A signal receiving device, a detection device, and a signal processing method and device thereof

Abstract

This application is applied to the field of autonomous driving, and provides a signal receiving device, a detection device, a signal processing method and its device. The receiving device includes a first receiving branch; the first receiving branch includes a first detector and a signal coupling device; the first detector is used to output an echo electrical signal; the signal coupling device outputs at least two echo electrical signals based on the echo electrical signal output by the first detector; one of the at least two echo electrical signals has the same signal intensity as the echo electrical signal output by the first detector. The signal coupling device increases one or more echo electrical signals without changing the echo electrical signal output by the first detector, improving the accuracy of signal processing. Compared with only using one echo electrical signal, the dynamic detection range is improved. This method can be applied to vehicle networking, such as vehicle-to-everything (V2X), long term evolution for vehicle-to-vehicle communication (LTE-V), vehicle-to-vehicle (V2V), etc.

Description

Technical Field

[0001] Embodiments of the present application relate to fields such as autonomous driving and vehicle networking, and in particular, to a signal receiving device, a detection device, a signal processing method, and a device thereof. Background Art

[0002] A lidar (light detection and ranging) is a radar system that emits laser beams to detect characteristic quantities of a target object such as the position and speed. The working principle of the lidar is to emit a detection signal (laser beam) to a target object (such as a vehicle, a road sign, a license plate, etc.), and then compare and process the received signal (echo signal) reflected from the target object with the transmitted signal, so as to obtain information about the target object, such as parameters of the reflectivity, distance, azimuth, height, speed, attitude, and even shape of the target object, so that the target object can be detected, tracked, and identified.

[0003] When the target object is too close to the lidar or the reflectivity of the target object is very high, the echo signal may be saturated and distorted. When the target object is too far from the lidar or the reflectivity of the target object is very low, the signal-to-noise ratio of the echo signal may be very low or even no echo signal can be detected. With the popularization of the automated driving system (ADS), the application of lidars is becoming more and more common. The ADS puts forward very high requirements for the dynamic detection range of the lidar. Here, the dynamic detection range refers to the range of parameters that affect the signal intensity of the echo signal, such as the distance range, the reflectivity range, etc.

[0004] Based on this, how to improve the dynamic detection range of the lidar is a technical problem to be solved. Summary of the Invention

[0005] Embodiments of the present application provide a signal receiving device, a detection device, a signal processing method, and a device thereof, so as to improve the dynamic detection range.

[0006] In a first aspect, a signal receiving device is provided, including a first receiving branch; the first receiving branch includes a first detector and a signal coupling device; the first detector is configured to output an echo electrical signal; the signal coupling device is configured to output at least two echo electrical signals based on the echo electrical signal output by the first detector; one of the at least two echo electrical signals has the same signal intensity as the echo electrical signal output by the first detector.

[0007] In the first aspect described above, a signal coupling device is provided to output at least two echo electrical signals. One of the at least two echo electrical signals has the same signal intensity (the signal intensity is, for example, a voltage value) as one of the echo electrical signals output by the first detector. That is, on the basis of not changing the one echo electrical signal output by the first detector, the signal coupling device also adds one or more other echo electrical signals. In this way, according to the actual situation, one or more appropriate echo electrical signals can be selected from the multiple echo electrical signals for signal processing, improving the accuracy of signal processing. For example, when the distance of the measured target object is relatively close or the reflectivity of the target object is very high, in order to avoid signal saturation distortion, an echo electrical signal with undistorted signal or a relatively small signal intensity can be selected for signal processing. For another example, when the distance of the measured target object is relatively far or the reflectivity of the target object is very low, in order to avoid too low signal-to-noise ratio of the echo signal, an echo electrical signal with a relatively large signal intensity or multiple echo electrical signals can be selected for superposition for signal processing. In this way, compared with only using one echo electrical signal output by the first detector for signal processing, target objects with farther and closer positions and higher or lower reflectivities can be detected while ensuring the same accuracy, thereby improving the dynamic detection range.

[0008] In a possible implementation, the signal receiving device may further include: at least one second receiving branch; the second receiving branch includes a light guiding device and a second detector; the light guiding device is used to input the echo light signal into the second detector; the second detector is used to output one echo electrical signal based on the echo light signal.

[0009] By setting the light guiding device to collect the echo light signal, compared with the echo light signal collected by the first detector of the main branch, the echo light signal is weaker, avoiding signal saturation distortion, which can make the close-range measurement or high-reflectivity measurement more accurate and further improve the dynamic detection range.

[0010] In a second aspect, a signal receiving device is provided, including: a first receiving branch and at least one second receiving branch; the first receiving branch includes a first detector; the first detector is used to output one echo electrical signal; the second receiving branch includes a light guiding device and a second detector; the light guiding device is used to input the echo light signal into the second detector; the second detector is used to output one echo electrical signal based on the echo light signal.

[0011] In the second aspect described above, by setting the light guiding device to collect the echo light signal, compared with the echo light signal collected by the first detector of the main branch, the echo light signal is weaker, avoiding signal saturation distortion, which can make the close-range measurement or high-reflectivity measurement more accurate and further improve the dynamic detection range.

[0012] In a possible implementation, the first receiving branch may further include: a signal coupling device; the signal coupling device is configured to output at least two echo electrical signals based on one echo electrical signal output by the first detector; one of the at least two echo electrical signals has the same signal intensity as the one echo electrical signal output by the first detector.

[0013] In the above possible implementation, a signal coupling device is provided to output at least two echo electrical signals, and one of the at least two echo electrical signals has the same signal intensity (the signal intensity is, for example, a voltage value) as the one echo electrical signal output by the first detector. That is, on the basis of not changing the one echo electrical signal output by the first detector, the signal coupling device also adds one or more other echo electrical signals. In this way, according to the actual situation, one or more appropriate echo electrical signals can be selected from the multiple echo electrical signals for signal processing, improving the accuracy of signal processing. For example, when the distance of the measured target object is relatively close or the reflectivity of the target object is very high, in order to avoid signal saturation distortion, an echo electrical signal with undistorted signal or relatively small signal intensity can be selected for signal processing. For another example, when the distance of the measured target object is relatively far or the reflectivity of the target object is very low, in order to avoid too low signal-to-noise ratio of the echo signal, an echo electrical signal with relatively large signal intensity or multiple echo electrical signals can be selected for superposition for signal processing. In this way, compared with only using the one echo electrical signal output by the first detector for signal processing, target objects with farther and nearer positions and higher or lower reflectivities can be detected while ensuring the same accuracy, thereby improving the dynamic detection range.

[0014] The various possible implementations introduced next can be applied to both the first aspect and the second aspect.

[0015] In a possible implementation, the light incident port of the light guiding device is located within the receiving field of view of the first detector.

[0016] The light guiding device samples a part of the echo optical signal on the main optical path where the first detector is located for signal processing. Since the signal intensity of this part of the sampled optical signal is relatively weak, saturation distortion can be avoided, making the close-range measurement or high-reflectivity measurement more accurate and further improving the dynamic detection range.

[0017] In a possible implementation, the light guiding device includes a light guiding column.

[0018] By transmitting the optical signal through the light guiding column, the loss of the optical signal can be reduced.

[0019] In a possible implementation, the light incident port of the light guiding column is a 45-degree inclined plane, so that more echo optical signals can enter the light guiding column.

[0020] In a possible implementation, the light guiding device further includes a box body; the light incident port of the light guiding column is located in the box body; the box body is provided with a light incident port, and the backscattered optical signal enters the light incident port of the light guiding column through the light incident port of the box body.

[0021] By providing a box body at the entrance of the light guiding column, stray light can be prevented from entering the light guiding column, reducing the influence of noise on signal processing.

[0022] In a possible implementation, a first lens group is provided at the light incident port of the box body, and the first lens group is used to converge the backscattered optical signal to the light incident port of the light guiding column.

[0023] By providing a lens group to converge light, more optical signals can enter the light guiding column, improving the accuracy of signal processing.

[0024] In a possible implementation, the inner wall of the box body can reflect optical signals, and the backscattered optical signal entering the light incident port of the box body passes through the inner wall of the box body and is reflected to the light incident port of the light guiding column.

[0025] Through the reflection of the inner wall of the box body, more optical signals can enter the light guiding column, improving the accuracy of signal processing.

[0026] In a third aspect, a detection device is provided, including: a signal transmitting device, the signal receiving device introduced in the first aspect and any possible implementation thereof, or the second aspect and any possible implementation thereof, and a signal processing module connected to the signal receiving device; the signal processing module can be used to select a target echo electrical signal according to the signal intensity of the echo electrical signals in the first receiving branch and / or the second receiving branch; and determine the characteristics of the target object according to the target echo electrical signal.

[0027] In the above third aspect, the signal processing module selects a target echo electrical signal for signal processing among multiple echo electrical signals, which can improve the accuracy of signal processing.

[0028] In a possible implementation, when the signal processing module is used to select a target echo electrical signal according to the signal strength of each echo electrical signal in the first receiving branch and / or the second receiving branch, it is specifically configured to: select a target echo electrical signal according to the priority of the first-level echo electrical signal, the priority of the second-level echo electrical signal, and the priority of the third-level echo electrical signal; wherein, the signal strength of the first-level echo electrical signal is less than or equal to a first strength threshold; the signal strength of the second-level echo electrical signal is greater than or equal to the first strength threshold and less than or equal to a second strength threshold; the signal strength of the third-level echo electrical signal is greater than or equal to the second strength threshold; the first strength threshold is less than the second strength threshold; wherein, the priority of the second-level echo electrical signal is higher than that of the third-level echo electrical signal, and the priority of the third-level echo electrical signal is higher than that of the first-level echo electrical signal.

[0029] By setting two strength thresholds to divide the echo electrical signals into three priorities and selecting the target echo electrical signal according to different priorities, the accuracy of signal processing can be improved.

[0030] In a possible implementation, when the signal processing module is used to determine the characteristics of the target object according to the target echo electrical signal, it is specifically configured to: determine the first integral area of the target echo electrical signal; determine the first distance correction value corresponding to the first integral area according to the distance correction values corresponding to different integral areas; correct the distance of the target object determined based on the target echo electrical signal according to the first distance correction value.

[0031] By determining the corresponding first distance correction value according to the first integral area of the target echo electrical signal and correcting the distance, the determined distance of the target object can be made more accurate.

[0032] In a possible implementation, when the signal processing module is used to determine the characteristics of the target object according to the target echo electrical signal, it is specifically configured to: determine the first integral area of the target echo electrical signal; determine the first intensity peak corresponding to the first integral area according to the signal intensity peaks corresponding to different integral areas; determine the reflectivity of the target object according to the first intensity peak.

[0033] By determining the corresponding first intensity peak according to the first integral area of the target echo electrical signal, the obtained intensity peak is more accurate, and thus the determined reflectivity of the target object is more accurate.

[0034] Fourthly, a signal processing method is provided. This method is applied to a detection device, which includes a signal transmitting device, a signal receiving device introduced in the first aspect and any possible implementation thereof, or the second aspect and any possible implementation thereof, and a signal processing module connected to the signal receiving device. The method includes: the signal processing module selects a target echo electrical signal according to the signal intensity of the echo electrical signals in the first receiving branch and / or the second receiving branch; and determines the characteristics of the target object according to the target echo electrical signal.

[0035] In a possible implementation, when selecting the target echo electrical signal according to the signal intensity of each echo electrical signal in the first receiving branch and / or the second receiving branch, it may be to select the target echo electrical signal according to the priority of the first-level echo electrical signal, the priority of the second-level echo electrical signal, and the priority of the third-level echo electrical signal. Among them, the signal intensity of the first-level echo electrical signal is less than or equal to the first intensity threshold; the signal intensity of the second-level echo electrical signal is greater than or equal to the first intensity threshold and less than or equal to the second intensity threshold; the signal intensity of the third-level echo electrical signal is greater than or equal to the second intensity threshold; the first intensity threshold is less than the second intensity threshold. Among them, the priority of the second-level echo electrical signal is higher than that of the third-level echo electrical signal, and the priority of the third-level echo electrical signal is higher than that of the first-level echo electrical signal.

[0036] In a possible implementation, when determining the characteristics of the target object according to the target echo electrical signal, it may be to first determine the first integral area of the target echo electrical signal; then determine the first distance correction value corresponding to the first integral area according to the distance correction values corresponding to different integral areas; next, correct the distance of the target object determined based on the target echo electrical signal according to the first distance correction value.

[0037] In a possible implementation, when determining the characteristics of the target object according to the target echo electrical signal, it may be to first determine the first integral area of the target echo electrical signal; then determine the first intensity peak value corresponding to the first integral area according to the signal intensity peak values corresponding to different integral areas; next, determine the reflectivity of the target object according to the first intensity peak value.

[0038] Fifthly, a signal processing device is provided. The device has the functions implemented in the fourth aspect and any possible implementation of the fourth aspect. These functions can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more functional modules corresponding to the above functions.

[0039] Sixth aspect, a signal processing device is provided, including: a processor; the processor is coupled with a memory for storing computer programs or instructions; the processor is configured to execute some or all of the computer programs or instructions in the memory, and when the some or all of the computer programs or instructions are executed, it is configured to implement the functions in the fourth aspect and any possible implementation of the fourth aspect.

[0040] In a possible implementation, the device further includes: a communication interface configured to send the signal processed by the processor or receive the signal input to the processor. The communication interface can perform the sending action or receiving action in the fourth aspect and any possible implementation of the fourth aspect.

[0041] Seventh aspect, a computer-readable storage medium is provided, storing a computer program, when the computer program is executed by a computer, the computer is caused to execute the method in the fourth aspect and any possible implementation of the fourth aspect.

[0042] Alternatively, a computer-readable storage medium is provided for storing a computer program, the computer program includes instructions for implementing the functions in the fourth aspect and any possible implementation of the fourth aspect.

[0043] Eighth aspect, a computer program product is provided, the computer program product includes: computer program code, when the computer program code runs on a computer, the computer is caused to execute the method in the above-mentioned fourth aspect and any possible implementation of the fourth aspect.

[0044] Ninth aspect, a vehicle is provided, the vehicle includes the signal receiving device in the first aspect and any possible implementation of the first aspect, or includes the signal receiving device in the second aspect and any possible implementation of the second aspect, or includes the detection device in the third aspect and any possible implementation of the third aspect.

[0045] The technical effects of the above fourth aspect to ninth aspect can be referred to the description in the third aspect, and the repeated parts will not be elaborated. Description of the Drawings

[0046] Figure 1a It is a detection schematic diagram of a lidar provided in an embodiment of the present application;

[0047] Figure 1b It is a detection schematic diagram of a lidar provided in an embodiment of the present application;

[0048] Figure 1c It is a schematic diagram of signal saturation distortion provided in an embodiment of the present application;

[0049] Figure 2It is the structural intention of a detection device provided in an embodiment of the present application;

[0050] Figure 3a It is a schematic structural diagram of a signal coupling device provided in an embodiment of the present application;

[0051] Figure 3b It is a schematic structural diagram of a signal coupling device provided in an embodiment of the present application;

[0052] Figure 3c It is a schematic structural diagram of a signal coupling device provided in an embodiment of the present application;

[0053] Figure 3d It is a schematic structural diagram of a signal coupling device provided in an embodiment of the present application;

[0054] Figure 3e It is a schematic diagram of an echo electrical signal provided in an embodiment of the present application;

[0055] Figure 4a It is a schematic structural diagram of a light guiding device provided in an embodiment of the present application;

[0056] Figure 4b It is a schematic structural diagram of a light guiding device provided in an embodiment of the present application;

[0057] Figure 5a It is the structural intention of a detection device provided in an embodiment of the present application;

[0058] Figure 5b It is the structural intention of a detection device provided in an embodiment of the present application;

[0059] Figure 6 It is a schematic diagram of the integration area of an echo optical signal provided in an embodiment of the present application. Detailed implementation manners

[0060] First of all, it should be noted that the propagation schematic of the optical signal in the drawings of the present application can be regarded as the schematic of the propagation direction of the optical signal. In actual applications, the propagation path of the optical signal is complex. The transmission schematic of the optical signal in the drawings is only an example and should not limit the actual transmission path of the optical signal.

[0061] A lidar is a radar system that emits laser beams to detect information about target objects (such as parameters like target distance, azimuth, altitude, speed, attitude, reflectivity, and even shape). Its working principle is to emit a detection signal (such as a laser pulse) towards the target object, and then compare the received signal reflected from the target object (which can also be called the target echo) with the emitted detection signal to obtain information about the target object. For example, based on the time difference between the emitted detection signal and the received echo, and the speed of light, the distance to the target object can be determined. Figure 1a This is a detection schematic diagram of a lidar provided by this application. The lidar emits laser beams in a certain direction. If there is a target object within a certain distance along the emission direction of the laser beam, the laser beam can be reflected on the surface of the target object. Figure 1a Taking the example that there is a target object A in the emission direction of laser beam 1, after the laser beam 1 emitted by the laser reaches the target object A, it is reflected on the surface of the target object A, and the reflected signal is returned to the lidar as an echo signal. The lidar can determine information related to the target object A, such as the position information of the target object A, etc., based on the echo signal and the detection signal.

[0062] Lidar can be used in scenarios with high precision requirements such as vehicle-mounted lidar (such as scanning vehicle-mounted FMCW lidar), airborne lidar, etc. In addition, lidar can also be installed on mobile platforms such as satellites. Lidar can also be applied in autonomous driving scenarios, or can also be applied in scenarios such as connected vehicles, robots, drones, security monitoring, vehicle networking, such as vehicle-to-everything (V2X), long term evolution vehicle (LTE-V) for vehicle-to-vehicle communication, vehicle-to-vehicle (V2V), etc. It detects, tracks, and identifies target objects such as airplanes, vehicles, and pedestrians.

[0063] Reference Figure 1bIn the shown flowchart, when detecting, the controller first sends a transmission instruction. After receiving the instruction, the laser emission device generates a pulsed current through the emission drive circuit to drive the pulsed laser to emit one or more laser pulses. The laser pulses are adjusted by the scanning device inside the lidar (for example, including a rotating motor and a lens, and the laser can form a beam with a large emission field of view after passing through the scanning device) and then emitted. The emitted light is reflected on the surface of the target object, and some of the reflected laser pulses will return along the original path. After a very short time, they return to the scanning device, and after being adjusted by the scanning device, they reach the laser receiving device. The laser receiving device first performs optical reception and then converts the light into electricity. For example, an avalanche photo diode (APD) photoelectric sensor is used to receive the optical signal and convert it into an electrical signal (such as a voltage signal). Optionally, the power of the returned laser pulses is extremely small, and the electrical signal can also be amplified. For example, it can be amplified by a trans-impedance amplifier (TIA), or it can also be amplified by a variable gain amplifier (VGA). Optionally, an analog to digital convertor (ADC) can also be used to convert the analog electrical signal into a digital signal for output, and the output digital signal is used for digital signal processing. The signal processing module analyzes the parameter information of the emitted laser pulses and the received laser pulses to determine the relevant information of the target object. For example, the signal processing module analyzes the time difference between the emitted laser pulses and the received laser pulses to judge the distance of the target object, form the position of a coordinate point of the target object, and by simultaneously operating the laser emission device and the laser receiving device, continuously emit and receive light beams from different angles, finally obtain the points at each position on the target surface, and synthesize these point coordinates to form the contour point cloud map of the object.

[0064] It should be noted that in Figure 1b , the controller and the signal processing module can be two independent devices for separate transmission and reception processing, or the controller and the signal processing module can be integrated together for transmission and reception processing. In addition, the scanning device used when emitting laser and the scanning device used when receiving the reflected laser can be two independent devices, or they can be integrated together.

[0065] The main performance index of the lidar includes the detection distance, and the size of the detection distance determines the observable range of the lidar. When the target object is too close to the lidar, the echo signal may be saturated and distorted, resulting in inaccurate short-distance ranging and a large blind area. As Figure 1cAs shown, the peak signal intensity of the echo signal exceeds the saturation value of the detector. When the target object is too far from the lidar, the signal-to-noise ratio of the echo signal may be too low or even the echo signal cannot be detected, resulting in inaccurate long-distance ranging.

[0066] In addition, when the reflectivity of the target object is too high, the echo signal may be saturated and distorted, resulting in inaccurate short-distance ranging. When the reflectivity of the target object is too low, the signal-to-noise ratio of the echo signal may be too low or even the echo signal cannot be detected, resulting in inaccurate long-distance ranging. Reflectivity can be understood as the ratio of the amount of light (or light intensity or radiant energy) that can be reflected by the surface of the target object to the amount of light (or light intensity or radiant energy) projected onto the surface of the target object, usually expressed as a percentage or a decimal.

[0067] With the popularization of the automated driving system (ADS) and other market demands, high requirements are put forward for the dynamic detection range of lidar (for example, the ranging range, the range of measured reflectivity).

[0068] Based on this, this application proposes various solutions to improve the dynamic detection range, and the solutions proposed in this application can improve the accuracy of measuring the reflectivity and distance of the target object.

[0069] Next, the solutions provided in this application will be introduced in conjunction with the accompanying drawings.

[0070] As Figure 2 shown, a detection device provided in this application is introduced. The detection device includes a signal transmitting device, a signal receiving device, and a signal processing module connected to the signal receiving device.

[0071] Optionally, Figure 1b similarly, the signal transmitting device can be connected to the signal processing module or to a controller independent of the signal processing module.

[0072] The detection device can be a lidar, and the signal receiving device can be a laser receiving device in the lidar.

[0073] The signal transmitting device can adopt an existing signal transmitting device. For example, the signal transmitting device includes a laser. The laser is the light source of the lidar and can be a semiconductor laser or a fiber laser. When the lidar is used as a vehicle-mounted radar, the laser can emit a laser beam with a wavelength of 905 nm, or can also emit a laser beam with a wavelength of 940 nm, or can also emit a laser beam with a wavelength of 1550 nm. For the signal transmitting device, no detailed introduction will be made in this application.

[0074] Optionally, in the detection device, one or more devices such as a scanning device, a transmitting lens, and a receiving lens may also be included.

[0075] The scanning device includes, for example, a rotating motor and a lens. The laser can form a beam with a large emission field of view through the scanning device, and the irradiation range is relatively large.

[0076] The transmitting lens can converge the optical signal, making the optical signal irradiate farther. The transmitting lens can be a single lens or a lens group. Among them, the lens can be a simple spherical lens or an aspherical lens. For example, a concave lens or a convex lens. The single lens can be a convex lens; the lens group can be a combination of a convex lens and a concave lens, or a combination of concave lenses, or a combination of convex lenses. Since there are various different shapes of convex lenses and concave lenses, for example, convex lenses include biconvex lenses, plano-convex lenses, and meniscus convex lenses, and concave lenses include biconcave lenses, plano-concave lenses, and meniscus concave lenses. The specific shapes of the convex lens and the concave lens are not limited here.

[0077] The receiving lens can be a single lens or a lens group. Any single lens or combination of lenses that can satisfy the condition of converging the echo optical signal to the detector as much as possible is applicable to this application.

[0078] Next, the signal receiving device will be introduced in detail.

[0079] As Figure 2 shown, the signal receiving device includes: a first receiving branch, and the first receiving branch includes a first detector, and the first detector is used to output an echo electrical signal. For example, the first detector is used to output an echo electrical signal based on the echo optical signal. The echo optical signal is, for example, an optical signal reflected from a target object, such as a laser. The echo electrical signal output by the first detector is sent to the signal processing module.

[0080] As Figure 2 shown, optionally, the first receiving branch may further include a signal coupling device, and the signal coupling device is used to output at least two echo electrical signals based on the echo electrical signal output by the first detector. In the detection device, at least two echo electrical signals output by the signal coupling device are sent to the signal processing module.

[0081] It should be noted that the signal intensity of one of the at least two echo electrical signals output by the signal coupling device is the same as the signal intensity of the echo electrical signal output by the first detector.

[0082] Optionally, the signal intensity of the remaining echo electrical signals output by the signal coupling device is less than or equal to the signal intensity of the echo electrical signal output by the first detector.

[0083] AsFigure 2 As shown, the signal intensity of the first echo electrical signal output by the signal coupling device is the same as that of the echo electrical signal output by the first detector. The signal intensity of the second to the m-th echo electrical signals output by the signal coupling device may be the same as or different from that of the echo electrical signal output by the first detector. m is an integer greater than or equal to 2.

[0084] "Signal intensity" can be understood as "voltage value"; in addition, "the same signal intensity" can be understood as: the signal intensities are almost the same, and without considering errors, the signal intensities are the same.

[0085] For example, the signal coupling device can be a resistor voltage dividing device, for example Figure 3a As shown, the signal coupling device includes at least two resistors in series. One end of the series resistors is connected to the first detector, and the other end is connected to the ground. An echo electrical signal can be output between any two adjacent resistors to the signal processing module. For example, in Figure 3a , the voltage value output by the first detector is 10v, and the three resistors are 3Ω, 1Ω, and 1Ω respectively. Then the voltage value of the first echo electrical signal output by the signal coupling device is 10v, the voltage value of the second echo electrical signal is 4v, and the voltage value of the third echo electrical signal is 2v.

[0086] For another example, as Figure 3b shown, the signal coupling device is a "one divides into two lines", which is divided from one line into two lines, and an echo electrical signal is output on each of these two lines to the signal processing module. The voltage values of the first and second echo electrical signals are the same. For example, when the first detector outputs 10v, the voltage values of these two echo electrical signals are both 10v.

[0087] For another example, as Figure 3c shown, the signal coupling device can be Figure 3a and Figure 3b combined. The signal coupling device includes "one divides into two lines". One of the two divided lines is connected to the signal processing module, and the other line is connected to one end of a plurality of resistors in series. An echo electrical signal can be output between any two adjacent resistors to the signal processing module. The voltage values of the first to the fourth echo electrical signals output by the signal coupling device are 10v, 10v, 4v, and 2v respectively.

[0088] Optionally, a switch unit can also be set in the signal coupling device. The switch unit can be set on the line connecting the signal coupling device and the signal processing module, or on the internal line of the signal coupling device. By turning the switch unit on and off, a suitable line is selected to output the echo electrical signal. For example Figure 3c shown, a switch unit is set in front of each resistor of the signal coupling device.

[0089] For another example, the signal coupling device may be an inductive voltage dividing device, such as Figure 3d The signal coupling device shown includes a plurality of coils. The coils couple a part of the first-path echo electrical signal to the second-path echo electrical signal and the m-th path echo electrical signal. The number of turns of the coils corresponding to the second-path echo electrical signal and the m-th path echo electrical signal is less than or equal to the number of turns of the coils corresponding to the first-path echo electrical signal. For example, if the number of turns of the coils corresponding to the first-path echo electrical signal is i, and the number of turns of the coils corresponding to the second-path echo electrical signal is i / 2 or i / 3, etc., then the signal intensity of the second-path echo electrical signal is 1 / 2 or 1 / 3 of the signal intensity of the first-path echo electrical signal. The more the number of turns of the coils of the second-path echo electrical signal and the m-th path echo electrical signal, the greater the coupled signal intensity.

[0090] Such as Figure 3e As shown, the echo electrical signal can be regarded as a pulse waveform. The abscissa of the pulse waveform is time, and the ordinate of the pulse waveform is intensity (which can also be a voltage value). The first-path echo electrical signal output by the signal coupling device is the echo electrical signal output by the first detector, and the second-path echo electrical signal output by the signal coupling device is 1 / 2 of the signal intensity of the first-path echo electrical signal.

[0091] A signal coupling device is provided to output at least two echo electrical signals. One of the at least two echo electrical signals has the same signal intensity as the echo electrical signal output by the first detector, that is, on the basis of not changing the echo electrical signal output by the first detector, the signal coupling device also adds one or more other echo electrical signals. In this way, according to the actual situation, one or more appropriate echo electrical signals can be selected from the multiple echo electrical signals for signal processing, improving the accuracy of signal processing. For example, when the distance of the measured target object is relatively close or the reflectivity of the target object is very high, in order to avoid signal saturation distortion, an echo electrical signal with undistorted signal or smaller signal intensity can be selected for signal processing. For another example, when the distance of the measured target object is relatively far or the reflectivity of the target object is very low, in order to avoid too low signal-to-noise ratio of the echo signal, an echo electrical signal with larger signal intensity or multiple echo electrical signals can be selected for superposition (such as two echo electrical signals with a voltage dividing coefficient of 1:1) for signal processing. In this way, compared with only using the echo electrical signal output by the first detector for signal processing, within the same accuracy, target objects with farther and nearer positions and higher or lower reflectivities can be detected, thereby improving the dynamic detection range.

[0092] Such as Figure 2As shown, optionally, the signal receiving device may further include: at least one second receiving branch, and the second receiving branch includes a light guiding device and a second detector. The light guiding device is configured to input the reflected light signal into the second detector. The second detector is configured to output an echo electrical signal based on the reflected light signal.

[0093] By setting the light guiding device to collect the reflected light signal, the reflected light signal collected by the first detector on the main branch is relatively weak, avoiding signal saturation distortion, which can make the short-distance measurement or high-reflectivity measurement more accurate and further improve the dynamic detection range.

[0094] In one example, the light incident port of the light guiding device is located within the receiving field of view of the first detector.

[0095] The light guiding device samples a part of the light signal from the reflected light signal on the main optical path where the first detector is located for signal processing. Since the signal intensity of this part of the sampled light signal is weak, saturation distortion can be avoided, making the short-distance measurement or high-reflectivity measurement more accurate and further improving the dynamic detection range.

[0096] In another example, the light incident port of the light guiding device is located at the spot convergence position of the reflected light signal of the target object at a short distance. Here, the short distance can be understood as less than or equal to a preset distance.

[0097] Next, several examples of the light guiding device will be introduced.

[0098] In one example, the light guiding device may include a light guiding column or a light guiding tube.

[0099] For example, the light guiding column is a solid column, and the light guiding column can be made of materials such as glass and acrylic resin. The light guiding column can also be replaced by an optical fiber.

[0100] For example, the light guiding tube is a hollow tube, and the inner wall of the light guiding tube can transmit the light signal. For example, the inner wall of the light guiding tube can be made of materials such as glass and acrylic resin. The light guiding tube can also be an optical fiber tube.

[0101] The light signal can enter from the light incident port of the light guiding tube or the light guiding column, and the light guiding tube or the light guiding column transmits the light signal to the second detector. By using a tubular object or a light guiding column to transmit the light signal, the loss of the light signal can be reduced.

[0102] Optionally, the light incident port of the light guiding tube or the light guiding column is an inclined surface at a preset angle. For example, the light incident port of the light guiding tube or the light guiding column is an inclined surface at 45 degrees, or 60 degrees, or 30 degrees or other degrees. For example, total internal reflection occurs within the light guiding tube or the light guiding column at the preset angle.

[0103] Optionally, the light guiding device may further include a box body; the light incident port of the light guiding tube or light guiding column is located in the box body; the box body is provided with a light incident port, and the return light signal reflected from the target object enters the light incident port of the light guiding tube or light guiding column through the light incident port on the box body. Arranging a box body at the light incident port of the light guiding tube or light guiding column can prevent noise light signals from entering the light guiding tube or light guiding column, so as to avoid the measurement inaccuracy caused by noise light signals.

[0104] Optionally, a first lens group is arranged at the light incident port of the box body, and the first lens group is used to converge the return light signal to the light incident port of the light guiding tube or light guiding column. The first lens group includes one or more lenses. By arranging the lens group to converge the light, more light signals can enter the light guiding tube or light guiding column, improving the accuracy of signal processing.

[0105] Optionally, the inner wall of the box body can reflect light signals. In one example, the light signal entering the light incident port of the box body passes through the inner wall of the box body and is reflected to the light incident port of the light guiding tube or light guiding column. In another example, a part of the light signals among the light signals entering the light incident port of the box body directly enter or refract into the light incident port of the light guiding tube or light guiding column, and a part of the light signals pass through the inner wall of the box body and are reflected to the light incident port of the light guiding tube or light guiding column. Through the reflection of the inner wall of the box body, more light signals can enter the light guiding tube or light guiding column, improving the accuracy of signal processing.

[0106] As Figure 4a shown, an example of a light guiding device is introduced. The light incident port of the light guiding tube or light guiding column is a 45° inclined surface, and a 90° turning angle is arranged on the light guiding tube or light guiding column, and a reflecting mirror (such as a 45° reflecting prism surface) is arranged at the turning angle to change the direction of the light signal.

[0107] As Figure 4b shown, another example of a light guiding device is introduced. The entrance of the light guiding tube or light guiding column is a 45° inclined surface, and the entrance of the light guiding tube or light guiding column is surrounded by a box body. A lens group is arranged at the light incident port of the box body to converge the return light signal to the light incident port of the light guiding tube or light guiding column, which can prevent the mutual interference between the light signals of other branches and the light signals of this branch. Optionally, a reflecting mirror can be arranged on the inner wall of the box body. When the return light signal entering the box body converges to the entrance of the light guiding tube or light guiding column, a part of the light signals refract into the light guiding tube or light guiding column for transmission, and a part of the light signals are reflected to the reflecting mirror on the inner wall of the box body and enter the light guiding tube or light guiding column for transmission after reflection.

[0108] It should be noted that in Figure 4a and Figure 4bIn this case, the schematic illustration of the optical signal transmission is merely an example and should not limit the actual transmission path of the optical signal. For example, when the optical signal enters the light guide tube, the optical signal may be refracted, refracted onto the inner wall of the light guide tube, and then undergo total internal reflection until it reaches the detector.

[0109] Optionally, a second lens group may be provided at the outlet of the light guiding device, and the second lens group is used to converge the return optical signal to the light inlet of the second detector. The second lens group includes one or more lenses.

[0110] Combined with the light guiding device introduced above, as Figure 5a shown, the present application further provides a schematic diagram of a detection device. The same parts as Figure 2 will not be repeated here. Both the first detector and the second detector are APD detectors. The signal output by the first APD detector reaches the signal coupling device after being amplified by the TIA. The signal output by the signal coupling device is amplified by the VGA and undergoes analog-to-digital conversion by the ADC, and then reaches the signal processing module. Apply the Figure 4a light guiding device to this Figure 5a detection device. The light inlet of the light guiding device is within the receiving field of view of the first APD detector. A lens group may also be provided at the outlet of the light guiding device, and the lens group is used to converge the return optical signal to the light inlet of the second APD detector. Optionally, the signal output by the second APD detector is amplified by the TIA and the VGA, and undergoes analog-to-digital conversion by the ADC and then reaches the signal processing module. Optionally, a scanning device and a transmitting lens may be provided in this detection device, and a receiving lens is also provided. The gains of different VGAs may be different or the same.

[0111] As Figure 5b shown, the present application further provides a schematic diagram of a detection device. The difference from Figure 5a is the position of the light guiding device. In Figure 5b , the return optical signal entering the light guiding device does not pass through the receiving lens. In Figure 5a , the return optical signal entering the light guiding device passes through the receiving lens.

[0112] Next, in combination with the detection device introduced above (the detection device includes: a signal transmitting device, a signal receiving device, and a signal processing module connected to the signal receiving device), the process of signal processing by the signal processing module will be introduced.

[0113] The signal processing module is used to select a target echo electrical signal according to the signal intensity of the echo electrical signal in the first receiving branch and / or the second receiving branch. Furthermore, the characteristics of the target object can be determined according to the target echo electrical signal. The characteristics here, for example, can be distance, azimuth, height, speed, attitude, reflectivity, shape, etc.

[0114] The following is introduced: Several examples of selecting a target echo electrical signal by the signal processing module according to the signal intensity of each echo electrical signal in the first receiving branch and / or the second receiving branch.

[0115] In one example, two intensity thresholds can be set, namely the first intensity threshold and the second intensity threshold. The first intensity threshold is less than the second intensity threshold. The first intensity threshold is used to indicate the measurement accuracy of the signal measurement system. For example, the echo electrical signal with a signal intensity greater than or equal to the first intensity threshold meets the preset measurement accuracy. The second intensity threshold is used to indicate the saturation threshold of the detector. The echo electrical signal with a signal intensity greater than the second intensity threshold will produce saturation distortion.

[0116] Moreover, the multiplex echo electrical signals are divided into three levels: The signal intensity of the first-level echo electrical signal is less than or equal to the first intensity threshold; The signal intensity of the second-level echo electrical signal is greater than or equal to the first intensity threshold and less than or equal to the second intensity threshold; The signal intensity of the third-level echo electrical signal is greater than or equal to the second intensity threshold. The priority of the second-level echo electrical signal is higher than that of the third-level echo electrical signal, and the priority of the third-level echo electrical signal is higher than that of the first-level echo electrical signal.

[0117] When the signal processing module is used to select a target echo electrical signal according to the signal intensity of each echo electrical signal in the first receiving branch and / or the second receiving branch, it can specifically be used to: Select a target echo electrical signal according to the priority of the first-level echo electrical signal, the priority of the second-level echo electrical signal, and the priority of the third-level echo electrical signal.

[0118] Specifically, it can be:

[0119] When the multiplex echo electrical signals include second-level echo electrical signals (regardless of whether they include first-level echo electrical signals and / or third-level echo electrical signals), select the echo electrical signal with the maximum signal intensity among the second-level echo electrical signals as the target echo electrical signal;

[0120] When the multiplex echo electrical signals include third-level echo electrical signals and do not include second-level echo electrical signals (regardless of whether they include first-level echo electrical signals), select the echo electrical signal with the minimum signal intensity among the third-level echo electrical signals as the target echo electrical signal;

[0121] When the multiplex echo electrical signals only include first-level echo electrical signals and do not include second-level echo electrical signals and third-level echo electrical signals, select the echo electrical signal with the maximum signal intensity among the first-level echo electrical signals as the target echo electrical signal.

[0122] In another example, an intensity threshold may be set, such as the first intensity threshold introduced in the previous example, and the first intensity threshold is used to indicate the measurement accuracy of the signal measurement system. For example, the echo electrical signal with a signal intensity greater than or equal to the first intensity threshold meets the preset measurement accuracy. The multiplex echo electrical signals are divided into two levels, namely the first-level echo electrical signals and the fourth-level echo electrical signals. Among them, the signal intensity of the first-level echo electrical signals is less than or equal to the first intensity threshold; the signal intensity of the fourth-level echo electrical signals is greater than or equal to the first intensity threshold. The fourth-level echo electrical signals can also be regarded as the union (combination) of the second-level echo electrical signals and the third-level echo electrical signals introduced in the previous example. The priority of the fourth-level echo electrical signals is higher than that of the first-level echo electrical signals.

[0123] When the signal processing module is used to select a target echo electrical signal according to the signal intensity of each echo electrical signal in the first receiving branch and / or the second receiving branch, it may specifically be used to: select the target echo electrical signal according to the priority of the first-level echo electrical signals and the priority of the fourth-level echo electrical signals. Specifically, it may be:

[0124] When only the first-level echo electrical signals are included in the multiplex echo electrical signals and the fourth-level echo electrical signals are not included, select the echo electrical signal with the maximum signal intensity in the first-level echo electrical signals as the target echo electrical signal.

[0125] When only the fourth-level echo electrical signals are included in the multiplex echo electrical signals and the first-level echo electrical signals are not included, select the echo electrical signal with the minimum signal intensity in the fourth-level echo electrical signals as the target echo electrical signal.

[0126] When both the first-level echo electrical signals and the fourth-level echo electrical signals are included in the multiplex echo electrical signals, select the echo electrical signal with the minimum signal intensity in the fourth-level echo electrical signals as the target echo electrical signal.

[0127] For example, the signal intensities of the first echo electrical signal and the second echo electrical signal output by the first receiving branch are greater than the first intensity threshold, and the signal intensity of an echo electrical signal output by the second receiving branch is less than the first intensity threshold. Select the second echo electrical signal with the smaller signal intensity in the first echo electrical signal and the second echo electrical signal as the target echo electrical signal.

[0128] For another example, the signal intensity of the first echo electrical signal output by the first receiving branch is greater than the first intensity threshold, and the signal intensities of the second echo electrical signal output by the first receiving branch and an echo electrical signal output by the second receiving branch are less than the first intensity threshold. Then, take the first echo electrical signal as the target echo electrical signal.

[0129] The target echo electrical signal selected by the signal processing module can be one echo electrical signal, or two or more echo electrical signals. The examples introduced above are all illustrated by taking one target echo electrical signal as an example. When multiple echo electrical signals are selected as the target echo electrical signal, the principle is the same and will not be repeated.

[0130] When the selected target echo electrical signal is multiple echo electrical signals, the average value or weighted average value of the multiple echo electrical signals can be taken as the final target echo electrical signal for signal processing. By performing superposition averaging or weighted averaging (with different weights on each echo electrical signal), noise can be avoided and the measurement accuracy can be improved. In addition, since the farther the measured distance is, the worse the measurement accuracy is, by using the method of superposition averaging or weighted averaging to improve the measurement accuracy, that is, on the premise of ensuring a certain measurement accuracy, the measured distance is increased, thereby improving the dynamic detection range.

[0131] After the target echo electrical signal is determined, the characteristics of the target object can be determined according to this target echo electrical signal. Considering the situation of signal saturation distortion, in this application, when determining the characteristics of the target object, first calculate the integral area of the target echo electrical signal, and correct the characteristic value according to the integral area to improve the accuracy of the determined characteristics of the target object. When the signal dynamics is insufficient.

[0132] Such as Figure 6 shown, an example of determining the integral area is provided. The echo electrical signal in this example has saturation distortion, and the saturation threshold value is A2; among them, A2, A3, and A4 are the same. Assume that the DC bias value of the signal is base_line, and base_line, A0, and A6 are the same. The sampling interval is ΔT (for example, the sampling interval of the ADC), that is, the intervals between t0, t1, t2, t3, t4, t5, and t6 are all ΔT.

[0133] The integral area S =

[0134] [0.5*(A1 - A0)+(A1 - base_line)+0.5*(A2 - A1)+(A2 - base_line)*2+(A5 - base_line)+0.5*(A4 - A5)+0.5*(A5 - A6)]*ΔT;

[0135] Or, the integral area S =

[0136] 0.5 * (A1 - A0) + (A1 - base_line) + 0.5 * (A2 - A1) + (A2 - base_line) * 2 + (A5 - base_line) + 0.5 * (A4 - A5) + 0.5 * (A5 - A6); No need to multiply by ΔT;

[0137] Alternatively, the integrated area S = [(A0 + A1 + A2 + A3 + A4 + A5 + A6) - 7 * base_line] * ΔT;

[0138] Alternatively, the integrated area S = (A0 + A1 + A2 + A3 + A4 + A5 + A6) - 7 * base_line; No need to multiply by ΔT.

[0139] The integrated area can be the integrated area between the appearance and disappearance of the echo electrical signal, or the integrated area between the intensity of the echo electrical signal being greater than or equal to a set intensity threshold (such as A0).

[0140] Next, an example is given to illustrate how the signal processing module determines the distance of the target object based on the target echo electrical signal.

[0141] In one example, first, the signal processing module determines the first integrated area of the target echo electrical signal; then, according to the distance correction values corresponding to different integrated areas, it determines the first distance correction value corresponding to the first integrated area; next, it corrects the distance of the target object determined based on the target echo electrical signal, and thus obtains the corrected distance of the target object.

[0142] The distance of the target object determined based on the target echo electrical signal is the distance determined according to the echo electrical signal in the prior art, and the specific process will not be introduced in detail.

[0143] The integrated area of the echo electrical signal can reflect the signal intensity of the echo electrical signal. When the echo electrical signal is saturated, the greater the saturation degree, the larger the integrated area of the echo electrical signal, and the greater the error between the signal intensity and the distance. A corresponding relationship table or fitting curve between the distance correction value and the integrated area can be made according to the signal integrated area.

[0144] When determining the distance correction values corresponding to different integrated areas, for example, a target board can be placed directly in front of the detection device, record the ranging result d_meas of the system, and calculate the integrated area as S1. Use a total station to measure the distance from the system to the target board as d_true, and then the corresponding relationship between the integrated area S1 - the distance correction value d_meas - d_true can be obtained. Change the distance of the target board, and optionally, the reflectivity of the target board can also be changed to obtain multiple sets of integrated areas and distance correction values. By using the least squares method to fit the multiple sets of data, the fitting curve between the integrated area and the distance correction value can be obtained.

[0145] Next, taking the signal processing module to determine the emissivity of the target object according to the target echo electrical signal as an example, a detailed description is given below.

[0146] In an example a, the signal processing module first determines the first integral area of the target echo electrical signal; then according to the signal intensity peak values corresponding to different integral areas, it determines the first intensity peak value corresponding to the first integral area; next, according to the first intensity peak value, it determines the reflectivity of the target object.

[0147] In an example b, the signal processing module first determines the first integral area of the target echo electrical signal; then according to the first integral area and the correction values of the signal intensity peak values corresponding to different integral areas, it determines the first intensity peak value correction corresponding to the first integral area; next, according to the first intensity peak value correction, it corrects the signal intensity peak value of the target object determined based on the target echo electrical signal; according to the corrected signal intensity peak value, it determines the reflectivity of the target object.

[0148] In the above examples a and b, when the signal processing module determines the reflectivity of the target object according to the first intensity peak value or the corrected signal intensity peak value, it can either substitute the first intensity peak value or the corrected signal intensity peak value into the radar formula to calculate the reflectivity of the target object, or the reflectivity of the target object is the first intensity peak value or the corrected signal intensity peak value increased or decreased by a certain proportion.

[0149] Exemplarily, the radar formula is:

[0150]

[0151] P r is the received power of the detector, which is proportional to the signal intensity peak value. For example, P r = k * intensity peak value, where k is a value greater than 0. τ a is the one-way transmittance of the laser in the atmosphere, θ is the angle between the optical axis of the transmitter's emission optical system and the normal of the target, P T is the emission power of the laser (signal emission device), ρ T is the reflectivity of the target object, A r is the receiving area of the detector, η is the total efficiency of the emission and reception optical system (i.e., the detection device in this application). For example, the emission efficiency is 0.8, the reception efficiency is 0.7, and the total efficiency is 0.56. R is the distance from the target object to the detection device.

[0152] In an example c, the signal processing module first determines the first integration area of the target echo electrical signal and the first distance of the target object; then, based on the reflectivity corresponding to different integration areas and different distances, and based on the first integration area and the first distance, determines the reflectivity of the target object.

[0153] The first distance of the target object can be the distance of the target object determined based on the target echo electrical signal, an uncorrected distance. Correspondingly, the distance in the reflectivity corresponding to different integration areas and different distances is also an uncorrected distance. Or, the first distance of the target object can be the corrected distance of the target object obtained by correcting the distance of the target object determined based on the target echo electrical signal according to the distance correction value. Correspondingly, the distance in the reflectivity corresponding to different integration areas and different distances is also a corrected distance.

[0154] Next, a signal processing method is introduced, which is applied to a detection device. The detection device includes: a signal transmitting device and the signal receiving device introduced above. The method includes: selecting a target echo electrical signal according to the signal intensity of the echo electrical signal in the first receiving branch and / or the second receiving branch; and determining the characteristics of the target object according to the target echo electrical signal.

[0155] In one example, the selecting the target echo electrical signal according to the signal intensity of each echo electrical signal in the first receiving branch and / or the second receiving branch includes: selecting the target echo electrical signal according to the priority of the first-level echo electrical signal, the priority of the second-level echo electrical signal, and the priority of the third-level echo electrical signal;

[0156] wherein, the signal intensity of the first-level echo electrical signal is less than or equal to the first intensity threshold; the signal intensity of the second-level echo electrical signal is greater than or equal to the first intensity threshold and less than or equal to the second intensity threshold; the signal intensity of the third-level echo electrical signal is greater than or equal to the second intensity threshold; and the first intensity threshold is less than the second intensity threshold;

[0157] wherein, the priority of the second-level echo electrical signal is higher than the priority of the third-level echo electrical signal, and the priority of the third-level echo electrical signal is higher than the priority of the first-level echo electrical signal.

[0158] In one example, the determining the characteristics of the target object according to the target echo electrical signal includes: determining the first integration area of the target echo electrical signal; determining the first distance correction value corresponding to the first integration area according to the distance correction value corresponding to different integration areas; and correcting the distance of the target object determined based on the target echo electrical signal according to the first distance correction value.

[0159] In one example, determining the characteristics of the target object based on the target echo electrical signal includes: determining the first integral area of the target echo electrical signal; determining the first intensity peak corresponding to the first integral area according to the signal intensity peaks corresponding to different integral areas; and determining the reflectivity of the target object according to the first intensity peak.

[0160] The foregoing introduced the method of the embodiments of the present application. The following will introduce the apparatus in the embodiments of the present application. The method and the apparatus are based on the same inventive concept. Since the principles of the method and the apparatus for solving problems are similar, the implementation of the apparatus and the method can be referred to each other, and the repeated parts will not be described again.

[0161] The signal processing apparatus provided by the present application includes: a processor; the processor is coupled to a memory, and the memory is used to store computer programs or instructions; the processor is configured to execute some or all of the computer programs or instructions in the memory, and when the some or all of the computer programs or instructions are executed, it is used to implement the signal processing method introduced above. Optionally, the apparatus further includes: a communication interface, and the communication interface is used to send the signal processed by the processor or receive the signal input to the processor. The communication interface can perform the sending action or the receiving action in the fourth aspect and any possible implementation of the fourth aspect.

[0162] For example, the processor is configured to select a target echo electrical signal according to the signal intensity of the echo electrical signal in the first receiving branch and / or the second receiving branch; and determine the characteristics of the target object according to the target echo electrical signal.

[0163] In one example, the processor is specifically configured to: select a target echo electrical signal according to the priority of the first-level echo electrical signal, the priority of the second-level echo electrical signal, and the priority of the third-level echo electrical signal;

[0164] wherein the signal intensity of the first-level echo electrical signal is less than or equal to a first intensity threshold; the signal intensity of the second-level echo electrical signal is greater than or equal to the first intensity threshold and less than or equal to a second intensity threshold; the signal intensity of the third-level echo electrical signal is greater than or equal to the second intensity threshold; and the first intensity threshold is less than the second intensity threshold;

[0165] wherein the priority of the second-level echo electrical signal is higher than the priority of the third-level echo electrical signal, and the priority of the third-level echo electrical signal is higher than the priority of the first-level echo electrical signal.

[0166] In one example, the processor is specifically configured to: determine a first integration area of the target echo electrical signal; determine a first distance correction value corresponding to the first integration area according to distance correction values corresponding to different integration areas; and correct the distance of the target object determined based on the target echo electrical signal according to the first distance correction value.

[0167] In one example, the processor is specifically configured to: determine a first integration area of the target echo electrical signal; determine a first intensity peak value corresponding to the first integration area according to signal intensity peak values corresponding to different integration areas; and determine the reflectivity of the target object according to the first intensity peak value.

[0168] The embodiment of the present application further provides a vehicle, which includes the signal receiving device described above, or includes the detection device described above. For example, it includes Figure 2 or Figure 5a or Figure 5b the receiving device or the detection device in

[0169] The embodiment of the present application further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a computer, the computer can be used to execute the above-mentioned signal processing method. Or rather: the computer program includes instructions for implementing the above-mentioned signal processing method.

[0170] The embodiment of the present application further provides a computer program product, including: computer program code, when the computer program code runs on a computer, the computer can execute the above-mentioned signal processing method provided.

[0171] In addition, the processor mentioned in the embodiments of the present application may be a central processing unit (CPU), a baseband processor. The baseband processor and the CPU may be integrated or separated. It may also be a network processor (NP) or a combination of the CPU and the NP. The processor may further include a hardware chip or other general-purpose processors. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) and other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. or any combination thereof. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0172] The memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DR RAM). It should be noted that the memory described in the present application is intended to include but not be limited to these and any other suitable types of memory.

[0173] Those of ordinary skill in the art can realize that, in combination with the method steps and units described in the embodiments disclosed herein, they can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the steps and components of the various embodiments have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those of ordinary skill in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0174] "And / or" in this application describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, both A and B exist simultaneously, and B exists alone. The character " / " generally indicates an "or" relationship between the related objects before and after. The "plurality" involved in this application refers to two or more. In addition, it should be understood that in the description of this application, terms such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0175] Although the preferred embodiments of this application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be interpreted to include the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0176] Obviously, those skilled in the art can make various changes and modifications to the embodiments of this application without departing from the spirit and scope of the embodiments of this application. Thus, if these modifications and variations of the embodiments of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these changes and modifications.

Claims

1. A detection device, characterized in that, Comprising: A signal transmitting device, a signal receiving device, and a signal processing module connected to the signal receiving device; The signal receiving device includes: a first receiving branch and / or at least one second receiving branch; The signal processing module is configured to select a target echo electrical signal according to the signal intensity of the echo electrical signals in the first receiving branch and / or the second receiving branch; and determine the characteristics of the target object according to the target echo electrical signal; Wherein, when the signal processing module is configured to select a target echo electrical signal according to the signal intensity of each echo electrical signal in the first receiving branch and / or the second receiving branch, it is specifically configured to: Select a target echo electrical signal according to the priority of the first-level echo electrical signal, the priority of the second-level echo electrical signal, and the priority of the third-level echo electrical signal; Wherein, the signal intensity of the first-level echo electrical signal is less than or equal to a first intensity threshold; the signal intensity of the second-level echo electrical signal is greater than or equal to the first intensity threshold and less than or equal to a second intensity threshold; the signal intensity of the third-level echo electrical signal is greater than or equal to the second intensity threshold; the first intensity threshold is less than the second intensity threshold; Wherein, the priority of the second-level echo electrical signal is higher than the priority of the third-level echo electrical signal, and the priority of the third-level echo electrical signal is higher than the priority of the first-level echo electrical signal.

2. The detection device according to claim 1, characterized in that, When the signal processing module is configured to determine the characteristics of the target object according to the target echo electrical signal, it is specifically configured to: Determine a first integral area of the target echo electrical signal; Determine a first distance correction value corresponding to the first integral area according to the distance correction values corresponding to different integral areas; Correct the distance of the target object determined based on the target echo electrical signal according to the first distance correction value.

3. The detection device according to claim 1, characterized in that, When the signal processing module is configured to determine the characteristics of the target object according to the target echo electrical signal, it is specifically configured to: Determine a first integral area of the target echo electrical signal; Determine a first intensity peak corresponding to the first integral area according to the signal intensity peaks corresponding to different integral areas; Determine the reflectivity of the target object according to the first intensity peak.

4. The detection device according to any one of claims 1 to 3, characterized in that, The first receiving branch includes a first detector and a signal coupling device; The first detector is configured to output an echo electrical signal; The signal coupling device is configured to output at least two echo electrical signals based on the echo electrical signal output by the first detector; one of the at least two echo electrical signals has the same signal intensity as the echo electrical signal output by the first detector.

5. The detection device according to claim 4, wherein The second receiving branch includes a light guiding device and a second detector; The light guiding device is configured to input the echo light signal into the second detector; The second detector is configured to output an echo electrical signal based on the echo light signal.

6. The detection device according to any one of claims 1 to 3, characterized in that, The first receiving branch includes a first detector; the first detector is configured to output an echo electrical signal; The second receiving branch includes a light guiding device and a second detector; the light guiding device is configured to input the return light signal into the second detector; the second detector is configured to output an echo electrical signal based on the return light signal.

7. The detection device according to claim 6, characterized in that, The first receiving branch further includes: a signal coupling device; The signal coupling device is configured to output at least two echo electrical signals based on one echo electrical signal output by the first detector; one of the at least two echo electrical signals has the same signal intensity as the one echo electrical signal output by the first detector.

8. The detection device according to claim 6, characterized in that, The light incident port of the light guiding device is located within the receiving field of view of the first detector.

9. The detection device according to claim 6, characterized in that, The light guiding device includes a light guiding column.

10. The detection device according to claim 9, characterized in that, The light incident port of the light guiding column is a 45-degree inclined surface.

11. The detection device according to claim 9 or 10, characterized in that, The light guiding device further includes a box body; The light incident port of the light guiding column is located within the box body; the box body is provided with a light incident port, and the return light signal enters the light incident port of the light guiding column through the light incident port of the box body.

12. The detection device according to claim 11, wherein The light incident port of the box body is provided with a first lens group, and the first lens group is configured to converge the return light signal to the light incident port of the light guiding column.

13. The detection device according to claim 11, characterized in that, The inner wall of the box body can reflect the light signal, and the return light signal entering the light incident port of the box body is reflected by the inner wall of the box body to the light incident port of the light guiding column.

14. A signal processing method, characterized in that the method Including: Select a target echo electrical signal according to the signal intensity of the echo electrical signals in the first receiving branch and / or the second receiving branch; And determine the characteristics of the target object according to the target echo electrical signal; Wherein, the selecting a target echo electrical signal according to the signal intensity of each echo electrical signal in the first receiving branch and / or the second receiving branch includes: Select a target echo electrical signal according to the priority of the first-level echo electrical signal, the priority of the second-level echo electrical signal, and the priority of the third-level echo electrical signal; Wherein, the signal intensity of the first-level echo electrical signal is less than or equal to a first intensity threshold; the signal intensity of the second-level echo electrical signal is greater than or equal to the first intensity threshold and less than or equal to a second intensity threshold; the signal intensity of the third-level echo electrical signal is greater than or equal to the second intensity threshold; the first intensity threshold is less than the second intensity threshold; Wherein, the priority of the second-level echo electrical signal is higher than the priority of the third-level echo electrical signal, and the priority of the third-level echo electrical signal is higher than the priority of the first-level echo electrical signal.

15. The method according to claim 14, wherein The determining the characteristics of the target object according to the target echo electrical signal includes: Determine a first integral area of the target echo electrical signal; Determine a first distance correction value corresponding to the first integral area according to the distance correction values corresponding to different integral areas; Correct the distance of the target object determined based on the target echo electrical signal according to the first distance correction value.

16. The method according to claim 14, characterized in that, The determining the characteristics of the target object according to the target echo electrical signal includes: Determine a first integral area of the target echo electrical signal; Determine a first intensity peak corresponding to the first integral area according to the signal intensity peaks corresponding to different integral areas; Determine the reflectivity of the target object according to the first intensity peak.

17. A signal processing device, characterized in that, Including: A processor; The processor is coupled to a memory for storing computer programs or instructions; The processor is configured to execute some or all of the computer programs or instructions in the memory, and when the some or all of the computer programs or instructions are executed, to implement the method according to any one of claims 14-16.

18. A computer-readable storage medium, characterized in that, A computer program is stored, and when the computer program is executed by a computer, the computer is caused to execute the method according to any one of claims 14-16.

19. A vehicle, characterized in that, The vehicle includes the detection device according to any one of claims 1-13.

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