Laser radar abnormal signal processing method and device and computer equipment

Abstract

This application relates to a method, apparatus, computer equipment, and storage medium for processing abnormal signals in lidar. It utilizes the correspondence between wavebands and waveform characteristics to detect and correct abnormal waveforms. It solves the technical problem common in the industry of calculating laser flight time using a method that adds pulse width correction to the time value at a certain voltage point on the rising edge. This method addresses the issue that the pulse width at abnormal points often changes, leading to inaccurate timing. This is because the distances to multiple targets covered by the laser spot vary, and some segments of the target signal may not be affected by the superposition of multiple signals. The position of the target point can be corrected by using other characteristics to correct this signal segment.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to a method, apparatus, computer device, and storage medium for processing abnormal signals of lidar. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a radar system that uses laser beams to detect the position, velocity, and other characteristics of targets. Its working principle involves emitting a laser beam towards the target, then comparing the received target signal reflected back with the emitted signal, and performing appropriate processing to obtain relevant target information. Anomalies in the LiDAR point cloud can affect the segmentation of the 3D point cloud, leading to inaccurate target identification. When the laser spot covers more than two target surfaces, the receiver will receive more than two pulses. The waveform after pulse superposition differs from the normal waveform, forming anomalies and causing inaccurate time-of-flight calculations. With the rapid development of autonomous driving technology, higher requirements are placed on the quality of LiDAR point clouds. To improve point cloud quality, it is necessary to identify and process anomalies.

[0003] Existing anomaly identification methods typically identify and correct anomalies by comparing the relationship between a target point in a point cloud and its surrounding points. The accuracy of this identification and correction is highly dependent on the accuracy of the surrounding points, which are not always accurate, leading to both false positives and false negatives. Furthermore, when the target object is small and there are few points in the point cloud mapping it, it is easily misidentified; conversely, when anomalies are clustered together, they are easily missed. Additionally, this method, which requires identification based on entire or multiple frames of point cloud data, suffers from poor real-time performance, thus reducing the performance of the LiDAR system. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, and storage medium for processing abnormal laser radar signals that can address the aforementioned technical problems.

[0005] A method for processing abnormal signals in lidar includes:

[0006] Acquire the target signal from the lidar that needs to be processed;

[0007] Determine whether the waveform of the target signal is an abnormal waveform based on the standard waveform characteristics with the same pulse width as the target signal;

[0008] If the waveform of the target signal is an abnormal waveform, then determine whether the abnormal waveform can be repaired;

[0009] When the abnormal waveform can be repaired, a repair operation is performed on the target waveform.

[0010] As an optional implementation, the method further includes:

[0011] When the abnormal waveform cannot be repaired, a deletion operation is performed on the target signal.

[0012] As an optional implementation, determining whether the waveform of the target signal is an abnormal waveform based on standard waveform characteristics includes:

[0013] Determine whether the waveform of the target signal has a trough;

[0014] If the waveform of the target signal has a trough, then the waveform of the target signal is determined to be an abnormal waveform.

[0015] As an optional implementation, determining whether the waveform of the target signal is an abnormal waveform based on standard waveform characteristics includes:

[0016] Determine whether the difference between the lower bound area of ​​the target signal and the lower bound area of ​​a standard waveform with the same pulse width is less than a first threshold.

[0017] If the difference between the lower bound area of ​​the target signal and the lower bound area of ​​the standard waveform with the same pulse width is not less than a first threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0018] As an optional implementation, determining whether the waveform of the target signal is an abnormal waveform based on standard waveform characteristics includes:

[0019] Determine whether the difference between the peak value of the target signal and the peak value of a standard waveform with the same pulse width is less than a second threshold.

[0020] If the difference between the peak value of the target signal and the peak value of the standard waveform with the same pulse width is not less than the second threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0021] As an optional implementation, determining whether the waveform of the target signal is an abnormal waveform based on standard waveform characteristics includes:

[0022] Determine whether the difference between the leading edge time difference of the target signal and the leading edge time difference of the standard waveform of the same pulse width is less than the third threshold.

[0023] If the difference between the leading edge time difference of the target signal and the leading edge time difference of the standard waveform with the same pulse width is not less than the third threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0024] As an optional implementation, determining whether the abnormal waveform can be repaired includes:

[0025] The abnormal waveform can be determined to be repairable if one of the following conditions is met.

[0026] The difference between the leading edge time difference of the target signal and the standard waveform with the same peak value is less than the fourth threshold.

[0027] The difference between the trailing edge time difference of the target signal and the standard waveform with the same peak value is less than the fifth threshold.

[0028] The difference between the peak value of the target signal and the standard waveform with the same pulse width at a certain voltage in the upper segment of the waveform is less than the fifth threshold.

[0029] As an optional implementation, when the abnormal waveform can be repaired, a repair operation is performed on the target waveform, including:

[0030] When the difference between the leading edge time difference of the target signal and the standard waveform with the same peak value is less than the fourth threshold, the target signal is corrected according to the rising edge of the waveform;

[0031] When the difference between the trailing edge time difference of the target signal and the standard waveform with the same peak value is less than the fifth threshold, the target signal is corrected according to the falling edge of the waveform;

[0032] When the difference between the peak value of the target signal and the standard waveform with the same pulse width at a certain voltage in the upper segment of the waveform is less than the fifth threshold, the target signal is corrected according to the upper segment of the waveform.

[0033] A lidar anomaly signal processing device, the device comprising:

[0034] The acquisition module is used to acquire the target signal of the lidar that needs to be processed.

[0035] The first judgment module is used to determine whether the waveform of the target signal is an abnormal waveform based on the standard waveform characteristics with the same pulse width as the target signal;

[0036] The second judgment module is used to determine whether the abnormal waveform can be repaired if the waveform of the target signal is an abnormal waveform.

[0037] The repair module is used to perform a repair operation on the target waveform when the abnormal waveform can be repaired.

[0038] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method in the embodiments of this application.

[0039] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method in the embodiments of this application.

[0040] The aforementioned lidar abnormal signal processing method, device, computer equipment, and storage medium utilize the correspondence between wavebands and waveform characteristics to detect and correct abnormal waveforms. This solves the industry-standard method of calculating laser flight time by adding pulse width correction to the time value at a certain voltage point on the rising edge. However, the pulse width at abnormal points often changes, leading to inaccurate timing. This is because the distances to multiple targets covered by the laser spot vary, and some segments of the target signal may not be affected by the superposition of multiple signals. Therefore, the position of the target point can be corrected by using other characteristics to correct this signal segment. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating a method for processing abnormal signals from a lidar system in one embodiment.

[0042] Figure 2 This is a schematic diagram illustrating the formation principle of an anomaly point in one embodiment;

[0043] Figure 3 This is a schematic diagram illustrating the formation principle of an anomaly point in one embodiment;

[0044] Figure 4 This is a schematic diagram illustrating the formation principle of an anomaly point in one embodiment;

[0045] Figure 5 This is a schematic diagram illustrating the formation principle of an anomaly point in one embodiment;

[0046] Figure 6 This is a scene diagram from one embodiment;

[0047] Figure 7 A diagram of anomalies in a scenario of one embodiment;

[0048] Figure 8 This is a schematic diagram illustrating the repair effect in another embodiment;

[0049] Figure 9 This is a structural block diagram of a lidar abnormal signal processing device in one embodiment;

[0050] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] See Figure 1This is a flowchart illustrating a method for processing abnormal signals in a lidar system according to an embodiment of this disclosure. The method mainly includes:

[0053] S110: Acquire the target signal of the lidar that needs to be processed.

[0054] After a lidar scans an object, it generates a lidar signal. Abnormal signals can exist within these lidar signals, therefore, they need to be detected and processed.

[0055] S120, determine whether the waveform of the target signal is an abnormal waveform based on the standard waveform characteristics with the same pulse width as the target signal.

[0056] Whether the waveform of the target signal is abnormal can be determined by comparing it with the standard waveform characteristics of the acquired LiDAR signal. Optionally, the waveform characteristics that can be selected include one or more of the following: pulse width, area enclosed below the waveform, peak value, leading edge time difference, and trailing edge time difference. There is a one-to-one correspondence between these waveform characteristics. For example, pulse width is the time difference between a certain moment of the rising edge and a certain moment of the falling edge of the signal; area is the area enclosed above and below a certain voltage value; peak value is the voltage value at the peak of the waveform; leading edge time difference is the time difference between the first and second moments of the rising edge; and trailing edge time difference is the time difference between the first and second moments of the falling edge. After acquiring the target signal, the waveform characteristics of the target signal can be calculated. These waveform characteristics can also include features such as pulse width, area enclosed below the waveform, peak value, and leading edge time difference. The selection of features for the target signal generally corresponds to the type of standard waveform characteristics. It should be noted that since abnormal waveform characteristics of the LiDAR signal indicate that the signal is abnormal, meaning that the signal needs to be repaired or deleted, for the sake of convenience, this embodiment does not distinguish between abnormal signals and abnormal waveforms.

[0057] S130, if the waveform of the target signal is an abnormal waveform, determine whether the abnormal waveform can be repaired; when the abnormal waveform can be repaired, perform a repair operation on the target waveform.

[0058] Different repair rules can be pre-defined based on the classification of abnormal waveforms. Of course, it's understandable that some abnormal signals cannot be repaired. In this case, if the obtained target information is confirmed to be an abnormal signal, and that abnormal signal cannot be repaired, the target signal can be deleted.

[0059] Optionally, a one-to-one correspondence can be established based on the following waveform characteristics: pulse width is the time difference between a certain moment of the rising edge and a certain moment of the falling edge; area is the area enclosed above and below a certain voltage value; peak value is the voltage value at the peak of the waveform; leading edge time difference is the time difference between the first and second moments of the rising edge; and trailing edge time difference is the time difference between the first and second moments of the falling edge. Repair rules can then be set. That is, when an abnormal waveform is determined to be repairable, the leading edge time difference, trailing edge time difference, and peak value of the target signal can be further obtained, and the abnormal waveform can be repaired using the aforementioned correspondence.

[0060] The lidar abnormal signal processing method in this embodiment utilizes the correspondence between wavebands and waveform features to detect and correct abnormal waveforms. It solves the technical problem common in the industry of calculating laser flight time by adding pulse width correction to the time value at a certain voltage point on the rising edge. This is because the pulse width at abnormal points often changes, leading to inaccurate timing. Since the distances to multiple targets covered by the laser spot are different, some segments of the target signal may not be affected by the superposition of multiple signals. The position of the target point can be corrected by using other features to correct this signal segment.

[0061] As an optional implementation, S120 may include: determining whether the waveform of the target signal has a trough; if the waveform of the target signal has a trough, then determining the waveform of the target signal as an abnormal waveform. Figure 2 As shown, based on the formation principle of anomalies, a standard waveform resembles a Gaussian curve, while an abnormal waveform is the superposition of multiple target reflected signals. After superposition, there may be troughs between the peaks. Therefore, by detecting the presence of troughs, it can be determined whether the target signal is an abnormal waveform.

[0062] As an optional implementation, S120 may include: determining whether the difference between the lower bound area of ​​the target signal and the area of ​​a standard waveform with the same pulse width is less than a first threshold; if the difference between the area of ​​the target signal and the area of ​​a standard waveform with the same pulse width is not less than the first threshold, then the waveform of the target signal is determined to be an abnormal waveform. Figure 3 As shown, based on the formation principle of abnormal points, when comparing abnormal waveforms and normal waveforms with the same pulse width, the area enclosed by the abnormal point waveform is smaller than that of the normal point. Therefore, it can be determined whether the target signal is an abnormal waveform by comparing the lower area of ​​the target signal with the lower area of ​​the standard waveform with the same pulse width.

[0063] As an optional implementation, S120 may include: determining whether the difference between the leading edge time difference of the target signal and the leading edge time difference of a standard waveform with the same pulse width is less than a third threshold; if the difference between the leading edge time difference of the target signal and the standard waveform with the same pulse width is not less than the third threshold, then the waveform of the target signal is determined to be an abnormal waveform. Figure 4 As shown, based on the formation principle of anomalies, the leading edge time difference of anomalies is larger than that of normal points. Therefore, it is possible to determine whether a target signal is an abnormal waveform by comparing the leading edge time difference of the target signal with that of a standard waveform with the same pulse width.

[0064] As an optional implementation, S120 may include: determining whether the difference between the peak value of the target signal and the peak value of a standard waveform with the same pulse width is less than a second threshold; if the difference between the peak value of the target signal and the standard waveform with the same pulse width is not less than the second threshold, then the waveform of the target signal is determined to be an abnormal waveform. Figure 5 As shown, based on the formation principle of abnormal points, it can be known that the peak value of abnormal points is larger than that of normal points. Therefore, it can be judged by comparing the peak value of the target signal with the peak value of the standard waveform with the same pulse width.

[0065] As described above, after determining that an abnormal waveform can be repaired, a waveform repair strategy can be set based on the one-to-one correspondence between waveform features to repair the abnormal waveform. Specifically, this can be as follows: when the difference between the leading edge time difference of the target signal and the standard waveform with the same peak value is less than a fourth threshold, the target signal is corrected based on the rising edge of the waveform; when the difference between the trailing edge time difference of the target signal and the standard waveform with the same peak value is less than a fifth threshold, the target signal is corrected based on the falling edge of the waveform; when the difference between the peak value of the target signal and the standard waveform with the same pulse width at a certain voltage in the upper segment of the waveform is less than a fifth threshold, the target signal is corrected based on the upper segment of the waveform.

[0066] See Figure 6 , Figure 6 The scenario involves placing a thin rod 4.5 meters away from the lidar, and then placing a flat surface 3 meters behind the rod. The point cloud (target signal) collected in this scenario is as follows: Figure 7 As shown, Figure 7 Anomalies (abnormal waveforms) exist in the data. The method described in this application repairs these anomalies, moving their location to the vicinity of the point cloud near the thin rod, allowing them to be used as normal point cloud data. The repair effect is as follows: Figure 8 As shown.

[0067] It should be understood that, although Figure 1The steps in the flowchart are shown sequentially 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 in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0068] In one embodiment, such as Figure 9 As shown, a lidar abnormal signal processing device includes:

[0069] Acquisition module 10 is used to acquire the target signal of the lidar that needs to be processed;

[0070] The first judgment module 20 is used to judge whether the waveform of the target signal is an abnormal waveform based on the standard waveform characteristics with the same pulse width as the target signal;

[0071] The second judgment module 30 is used to determine whether the abnormal waveform can be repaired if the waveform of the target signal is an abnormal waveform.

[0072] Repair module 40 is used to perform a repair operation on the target waveform when the abnormal waveform can be repaired.

[0073] In one embodiment, the repair module 40 is used to perform a deletion operation on the target signal when the abnormal waveform cannot be repaired.

[0074] In one embodiment, the first judgment module 20 is used to determine whether the waveform of the target signal has a trough; if the waveform of the target signal has a trough, the waveform of the target signal is determined to be an abnormal waveform.

[0075] In one embodiment, the first judgment module 20 is used to determine whether the difference between the lower bound area of ​​the target signal and the lower bound area of ​​the standard waveform with the same pulse width is less than a first threshold; if the difference between the lower bound area of ​​the target signal and the lower bound area of ​​the standard waveform with the same pulse width is not less than the first threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0076] In one embodiment, the first judgment module 20 is used to determine whether the difference between the peak value of the target signal and the peak value of the standard waveform with the same pulse width is less than a second threshold; if the difference between the peak value of the target signal and the peak value of the standard waveform with the same pulse width is not less than the second threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0077] In one embodiment, the first judgment module 20 is used to determine whether the difference between the leading edge time difference of the target signal and the leading edge time difference of the standard waveform with the same pulse width is less than a third threshold; if the difference between the leading edge time difference of the target signal and the leading edge time difference of the standard waveform with the same pulse width is not less than the third threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0078] In one embodiment, the second determination module 30 is used to determine whether one of the following conditions is met, and further determine that the abnormal waveform can be repaired. The specific repairable condition is:

[0079] The difference between the leading edge time difference of the target signal and the standard waveform with the same peak value is less than the fourth threshold.

[0080] The difference between the trailing edge time difference of the target signal and the standard waveform with the same peak value is less than the fifth threshold.

[0081] The difference between the peak value of the target signal and the standard waveform with the same pulse width at a certain voltage in the upper segment of the waveform is less than the fifth threshold.

[0082] In one embodiment, the repair module 40 is configured to correct the target signal based on the rising edge of the waveform when the difference between the leading edge time difference of the target signal and the standard waveform with the same peak value is less than a fourth threshold; correct the target signal based on the falling edge of the waveform when the difference between the trailing edge time difference of the target signal and the standard waveform with the same peak value is less than a fifth threshold; and correct the target signal based on the upper segment of the waveform when the difference between the peak value of the target signal and the standard waveform with the same pulse width at a certain voltage in the upper segment of the waveform is less than a fifth threshold.

[0083] Specific limitations regarding the lidar abnormal signal processing device can be found in the limitations of the lidar abnormal signal processing method described above, and will not be repeated here. Each module in the aforementioned lidar abnormal signal processing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the operations corresponding to each module.

[0084] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 10As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores point cloud data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a method for processing abnormal signals from a lidar system.

[0085] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0086] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0087] Acquire the target signal from the lidar that needs to be processed;

[0088] Determine whether the waveform of the target signal is an abnormal waveform based on the standard waveform characteristics with the same pulse width as the target signal;

[0089] If the waveform of the target signal is an abnormal waveform, then determine whether the abnormal waveform can be repaired;

[0090] When the abnormal waveform can be repaired, a repair operation is performed on the target waveform.

[0091] In one embodiment, when the processor executes a computer program, it performs the following steps: when the abnormal waveform cannot be repaired, it performs a deletion operation on the target signal.

[0092] In one embodiment, when the processor executes a computer program, it performs the following steps: determining whether the waveform of the target signal has a trough; if the waveform of the target signal has a trough, then the waveform of the target signal is determined to be an abnormal waveform.

[0093] In one embodiment, when the processor executes a computer program, it performs the following steps: determining whether the difference between the lower bound area of ​​the target signal and the lower bound area of ​​a standard waveform with the same pulse width is less than a first threshold; if the difference between the lower bound area of ​​the target signal and the lower bound area of ​​a standard waveform with the same pulse width is not less than the first threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0094] In one embodiment, when the processor executes a computer program, it performs the following steps: determining whether the difference between the peak value of the target signal and the peak value of a standard waveform with the same pulse width is less than a second threshold; if the difference between the peak value of the target signal and the peak value of a standard waveform with the same pulse width is not less than the second threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0095] In one embodiment, when the processor executes a computer program, it performs the following steps: determining whether the difference between the leading edge time difference of the target signal and the leading edge time difference of a standard waveform of the same pulse width is less than a third threshold.

[0096] If the difference between the leading edge time difference of the target signal and the leading edge time difference of the standard waveform with the same pulse width is not less than the third threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0097] In one embodiment, when a processor executes a computer program, it performs the following steps: if one of the following conditions is met, it is determined that the abnormal waveform can be repaired, wherein the condition is:

[0098] The difference between the leading edge time difference of the target signal and the standard waveform with the same peak value is less than the fourth threshold; the difference between the trailing edge time difference of the target signal and the standard waveform with the same peak value is less than the fifth threshold; the difference between the peak value of the target signal and the standard waveform with the same pulse width at a certain voltage in the upper segment of the waveform is less than the fifth threshold.

[0099] In one embodiment, when the processor executes a computer program, it performs the following steps: when the difference between the leading edge time difference of the target signal and the standard waveform with the same peak value is less than a fourth threshold, the target signal is corrected according to the rising edge of the waveform; when the difference between the trailing edge time difference of the target signal and the standard waveform with the same peak value is less than a fifth threshold, the target signal is corrected according to the falling edge of the waveform; when the difference between the peak value of the target signal and the standard waveform with the same pulse width at a certain voltage in the upper segment of the waveform is less than a fifth threshold, the target signal is corrected according to the upper segment of the waveform.

[0100] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0101] Acquire the target signal from the lidar that needs to be processed;

[0102] Determine whether the waveform of the target signal is an abnormal waveform based on the standard waveform characteristics with the same pulse width as the target signal;

[0103] If the waveform of the target signal is an abnormal waveform, then determine whether the abnormal waveform can be repaired;

[0104] When the abnormal waveform can be repaired, a repair operation is performed on the target waveform.

[0105] In one embodiment, when the computer program is executed by the processor, it performs the following steps: when the abnormal waveform cannot be repaired, a deletion operation is performed on the target signal.

[0106] In one embodiment, when the computer program is executed by the processor, it performs the following steps: determining whether the waveform of the target signal has a trough; if the waveform of the target signal has a trough, then the waveform of the target signal is determined to be an abnormal waveform.

[0107] In one embodiment, when the computer program is executed by the processor, it performs the following steps: determining whether the difference between the lower bound area of ​​the target signal and the lower bound area of ​​the standard waveform with the same pulse width is less than a first threshold; if the difference between the lower bound area of ​​the target signal and the lower bound area of ​​the standard waveform with the same pulse width is not less than the first threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0108] In one embodiment, when the computer program is executed by the processor, it performs the following steps: determining whether the difference between the peak value of the target signal and the peak value of a standard waveform with the same pulse width is less than a second threshold; if the difference between the peak value of the target signal and the peak value of a standard waveform with the same pulse width is not less than the second threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0109] In one embodiment, when the computer program is executed by the processor, it performs the following steps: determining whether the difference between the leading edge time difference of the target signal and the leading edge time difference of a standard waveform of the same pulse width is less than a third threshold.

[0110] If the difference between the leading edge time difference of the target signal and the leading edge time difference of the standard waveform with the same pulse width is not less than the third threshold, then the waveform of the target signal is determined to be an abnormal waveform.

[0111] In one embodiment, when a computer program is executed by a processor, it performs the following steps: if one of the following conditions is met, it is determined that the abnormal waveform can be repaired, wherein the condition is:

[0112] The difference between the leading edge time difference of the target signal and the standard waveform with the same peak value is less than the fourth threshold; the difference between the trailing edge time difference of the target signal and the standard waveform with the same peak value is less than the fifth threshold; the difference between the peak value of the target signal and the standard waveform with the same pulse width at a certain voltage in the upper segment of the waveform is less than the fifth threshold.

[0113] In one embodiment, when the computer program is executed by the processor, it performs the following steps: when the difference between the leading edge time difference of the target signal and the standard waveform with the same peak value is less than a fourth threshold, the target signal is corrected according to the rising edge of the waveform; when the difference between the trailing edge time difference of the target signal and the standard waveform with the same peak value is less than a fifth threshold, the target signal is corrected according to the falling edge of the waveform; when the difference between the peak value of the target signal and the standard waveform with the same pulse width at a certain voltage in the upper segment of the waveform is less than a fifth threshold, the target signal is corrected according to the upper segment of the waveform.

[0114] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, 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 storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0115] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0116] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for processing abnormal signals in a lidar system, characterized in that, include: Acquire the target signal from the lidar that needs to be processed; The waveform of the target signal is determined to be abnormal based on the standard waveform characteristics with the same pulse width as the target signal; the waveform characteristics include one or more of the following: trough, lower bound area, peak value, and leading edge time difference; If the waveform of the target signal is an abnormal waveform, then determine whether the abnormal waveform can be repaired; when the abnormal waveform can be repaired, perform a repair operation on the target signal using the correspondence between the band and the waveform features. When the abnormal waveform cannot be repaired, a deletion operation is performed on the target signal.

2. The method according to claim 1, characterized in that, Determining whether the waveform of the target signal is abnormal based on standard waveform characteristics includes: Determine whether the waveform of the target signal has a trough; If the waveform of the target signal has a trough, then the waveform of the target signal is determined to be an abnormal waveform.

3. The method according to claim 1, characterized in that, Determining whether the waveform of the target signal is abnormal based on standard waveform characteristics includes: Determine whether the difference between the lower bound area of ​​the target signal and the lower bound area of ​​a standard waveform with the same pulse width is less than a first threshold. If the difference between the lower bound area of ​​the target signal and the lower bound area of ​​the standard waveform with the same pulse width is not less than a first threshold, then the waveform of the target signal is determined to be an abnormal waveform.

4. The method according to claim 1, characterized in that, Determining whether the waveform of the target signal is abnormal based on standard waveform characteristics includes: Determine whether the difference between the peak value of the target signal and the peak value of a standard waveform with the same pulse width is less than a second threshold. If the difference between the peak value of the target signal and the peak value of the standard waveform with the same pulse width is not less than the second threshold, then the waveform of the target signal is determined to be an abnormal waveform.

5. The method according to claim 1, characterized in that, Determining whether the waveform of the target signal is abnormal based on standard waveform characteristics includes: Determine whether the difference between the leading edge time difference of the target signal and the leading edge time difference of the standard waveform of the same pulse width is less than the third threshold. If the difference between the leading edge time difference of the target signal and the leading edge time difference of the standard waveform with the same pulse width is not less than the third threshold, then the waveform of the target signal is determined to be an abnormal waveform.

6. The method according to claim 1, characterized in that, Determining whether the abnormal waveform can be repaired includes: The abnormal waveform can be determined to be repairable if one of the following conditions is met. The difference between the leading edge time difference of the target signal and the standard waveform with the same peak value is less than the fourth threshold. The difference between the trailing edge time difference of the target signal and the standard waveform with the same peak value is less than the fifth threshold. The difference between the peak value of the target signal and the standard waveform with the same pulse width at a certain voltage in the upper segment of the waveform is less than the fifth threshold.

7. The method according to claim 6, characterized in that, When the abnormal waveform can be repaired, a repair operation is performed on the target signal, including: When the difference between the leading edge time difference of the target signal and the standard waveform with the same peak value is less than the fourth threshold, the target signal is corrected according to the rising edge of the waveform; When the difference between the trailing edge time difference of the target signal and the standard waveform with the same peak value is less than the fifth threshold, the target signal is corrected according to the falling edge of the waveform; When the difference between the peak value of the target signal and the standard waveform with the same pulse width at a certain voltage in the upper segment of the waveform is less than the fifth threshold, the target signal is corrected according to the upper segment of the waveform.

8. A laser radar abnormal signal processing device, characterized in that, The device includes: The acquisition module is used to acquire the target signal of the lidar that needs to be processed. The first judgment module is used to determine whether the waveform of the target signal is an abnormal waveform based on the standard waveform characteristics with the same pulse width as the target signal; wherein, the waveform characteristics include one or more of the following: trough, lower area, peak value, and leading edge time difference; The second judgment module is used to determine whether the abnormal waveform can be repaired if the waveform of the target signal is an abnormal waveform. The repair module is used to perform a repair operation on the target signal by utilizing the correspondence between the band and the waveform features when the abnormal waveform can be repaired; and to perform a deletion operation on the target signal when the abnormal waveform cannot be repaired.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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