the laser radar, adjust the distance between the laser radar receiving end and the measured object, so that the current state of the echo signal (signal amplitude, echo pulse width) reaches the maximum value.

[0092] 2. Keep the position of the laser radar and the reflective surface unchanged, gradually reduce the transmission power, and record the signal amplitude, echo pulse width and echo area of the echo signal corresponding to each power value.

[0093] 3. According to the recorded signal amplitude V, echo pulse width T and echo area S, at least one of the corresponding relationships of signal amplitude and echo pulse width V=f1(T), signal amplitude and echo area V=f2(S), echo pulse width and echo area T=f3(S), or signal amplitude and echo pulse width, echo area V=f4(T,S) is fitted and obtained.

[0094] Similarly, the way to obtain the signal amplitude, echo pulse width and echo area can refer to the above embodiment, and this embodiment will not be repeated.

[0095] S22, emitting laser to at least one preset angle, and the transmission power of the laser is a first power value.

[0096] S23, receiving the echo signal of the laser at each preset angle.

[0097] S24, for each preset angle, analyzing the echo signal of the preset angle to obtain the signal characteristics of the preset angle.

[0098] Obtaining the current signal characteristic value of the echo signal of the preset angle, and determining the signal characteristics as ideal waveform or non-ideal waveform according to the current signal characteristic value.

[0099] Wherein, obtaining the current signal characteristic value of the echo signal of the preset angle includes:

[0100] According to the waveform of the echo signal, one of the current signal amplitude, the current echo pulse width and the current echo area in the current signal characteristic value is obtained; according to the pre-obtained corresponding relationship and the one of the current signal characteristic value, any one of the other two of the current signal characteristic value is obtained, and the corresponding relationship is the corresponding relationship of the signal amplitude and the echo pulse width, the corresponding relationship of the signal amplitude and the echo area or the corresponding relationship of the echo pulse width and the echo area.

[0101] For example, in the case of echo signal saturation, the signal amplitude is limited by the power voltage and appears to be cut off, and reading the signal amplitude of the echo signal waveform diagram will be inaccurate. In addition to the calculation method of intersection fitting in the above embodiment, the signal amplitude or the echo area can be obtained by reading the echo pulse width and according to the corresponding relationship of the signal amplitude and the echo pulse width, the corresponding relationship of the echo pulse width and the echo area.

[0102] Alternatively, according to the waveform of the echo signal, two of the current signal amplitude, the current echo pulse width and the current echo area in the current signal characteristic value are obtained; according to the pre-obtained corresponding relationship and the two of the current signal characteristic value, the remaining one of the current signal characteristic value is obtained, and the corresponding relationship is the corresponding relationship of the signal amplitude and the echo pulse width, the echo area.

[0103] S25, for each preset angle, determining the transmission power of the laser emitted at the preset angle next time according to the signal characteristic of the preset angle.

[0104] In this embodiment, the transmission power of the laser radar is adjusted once or multiple times, so that the echo signal reaches the state of the ideal waveform, and the ranging accuracy and confidence of the laser radar are continuously improved. Since the ranging repetition frequency of the laser radar is in the KHz-MHz level, for static or slow-moving objects, the ranging accuracy can be greatly improved by this method.

[0105] The application also provides a laser transmission power adjustment device, which is usually integrated into a laser radar. Figure 5 is a structural schematic diagram of the laser transmission power adjustment device provided by this embodiment. As Figure 5 shown, the laser radar comprises:

[0106] The light emitting unit 51 is configured to emit laser to at least one preset angle under the control of the master control unit 53, and the transmission power of the laser is a first power value;

[0107] The receiving unit 52 is configured to receive the echo signal of the laser at each preset angle;

[0108] The master control unit 53 is configured to analyze the echo signal at each preset angle and obtain the signal characteristic, and is further configured to determine the transmission power of the laser emitted at the preset angle next time according to the signal characteristic of the preset angle.

[0109] Further, the laser emission power adjusting apparatus further comprises:

[0110] an angle control unit 54, configured to adjust the angle of the light emitting unit when the laser is emitted at the at least two preset angles, so that the light emitting unit emits the laser at the at least two preset angles in sequence.

[0111] Figure 6 A structural schematic diagram of a laser radar is provided for an embodiment of the present application. As shown in the figure, the laser radar of the embodiment comprises at least one processor 60 (only one is shown in the figure), a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, wherein the processor 60 implements the steps in any of the method embodiments described above when executing the computer program 62. Figure 6 Figure 6

[0112] Those skilled in the art can understand that Figure 6 the above-mentioned structure of the laser radar is only an example and does not constitute a limitation thereon, and can comprise more or fewer components than those shown in the figure, or combine certain components, or different components, for example, can also comprise a communication device, etc.

[0113] The processor 60 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or can also be any conventional processor.

[0114] ​​The memory 61 can be an internal storage unit of the lidar in some embodiments, such as a hard disk or a memory, and can also be an external storage device in other embodiments, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like. Further, the memory 61 can include both an internal storage unit and an external storage device. The memory 61 is used to store an operating system, an application program, a boot loader, data, and other programs, such as program codes of the computer program, and the like. The memory 61 can also be used to temporarily store data that has been output or is to be output.

[0115] It should be noted that the information interaction and execution process between the above devices / units are based on the same concept as the method embodiments of the present application, and the specific functions and technical effects brought about can be referred to the method embodiments part, which will not be repeated here.

[0116] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of functional units and modules is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the unit and module in the system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0117] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in each of the above method embodiments can be implemented.

[0118] The embodiment of the present application provides a computer program product, which, when running on the lidar, enables the lidar to implement the steps in each of the above method embodiments.

[0119] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiment methods through a computer program to instruct related hardware to complete, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / terminal equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc.

[0120] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0121] Those of ordinary skill in the art can understand that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0122] In the embodiments provided in the present application, it should be understood that the disclosed devices / apparatuses and methods can be implemented in other ways. For example, the above-described device / apparatus embodiment is only schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual elements can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0123] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0124] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method of adjusting a laser emission power, characterized by, The method comprises the following steps: emitting laser at at least one preset angle, the emission power of the laser being a first power value; wherein the emission power is adjusted independently between each preset angle; receiving echo signals of the laser at each preset angle; wherein the receiving end of the laser radar receives echo signals from each preset angle respectively, and the echo signals of each preset angle are processed respectively; analyzing the echo signals of each preset angle to obtain signal characteristics of the preset angle; for each preset angle, determining the emission power of the laser emitted at the preset angle next time according to the signal characteristics of the preset angle; analyzing the echo signals of each preset angle to obtain signal characteristics of the preset angle, comprising: obtaining current signal characteristic values of the echo signals of the preset angle, the current signal characteristic values including at least one of current signal amplitude, current echo pulse width and current echo area; determining the signal characteristics according to the current signal characteristic values, the signal characteristics including ideal waveform and non-ideal waveform, the ideal waveform being a waveform when the signal characteristic values of the preset angle meet a preset range, and the non-ideal waveform being a waveform when the signal characteristic values of the preset angle are greater than or less than the preset range; determining the emission power of the laser emitted at the preset angle next time according to the signal characteristics of the preset angle, comprising: if the signal characteristics are ideal waveform, the emission power is equal to the first power value; if the signal characteristics are non-ideal waveform, the emission power is adjusted to a second power value; adjusting the emission power to a second power value, comprising: obtaining a power adjustment coefficient according to the proportional relationship between the current signal characteristic values of the echo signals and corresponding target signal characteristic values, wherein the power adjustment coefficient = current signal characteristic value / corresponding target signal characteristic value, and the target signal characteristic values include at least one of preset target signal amplitude, target echo pulse width and target echo area; calculating the second power value, wherein the second power value = power adjustment coefficient * first power value.

2. The laser emission power adjustment method of claim 1, wherein, adjusting the emission power to a second power value, comprising: pre-setting at least two preset power values; if the current signal characteristic value is greater than the preset range, selecting a preset power value smaller than the first power value as the second power value; if the current signal characteristic value is smaller than the preset range, selecting a preset power value greater than or equal to the first power value as the second power value.

3. The method of claim 1, wherein the laser emission power is adjusted by a laser driver. obtaining the current signal characteristic values of the echo signals of the preset angle, comprising: obtaining at least one of the current signal amplitude, the current echo pulse width and the current echo area according to the waveform of the echo signals; or, obtaining one of the current signal amplitude, the current echo pulse width and the current echo area in the current signal characteristic values according to the waveform of the echo signals; According to a previously obtained corresponding relationship and one of the current signal characteristic values, any one of the other two of the current signal characteristic values is obtained, the corresponding relationship is a corresponding relationship of signal amplitude and echo pulse width, a corresponding relationship of signal amplitude and echo area, or a corresponding relationship of echo pulse width and echo area; Or, According to the waveform of the echo signal, two of the current signal amplitude, the current echo pulse width and the current echo area of the current signal characteristic value are obtained; According to a previously obtained corresponding relationship and two of the current signal characteristic values, the remaining one of the current signal characteristic values is obtained, the corresponding relationship is a corresponding relationship of signal amplitude and echo pulse width, echo area.

4. The laser emission power adjustment method of claim 3, wherein, Before obtaining the current signal characteristic value of the echo signal of the preset angle, further comprising: In the case that the transmission power of the laser radar is set to the maximum value and the current state of the echo signal reaches the maximum value, gradually reducing the transmission power, recording the signal amplitude, echo pulse width and echo area of the echo signal; According to the recorded signal amplitude, echo pulse width and echo area, a corresponding relationship of signal amplitude and echo pulse width, a corresponding relationship of signal amplitude and echo area, a corresponding relationship of echo pulse width and echo area, or a corresponding relationship of signal amplitude and echo pulse width, echo area is obtained.

5. A laser emission power adjusting apparatus characterized by comprising: Comprise: Light emitting unit, for emitting laser to at least one preset angle, the transmission power of the laser is the first power value; wherein, the transmission power is adjusted independently between each preset angle; Receiving unit, for receiving the echo signal of the laser of each preset angle; wherein, the receiving end of the laser radar respectively receives the echo signal from each preset angle, and the echo signal of each preset angle is respectively processed; Master unit, for analyzing the echo signal of each preset angle to obtain signal characteristics, and for determining the transmission power of the laser emitted at the preset angle next time according to the signal characteristics of the preset angle; Analyzing the echo signal of each preset angle to obtain signal characteristics, comprising: Obtaining the current signal characteristic value of the echo signal of the preset angle, the current signal characteristic value comprising at least one of the current signal amplitude, the current echo pulse width and the current echo area; According to the current signal characteristic value, determining the signal characteristics, the signal characteristics comprising ideal waveform and non-ideal waveform, the ideal waveform being the waveform when the signal characteristic value at the preset angle meets the preset range, and the non-ideal waveform being the waveform when the signal characteristic value at the preset angle is greater than or less than the preset range; According to the signal characteristics of the preset angle, determining the transmission power of the laser emitted at the preset angle next time, comprising: If the signal characteristics are ideal waveform, the transmission power is equal to the first power value; If the signal characteristics are non-ideal waveform, the transmission power is adjusted to the second power value; Adjusting the transmission power to the second power value, comprising: According to the proportional relationship between the current signal characteristic value of the echo signal and the corresponding target signal characteristic value, a power adjustment coefficient is obtained, wherein the power adjustment coefficient = current signal characteristic value / corresponding target signal characteristic value, and the target signal characteristic value includes at least one of a preset target signal amplitude, a target echo pulse width and a target echo area; The second power value is calculated, wherein the second power value = power adjustment coefficient * first power value.

6. The laser emission power adjusting apparatus of claim 5, wherein Further comprising: An angle control unit is configured to adjust the angle of the light emitting unit when emitting laser light to at least two preset angles, so that the light emitting unit emits laser light according to the at least two preset angles in sequence. 7.A lidar, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: The processor executes the computer program to implement the method of any one of claims 1 to 4.

8. A computer-readable storage medium storing a computer program, the computer-readable storage medium comprising: The computer program is executed by the processor to implement the method of any one of claims 1 to 4.

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