Laser radar-based environmental calibration method, device, computer equipment and medium

Abstract

The present application relates to a laser radar-based environmental calibration method, device, computer equipment and medium. The method includes: based on at least two preset scanning angle cycles, scanning the target environment where the first laser radar is located, and obtaining scanning results corresponding to each scanning angle cycle, wherein the horizontal angular resolution of each scanning angle cycle is the same, the starting scanning angles of adjacent scanning angle cycles are different, and all scanning angle cycles contain at least two target scanning angle cycles, and the difference between the starting scanning angles of the two target scanning angle cycles is not equal to an integer multiple of the horizontal angular resolution, and the scanning result includes the target scanning information of each scanning angle in the scanning angle cycle, and the target scanning information includes at least the target distance information; the scanning results corresponding to each scanning angle cycle are used as the environmental calibration information of the target environment. The use of this method can improve the precision of the laser radar environmental calibration.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a laser radar-based environment calibration method, device, computer equipment and medium. Background Art

[0002] With the development of science and technology, lidar has gradually become the main force in obstacle detection and recognition due to its advantages such as high ranging accuracy. It has been increasingly used in scenarios such as unmanned driving and map localization.

[0003] When the laser radar calibrates the environment by emitting laser beams, the horizontal angular resolution of the laser radar is generally fixed. The horizontal angular resolution refers to the degree of the horizontal angle of each rotation of the laser radar during the scanning process. The laser radar performs rotational scanning and calibration of the environment based on the fixed horizontal angular resolution.

[0004] However, the above-mentioned environmental calibration method has the problem of low precision of environmental calibration. Summary of the invention

[0005] Based on this, it is necessary to provide a laser radar-based environmental calibration method, device, computer equipment and medium that can improve the precision of the laser radar's environmental calibration in order to address the above-mentioned technical problems.

[0006] In a first aspect, an embodiment of the present application provides a laser radar-based environment calibration method for a first laser radar, the method comprising:

[0007] Based on at least two preset scanning angle periods, the target environment in which the first laser radar is located is scanned to obtain scanning results corresponding to each of the scanning angle periods, wherein the horizontal angular resolution of each of the scanning angle periods is the same, the starting scanning angles of adjacent scanning angle periods are different, and all scanning angle periods contain at least two target scanning angle periods, the difference between the starting scanning angles of the two target scanning angle periods is not equal to an integer multiple of the horizontal angular resolution, and the scanning result includes target scanning information of each scanning angle in the scanning angle period, and the target scanning information includes at least target distance information;

[0008] The scanning results corresponding to each of the scanning angle cycles are used as environmental calibration information of the target environment.

[0009] In one of the embodiments, the target scanning information also includes target signal strength information.

[0010] In one embodiment, scanning the target environment where the first laser radar is located based on at least two preset scanning angle cycles to obtain scanning results corresponding to each of the scanning angle cycles includes:

[0011] For each scanning angle period, scanning the target environment according to the starting scanning angle, horizontal angle resolution and preset scanning times corresponding to the scanning angle period;

[0012] During each scanning process, initial scanning information of each scanning angle within the scanning angle period is obtained;

[0013] The scanning result corresponding to the scanning angle period is obtained according to the number of scans and the initial scanning information of each scanning angle obtained during each scan.

[0014] In one embodiment, obtaining the scanning result corresponding to the scanning angle period according to the number of scans and the initial scanning information of each scanning angle obtained in each scan includes:

[0015] For each scanning process, the initial scanning information of each scanning angle obtained by the scanning process is divided by the number of scanning times to obtain average scanning information of each scanning angle;

[0016] Acquire a scanning result set corresponding to the scanning angle period, the scanning result set including accumulated scanning information corresponding to each scanning angle, the accumulated scanning information being obtained based on historical average scanning information of each scanning angle in a historical scanning process before a current scanning process;

[0017] The average scanning information of each of the scanning angles is added to the accumulated scanning information corresponding to each of the scanning angles, and a scanning result corresponding to the scanning angle period is determined according to the addition result.

[0018] In one of the embodiments, after adding the average scanning information of each scanning angle to the accumulated scanning information corresponding to each scanning angle, the method further includes:

[0019] The average scanning information of each of the scanning angles is discarded.

[0020] In one of the embodiments, the differences between the starting scanning angles of adjacent scanning angle cycles are the same.

[0021] In one of the embodiments, the difference between the starting scanning angles of adjacent scanning angle cycles is smaller than the horizontal angular resolution; the product of the difference between the starting scanning angles of adjacent scanning angle cycles and the number of each scanning angle cycle is equal to the horizontal angular resolution.

[0022] In one of the embodiments, the difference between the starting scanning angles of adjacent scanning angle cycles is greater than the horizontal angular resolution, the horizontal angular resolution is an integer multiple of a target remainder, and the target remainder is the remainder of the ratio of the difference between the starting scanning angles of adjacent scanning angle cycles to the horizontal angular resolution.

[0023] In one embodiment, the method further comprises:

[0024] Determine a first scanning result of the first laser radar corresponding to a preset scanning angle period;

[0025] Acquire a second scanning result obtained by scanning the target environment with a second laser radar in the preset scanning angle period, wherein the deployment position of the second laser radar is the same as the deployment position of the first laser radar;

[0026] verifying the second scanning result according to the first scanning result;

[0027] If the verification passes, it is determined that the second scanning result is accurate.

[0028] In one of the embodiments, the first scanning result includes first target scanning information of each target scanning angle within the preset scanning angle period, and the first target scanning information includes first average distance information and / or first average signal strength information; the second scanning result includes second target scanning information of each target scanning angle within the preset scanning angle period, and the second target scanning information includes maximum distance information and minimum distance information, and / or the second target scanning information includes maximum signal strength information and minimum signal strength information;

[0029] The verifying the second scanning result according to the first scanning result includes:

[0030] For each target scanning angle, calculating a first difference between the maximum distance information and the first average distance information, and calculating a second difference between the minimum distance information and the first average distance information; and / or calculating a third difference between the maximum signal strength information and the first average signal strength information, and calculating a fourth difference between the minimum signal strength information and the first average signal strength information;

[0031] If the first difference and the second difference are both within a preset distance difference range, and / or the third difference and the fourth difference are both within a preset signal strength difference range, it is determined that the verification is passed.

[0032] In one of the embodiments, when the first target scanning information includes first average distance information corresponding to the target scanning angle, and the second target scanning information includes maximum distance information and minimum distance information corresponding to the target scanning angle, the second target scanning information also includes second average distance information corresponding to the target scanning angle, and after verifying the second scanning result according to the first scanning result, the method further includes:

[0033] If the verification fails, then for each target scanning angle, calculating a fifth difference between the first average distance information and the second average distance information;

[0034] The first difference, the second difference, and the fifth difference are output, and the first difference, the second difference, and the fifth difference are used to perform scanning accuracy analysis on the second scanning result.

[0035] In one of the embodiments, when the first target scanning information includes first average signal strength information corresponding to the target scanning angle, and the second target scanning information includes maximum signal strength information and minimum signal strength information corresponding to the target scanning angle, the second target scanning information also includes second average signal strength information corresponding to the target scanning angle, and after verifying the second scanning result according to the first scanning result, the method further includes:

[0036] If the verification fails, then for each of the target scanning angles, calculating a sixth difference between the first average signal strength information and the second average signal strength information;

[0037] The third difference, the fourth difference and the sixth difference are output, and the third difference, the fourth difference and the sixth difference are used to perform scanning accuracy analysis on the second scanning result.

[0038] In a second aspect, an embodiment of the present application provides an environment calibration device based on a laser radar, which is arranged on a first laser radar, and the device includes:

[0039] A scanning module, configured to scan the target environment in which the first laser radar is located based on at least two preset scanning angle periods, and obtain scanning results corresponding to each of the scanning angle periods, wherein the horizontal angular resolution of each of the scanning angle periods is the same, the starting scanning angles of adjacent scanning angle periods are different, and all scanning angle periods contain at least two target scanning angle periods, and the difference between the starting scanning angles of the two target scanning angle periods is not equal to an integer multiple of the horizontal angular resolution, and the scanning result includes target scanning information of each scanning angle in the scanning angle period, and the target scanning information includes at least target distance information;

[0040] The first determination module is used to use the scanning results corresponding to each of the scanning angle cycles as the environmental calibration information of the target environment.

[0041] In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method of the first aspect when executing the computer program.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method of the first aspect described above.

[0043] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0044] The above-mentioned laser radar-based environmental calibration method, device, computer equipment and medium scan the target environment in which the first laser radar is located based on at least two preset scanning angle periods, obtain the scanning results corresponding to each scanning angle period, and use the scanning results corresponding to each scanning angle period as the environmental calibration information of the target environment, wherein the horizontal angular resolution of each scanning angle period is the same, the starting scanning angles of adjacent scanning angle periods are different and all scanning angle periods contain at least two target scanning angle periods, the difference between the starting scanning angles of the two target scanning angle periods is not equal to an integer multiple of the horizontal angular resolution, and the scanning result includes the target scanning information of each scanning angle in the scanning angle period, and the target scanning information includes at least the target distance information; in this way, it is equivalent to that in the two target scanning angle periods, each scanning angle in the second target scanning angle period is respectively interspersed between each scanning angle in the first target scanning angle period. Assuming that the horizontal angular resolution of each scanning angle cycle is 0.2°, the starting scanning angle of the first target scanning angle cycle is 0°, the starting scanning angle of the second target scanning angle cycle is 0.05°, the scanning angles in the first target scanning angle cycle are 0°, 0.2°, 0.4°, 0.6°, ..., 359.6°, 359.8°, and the scanning angles in the second target scanning angle cycle are 0.05°, 0.25°, 0.45°, 0.65°, ..., 359.65°, 359.85°, which is equivalent to inserting a scanning angle between every two adjacent scanning angles in the first target scanning angle cycle; assuming that the horizontal angular resolution of each scanning angle cycle is 0.2°, the starting scanning angle of the first target scanning angle cycle is 0°, and the starting scanning angle of the second target scanning angle cycle is 0. The starting scanning angle is 0.3°, the scanning angles in the first target scanning angle period are 0°, 0.2°, 0.4°, 0.6°, ..., 359.6°, 359.8°, and the scanning angles in the second target scanning angle period are 0.3°, 0.5°, 0.7°, 0.9°, ..., 359.9°, 0.1°, which is also equivalent to inserting a scanning angle between every two adjacent scanning angles in the first target scanning angle period; thereby, the total number of scanning angles in the process of environmental calibration of the target environment by the first laser radar is increased, that is, the overall horizontal angular resolution in the process of environmental calibration of the target environment by the first laser radar is increased, which increases the total number of target scanning information in the environmental calibration information of the target environment, thereby improving the precision of the environmental calibration of the first laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic diagram of a flow chart of an environment calibration method based on a laser radar in one embodiment;

[0046] Figure 2is a schematic diagram of a light spot of a laser beam emitted outward by an exemplary first laser radar at each scanning angle within a first scanning angle period;

[0047] Figure 3 is a schematic diagram of a light spot of a laser beam emitted outward by an exemplary first laser radar at each scanning angle within a second scanning angle period;

[0048] Figure 4 is a schematic diagram of a light spot of a laser beam emitted outward by an exemplary first laser radar at each scanning angle within a third scanning angle period;

[0049] Figure 5 is a schematic diagram of a light spot of a laser beam emitted outward by an exemplary first laser radar at each scanning angle within a fourth scanning angle cycle;

[0050] Figure 6 is a schematic diagram of a spot of a laser beam emitted outward by an exemplary first laser radar at each scanning angle within four scanning angle cycles;

[0051] Figure 7 is a flow chart of step 101 in one embodiment;

[0052] Figure 8 It is a schematic diagram of a process in which a first laser radar uses a scanning result of the first laser radar to verify a scanning result of a second laser radar within the same scanning angle period in an embodiment;

[0053] Fig. 9 is a flow chart of step 803 in one embodiment;

[0054] Fig.10 is a structural block diagram of an environment calibration device based on a laser radar in one embodiment;

[0055] Fig.11 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] The laser radar-based environmental calibration method, device, computer equipment and medium provided in the embodiments of the present application can improve the precision of the laser radar environmental calibration. The technical solution of the present application will be described in detail below through embodiments and in conjunction with the accompanying drawings. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0058] In one embodiment, Figure 1 As shown, a laser radar-based environment calibration method is provided, and the method is applied to a first laser radar as an example for description, including step 101 and step 102:

[0059] Step 101: The first laser radar scans the target environment in which the first laser radar is located based on at least two preset scanning angle periods to obtain scanning results corresponding to each scanning angle period.

[0060] In an embodiment of the present application, the first laser radar may be any type of laser radar used for environmental calibration. For example, the first laser radar may be a single-line laser radar or a multi-line laser radar, and so on.

[0061] In the process of calibrating the target environment in which the first laser radar is located, the first laser radar scans the target environment based on at least two scanning angle cycles in sequence. The scanning angle cycle can be the horizontal scanning field of view of the first laser radar itself, such as 0° to 360°, 0° to 180°, etc. The target environment of the embodiment of the present application can be the surrounding environment where the first laser radar is deployed.

[0062] For a scanning angle cycle, the first laser radar performs horizontal rotation scanning at a fixed horizontal angle resolution (i.e., the horizontal angle resolution of the scanning angle cycle) from the starting scanning angle within the scanning angle cycle. The horizontal angle resolution refers to the degree of the horizontal angle of each rotation of the first laser radar during the horizontal rotation process. At each scanning angle, the first laser radar will emit a laser beam outward and receive a reflected signal reflected from the corresponding position of the target environment by the laser beam; the first laser radar analyzes and calculates the reflected signal to obtain the target scanning information corresponding to the scanning angle, and the target scanning information at least includes the target distance information, which is the distance obtained by the first laser radar measuring the corresponding position of the target environment at the scanning angle.

[0063] The first laser radar repeats the above scanning and measuring action for each scanning angle within the scanning angle cycle until all scanning angles within the scanning angle cycle are scanned. The first laser radar obtains target scanning information corresponding to all scanning angles, thereby obtaining a scanning result corresponding to the scanning angle cycle. The scanning result includes target scanning information for each scanning angle within the scanning angle cycle, and the target scanning information includes at least target distance information.

[0064] In the embodiment of the present application, the horizontal angular resolution of each scanning angle period in at least two scanning angle periods is the same, and the horizontal angular resolution may be the standard horizontal angular resolution configured by the first laser radar. The starting scanning angles of adjacent scanning angle periods in at least two scanning angle periods are different, and all scanning angle periods contain at least two target scanning angle periods, and the difference between the starting scanning angles of the two target scanning angle periods is not equal to an integer multiple of the horizontal angular resolution.

[0065] In this way, the scanning angles of the two target scanning angle cycles do not overlap with each other, which increases the total number of scanning angles in the process of the first laser radar calibrating the target environment. The first laser radar can obtain a target scanning information at each scanning angle in each scanning angle cycle.

[0066] The following describes possible implementations of step 101 by way of examples.

[0067] Since the target environment is three-dimensional, the first laser radar can adopt a 32-line laser radar, which means that the laser radar has 32 laser heads in the vertical direction for emitting laser beams.

[0068] Assume that at least two scanning angle cycles are four scanning angle cycles: a first scanning angle cycle, a second scanning angle cycle, a third scanning angle cycle and a fourth scanning angle cycle, each scanning angle cycle is 0° to 360°, that is, the first laser radar can rotate 360°, and the horizontal angular resolution of these four scanning angle cycles is 0.2°. The difference between the starting scanning angles of two adjacent scanning angle cycles within these four scanning angle cycles is not equal to an integer multiple of the horizontal angular resolution.

[0069] In a possible implementation, assuming that the starting scanning angle of the first scanning angle cycle is 0°, the scanning angles within the first scanning angle cycle are 0°, 0.2°, 0.4°, 0.6°, ..., 359.6°, 359.8°; within the first scanning angle cycle, the first laser radar starts from the starting scanning angle of 0° and scans the target environment sequentially at a horizontal angular resolution of 0.2°.

[0070] The first laser radar first emits a laser beam outward at a scanning angle of 0°, and receives a reflected signal reflected from the corresponding position of the target environment by the laser beam. The first laser radar calculates the target scanning information corresponding to the scanning angle of 0° based on the reflected signal, and the target scanning information at least includes the target distance information. Since the first laser radar adopts a 32-line laser radar, the first laser radar will emit 32 laser beams outward in the vertical direction at a scanning angle of 0°. In this way, the target scanning information corresponding to the scanning angle of 0° is the distance information corresponding to the 32 laser beams in the vertical direction.

[0071] Similarly, the first laser radar emits 32 laser beams at scanning angles of 0.2°, 0.4°, 0.6°, 0.8°, ..., 359.2°, 359.4°, 359.6°, and 359.8°, performing the same scanning measurement action as at a scanning angle of 0°. Figure 2 As shown, Figure 2 The figure is a schematic diagram of the spot of the laser beam emitted outward by the first laser radar at each scanning angle in the first scanning angle cycle. In this way, the first laser radar obtains the target scanning information at each scanning angle in the first scanning angle cycle, thereby obtaining the scanning result corresponding to the first scanning angle cycle.

[0072] The starting scanning angle of the second scanning angle cycle is 0.05°, and the scanning angles in the second scanning angle cycle are 0.05°, 0.25°, 0.45°, 0.65°, ..., 359.65°, 359.85°. In the second scanning angle cycle, the first laser radar starts from the starting scanning angle of 0.05° and scans the target environment in sequence according to the horizontal angle resolution of 0.2°.

[0073] Similar to the scanning process of the first scanning angle cycle, the first laser radar first emits 32 laser beams outward at a scanning angle of 0.05°, and receives the reflected signals reflected from the corresponding positions of the target environment by the 32 laser beams. The first laser radar calculates the target scanning information corresponding to the scanning angle of 0.05° based on the reflected signals, and the target scanning information at least includes the target distance information. Then, the first laser radar emits 32 laser beams outward at scanning angles of 0.25°, 0.45°, 0.65°, 0.85°, ..., 359.25°, 359.45°, 359.65°, and 359.85°, and performs the same scanning measurement action as the scanning angle of 0.05°. Figure 3 As shown, Figure 3The figure is a schematic diagram of the spot of the laser beam emitted outward by the first laser radar at each scanning angle in the second scanning angle period. In this way, the first laser radar obtains the target scanning information at each scanning angle in the second scanning angle period, thereby obtaining the scanning result corresponding to the second scanning angle period.

[0074] The starting scanning angle of the third scanning angle cycle is 0.1°, and the scanning angles in the third scanning angle cycle are 0.1°, 0.3°, 0.5°, 0.7°, ..., 359.7°, 359.9°. In the third scanning angle cycle, the first laser radar starts from the starting scanning angle of 0.1° and scans the target environment in sequence according to the horizontal angle resolution of 0.2°.

[0075] Similar to the scanning process of the first scanning angle cycle and the second scanning angle cycle, the first laser radar first emits 32 laser beams outward at a scanning angle of 0.1°, and receives the reflected signals reflected from the corresponding positions of the target environment by the 32 laser beams. The first laser radar calculates the target scanning information corresponding to the scanning angle of 0.1° based on the reflected signals, and the target scanning information at least includes the target distance information. Then, the first laser radar emits 32 laser beams outward at scanning angles of 0.3°, 0.5°, 0.7°, 0.9°, ..., 359.3°, 359.5°, 359.7°, and 359.9°, and performs the same scanning and measurement actions as the scanning angle of 0.1°. Figure 4 As shown, Figure 4 The figure is a schematic diagram of the spot of the laser beam emitted outward by the first laser radar at each scanning angle in the third scanning angle period. In this way, the first laser radar obtains the target scanning information at each scanning angle in the third scanning angle period, thereby obtaining the scanning result corresponding to the third scanning angle period.

[0076] The starting scanning angle of the fourth scanning angle cycle is 0.15°, and the scanning angles in the fourth scanning angle cycle are 0.15°, 0.35°, 0.55°, 0.75°, ..., 359.75°, 359.95°. In the fourth scanning angle cycle, the first laser radar starts from the starting scanning angle of 0.15° and scans the target environment in sequence according to the horizontal angle resolution of 0.2°.

[0077] Similar to the scanning process of the first scanning angle cycle, the second scanning angle cycle and the third scanning angle cycle, the first laser radar first emits 32 laser beams outward at a scanning angle of 0.15°, and receives the reflected signals reflected from the corresponding positions of the target environment by the 32 laser beams. The first laser radar calculates the target scanning information corresponding to the scanning angle of 0.15° based on the reflected signals, and the target scanning information at least includes the target distance information. Then, the first laser radar emits 32 laser beams outward at scanning angles of 0.35°, 0.55°, 0.75°, 0.95°, ..., 359.35°, 359.55°, 359.75° and 359.95°, and performs the same scanning and measurement actions as the scanning angle of 0.15°. Figure 5 As shown, Figure 5 The figure is a schematic diagram of the spot of the laser beam emitted outward by the first laser radar at each scanning angle in the fourth scanning angle period. In this way, the first laser radar obtains the target scanning information of each scanning angle in the fourth scanning angle period, thereby obtaining the scanning result corresponding to the fourth scanning angle period.

[0078] In another possible implementation, assuming that the starting scanning angle of the first scanning angle cycle is 0°, the scanning angles in the first scanning angle cycle are 0°, 0.2°, 0.4°, 0.6°, ..., 359.6°, 359.8°; the starting scanning angle of the second scanning angle cycle is 0.21°, the scanning angles in the second scanning angle cycle are 0.21°, 0.41°, 0.61°, 0.81°, ..., 359.81°, 0.0 1°; the starting scanning angle of the third scanning angle period is 0.44°, and the scanning angles in the third scanning angle period are 0.44°, 0.64°, 0.84°, ..., 359.84°, 0.04°, 0.24°; the starting scanning angle of the fourth scanning angle period is 0.68°, and the scanning angles in the fourth scanning angle period are 0.68°, 0.88°, ..., 359.88°, 0.08°, 0.28°, 0.48°.

[0079] In this embodiment, the first laser radar scans the target environment based on the above-mentioned scanning angle periods to obtain the scanning results corresponding to the first scanning angle period, the scanning results corresponding to the second scanning angle period, the scanning results corresponding to the third scanning angle period, and the scanning results corresponding to the fourth scanning angle period. The process is similar to the above-mentioned example implementation method and will not be repeated here.

[0080] In the embodiment of the present application, the difference between the starting scanning angles of adjacent scanning angle periods may be the same (for example, in the first embodiment as mentioned above, the difference between the starting scanning angles of adjacent scanning angle periods is 0.05°); or, the difference between the starting scanning angles of adjacent scanning angle periods may be different (for example, in the second embodiment as mentioned above, the difference between the starting scanning angle of the second scanning angle period and the starting scanning angle of the first scanning angle period is 0.21°, the difference between the starting scanning angle of the third scanning angle period and the starting scanning angle of the second scanning angle period is 0.23°, and the difference between the starting scanning angle of the fourth scanning angle period and the starting scanning angle of the third scanning angle period is 0.24°). The difference between the starting scanning angles of adjacent scanning angle periods may be less than the horizontal angular resolution (for example, in the first embodiment as mentioned above, the difference between the starting scanning angles of adjacent scanning angle periods is less than 0.2°); or, the difference between the starting scanning angles of adjacent scanning angle periods may also be greater than the horizontal angular resolution (for example, in the second embodiment as mentioned above, the difference between the starting scanning angles of adjacent scanning angle periods is greater than 0.2°), and this embodiment does not make any specific restrictions here.

[0081] It should be noted that the first laser radar can perform a scan once in each scanning angle cycle as exemplified above, obtain target scanning information for each scanning angle, and use the target scanning information for each scanning angle as the scanning result corresponding to the scanning angle cycle. In another possible implementation, the first laser radar can also perform multiple scans in each scanning angle cycle, and each scan will obtain scanning information for each scanning angle. The first laser radar averages the scanning information of multiple scans of each scanning angle, and uses the obtained average value as the target scanning information of the scanning angle, thereby obtaining the scanning result corresponding to the scanning angle cycle. In this way, by averaging the scanning information of multiple scans of each scanning angle, the accuracy of the target scanning information of each scanning angle can be improved. The embodiment of the present application does not specifically limit the number of scans of the first laser radar in each scanning angle cycle.

[0082] Step 102: The first laser radar uses the scanning results corresponding to each scanning angle period as environmental calibration information of the target environment.

[0083] The first laser radar obtains the scanning results corresponding to each scanning angle period according to the implementation method of step 101, and then uses the scanning results corresponding to each scanning angle period as the environmental calibration information of the target environment. The environmental calibration information of the target environment includes the target scanning information of each scanning angle in each scanning angle period.

[0084] Following the first implementation in the above example, see Figure 6 , Figure 6 This is a schematic diagram of an exemplary spot of a laser beam emitted outward by a first laser radar at each scanning angle within four scanning angle cycles. For each scanning angle within the four scanning angle cycles, the first laser radar can obtain corresponding target scanning information.

[0085] pass Figure 6 It can be seen intuitively that, assuming that the horizontal angular resolution of each scanning angle period (that is, the standard horizontal angular resolution configured by the first laser radar) is represented by β, the overall horizontal angular resolution during the environmental calibration of the target environment by the first laser radar is β / 4. Therefore, the embodiment of the present application greatly improves the overall horizontal angular resolution during the environmental calibration of the first laser radar without changing the standard horizontal angular resolution configured by the first laser radar, thereby improving the precision of the environmental calibration of the first laser radar.

[0086] It should be noted that the embodiment of the present application is based on the environmental calibration method of the laser radar. There is no need to change the standard horizontal angular resolution configured by the first laser radar. By setting at least two scanning angle cycles, the overall horizontal angular resolution of the first laser radar in the environmental calibration process can be improved by changing the starting scanning angle of each scanning angle cycle. There is no need to increase the horizontal angular resolution by increasing the laser repetition rate of the first laser radar or reducing the rotation speed of the first laser radar. This avoids the problem of increased energy consumption and heat of the first laser radar due to increasing the laser repetition rate of the first laser radar, thereby shortening the life of the first laser radar. At the same time, it also avoids the problem of reduced frame rate of the first laser radar due to reducing the rotation speed of the first laser radar.

[0087] Therefore, the above-mentioned laser radar-based environmental calibration method, device, computer equipment and medium scan the target environment in which the first laser radar is located based on at least two preset scanning angle periods, obtain the scanning results corresponding to each scanning angle period, and use the scanning results corresponding to each scanning angle period as the environmental calibration information of the target environment, wherein the horizontal angular resolution of each scanning angle period is the same, the starting scanning angles of adjacent scanning angle periods are different and all scanning angle periods contain at least two target scanning angle periods, the difference between the starting scanning angles of the two target scanning angle periods is not equal to an integer multiple of the horizontal angular resolution, and the scanning result includes the target scanning information of each scanning angle in the scanning angle period, and the target scanning information includes at least the target distance information; in this way, it is equivalent to that in the two target scanning angle periods, each scanning angle in the second target scanning angle period is respectively interspersed between each scanning angle in the first target scanning angle period. Assuming that the horizontal angular resolution of each scanning angle cycle is 0.2°, the starting scanning angle of the first target scanning angle cycle is 0°, the starting scanning angle of the second target scanning angle cycle is 0.05°, the scanning angles in the first target scanning angle cycle are 0°, 0.2°, 0.4°, 0.6°, ..., 359.6°, 359.8°, and the scanning angles in the second target scanning angle cycle are 0.05°, 0.25°, 0.45°, 0.65°, ..., 359.65°, 359.85°, which is equivalent to inserting a scanning angle between every two adjacent scanning angles in the first target scanning angle cycle; assuming that the horizontal angular resolution of each scanning angle cycle is 0.2°, the starting scanning angle of the first target scanning angle cycle is 0°, and the starting scanning angle of the second target scanning angle cycle is 0. The starting scanning angle is 0.3°, the scanning angles in the first target scanning angle period are 0°, 0.2°, 0.4°, 0.6°, ..., 359.6°, 359.8°, and the scanning angles in the second target scanning angle period are 0.3°, 0.5°, 0.7°, 0.9°, ..., 359.9°, 0.1°, which is also equivalent to inserting a scanning angle between every two adjacent scanning angles in the first target scanning angle period; thereby, the total number of scanning angles in the process of environmental calibration of the target environment by the first laser radar is increased, that is, the overall horizontal angular resolution in the process of environmental calibration of the target environment by the first laser radar is increased, which increases the total number of target scanning information in the environmental calibration information of the target environment, thereby improving the precision of the environmental calibration of the first laser radar.

[0088] In a possible implementation, the target scanning information of each scanning angle may further include target signal strength information. That is, for a scanning angle period, the first laser radar scans the target environment where the first laser radar is located within the scanning angle period to obtain target scanning information of each scanning angle, and the target scanning information includes target distance information and target signal strength information.

[0089] Exemplarily, the first laser radar emits a laser beam at each scanning angle, and then receives a reflection signal reflected from the corresponding position of the target environment by the laser beam. The first laser radar analyzes and calculates the reflection signal to obtain the target distance information and target signal strength information corresponding to the scanning angle. The target signal strength information can characterize the reflectivity of the corresponding position of the target environment, and the color and other attribute information of the corresponding position of the target environment can be determined through the target signal strength information. The specific form of the target scanning information is not specifically limited here.

[0090] In this way, through the above implementation method, the first laser radar not only improves the total number of scanning angles in the process of environmental calibration of the target environment by the first laser radar, but also performs a more fine-grained scanning calibration on the target environment. The calibration results obtained are the target distance information and target signal strength information of each scanning angle in each scanning angle cycle, and the data richness of the target scanning information is improved, thereby further improving the precision of the environmental calibration of the first laser radar.

[0091] In a preferred embodiment, in at least two preset scanning angle periods, the difference between the starting scanning angles of adjacent scanning angle periods is the same, that is, the value by which the starting scanning angle of each scanning angle period increases compared to the starting scanning angle of the previous scanning angle period is the same, and the difference between the starting scanning angles of adjacent scanning angle periods is smaller than the horizontal angular resolution, and the product of the difference between the starting scanning angles of adjacent scanning angle periods and the number of scanning angle periods is equal to the horizontal angular resolution.

[0092] For example, continuing with the example of at least two scanning angle periods, namely the first scanning angle period, the second scanning angle period, the third scanning angle period and the fourth scanning angle period, assuming that the starting scanning angle of the first scanning angle period is α, the starting scanning angle of the second scanning angle period is α+γ, the starting scanning angle of the third scanning angle period is α+2γ, the starting scanning angle of the fourth scanning angle period is α+3γ, the difference between the starting scanning angles of adjacent scanning angle periods is γ, and γ>0.

[0093] In this preferred embodiment, γ is less than the horizontal angular resolution, assuming that β is the horizontal angular resolution of each scanning angle cycle, the number of at least two scanning angle cycles is N, and the product of the difference between the starting scanning angles of adjacent scanning angle cycles and the number of each scanning angle cycle is equal to the size of the horizontal angular resolution, that is, Nγ=β. For example, β=0.2°, γ=0.05°, then the number of at least two scanning angle cycles is preset to be 4; assuming that the starting scanning angle of the first scanning angle cycle is α=0°, in this way, each scanning angle in the remaining three scanning angle cycles can be evenly inserted between each scanning angle in the first scanning angle cycle, and each scanning angle in the environmental calibration information of the target environment finally obtained by the first laser radar is evenly distributed. It can be understood that if the scanning angles are not evenly distributed, the degree of refinement of the environmental calibration in the area where the scanning angles are densely distributed will be higher than the degree of refinement of the environmental calibration in the area where the scanning angles are sparsely distributed. The uniform distribution of the scanning angles in the embodiment of the present application can avoid this situation, ensure the uniformity of the calibration of each scanning angle of the target environment, and improve the stability of the environmental calibration.

[0094] In another preferred embodiment, in at least two preset scanning angle periods, the difference between the starting scanning angles of adjacent scanning angle periods is the same, and the difference between the starting scanning angles of adjacent scanning angle periods is greater than the horizontal angular resolution, and the horizontal angular resolution is an integer multiple of a target remainder, which is the remainder of the ratio of the difference between the starting scanning angles of adjacent scanning angle periods to the horizontal angular resolution.

[0095] Continuing to take at least two scanning angle cycles as the first scanning angle cycle, the second scanning angle cycle, the third scanning angle cycle and the fourth scanning angle cycle as an example, assuming that the difference between the starting scanning angles of adjacent scanning angle cycles is γ is 0.3°, and the horizontal angle resolution β = 0.2°, then the difference between the starting scanning angles of adjacent scanning angle cycles γ and the horizontal angle resolution β is 0.1°, that is, the target remainder is 0.1°, and the horizontal angle resolution β is 2 times the target remainder. In this way, it can also be ensured that each scanning angle in the remaining three scanning angle cycles can be evenly inserted between the scanning angles in the first scanning angle cycle, and each scanning angle in the environmental calibration information of the target environment finally obtained by the first laser radar is evenly distributed, thereby ensuring that the calibration uniformity of each scanning angle of the target environment is consistent, and improving the stability of environmental calibration.

[0096] In one embodiment, based on the above Figure 2 The embodiment shown in the figure is related to how the first laser radar scans the target environment where the first laser radar is located based on at least two preset scanning angle cycles to obtain the scanning results corresponding to each scanning angle cycle. Figure 7, the first lidar can be performed by Figure 7 Steps 1011, 1012 and 1013 shown in the figure implement the process of step 101:

[0097] Step 1011, for each scanning angle cycle, the first laser radar scans the target environment according to the starting scanning angle, horizontal angle resolution and preset number of scans corresponding to the scanning angle cycle.

[0098] In an embodiment of the present application, for each of at least two preset scanning angle cycles, the first laser radar can perform multiple scans of the target environment according to the starting scanning angle and horizontal angle resolution of the scanning angle cycle. The multiple scans can be, for example, three times, four times, etc., and no specific limitations are made here.

[0099] The scanning process of the first laser radar performing each scan of the target environment according to the starting scanning angle and horizontal angle resolution of the scanning angle cycle is similar to the above embodiment and will not be repeated here.

[0100] Step 1012: During each scanning process, the first laser radar obtains initial scanning information of each scanning angle within a scanning angle period.

[0101] The first laser radar obtains initial scanning information of each scanning angle within the scanning angle cycle during each scanning process in accordance with the method of the above embodiment. The initial scanning information of each scanning angle may include initial distance information, and the initial distance information is the distance obtained by the first laser radar measuring the corresponding position of the target environment at this scanning angle during this scanning process.

[0102] Alternatively, the initial scanning information of each scanning angle may include initial distance information and initial signal strength information, where the initial signal strength information is the signal strength of the reflected signal received after the first laser radar emits a laser beam at this scanning angle during this scanning process.

[0103] Step 1013: The first laser radar obtains a scanning result corresponding to a scanning angle period according to the number of scans and initial scanning information of each scanning angle obtained in each scan.

[0104] After the first laser radar scans the target environment multiple times according to the starting scanning angle and horizontal angle resolution of the scanning angle cycle, for each scanning angle, the first laser radar can add the initial scanning information obtained from each scanning number of the scanning angle, and then divide the added result by the scanning number to obtain the target scanning information of the scanning angle. In this way, the first laser radar obtains the target scanning information of each scanning angle in the scanning angle cycle, that is, obtains the scanning result corresponding to the scanning angle cycle.

[0105] In the embodiment of the present application, the first laser radar scans the same scanning angle period multiple times, and then averages the initial scanning information of each scanning angle scanned, and uses the average value as the target scanning information of the scanning angle. This reduces the adverse effect of large errors in a single measurement on the calibration result, improves the accuracy of the target scanning information, and thus improves the accuracy of the environmental calibration of the first laser radar.

[0106] In one embodiment, based on Figure 7 The embodiment shown in the figure is related to the process of how the first laser radar obtains the scanning result corresponding to the scanning angle period according to the number of scans and the initial scanning information of each scanning angle obtained in each scan. In a possible implementation of step 1013, step 1013 may include the following steps A1, A2 and A3:

[0107] Step A1: For each scanning process, the first laser radar divides the initial scanning information of each scanning angle obtained during the scanning process by the number of scans to obtain the average scanning information of each scanning angle.

[0108] Taking the first laser radar as a multi-line laser radar (the laser radar has multiple laser heads in the vertical direction for emitting laser beams) as an example, for each scanning line in the multi-line, after the first laser radar measures the initial scanning information of each scanning angle in the scanning line, the first laser radar divides the initial scanning information of each scanning angle by the number of scans corresponding to the current scanning angle period to obtain the average scanning information of each scanning angle.

[0109] In the case where the initial scanning information includes initial distance information, the average scanning information includes average distance information. In the case where the initial scanning information includes initial distance information and initial signal strength information, the average scanning information includes average distance information and average signal strength information.

[0110] Taking the scanning angle period of 0° to 360°, the starting scanning angle α of the current scanning angle period is 0°, the horizontal angular resolution β is 0.2°, the preset number of scans M is 3, and the initial scanning information includes the initial distance information as an example, see Table 1, which is an exemplary initial distance information and average distance information of each scanning angle of a scanning line under the scanning angle period.

[0111] Scan Angle 0° 0.2° 0.4° ... 359.4° 359.6° 359.8° Initial distance information (mm) 1048 1048 1076 ... 2036 2048 2052 Average distance information (mm) 349 349 359 ... 679 683 684

[0112] Table 1

[0113] Step A2: The first laser radar obtains a set of scanning results corresponding to the scanning angle period.

[0114] The scanning result set includes accumulated scanning information corresponding to each scanning angle, and the accumulated scanning information is obtained based on historical average scanning information of each scanning angle in a historical scanning process before the current scanning process.

[0115] Based on the above example, if this scan is not the first scan corresponding to the scanning angle cycle, for example, this scan is the third scan corresponding to the scanning angle cycle, after the first scan is completed, the first laser radar adopts the method of step A1 to obtain the initial distance information and average distance information of each scanning angle of the scanning line after the first scan. For example, the obtained data is shown in Table 2:

[0116] Scan Angle 0° 0.2° 0.4° ... 359.4° 359.6° 359.8° Initial distance information (mm) 1040 1050 1080 ... 2040 2044 2060 Average distance information (mm) 347 350 360 ... 680 681 687

[0117] Table 2

[0118] The first laser radar stores the average distance information of each scanning angle of the scanning line obtained after the first scan in the target set, and the first laser radar discards the initial distance information of each scanning angle of the scanning line obtained after the first scan.

[0119] After the second scan is completed, the first laser radar adopts the method of step A1 to obtain the initial distance information and average distance information of each scanning angle of the scan line after the second scan. For example, the obtained data is shown in Table 3:

[0120]

[0121]

[0122] Table 3

[0123] The first laser radar adds the average distance information of each scanning angle obtained by the second scanning to the average distance information of each scanning angle obtained by the first scanning in the target set to obtain the added distance information of each scanning angle, as shown in Table 4:

[0124] Scan Angle 0° 0.2° 0.4° ... 359.4° 359.6° 359.8° Added distance information (mm) 695 701 719 1357 1361 1370

[0125] Table 4

[0126] The first laser radar replaces the average distance information of each scanning angle in the target set with the added distance information of each scanning angle in Table 4 to obtain an updated target set. The first laser radar discards the average distance information of each scanning angle obtained after the first scan, the initial distance information and the average distance information of each scanning angle obtained after the second scan.

[0127] After the third scan, the first laser radar obtains a scanning result set corresponding to the current scanning angle period. The scanning result set is the updated target set obtained by the first laser radar after the second scan. The scanning result set includes the accumulated scanning information corresponding to each scanning angle, that is, the added distance information of each scanning angle.

[0128] In step A3, the first laser radar adds the average scanning information of each scanning angle to the accumulated scanning information corresponding to each scanning angle, and determines the scanning result corresponding to the scanning angle period according to the addition result.

[0129] Since the number of scans is 3, the first laser radar adds the average distance information of each scanning angle obtained by the third scan to the accumulated scanning information corresponding to each scanning angle in the updated target set, and obtains the target distance information of each scanning angle of the scan line in the scanning angle cycle, as shown in Table 5:

[0130] Scan Angle 0° 0.2° 0.4° ... 359.4° 359.6° 359.8° Target distance information (mm) 1044 1050 1078 ... 2035 2044 2054

[0131] Table 5

[0132] The first laser radar discards the average scanning information and initial scanning information of each scanning angle obtained from the third scan.

[0133] For each scanning line in the scanning angle cycle, the first laser radar is processed in the same way to obtain the scanning result of the scanning angle cycle, and the scanning result is the target scanning information of each scanning angle of each scanning line, and the target scanning information of each scanning angle is the target distance information of each scanning line at each scanning angle.

[0134] It should be noted that, in the case where the initial scanning information includes the initial distance information and the initial signal strength information, the first laser radar can adopt the implementation method described above using the initial scanning information including the initial distance information as an example, and process the initial signal strength information of each scanning angle of each scanning line in each scanning process to obtain the average signal strength information of each scanning line at each scanning angle. In this way, the scanning result of the scanning angle cycle is the target distance information and target signal strength information of each scanning angle of each scanning line.

[0135] In another possible implementation, if this scan is the first scan corresponding to the scan angle period, the scan result set corresponding to the scan angle period obtained by the first laser radar is empty, and the first laser radar stores the average scan information of each scan angle of the scan line obtained after the first scan in the scan result set to obtain the target set. In the second scan, the first laser radar can update the target set to obtain the scan result of the scan angle period, which will not be repeated here.

[0136] In the embodiment of the present application, after each scan is completed, only the sum of the average distance information calculated this time and the accumulated scanning information obtained in the historical scanning process is stored, and the initial distance information and average distance information of each scanning process are discarded. This greatly reduces the storage space occupied by the first laser radar and improves the speed of environmental calibration of the first laser radar.

[0137] It should be noted that the process in which the first laser radar obtains the scanning result corresponding to the scanning angle period according to the number of scans and the initial scanning information of each scanning angle obtained in each scan may also be that the first laser radar sends the initial scanning information of each scanning angle obtained in each scan to a receiving unit of another computing device through a network or a transmission interface, and the computing device executes Figure 7 The implementation methods of step A1, step A2, and step A3 calculate the scanning results corresponding to the scanning angle period, and send the scanning results corresponding to the scanning angle period to the first laser radar, without making specific restrictions here.

[0138] In one embodiment, based on the above Figure 2 The embodiment shown in the figure is related to the process in which the first laser radar uses the scanning result of the first laser radar to verify the scanning result of the second laser radar in the same scanning angle cycle. Figure 8 , the process includes step 801, step 802, step 803 and step 804:

[0139] Step 801: The first laser radar determines a first scanning result corresponding to a preset scanning angle period of the first laser radar.

[0140] The first laser radar adopts the above implementation mode, and scans the target environment where the first laser radar is located based on at least two preset scanning angle periods to obtain scanning results corresponding to each scanning angle period. The preset scanning angle period can be any one of the at least two scanning angle periods, so that the first laser radar determines the first scanning result corresponding to the preset scanning angle period of the first laser radar.

[0141] Step 802: The first laser radar obtains a second scanning result obtained by the second laser radar scanning the target environment at a preset scanning angle period.

[0142] In an embodiment of the present application, the deployment position of the second laser radar is the same as that of the first laser radar. The second laser radar scans the target environment in the same manner as the first laser radar, that is, in the same multiple scanning angle cycles, to obtain the scanning results corresponding to each scanning angle cycle, and determines the scanning results of the preset scanning angle cycle as the second scanning results. The first laser radar obtains the second scanning results.

[0143] Step 803: The first laser radar verifies the second scanning result based on the first scanning result.

[0144] In a possible embodiment, the first laser radar and the second laser radar both scan the target environment once within a preset scanning angle period. In this way, after scanning, the first laser radar directly obtains first target scanning information of each target scanning angle within the preset scanning angle period. The first target scanning information can be the distance information and / or signal strength information of the target scanning angle measured by the first laser radar. After scanning, the second laser radar also directly obtains second target scanning information of each target scanning angle within the preset scanning angle period. The second target scanning information can be the distance information and / or signal strength information of the target scanning angle measured by the second laser radar.

[0145] Taking the example that the first target scanning information includes the distance information measured by the first laser radar and the second target scanning information includes the distance information measured by the second laser radar, for each target scanning angle, the first laser radar can use the distance information of the target scanning angle measured by the first laser radar minus the distance information of the target scanning angle measured by the second laser radar, and then calculate the absolute value of the obtained difference. The first laser radar detects whether the absolute value of the difference of each target scanning angle is less than the preset error threshold. If they are all less than the error threshold, it is determined that the second scanning result verification has passed.

[0146] In another possible implementation, the first laser radar may scan the target environment multiple times within a preset scanning angle period, and the first scanning result of the preset scanning angle period includes the first target scanning information of each target scanning angle within the preset scanning angle period, and the first target scanning information includes the first average distance information and / or the first average signal strength information. For example, the first laser radar may scan the target environment three times within the preset scanning angle period using the implementation described above, and the first average distance information of each target scanning angle is the average value of the distance of the target scanning angle measured three times by the first laser radar, and the first average signal strength information of each target scanning angle is the average value of the signal strength of the target scanning angle measured three times by the first laser radar.

[0147] Similar to the first laser radar, the second laser radar also scans the target environment multiple times within a preset scanning angle period, and the second scanning result of the second laser radar includes the second target scanning information of each target scanning angle within the preset scanning angle period, and the second target scanning information includes the maximum distance information and the minimum distance information, and / or the second target scanning information includes the maximum signal strength information and the minimum signal strength information. For example, the second laser radar scans the target environment three times in the same manner as the first laser radar, and each scan obtains the distance information and / or signal strength information of each target scanning angle, and the maximum distance information and the minimum distance information, and / or the maximum signal strength information and the minimum signal strength information of each target scanning angle during the three scans are used as the second target scanning information of the target scanning angle.

[0148] As is well known to those in the industry, the maximum and minimum values ​​in multiple scanning processes can be obtained by various methods such as cyclic comparison and difference, which will not be described in detail here.

[0149] See also Fig. 9 , the first lidar can be performed by Fig. 9 Steps 8031 ​​and 8032 shown implement the process of step 803:

[0150] Step 8031, for each target scanning angle, the first laser radar calculates a first difference between the maximum distance information and the first average distance information, and calculates a second difference between the minimum distance information and the first average distance information; and / or calculates a third difference between the maximum signal strength information and the first average signal strength information, and calculates a fourth difference between the minimum signal strength information and the first average signal strength information.

[0151] Taking the example that the first target scanning information of each target scanning angle includes the first average distance information and the first average signal strength information, and the second target scanning information of each target scanning angle includes the maximum distance information, the minimum distance information, the maximum signal strength information and the minimum signal strength information, for each target scanning angle, the first laser radar calculates the first difference between the maximum distance information and the first average distance information, calculates the second difference between the minimum distance information and the first average distance information, calculates the third difference between the maximum signal strength information and the first average signal strength information, and calculates the fourth difference between the minimum signal strength information and the first average signal strength information.

[0152] Step 8032, if the first difference and the second difference are both within the preset distance difference range, and / or the third difference and the fourth difference are both within the preset signal strength difference range, the first laser radar determines that the verification has passed.

[0153] It can be understood that if the environmental calibration accuracy of the second laser radar is within the required range, the maximum distance information, the minimum distance information and the first average distance information should be relatively close, and the maximum signal strength information, the minimum signal strength information and the first average signal strength information should also be relatively close.

[0154] Continuing with the above example, if the first difference and the second difference of each target scanning angle are within the preset distance difference range, and the third difference and the fourth difference of each target scanning angle are within the preset signal strength difference range, the first laser radar determines that the second scanning result verification has passed.

[0155] Step 804, if the verification passes, the first laser radar determines that the second scanning result is accurate.

[0156] If the second scanning result passes the verification, the first laser radar determines that the second scanning result is accurate, that is, it determines that the environmental calibration accuracy of the second laser radar within the preset scanning angle period meets the requirements.

[0157] For example, the distance calibration accuracy requirement is ±5cm, that is, the preset distance difference range is ±5cm. Taking the first target scanning information of a target scanning angle including the first average distance information, and the second target scanning information of the target scanning angle including the maximum distance information and the minimum distance information as an example, assuming that the first average distance information is 1m, the maximum distance information is 1048mm, and the minimum distance information is 9055mm, the first laser radar calculates that the first difference between the maximum distance information and the first average distance information is 4.8cm, and the second difference between the minimum distance information and the first average distance information is -4.5cm, then the maximum distance information and the minimum distance information are both within the preset distance difference range, and the maximum distance information and the minimum distance information both meet the requirements.

[0158] The embodiment of the present application verifies the second scanning result obtained by the second laser radar scanning the target environment in a preset scanning angle period through the first scanning result corresponding to the preset scanning angle period of the first laser radar, so as to quickly determine whether the second scanning result is accurate. The verification method is simple and easy to implement, which is conducive to popularization and application.

[0159] In one embodiment, based on the above Figure 8 The embodiment shown relates to a process of how the first laser radar performs scanning accuracy analysis on the second scanning result when the second scanning result verification fails.

[0160] In a possible implementation, when the first target scanning information includes the first average distance information corresponding to the target scanning angle, and the second target scanning information includes the maximum distance information and the minimum distance information corresponding to the target scanning angle, the second target scanning information also includes the second average distance information corresponding to the target scanning angle, and after step 803, steps B1 and B2 are further included:

[0161] Step B1, if the verification fails, the first laser radar calculates the fifth difference between the first average distance information and the second average distance information for each target scanning angle.

[0162] Similar to the process of obtaining the first average distance information, the second target scanning information also includes the second average distance information corresponding to the target scanning angle. If the verification fails, the first laser radar calculates the fifth difference between the first average distance information and the second average distance information for each target scanning angle.

[0163] For example, the distance calibration accuracy requirement is ±5cm, that is, the preset distance difference range is ±5cm. Assuming that the first average distance information of the target scanning angle is 1m, the maximum distance information of the target scanning angle is 1055mm, and the minimum distance information is 1022mm. The first laser radar calculates that the first difference between the maximum distance information and the first average distance information is 5.5cm, and the second difference between the minimum distance information and the first average distance information is 2.2cm. The first difference exceeds the preset distance difference range. Therefore, the first laser radar determines that the verification fails, and the first laser radar calculates the fifth difference between the first average distance information and the second average distance information.

[0164] Assume that the second average distance information of the target scanning angle is 1033 cm, then the fifth difference between the first average distance information and the second average distance information is 3.3 cm.

[0165] Step B2, the first laser radar outputs a first difference, a second difference and a fifth difference.

[0166] In an embodiment of the present application, the first difference, the second difference and the fifth difference are used to perform scanning accuracy analysis on the second scanning result, wherein the first difference and the second difference are used to analyze the distance measurement divergence of the second scanning result, and the fifth difference is used to analyze the distance measurement average value of the second scanning result.

[0167] In a possible implementation, when the first target scanning information includes the first average signal strength information corresponding to the target scanning angle, and the second target scanning information includes the maximum signal strength information and the minimum signal strength information corresponding to the target scanning angle, the second target scanning information also includes the second average signal strength information corresponding to the target scanning angle, and after step 803, steps C1 and C2 are further included:

[0168] Step C1, if the verification fails, the first laser radar calculates the sixth difference between the first average signal strength information and the second average signal strength information for each target scanning angle.

[0169] Step C2, the first laser radar outputs a third difference, a fourth difference and a sixth difference.

[0170] Similar to the process of obtaining the first average signal strength information, the second target scanning information also includes the second average signal strength information corresponding to the target scanning angle. If the verification fails, the first laser radar calculates the sixth difference between the first average signal strength information and the second average signal strength information for each target scanning angle.

[0171] The first laser radar outputs a third difference, a fourth difference and a sixth difference, which are used to analyze the scanning accuracy of the second scanning result. The third difference and the fourth difference are used to analyze the discreteness of the signal strength measurement of the second scanning result, and the sixth difference is used to analyze the average value of the signal strength measurement of the second scanning result.

[0172] In an embodiment of the present application, the scanning results of the first laser radar on the second laser radar in each scanning angle period can be verified according to the above-mentioned implementation method to obtain verification data for each scanning angle period. This is conducive to timely understanding the working status of the second laser radar and can reduce the failure rate of the second laser radar.

[0173] It should be understood that although Figure 2-9 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2-9 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0174] In one embodiment, Fig.10 As shown, a laser radar-based environment calibration device is provided, which is arranged on a first laser radar and includes:

[0175] A scanning module 10 is used to scan the target environment in which the first laser radar is located based on at least two preset scanning angle periods, and obtain scanning results corresponding to each of the scanning angle periods, wherein the horizontal angular resolution of each of the scanning angle periods is the same, the starting scanning angles of adjacent scanning angle periods are different, and all scanning angle periods contain at least two target scanning angle periods, and the difference between the starting scanning angles of the two target scanning angle periods is not equal to an integer multiple of the horizontal angular resolution, and the scanning result includes target scanning information of each scanning angle in the scanning angle period, and the target scanning information includes at least target distance information;

[0176] The first determination module 20 is configured to use the scanning results corresponding to each of the scanning angle cycles as the environmental calibration information of the target environment.

[0177] In one embodiment, the target scanning information further includes target signal strength information.

[0178] In one embodiment, the scanning module 10 includes:

[0179] A scanning unit, configured to scan the target environment for each scanning angle period according to a starting scanning angle, a horizontal angle resolution and a preset number of scans corresponding to the scanning angle period;

[0180] A first acquisition unit, used for acquiring initial scanning information of each scanning angle in the scanning angle period during each scanning process;

[0181] The second acquisition unit is used to acquire the scanning result corresponding to the scanning angle period according to the number of scans and the initial scanning information of each scanning angle obtained in each scan.

[0182] In one embodiment, the second acquisition unit is specifically used to obtain, for each scanning process, the average scanning information of each scanning angle by dividing the initial scanning information of each scanning angle obtained in the scanning process by the number of scans; obtain a scanning result set corresponding to the scanning angle period, the scanning result set including the accumulated scanning information corresponding to each scanning angle, the accumulated scanning information being obtained based on the historical average scanning information of each scanning angle in the historical scanning process before the current scanning process; add the average scanning information of each scanning angle with the accumulated scanning information corresponding to each scanning angle, and determine the scanning result corresponding to the scanning angle period based on the addition result.

[0183] In one embodiment, the second acquisition unit is further configured to discard the average scanning information of each of the scanning angles.

[0184] In one embodiment, the differences between the starting scanning angles of adjacent scanning angle cycles are the same.

[0185] In one embodiment, the difference between the starting scanning angles of adjacent scanning angle cycles is smaller than the horizontal angular resolution; the product of the difference between the starting scanning angles of adjacent scanning angle cycles and the number of each scanning angle cycle is equal to the horizontal angular resolution.

[0186] In one embodiment, the difference between the starting scanning angles of adjacent scanning angle cycles is greater than the horizontal angular resolution, the horizontal angular resolution is an integer multiple of a target remainder, and the target remainder is the remainder of the ratio of the difference between the starting scanning angles of adjacent scanning angle cycles to the horizontal angular resolution.

[0187] In one embodiment, the apparatus further comprises:

[0188] A second determination module, used to determine a first scanning result of the first laser radar corresponding to a preset scanning angle period;

[0189] an acquisition module, used to acquire a second scanning result obtained by a second laser radar scanning the target environment in the preset scanning angle period, wherein the deployment position of the second laser radar is the same as the deployment position of the first laser radar;

[0190] A verification module, configured to verify the second scanning result according to the first scanning result;

[0191] The third determination module is used to determine that the second scanning result is accurate if the verification passes.

[0192] In one embodiment, the first scanning result includes first target scanning information of each target scanning angle within the preset scanning angle period, the first target scanning information includes first average distance information and / or first average signal strength information; the second scanning result includes second target scanning information of each target scanning angle within the preset scanning angle period, the second target scanning information includes maximum distance information and minimum distance information, and / or the second target scanning information includes maximum signal strength information and minimum signal strength information; the verification module is specifically used to calculate, for each target scanning angle, a first difference between the maximum distance information and the first average distance information, and a second difference between the minimum distance information and the first average distance information; and / or, a third difference between the maximum signal strength information and the first average signal strength information, and a fourth difference between the minimum signal strength information and the first average signal strength information; if the first difference and the second difference are both within a preset distance difference range, and / or, the third difference and the fourth difference are both within a preset signal strength difference range, it is determined that the verification is passed.

[0193] In one embodiment, when the first target scanning information includes first average distance information corresponding to the target scanning angle, and the second target scanning information includes maximum distance information and minimum distance information corresponding to the target scanning angle, the second target scanning information also includes second average distance information corresponding to the target scanning angle, and after verifying the second scanning result according to the first scanning result, the device further includes:

[0194] A first calculation module, configured to calculate, for each target scanning angle, a fifth difference between the first average distance information and the second average distance information if the verification fails;

[0195] The first output module is used to output the first difference, the second difference and the fifth difference, wherein the first difference, the second difference and the fifth difference are used to perform scanning accuracy analysis on the second scanning result.

[0196] In one embodiment, when the first target scanning information includes first average signal strength information corresponding to the target scanning angle, and the second target scanning information includes maximum signal strength information and minimum signal strength information corresponding to the target scanning angle, the second target scanning information also includes second average signal strength information corresponding to the target scanning angle, and after verifying the second scanning result according to the first scanning result, the device further includes:

[0197] A second calculation module, configured to calculate, for each target scanning angle, a sixth difference between the first average signal strength information and the second average signal strength information if the verification fails;

[0198] The second output module is used to output the third difference, the fourth difference and the sixth difference, wherein the third difference, the fourth difference and the sixth difference are used to perform scanning accuracy analysis on the second scanning result.

[0199] For the specific definition of the laser radar-based environmental calibration device, please refer to the definition of the laser radar-based environmental calibration method above, which will not be repeated here. Each module in the above-mentioned laser radar-based environmental calibration device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0200] In one embodiment, a computer device is provided, whose internal structure diagram can be as follows: Fig.11 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data of an environmental calibration method based on a laser radar. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for environmental calibration based on a laser radar is implemented.

[0201] Those skilled in the art will understand that Fig.11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0202] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0203] Based on at least two preset scanning angle periods, the target environment in which the first laser radar is located is scanned to obtain scanning results corresponding to each of the scanning angle periods, wherein the horizontal angular resolution of each of the scanning angle periods is the same, the starting scanning angles of adjacent scanning angle periods are different, and all scanning angle periods contain at least two target scanning angle periods, the difference between the starting scanning angles of the two target scanning angle periods is not equal to an integer multiple of the horizontal angular resolution, and the scanning result includes target scanning information of each scanning angle in the scanning angle period, and the target scanning information includes at least target distance information;

[0204] The scanning results corresponding to each of the scanning angle cycles are used as environmental calibration information of the target environment.

[0205] In one embodiment, the target scanning information further includes target signal strength information.

[0206] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0207] For each scanning angle period, scanning the target environment according to the starting scanning angle, horizontal angle resolution and preset scanning times corresponding to the scanning angle period;

[0208] During each scanning process, initial scanning information of each scanning angle within the scanning angle period is obtained;

[0209] The scanning result corresponding to the scanning angle period is obtained according to the number of scans and the initial scanning information of each scanning angle obtained during each scan.

[0210] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0211] For each scanning process, the initial scanning information of each scanning angle obtained by the scanning process is divided by the number of scanning times to obtain average scanning information of each scanning angle;

[0212] Acquire a scanning result set corresponding to the scanning angle period, the scanning result set including accumulated scanning information corresponding to each scanning angle, the accumulated scanning information being obtained based on historical average scanning information of each scanning angle in a historical scanning process before a current scanning process;

[0213] The average scanning information of each of the scanning angles is added to the accumulated scanning information corresponding to each of the scanning angles, and a scanning result corresponding to the scanning angle period is determined according to the addition result.

[0214] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0215] The average scanning information of each of the scanning angles is discarded.

[0216] In one embodiment, the differences between the starting scanning angles of adjacent scanning angle cycles are the same.

[0217] In one embodiment, the difference between the starting scanning angles of adjacent scanning angle cycles is smaller than the horizontal angular resolution; the product of the difference between the starting scanning angles of adjacent scanning angle cycles and the number of each scanning angle cycle is equal to the horizontal angular resolution.

[0218] In one embodiment, the difference between the starting scanning angles of adjacent scanning angle cycles is greater than the horizontal angular resolution, the horizontal angular resolution is an integer multiple of a target remainder, and the target remainder is the remainder of the ratio of the difference between the starting scanning angles of adjacent scanning angle cycles to the horizontal angular resolution.

[0219] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0220] Determine a first scanning result of the first laser radar corresponding to a preset scanning angle period;

[0221] Acquire a second scanning result obtained by scanning the target environment with a second laser radar in the preset scanning angle period, wherein the deployment position of the second laser radar is the same as the deployment position of the first laser radar;

[0222] verifying the second scanning result according to the first scanning result;

[0223] If the verification passes, it is determined that the second scanning result is accurate.

[0224] In one embodiment, the first scanning result includes first target scanning information of each target scanning angle within the preset scanning angle period, and the first target scanning information includes first average distance information and / or first average signal strength information; the second scanning result includes second target scanning information of each target scanning angle within the preset scanning angle period, and the second target scanning information includes maximum distance information and minimum distance information, and / or the second target scanning information includes maximum signal strength information and minimum signal strength information; when the processor executes the computer program, the following steps are also implemented:

[0225] For each target scanning angle, calculating a first difference between the maximum distance information and the first average distance information, and calculating a second difference between the minimum distance information and the first average distance information; and / or calculating a third difference between the maximum signal strength information and the first average signal strength information, and calculating a fourth difference between the minimum signal strength information and the first average signal strength information;

[0226] If the first difference and the second difference are both within a preset distance difference range, and / or the third difference and the fourth difference are both within a preset signal strength difference range, it is determined that the verification is passed.

[0227] In one embodiment, when the first target scanning information includes first average distance information corresponding to the target scanning angle, and the second target scanning information includes maximum distance information and minimum distance information corresponding to the target scanning angle, the second target scanning information also includes second average distance information corresponding to the target scanning angle, and after verifying the second scanning result according to the first scanning result, the processor further implements the following steps when executing the computer program:

[0228] If the verification fails, then for each target scanning angle, calculating a fifth difference between the first average distance information and the second average distance information;

[0229] The first difference, the second difference, and the fifth difference are output, and the first difference, the second difference, and the fifth difference are used to perform scanning accuracy analysis on the second scanning result.

[0230] In one embodiment, when the first target scanning information includes first average signal strength information corresponding to the target scanning angle, and the second target scanning information includes maximum signal strength information and minimum signal strength information corresponding to the target scanning angle, the second target scanning information also includes second average signal strength information corresponding to the target scanning angle, and after verifying the second scanning result according to the first scanning result, the processor further implements the following steps when executing the computer program:

[0231] If the verification fails, then for each of the target scanning angles, calculating a sixth difference between the first average signal strength information and the second average signal strength information;

[0232] The third difference, the fourth difference and the sixth difference are output, and the third difference, the fourth difference and the sixth difference are used to perform scanning accuracy analysis on the second scanning result.

[0233] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0234] Based on at least two preset scanning angle periods, the target environment in which the first laser radar is located is scanned to obtain scanning results corresponding to each of the scanning angle periods, wherein the horizontal angular resolution of each of the scanning angle periods is the same, the starting scanning angles of adjacent scanning angle periods are different, and all scanning angle periods contain at least two target scanning angle periods, the difference between the starting scanning angles of the two target scanning angle periods is not equal to an integer multiple of the horizontal angular resolution, and the scanning result includes target scanning information of each scanning angle in the scanning angle period, and the target scanning information includes at least target distance information;

[0235] Using the scanning results corresponding to each of the scanning angle cycles as environmental calibration information of the target environment;

[0236] The scanning results corresponding to each of the scanning angle cycles are used as environmental calibration information of the target environment.

[0237] In one embodiment, the target scanning information further includes target signal strength information.

[0238] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0239] For each scanning angle period, scanning the target environment according to the starting scanning angle, horizontal angle resolution and preset scanning times corresponding to the scanning angle period;

[0240] During each scanning process, initial scanning information of each scanning angle within the scanning angle period is obtained;

[0241] The scanning result corresponding to the scanning angle period is obtained according to the number of scans and the initial scanning information of each scanning angle obtained during each scan.

[0242] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0243] For each scanning process, the initial scanning information of each scanning angle obtained by the scanning process is divided by the number of scanning times to obtain average scanning information of each scanning angle;

[0244] Acquire a scanning result set corresponding to the scanning angle period, the scanning result set including accumulated scanning information corresponding to each scanning angle, the accumulated scanning information being obtained based on historical average scanning information of each scanning angle in a historical scanning process before a current scanning process;

[0245] The average scanning information of each of the scanning angles is added to the accumulated scanning information corresponding to each of the scanning angles, and a scanning result corresponding to the scanning angle period is determined according to the addition result.

[0246] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0247] The average scanning information of each of the scanning angles is discarded.

[0248] In one embodiment, the differences between the starting scanning angles of adjacent scanning angle cycles are the same.

[0249] In one embodiment, the difference between the starting scanning angles of adjacent scanning angle cycles is smaller than the horizontal angular resolution; the product of the difference between the starting scanning angles of adjacent scanning angle cycles and the number of each scanning angle cycle is equal to the horizontal angular resolution.

[0250] In one embodiment, the difference between the starting scanning angles of adjacent scanning angle cycles is greater than the horizontal angular resolution, the horizontal angular resolution is an integer multiple of a target remainder, and the target remainder is the remainder of the ratio of the difference between the starting scanning angles of adjacent scanning angle cycles to the horizontal angular resolution.

[0251] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0252] Determine a first scanning result of the first laser radar corresponding to a preset scanning angle period;

[0253] Acquire a second scanning result obtained by scanning the target environment with a second laser radar in the preset scanning angle period, wherein the deployment position of the second laser radar is the same as the deployment position of the first laser radar;

[0254] verifying the second scanning result according to the first scanning result;

[0255] If the verification passes, it is determined that the second scanning result is accurate.

[0256] In one embodiment, the first scanning result includes first target scanning information of each target scanning angle within the preset scanning angle period, and the first target scanning information includes first average distance information and / or first average signal strength information; the second scanning result includes second target scanning information of each target scanning angle within the preset scanning angle period, and the second target scanning information includes maximum distance information and minimum distance information, and / or the second target scanning information includes maximum signal strength information and minimum signal strength information; when the computer program is executed by the processor, the following steps are also implemented:

[0257] For each target scanning angle, calculating a first difference between the maximum distance information and the first average distance information, and calculating a second difference between the minimum distance information and the first average distance information; and / or calculating a third difference between the maximum signal strength information and the first average signal strength information, and calculating a fourth difference between the minimum signal strength information and the first average signal strength information;

[0258] If the first difference and the second difference are both within a preset distance difference range, and / or the third difference and the fourth difference are both within a preset signal strength difference range, it is determined that the verification is passed.

[0259] In one embodiment, when the first target scanning information includes first average distance information corresponding to the target scanning angle, and the second target scanning information includes maximum distance information and minimum distance information corresponding to the target scanning angle, the second target scanning information also includes second average distance information corresponding to the target scanning angle, and after verifying the second scanning result according to the first scanning result, the computer program further implements the following steps when executed by the processor:

[0260] If the verification fails, then for each target scanning angle, calculating a fifth difference between the first average distance information and the second average distance information;

[0261] The first difference, the second difference, and the fifth difference are output, and the first difference, the second difference, and the fifth difference are used to perform scanning accuracy analysis on the second scanning result.

[0262] In one embodiment, when the first target scanning information includes first average signal strength information corresponding to a target scanning angle, and the second target scanning information includes maximum signal strength information and minimum signal strength information corresponding to the target scanning angle, the second target scanning information also includes second average signal strength information corresponding to the target scanning angle, and after verifying the second scanning result according to the first scanning result, the computer program further implements the following steps when executed by the processor:

[0263] If the verification fails, then for each of the target scanning angles, calculating a sixth difference between the first average signal strength information and the second average signal strength information;

[0264] The third difference, the fourth difference and the sixth difference are output, and the third difference, the fourth difference and the sixth difference are used to perform scanning accuracy analysis on the second scanning result.

[0265] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0266] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0267] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A laser radar-based environmental calibration method, characterized in that: For a first laser radar, the method comprises: Based on at least two preset scanning angle periods, the target environment in which the first laser radar is located is scanned to obtain scanning results corresponding to each of the scanning angle periods, wherein the horizontal angular resolution of each of the scanning angle periods is the same, the starting scanning angles of adjacent scanning angle periods are different, and all scanning angle periods contain at least two target scanning angle periods, the difference between the starting scanning angles of the two target scanning angle periods is not equal to an integer multiple of the horizontal angular resolution, and the scanning result includes target scanning information of each scanning angle in the scanning angle period, and the target scanning information includes at least target distance information; The scanning results corresponding to each of the scanning angle cycles are used as environmental calibration information of the target environment.

2. The method according to claim 1, characterized in that The target scanning information also includes target signal strength information.

3. The method according to claim 1 or 2, characterized in that: The scanning of the target environment where the first laser radar is located based on at least two preset scanning angle cycles to obtain scanning results corresponding to each of the scanning angle cycles includes: For each scanning angle period, scanning the target environment according to the starting scanning angle, horizontal angle resolution and preset scanning times corresponding to the scanning angle period; During each scanning process, initial scanning information of each scanning angle within the scanning angle period is obtained; The scanning result corresponding to the scanning angle period is obtained according to the number of scans and the initial scanning information of each scanning angle obtained during each scan.

4. The method according to claim 3, characterized in that: The acquiring, according to the number of scans and the initial scan information of each scan angle obtained during each scan, a scan result corresponding to the scan angle period includes: For each scanning process, the initial scanning information of each scanning angle obtained by the scanning process is divided by the number of scanning times to obtain average scanning information of each scanning angle; Acquire a scanning result set corresponding to the scanning angle period, the scanning result set including accumulated scanning information corresponding to each scanning angle, the accumulated scanning information being obtained based on historical average scanning information of each scanning angle in a historical scanning process before a current scanning process; The average scanning information of each of the scanning angles is added to the accumulated scanning information corresponding to each of the scanning angles, and a scanning result corresponding to the scanning angle period is determined according to the addition result.

5. The method according to claim 4, characterized in that After adding the average scanning information of each scanning angle to the accumulated scanning information corresponding to each scanning angle, the method further includes: The average scanning information of each of the scanning angles is discarded.

6. The method according to claim 1 or 2, characterized in that: The differences between the starting scanning angles of adjacent scanning angle cycles are the same.

7. The method according to claim 6, characterized in that The difference between the starting scanning angles of adjacent scanning angle cycles is smaller than the horizontal angular resolution; the product of the difference between the starting scanning angles of adjacent scanning angle cycles and the number of each scanning angle cycle is equal to the horizontal angular resolution.

8. The method according to claim 6, characterized in that The difference between the starting scanning angles of adjacent scanning angle cycles is greater than the horizontal angular resolution, and the horizontal angular resolution is an integer multiple of a target remainder, which is the remainder of the ratio of the difference between the starting scanning angles of adjacent scanning angle cycles to the horizontal angular resolution.

9. The method according to claim 2, characterized in that: The method further comprises: Determine a first scanning result of the first laser radar corresponding to a preset scanning angle period; Acquire a second scanning result obtained by scanning the target environment with a second laser radar in the preset scanning angle period, wherein the deployment position of the second laser radar is the same as the deployment position of the first laser radar; verifying the second scanning result according to the first scanning result; If the verification passes, it is determined that the second scanning result is accurate.

10. The method according to claim 9, characterized in that The first scanning result includes first target scanning information of each target scanning angle within the preset scanning angle period, and the first target scanning information includes first average distance information and / or first average signal strength information; the second scanning result includes second target scanning information of each target scanning angle within the preset scanning angle period, and the second target scanning information includes maximum distance information and minimum distance information, and / or the second target scanning information includes maximum signal strength information and minimum signal strength information; The verifying the second scanning result according to the first scanning result includes: For each target scanning angle, calculating a first difference between the maximum distance information and the first average distance information, and calculating a second difference between the minimum distance information and the first average distance information; and / or calculating a third difference between the maximum signal strength information and the first average signal strength information, and calculating a fourth difference between the minimum signal strength information and the first average signal strength information; If the first difference and the second difference are both within a preset distance difference range, and / or the third difference and the fourth difference are both within a preset signal strength difference range, it is determined that the verification is passed.

11. The method according to claim 10, characterized in that In a case where the first target scanning information includes first average distance information corresponding to a target scanning angle, and the second target scanning information includes maximum distance information and minimum distance information corresponding to the target scanning angle, the second target scanning information also includes second average distance information corresponding to the target scanning angle, and after verifying the second scanning result according to the first scanning result, the method further includes: If the verification fails, then for each target scanning angle, calculating a fifth difference between the first average distance information and the second average distance information; The first difference, the second difference, and the fifth difference are output, and the first difference, the second difference, and the fifth difference are used to perform scanning accuracy analysis on the second scanning result.

12. The method according to claim 10, characterized in that In a case where the first target scanning information includes first average signal strength information corresponding to a target scanning angle, and the second target scanning information includes maximum signal strength information and minimum signal strength information corresponding to the target scanning angle, the second target scanning information also includes second average signal strength information corresponding to the target scanning angle, and after verifying the second scanning result according to the first scanning result, the method further includes: If the verification fails, then for each of the target scanning angles, calculating a sixth difference between the first average signal strength information and the second average signal strength information; The third difference, the fourth difference and the sixth difference are output, and the third difference, the fourth difference and the sixth difference are used to perform scanning accuracy analysis on the second scanning result.

13. An environmental calibration device based on laser radar, characterized in that: Set on the first laser radar, the device includes: A scanning module, configured to scan the target environment in which the first laser radar is located based on at least two preset scanning angle periods, and obtain scanning results corresponding to each of the scanning angle periods, wherein the horizontal angular resolution of each of the scanning angle periods is the same, the starting scanning angles of adjacent scanning angle periods are different, and all scanning angle periods contain at least two target scanning angle periods, and the difference between the starting scanning angles of the two target scanning angle periods is not equal to an integer multiple of the horizontal angular resolution, and the scanning result includes target scanning information of each scanning angle in the scanning angle period, and the target scanning information includes at least target distance information; The first determination module is used to use the scanning results corresponding to each of the scanning angle cycles as the environmental calibration information of the target environment.

14. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 12 are implemented.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 12 are implemented.

Images