Interference Event Recognition Method, Device, System, Storage Medium and Electronic Device

Abstract

The present application discloses a method for identifying interference events in laser radar detection, comprising: obtaining echo signals generated by the reflection of laser pulses emitted by each laser light source during a detection process performed by multiple laser light sources by emitting laser beams; generating a number of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; determining the detection distance of each detection event based on the delay duration corresponding to each detection event; determining the distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source; and for each detection event, determining the detection event as an interference event if there is no distance difference less than a preset threshold. The present application can effectively identify interference events in laser radar detection and improve the detection performance of the laser radar detection system in complex environments.

Description

Technical Field

[0001] The present application relates to laser radar detection technology, and in particular to a method, device, system, storage medium and electronic device for identifying interference events in laser radar detection. Background Art

[0002] With the advancement of laser technology, systems that use lasers to achieve radar detection have been increasingly widely used.

[0003] At present, the laser radar detection system usually includes a laser light source, a detector and a processor. Among them, the laser light source is used to emit a laser beam, the detector is used to receive the echo signal generated by the laser beam being reflected by the detected object, and the processor is used to control the emission of the laser beam and the reception of the echo signal, and analyze information such as the position of the reflecting object based on information such as the received echo signal and the time of emitting the laser beam.

[0004] However, in existing lidar detection systems, in special environments, such as rainy and snowy weather environments, the laser beam may not only be reflected by the detected object to generate an echo signal, but may also be reflected by interference objects such as raindrops and snowflakes to generate an echo signal. In this case, when using the received echo signal to analyze the reflecting object, interference information may be introduced, thereby affecting the accuracy of the detection system, and further affecting the robustness of the lidar detection system when used in complex environments. Summary of the Invention

[0005] The present application provides a method, device, system, storage medium and electronic device for identifying interference events in laser radar detection, which can identify interference events during the detection process, thereby improving the detection performance of the laser radar detection system in complex environments.

[0006] To achieve the above objectives, this application adopts the following technical solutions:

[0007] A method for identifying interference events in laser radar detection, comprising:

[0008] For each detection process performed by emitting laser beams from multiple laser light sources, an echo signal generated by reflection of the laser beams emitted by each laser light source is obtained;

[0009] Based on all echo signals corresponding to each of the laser light sources, a plurality of detection events corresponding to each of the laser light sources are generated; wherein each detection event corresponds to a delay time, and the delay time is the time difference between the reception time of an echo signal and the emission time of the laser beam corresponding to the echo signal;

[0010] Determining a detection distance of each detection event based on a delay duration corresponding to each detection event; wherein the detection distance represents a relative distance between a reflection position where the laser beam is reflected to generate the echo signal and a pre-calibrated reference position;

[0011] determining a distance difference between a detection distance of each detection event and a detection distance of a detection event corresponding to an adjacent laser light source;

[0012] For each detection event, if the distance difference does not exist and is smaller than the preset threshold, the detection event is determined as an interference event.

[0013] Preferably, a detection process of each laser light source is to generate and emit a laser beam.

[0014] Generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source includes: generating a detection event corresponding to each echo signal.

[0015] Preferably, a detection process of each laser light source is to generate and emit multiple laser beams.

[0016] Generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source includes:

[0017] For each of the laser light sources, determining a delay time between a reception time of each echo signal corresponding to the laser light source and a transmission time of the corresponding laser beam;

[0018] Corresponding to each of the laser light sources, the number of echo signals with the same delay duration is counted, and several delay durations are selected based on the statistical results. Corresponding to each selected delay duration, a detection event is generated.

[0019] Preferably, the statistical results are represented by a histogram.

[0020] Preferably, the maximum value of the preset threshold is: the pulse width of the laser beam Speed of light.

[0021] Preferably, the beam divergence angle of the laser light source ensures that the laser beams emitted by the respective laser light sources do not overlap with each other within a set maximum distance.

[0022] Preferably, the distance between adjacent laser light sources is on the order of centimeters.

[0023] Preferably, the detection process of different laser light sources is carried out in a time-sharing manner, and the corresponding laser light source is determined according to the reception time of the echo signal; or,

[0024] The detection process of different laser light sources is carried out simultaneously, and the corresponding laser light source is determined according to the receiving position of the echo signal.

[0025] An interference event recognition device in laser radar detection includes: a receiving unit, a detection event generation unit and an interference event recognition unit;

[0026] The receiving unit is configured to obtain an echo signal generated by reflection of a laser pulse emitted by each of the laser light sources during a detection process performed by each of the laser light sources by emitting a laser beam;

[0027] The detection event generation unit is configured to generate a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; wherein each detection event corresponds to a delay duration, and the delay duration is the time difference between the reception time of an echo signal and the emission time of the laser beam corresponding to the echo signal;

[0028] The interference event identification unit is configured to determine a detection distance of each detection event based on a delay duration corresponding to each detection event; detect a distance difference between the detection distance of each detection event and a detection distance of a detection event corresponding to an adjacent laser light source; and for each detection event, if there is no distance difference less than a preset threshold, determine the detection event as an interference event;

[0029] The detection distance represents the relative distance between the reflection position where the laser beam is reflected to generate the echo signal and a pre-calibrated reference position.

[0030] Preferably, a detection process of each laser light source is to generate and emit a laser beam.

[0031] In the detection event generating unit, generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source includes: generating a detection event corresponding to each echo signal.

[0032] Preferably, a detection process of each laser light source is to generate and emit multiple laser beams.

[0033] In the detection event generating unit, generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source includes:

[0034] For each of the laser light sources, determining a delay time between a reception time of each echo signal corresponding to the laser light source and a transmission time of the corresponding laser beam;

[0035] Corresponding to each of the laser light sources, the number of echo signals with the same delay duration is counted, and several delay durations are selected based on the statistical results. Corresponding to each selected delay duration, a detection event is generated.

[0036] Preferably, the statistical results are represented by a histogram.

[0037] Preferably, the maximum value of the preset threshold is: the pulse width of the laser beam Speed of light.

[0038] Preferably, the beam divergence angle of the laser light source ensures that the laser beams emitted by the respective laser light sources do not overlap with each other within a set maximum distance.

[0039] Preferably, the distance between adjacent laser light sources is on the order of centimeters.

[0040] Preferably, in the receiving unit, the corresponding laser light source is determined according to the reception time of the echo signal; wherein the detection process of different laser light sources is carried out in a time-sharing manner;

[0041] or,

[0042] In the receiving unit, the corresponding laser light source is determined according to the receiving position of the echo signal; wherein, the detection process of different laser light sources is carried out simultaneously.

[0043] A laser radar detection system includes: multiple laser light sources, detectors and a processor;

[0044] Each laser light source is used to perform a detection process by emitting a laser beam;

[0045] The detector is used to obtain the echo signal generated by the reflection of the laser beam emitted by each laser light source;

[0046] The processor is configured to control the laser light source to emit the laser beam and control the detector to acquire the echo signal; further configured to generate a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; determine a detection distance of each detection event based on a delay duration corresponding to each detection event; determine a distance difference between the detection distance of each detection event and the detection distance of a detection event corresponding to an adjacent laser light source; and for each detection event, if there is no distance difference less than a preset threshold, determine the detection event as an interference event;

[0047] In which, each detection event corresponds to a delay duration, and the delay duration is the time difference between the reception moment of the echo signal and the emission moment of the laser beam corresponding to the echo signal; the detection distance represents the relative distance of the reflection position where the laser beam is reflected to generate the echo signal compared to a pre-calibrated reference position.

[0048] Preferably, the detection process performed by the laser light source is to generate and emit a laser beam;

[0049] In the processor, generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source includes: generating a detection event corresponding to each echo signal.

[0050] Preferably, a detection process of the laser light source is to generate and emit multiple laser beams.

[0051] In the processor, generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source includes:

[0052] For each of the laser light sources, determining a delay time between a reception time of each echo signal corresponding to the laser light source and a transmission time of the corresponding laser beam;

[0053] Corresponding to each of the laser light sources, the number of echo signals with the same delay duration is counted, and several delay durations are selected based on the statistical results. Corresponding to each selected delay duration, a detection event is generated.

[0054] Preferably, the statistical results are represented by a histogram.

[0055] Preferably, the maximum value of the preset threshold is: the pulse width of the laser beam Speed of light.

[0056] Preferably, the beam divergence angle of the laser light source ensures that the laser beams emitted by the respective laser light sources do not overlap with each other within a set maximum distance.

[0057] Preferably, the distance between adjacent laser light sources is on the order of centimeters.

[0058] Preferably, in the processor, the corresponding laser light source is determined according to the time when the detector receives the echo signal; wherein the detection process of different laser light sources is performed in a time-sharing manner;

[0059] or,

[0060] In the processor, the corresponding laser light source is determined according to the receiving position of the detector for the echo signal; wherein the detection process of different laser light sources is carried out simultaneously.

[0061] A computer-readable storage medium having computer instructions stored thereon, characterized in that when the instructions are executed by a processor, the interference event identification method in laser radar detection described in any one of the above items can be implemented.

[0062] An electronic device comprising at least a computer-readable storage medium and a processor;

[0063] The processor is used to read the executable instructions from the computer-readable storage medium and execute the instructions to implement the interference event identification method in laser radar detection described in any one of the above items.

[0064] As can be seen from the above technical solution, in this application, for each of the multiple laser light sources, a detection process is performed, and the echo signal generated by the reflection of the laser beam emitted by each laser light source is obtained; based on all the echo signals corresponding to each laser light source, a number of detection events corresponding to each laser light source are generated; each detection event corresponds to a delay time; based on the delay time corresponding to each detection event, the detection distance of each detection event is determined; the detection distance represents the relative distance of the reflection position where the laser beam is reflected to generate the echo signal compared to a pre-calibrated reference position; the distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source is detected; for each detection event, if there is no distance difference less than a preset threshold, the detection event is determined as an interference event. Through the above processing, when performing laser radar detection, multiple laser light sources perform detection separately. Since the interference detection object corresponding to the interference event is very small, the interference detection object will not be reflected by the laser beam of the adjacent laser light source at the same time, while the target detection object is usually large and will be reflected by the laser beam of the adjacent laser light source at the same time. Based on this, the interference event corresponding to the interference detection object that is not reflected by the laser beam of the adjacent laser light source at the same time is the interference event. This can effectively identify interference events and eliminate them from the detection results, thereby improving the detection performance and robustness of the detection system in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1a This is an example diagram of the arrangement of two laser light sources and detectors in a lidar;

[0066] Figure 1b This is an example diagram of the arrangement of three laser light sources and detectors in a lidar;

[0067] Figure 2a Schematic diagram of lidar detecting interference objects;

[0068] Figure 2b This is a schematic diagram of the laser radar detecting the expected detection object;

[0069] Figure 3 This is a flow chart of a method for identifying interference events in laser radar detection according to an embodiment of the present application;

[0070] Figure 4 A schematic diagram of the structure of the interference event identification device in laser radar detection provided by this application;

[0071] Figure 5 A schematic diagram of the structure of the laser radar detection system provided in this application;

[0072] Figure 6 This is a schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical means and advantages of this application more clear, this application is further described in detail below with reference to the accompanying drawings.

[0074] LiDAR typically consists of a light emitting module, a light receiving module, and a control module. During detection, the light emitting module emits a laser beam, which propagates forward until it reflects off an object in its path, generating an echo signal. This echo signal is then received by the light receiving module, which detects and generates a detection event. The control module then analyzes the detection event and generates a detection result.

[0075] When LiDAR performs laser detection in some special environments, there may be very small interference objects. These interference objects will also reflect the laser beam to generate echo signals. When the LiDAR detector receives the echo signal, if no additional processing is performed, it will use the echo signal generated by the reflection of the interference object for detection processing, thereby mistakenly taking the interference object as the target object for detection, affecting the accuracy of laser detection.

[0076] Typically, in rainy or snowy weather, raindrops or snowflakes can reflect the laser beam, generating an echo signal. This can lead to unexpected detection events and an increase in the system's false alarm rate. This is especially true when raindrops or snowflakes are close to the LiDAR, where the reflected echo signal is stronger, making the detection of raindrops or snowflakes and the resulting increase in false alarms more pronounced.

[0077] The basic idea of this application is to use multiple laser light sources for detection and identify interference events by taking advantage of the fact that the interference objects corresponding to the interference events are very small and will not be reflected by adjacent laser beams at the same time.

[0078] The specific implementation of this application is described below through specific embodiments.

[0079] First, the principle of identifying interference events and interferers in this application is explained.

[0080] The laser radar in this application includes multiple laser light sources, wherein the distance between adjacent laser light sources can be set at the centimeter level, so as to identify interference events by using the information of the corresponding echo signals of the adjacent laser light sources. The laser radar also includes a laser detector with a large field of view, which can simultaneously receive the echo signals generated by the laser beams emitted by each laser light source. The laser light sources can be distributed around the detector, for example, the arrangement of two laser light sources and the detector can be as follows: Figure 1a , the arrangement of the three laser light sources and detectors can be as follows Figure 1b As shown, of course the above arrangement is just an example and can be set as needed during specific implementation.

[0081] When there are small interferences such as raindrops / snowflakes in the detection area, they will not be detected by adjacent laser beams at the same time because the interferences are small in diameter (generally less than centimeters, for example, raindrops / snowflakes are usually less than 5 mm in diameter). Figure 2a As shown; for the desired detection object, since its size is generally above the centimeter level, it will be detected by multiple adjacent laser beams at the same time, generating multiple detection events with the same distance, such as Figure 2b As shown. Based on this, according to whether it is detected by the laser beams emitted by adjacent laser light sources at the same time, it is possible to identify whether the detected object is an interference object or a desired detection object, and accordingly, it is possible to identify whether it is an interference event or a desired detection event. At the same time, in order to effectively ensure that the interference object is not detected by adjacent laser beams at the same time, preferably, the beam divergence angle of the laser light source ensures that the laser beams emitted by each laser light source do not overlap with each other within the set maximum distance. The set maximum distance can usually be set to the farthest distance at which the echo signal generated by the reflection of the interference object can be clearly received and identified. For example, if raindrops / snowflakes are used as interference objects, the set maximum distance can be 0.5m~1.5m, and the corresponding laser beam divergence angle can be 0.5°~1°.

[0082] Figure 3 This is a flow chart of the interference event identification method in the laser radar detection of the embodiment of the present application. Figure 3 As shown, the method includes:

[0083] Step 301 : For each of the multiple laser light sources that emit laser beams and perform a detection process, an echo signal generated by the reflection of the laser beam emitted by each laser light source is obtained.

[0084] Multiple laser light sources each perform a detection process by emitting laser beams. As previously mentioned, the laser radar in this application includes multiple laser light sources, each of which performs detection. The detector in the laser radar receives the echo signal generated by the reflection of the laser beam emitted by the laser light source. Of course, due to the limited size of the detection object, it is possible that the laser beam is not reflected and thus does not generate a corresponding echo signal. In this step, all echo signals generated by the reflection of the laser beam emitted by each laser light source during a detection process are obtained.

[0085] The detection processes of different laser light sources can be carried out simultaneously. In this case, the detector can determine the corresponding laser beam based on the receiving position of the echo signal (for example, the pixel position of the received echo signal), and thus determine the corresponding laser light source; alternatively, the detection processes of different laser light sources can also be carried out in a time-division multiplexing manner, that is, different laser light sources emit laser beams in different time periods, and the detector can determine the corresponding laser beam based on the receiving time period of the echo signal, and determine the corresponding laser light source.

[0086] In more detail, for each laser light source, a detection process can be divided into the following two cases:

[0087] a) Each laser light source generates and emits only one laser beam (specifically, one pulse). The detector receives the echo signal and records the time information of the echo signal (such as timestamp data). If no echo signal is received, no information is recorded.

[0088] b) Each laser light source generates multiple laser beams and emits them sequentially. The detector receives multiple echo signals and records the time information of the multiple echo signals (for example, timestamp data). If no echo signal is received, no information is recorded.

[0089] Step 302: Generate a number of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source.

[0090] In step 301, the echo signal generated by the reflected laser beam is obtained, and the corresponding laser light source can be determined. Here, a detection event is generated for the laser light source that generates the echo signal. Of course, if the echo signal corresponding to a laser light source is not received, there is no need to generate a detection event for that laser light source.

[0091] For each laser light source, a detection event is generated based on all the echo signals received from the laser light source for subsequent processing. As mentioned above, the detection process of a laser light source can be divided into two different situations, and the methods for generating detection events are also different for these two different situations.

[0092] Specifically, when the detection process involves a laser light source generating and emitting a laser beam, a detection event is generated for each echo signal. That is, after the laser light source emits a laser beam, the detector receives the echo signal generated by the reflection of the laser beam. For each received echo signal, a detection event is generated, and the time difference between the moment the echo signal was received and the moment the corresponding laser beam was emitted is recorded. This time difference is called the delay duration, and the delay duration is associated with the detection event. In reality, because the laser beam has a certain divergence angle, a laser beam may be partially reflected by one detection object and partially reflected by other detection objects. Based on this, a laser beam may be reflected to generate multiple echo signals. Therefore, a corresponding detection event is generated for each received echo signal, and the delay duration is recorded.

[0093] When the detection process is that a laser light source generates and emits multiple laser beams in sequence, for each laser light source, the delay duration between the reception time of each echo signal corresponding to the laser light source and the emission time of the corresponding laser beam is determined; then, for each laser light source, the number of echo signals with the same delay duration is counted, and several delay durations are selected based on the statistical results, and a detection event is generated for each selected delay duration.

[0094] The statistical count of echo signals can be represented using a histogram. For example, the horizontal axis of the histogram can be set to the delay duration (specifically, the timestamp information of the echo signal), and the vertical axis can be set to the number of echo signals. Assume that laser light source A emits 100 laser beams during a detection process. Each time an echo signal is received, the delay duration between the reception time of the echo signal and the emission time of the corresponding laser beam is determined. The number of echo signals corresponding to the same delay duration in the histogram is incremented by 1 until all echo signals from laser light source A are received. Although the laser light source emits 100 laser beams, some laser beams may not be reflected and no corresponding echo signals may be received. Some laser beams may be reflected multiple times, generating multiple echo signals. Based on this, the number of received echo signals may be more or less than 100. After all echo signals are received, a number of delay durations are selected based on the statistical results of the histogram, and corresponding detection events are generated. The specific selection method can be set as needed, and can be various existing selection methods in the histogram field, such as selecting the delay time length corresponding to the number of echo signals being greater than a set value.

[0095] Step 303: Determine the detection distance of each detection event based on the delay duration corresponding to each detection event.

[0096] Each detection event is associated with a delay duration, based on which the detection distance of each detection event is determined. The detection distance represents the relative distance between the reflected position of the laser beam and the echo signal generated by the reflected laser beam and a pre-calibrated reference position.

[0097] More specifically, the delay duration represents the time difference between the reception moment of the corresponding echo signal and the emission moment of the corresponding laser beam. Since the echo signal is generated after the laser beam is reflected by the detection object, the product of the delay duration and the speed of light can represent the detection distance.

[0098] Step 304 : Determine the distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source.

[0099] Through the aforementioned processing, each detection process performed by all laser light sources generates a corresponding detection event, and a detection distance is calculated for each detection event. As previously mentioned, whether the detection object is an interference object and the corresponding detection event is an interference event is determined by whether adjacent laser light sources simultaneously detect the same detection object. When adjacent laser light sources simultaneously detect the same detection object, the detection events generated by the adjacent laser light sources correspond to the same detection distance. Therefore, to identify interference events, it is necessary to determine the distance difference between the detection distances for the detection events corresponding to adjacent laser light sources.

[0100] Based on the above analysis, in this step, for each detection event corresponding to all laser light sources, the detection events of its adjacent laser light sources are determined, and the distance difference between the detection distances between the two is determined. For each laser light source, there may be multiple detection events for a certain adjacent laser light source. For example, a laser light source may generate multiple detection events, or the adjacent laser light source may not generate a detection event. In addition, there may be multiple adjacent laser light sources. Therefore, for a detection event of a certain laser light source, there may be zero or more detection events for its adjacent laser light sources. Based on this, the distance difference calculated for this detection event may also be zero or more.

[0101] Step 305: For each detection event, if there is no distance difference less than a preset threshold, the detection event is determined as an interference event.

[0102] For any detection event B, assuming that the adjacent laser light source corresponds to a detection event C, if the distance difference between the detection distance of detection event B and the detection distance of detection event C is less than a preset threshold, the two detection distances are considered to be equal, thereby determining that there are adjacent laser light sources detecting the same detection object, and detection event B is the expected detection object; if all adjacent laser light sources of the laser light source corresponding to detection event B do not have a detection event whose distance difference with the detection distance of detection event B is less than the preset threshold, then it means that for detection event B, no adjacent laser light source simultaneously detects the detection object that generates detection event B, then this detection object is a very small interference object, and detection event B is an interference event, which can be eliminated in the processing of detection events in subsequent radar detection.

[0103] The reason why a threshold is set here and the two detection distances are considered equal when the distance difference is less than the preset threshold is mainly due to the following considerations: In actual applications, since the pulse of the laser beam has a certain pulse width, the time when adjacent laser light sources are reflected by the same detection object may have a certain deviation. This deviation is usually the largest pulse width. Since the reflection time has a certain deviation, the delay time corresponding to the generated echo signal also has a certain deviation. Therefore, if the deviation between the two detection distances is within a certain range, the two detection distances are considered equal. The above preset threshold is used to limit the deviation range. The maximum deviation range can be set to the pulse width of the laser beam. Speed of light, that is, the maximum value of the preset threshold is the pulse width of the laser beam Speed of light. In practical applications, the set deviation range can also be smaller than the maximum deviation range (i.e. pulse width Speed of light), that is, the preset threshold can be smaller than the maximum deviation range. Although this will result in the exclusion of some echo signals generated by the desired detection object, it also further eliminates the possibility that adjacent light sources will illuminate two raindrops at similar distances and generate two echo signals at relatively close distances, thereby potentially increasing the overall detection signal-to-noise ratio.

[0104] In addition, as mentioned above, all adjacent laser light sources of a certain detection event a determined in step 304 do not generate a detection event (that is, the distance difference corresponding to the detection event a is 0), that is, there is no corresponding distance difference for the detection event. This situation also belongs to the situation where there is no distance difference less than the preset threshold, that is, the detection event is an interference event.

[0105] This concludes the process of the interference event identification method in the embodiment of the present application. This identification method can be applied to lidar detection to identify unexpected detection events (i.e., interference events), determine that the detection results corresponding to the interference events are interference objects, and then eliminate the corresponding interference events in subsequent processing to prevent such interference events from affecting the final detection results, thereby improving the system's detection performance in complex environments.

[0106] The above is a specific implementation of the interference event recognition method in laser radar detection of the present application. The present application also provides an interference event recognition device in laser radar detection, which can be used to implement the above interference event recognition method. Figure 4 The basic structure diagram of the device is shown in Figure 2. Figure 4 As shown, the device includes: a receiving unit, a detection event generating unit and an interference event identifying unit.

[0107] The receiving unit is used for performing a detection process by emitting laser beams from multiple laser light sources, and obtaining an echo signal generated by the reflection of the laser beams emitted by each laser light source.

[0108] The detection event generation unit is used to generate a number of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; wherein each detection event corresponds to a delay duration, and the delay duration is the time difference between the reception time of an echo signal and the emission time of the laser beam corresponding to the echo signal.

[0109] The interference event identification unit is configured to determine the detection distance of each detection event based on the delay duration corresponding to each detection event; detect the distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source; and for each detection event, if the distance difference does not exceed a preset threshold, determine the detection event as an interference event. The detection distance represents the relative distance of the reflection position where the laser beam is reflected to generate the echo signal compared to a pre-calibrated reference position.

[0110] Optionally, one detection process of each laser light source is to generate and emit a laser beam;

[0111] Accordingly, in the detection event generating unit, the process of generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source may include: generating a detection event corresponding to each echo signal.

[0112] Optionally, a detection process of each laser light source is to generate and emit multiple laser beams;

[0113] Accordingly, in the detection event generating unit, the process of generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source may include:

[0114] For each laser light source, determine the delay between the time when each echo signal corresponding to the laser light source is received and the time when the corresponding laser beam is emitted;

[0115] For each laser light source, the number of echo signals with the same delay time is counted, and several delay time lengths are selected based on the statistical results. For each selected delay time length, a detection event is generated.

[0116] The above statistical results can be represented by a histogram.

[0117] Optionally, the maximum value of the preset threshold value can be set to: the pulse width of the laser beam Speed of light.

[0118] Optionally, the beam divergence angle of the laser light source ensures that the laser beams emitted by the respective laser light sources do not overlap with each other within a set distance.

[0119] Optionally, the distance between adjacent laser light sources is on the order of centimeters.

[0120] Optionally, in the receiving unit, the corresponding laser light source is determined according to the reception time of the echo signal; wherein the detection process of different laser light sources is performed in a time-sharing manner;

[0121] or,

[0122] Optionally, in the receiving unit, the corresponding laser light source is determined according to the receiving position of the echo signal; wherein the detection process of different laser light sources is performed simultaneously.

[0123] The present application also provides a laser radar detection system that can be used to perform laser emission and interference event identification. Figure 5 The basic structure diagram of the laser radar detection system is shown in Figure 2. Figure 5 As shown, the system includes: multiple laser light sources, detectors and processors.

[0124] Each laser light source is used to perform a detection process by emitting a laser beam, and the detector is used to obtain an echo signal generated by the reflection of the laser beam emitted by each laser light source.

[0125] a processor, configured to control the laser light source to emit the laser beam and control the detector to acquire the echo signal; further configured to generate a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; determine a detection distance of each detection event based on a delay duration corresponding to each detection event; determine a distance difference between the detection distance of each detection event and the detection distance of a detection event corresponding to an adjacent laser light source; and for each detection event, if there is no distance difference less than a preset threshold, determine the detection event as an interference event;

[0126] In more detail, each detection event corresponds to a delay duration, which is the time difference between the reception moment of an echo signal and the emission moment of the laser beam corresponding to the echo signal; the detection distance represents the relative distance of the reflection position where the laser beam is reflected to generate the echo signal compared to the pre-calibrated reference position.

[0127] Through the application of the above-mentioned lidar detection system, the processor can detect interference events during detection events, and further, the influence of interference events can be eliminated when the processor performs subsequent detection tasks.

[0128] Optionally, a detection process performed by the laser light source is to generate and emit a laser beam;

[0129] In the processor, generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source may include: generating a detection event corresponding to each echo signal.

[0130] Optionally, a detection process of the laser light source is to generate and emit multiple laser beams,

[0131] In the processor, generating a number of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source may include:

[0132] For each laser light source, determine the delay between the time when each echo signal corresponding to the laser light source is received and the time when the corresponding laser beam is emitted;

[0133] For each laser light source, the number of echo signals with the same delay time is counted, and several delay time lengths are selected based on the statistical results. For each selected delay time length, a detection event is generated.

[0134] Optionally, a histogram is used to represent the statistical results.

[0135] Optionally, the maximum value of the preset threshold is: the pulse width of the laser beam Speed of light.

[0136] Optionally, the beam divergence angle of the laser light source ensures that the laser beams emitted by the respective laser light sources do not overlap with each other within a set maximum distance.

[0137] Optionally, the distance between adjacent laser light sources is on the order of centimeters.

[0138] Optionally, in the processor, the corresponding laser light source is determined according to the time when the detector receives the echo signal; wherein the detection process of different laser light sources is performed in time sharing; specifically, the processor can control the different laser light sources to perform the detection process in time sharing;

[0139] or,

[0140] In the processor, the corresponding laser light source is determined according to the receiving position of the detector for the echo signal; wherein the detection process of different laser light sources is carried out simultaneously; specifically, the processor can control the different laser light sources to carry out the detection process simultaneously.

[0141] The present application also provides a computer-readable storage medium that stores instructions that, when executed by a processor, can perform the steps of the method for identifying interference events in lidar detection as described above. In practical applications, the computer-readable medium can be included in each of the devices / apparatuses / systems in the above-described embodiments, or it can exist independently without being incorporated into the device / apparatus / system. The computer-readable storage medium stores instructions that, when executed by a processor, can perform the steps of the method for identifying interference events in lidar detection as described above.

[0142] According to the embodiments disclosed herein, a computer-readable storage medium may be a non-volatile computer-readable storage medium, including, but not limited to, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof, but this is not intended to limit the scope of protection of this application. In the embodiments disclosed herein, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0143] Figure 6 This application also provides an electronic device. Figure 6 , which shows a schematic diagram of the structure of the electronic device involved in the embodiment of the present application, specifically:

[0144] The electronic device may include a processor 601 with one or more processing cores, a memory 602 with one or more computer-readable storage media, and a computer program stored in the memory and executable on the processor. When executing the program in the memory 602, a method for identifying interference events in laser radar detection may be implemented.

[0145] Specifically, in actual applications, the electronic device may further include components such as a power supply 603 and an input / output unit 604. Those skilled in the art will appreciate that Figure 6 The structure of the electronic device shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0146] The processor 601 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 602 and calling data stored in the memory 602, it executes various functions of the server and processes data, thereby monitoring the electronic device as a whole.

[0147] The memory 602 can be used to store software programs and modules, i.e., the computer-readable storage medium mentioned above. The processor 601 executes various functional applications and data processing by running the software programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created based on the use of the server, etc. In addition, the memory 602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory 602 may also include a memory controller to provide the processor 601 with access to the memory 602.

[0148] The electronic device also includes a power supply 603 for supplying power to various components. This power supply 603 can be logically connected to the processor 601 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. The power supply 603 can also include any of one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and other components.

[0149] The electronic device may further include an input / output unit 604, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control. The input / output unit 604 may also be used to display information input by the user or information provided to the user, as well as various graphical user interfaces, which may be composed of graphics, text, icons, videos, or any combination thereof.

[0150] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for identifying interference events in laser radar detection, characterized in that: The method includes: For each detection process performed by emitting laser beams from multiple laser light sources, an echo signal generated by reflection of the laser beams emitted by each laser light source is obtained; Based on all echo signals corresponding to each of the laser light sources, a plurality of detection events corresponding to each of the laser light sources are generated; wherein each detection event corresponds to a delay time, and the delay time is the time difference between the reception time of an echo signal and the emission time of the laser beam corresponding to the echo signal; Determining a detection distance of each detection event based on a delay duration corresponding to each detection event; wherein the detection distance represents a relative distance between a reflection position where the laser beam is reflected to generate the echo signal and a pre-calibrated reference position; determining a distance difference between a detection distance of each detection event and a detection distance of a detection event corresponding to an adjacent laser light source; For each detection event, if there is no distance difference less than a preset threshold, the detection event is determined as an interference event.

2. The method according to claim 1, characterized in that Each detection process of the laser light source is to generate and emit a laser beam. Generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source includes: generating a detection event corresponding to each echo signal.

3. The method according to claim 1, characterized in that Each laser light source generates and emits multiple laser beams during a detection process. Generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source includes: For each of the laser light sources, determining a delay time between a reception time of each echo signal corresponding to the laser light source and a transmission time of the corresponding laser beam; Corresponding to each of the laser light sources, the number of echo signals with the same delay duration is counted, and several delay durations are selected based on the statistical results. Corresponding to each selected delay duration, a detection event is generated.

4. The method according to claim 3, characterized in that The statistical results are represented by a histogram.

5. The method according to claim 1, wherein The maximum value of the preset threshold is: the pulse width of the laser beam Speed of light.

6. The method according to claim 1, characterized in that The beam divergence angle of the laser light source ensures that the laser beams emitted by the respective laser light sources do not overlap with each other within a set maximum distance.

7. The method according to claim 1, characterized in that The distance between adjacent laser light sources is on the order of centimeters.

8. The method according to claim 1, characterized in that Perform the detection process of different laser light sources in a time-sharing manner, and determine the corresponding laser light source according to the reception time of the echo signal; or The detection process of different laser light sources is carried out simultaneously, and the corresponding laser light source is determined according to the receiving position of the echo signal.

9. A device for identifying interference events in laser radar detection, characterized in that: The device comprises: a receiving unit, a detection event generating unit and an interference event identifying unit; The receiving unit is configured to obtain an echo signal generated by reflection of a laser pulse emitted by each of the laser light sources during a detection process performed by each of the laser light sources by emitting a laser beam; The detection event generation unit is configured to generate a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; wherein each detection event corresponds to a delay duration, and the delay duration is the time difference between the reception time of an echo signal and the emission time of the laser beam corresponding to the echo signal; The interference event identification unit is configured to determine a detection distance of each detection event based on a delay duration corresponding to each detection event; detect a distance difference between the detection distance of each detection event and a detection distance of a detection event corresponding to an adjacent laser light source; and for each detection event, if there is no distance difference less than a preset threshold, determine the detection event as an interference event; The detection distance represents the relative distance between the reflection position where the laser beam is reflected to generate the echo signal and a pre-calibrated reference position.

10. A laser radar detection system, characterized in that: include: multiple laser sources, detectors, and processors; Each of the laser light sources is used to perform a detection process by emitting a laser beam; The detector is used to obtain the echo signal generated by the reflection of the laser beam emitted by each laser light source; The processor is configured to control the laser light source to emit the laser beam and control the detector to acquire the echo signal; further configured to generate a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; and determine a detection distance of each detection event based on a delay duration corresponding to each detection event; determining a distance difference between a detection distance of each detection event and a detection distance of a detection event corresponding to an adjacent laser light source; For each detection event, if there is no distance difference less than a preset threshold, the detection event is determined as an interference event; In which, each detection event corresponds to a delay duration, and the delay duration is the time difference between the reception moment of the echo signal and the emission moment of the laser beam corresponding to the echo signal; the detection distance represents the relative distance of the reflection position where the laser beam is reflected to generate the echo signal compared to a pre-calibrated reference position.

11. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the instructions are executed by the processor, the interference event identification method in laser radar detection described in any one of claims 1 to 8 can be implemented.

12. An electronic device, characterized in that: The electronic device includes at least a computer-readable storage medium and also includes a processor; The processor is used to read executable instructions from the computer-readable storage medium and execute the instructions to implement the interference event identification method in laser radar detection as described in any one of claims 1 to 8.

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