Method, device and terminal equipment for correcting laser radar echo waveform

Abstract

The present application is applicable to the field of radar technology and provides a method, device and terminal equipment for correcting the echo waveform of a laser radar. The method includes: determining the actual leading edge value, actual trailing edge value, actual pulse width and at least one actual peak value corresponding to the echo waveform; judging whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table; if the actual peak value does not match the actual pulse width, determining the calibrated pulse width corresponding to the actual peak value in the preset peak pulse width correction table as the corrected pulse width corresponding to the actual peak value; determining the corrected waveform corresponding to the echo waveform according to the actual leading edge value, actual trailing edge value, actual peak value and the corrected pulse width corresponding to the actual peak value. Thus, the echo waveform with a trailing point or echo superposition is determined through waveform recognition and corrected, which not only improves the accuracy and reliability of trailing point recognition and waveform correction, but also does not require any improvement to the hardware of the laser radar, and has low cost and technical difficulty.

Description

Technical Field

[0001] The present application belongs to the field of radar technology, and in particular relates to a method, apparatus, terminal device and computer-readable storage medium for correcting a laser radar echo waveform. Background Art

[0002] With the rise of lidar and millimeter-wave radar, various types of lidar have been widely used in robots, vehicles, and other equipment to perform ranging and target detection. However, during the use of lidar, problems such as trailing points and echo overlap are inevitable, resulting in a decrease in the quality of the lidar point cloud. These problems can lead to mapping failures, inaccurate target recognition and ranging, and even pose safety risks.

[0003] In related technologies, the probability of tailing points can be reduced to a certain extent by reducing the laser radar's spot divergence angle, reducing the echo pulse width, etc. However, neither of these two methods can completely avoid the occurrence of tailing points, and problems of waveform superposition or fusion will still occur. Both methods require improvements to the laser radar hardware. Therefore, the existing methods not only have poor reliability, but also high hardware costs and technical difficulties. Summary of the Invention

[0004] The embodiments of the present application provide a method, apparatus, terminal device and storage medium for correcting a laser radar echo waveform, which can solve the problem that when reducing the probability of occurrence of tailing points by reducing the laser radar's spot divergence angle, reducing the echo pulse width, etc., the occurrence of tailing points cannot be completely avoided, and the laser radar hardware needs to be improved, resulting in not only poor reliability but also high hardware cost and technical difficulty.

[0005] In the first aspect, an embodiment of the present application provides a method for correcting a laser radar echo waveform, including: determining an actual leading edge value, an actual trailing edge value, an actual pulse width and at least one actual peak value corresponding to the echo waveform; judging whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table, wherein the preset peak pulse width correction table includes a correspondence between multiple calibrated peak values and calibrated pulse widths; if the actual peak value does not match the actual pulse width, the calibrated pulse width corresponding to the actual peak value is determined as the corrected pulse width corresponding to the actual peak value; determining a corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual trailing edge value, the actual peak value and the corrected pulse width corresponding to the actual peak value; if the actual peak value matches the actual pulse width, the echo waveform is determined as the corrected waveform of the echo waveform.

[0006] In a possible implementation of the first aspect, determining the corrected waveform corresponding to the echo waveform based on the actual leading edge value, the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value includes:

[0007] Determine the corrected waveform according to the actual leading edge value, the actual peak value and the corrected pulse width corresponding to the actual peak value;

[0008] or,

[0009] Determine a first corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value;

[0010] A second corrected waveform corresponding to the echo waveform is determined according to the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value.

[0011] Optionally, in another possible implementation of the first aspect, the number of the actual peak values is 1; accordingly, determining the corrected waveform according to the actual leading edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value includes:

[0012] The sum of the actual leading edge value and the corrected pulse width corresponding to the actual peak value is determined as the corrected trailing edge value corresponding to the actual leading edge value;

[0013] The actual leading edge value is used as the leading edge value of the modified waveform, the modified trailing edge value is used as the trailing edge value of the modified waveform, and the actual peak value is used as the peak value of the modified waveform to determine the modified waveform.

[0014] Optionally, in another possible implementation of the first aspect, the number of the actual peaks is greater than 1, the actual peaks include a first actual peak corresponding to the actual leading edge value and a second actual peak corresponding to the actual trailing edge value, and the corrected pulse width includes a first corrected pulse width corresponding to the first actual peak and a second corrected pulse width corresponding to the second actual peak; accordingly, determining the first corrected waveform corresponding to the echo waveform based on the actual leading edge value, the actual peak, and the corrected pulse width corresponding to the actual peak includes:

[0015] The sum of the actual leading edge value and the first corrected pulse width is determined as the corrected trailing edge value corresponding to the actual leading edge value;

[0016] Determine the first modified waveform by using the actual leading edge value as the leading edge value of the first modified waveform, the modified trailing edge value as the trailing edge value of the first modified waveform, and the first actual peak value as the peak value of the first modified waveform;

[0017] Accordingly, the above-mentioned determination of the second corrected waveform corresponding to the echo waveform based on the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value includes:

[0018] The difference between the actual trailing edge value and the second corrected pulse width is determined as the corrected leading edge value corresponding to the actual trailing edge value;

[0019] The second correction waveform is determined by using the corrected leading edge value as the leading edge value of the second correction waveform, the actual trailing edge value as the trailing edge value of the second correction waveform, and the second actual peak value as the peak value of the second correction waveform.

[0020] Optionally, in another possible implementation of the first aspect, before determining whether the actual peak value matches the actual pulse width according to the preset peak pulse width correction table, the method further includes:

[0021] Acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echoes refer to reflected waves of light waves emitted by the laser radar to the calibration plate;

[0022] Determine the peak value and pulse width of each calibration echo;

[0023] A preset peak-to-pulse-width correction table is generated based on the peak value and pulse width of each calibration echo.

[0024] Optionally, in yet another possible implementation of the first aspect, after determining the corrected waveform corresponding to the echo waveform based on the actual leading edge value, the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value, the further step further includes:

[0025] The leading edge value of the corrected waveform is corrected according to a preset pulse width leading edge correction table and the corrected pulse width, wherein the pulse width leading edge correction table includes a correspondence between a plurality of calibrated pulse widths and calibrated leading edge value deviations.

[0026] Optionally, in another possible implementation of the first aspect, the step of correcting the leading edge value of the corrected waveform according to the preset pulse width leading edge correction table and the corrected pulse width includes:

[0027] According to the preset pulse width leading edge correction table and the corrected pulse width, the calibration leading edge value deviation corresponding to the corrected pulse width is determined;

[0028] The sum of the calibration leading edge value deviation corresponding to the corrected pulse width and the leading edge value of the corrected pulse width is determined as the leading edge value of the corrected waveform, so as to correct the leading edge value of the corrected waveform.

[0029] Optionally, in another possible implementation of the first aspect, before correcting the leading edge value of the corrected waveform according to the preset pulse width leading edge correction table and the corrected pulse width, the method further includes:

[0030] Acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echoes refer to reflected waves of light waves emitted by the laser radar to the calibration plate;

[0031] Determine the pulse width and leading edge value deviation of each calibration echo;

[0032] A preset pulse width leading edge correction table is generated based on the pulse width and leading edge value deviation of each calibration echo.

[0033] Optionally, in yet another possible implementation of the first aspect, determining the pulse width and leading edge value deviation of each calibration echo includes:

[0034] Determine the pulse width and leading edge value of each calibration echo;

[0035] Get the actual distance between the calibration plate and the lidar;

[0036] According to the actual distance between the calibration plate and the laser radar, the calibration frontier value corresponding to the calibration plate is determined;

[0037] The difference between the leading edge value of each calibration echo and the calibration leading edge value is respectively determined as the leading edge value deviation of each calibration echo.

[0038] Optionally, in yet another possible implementation of the first aspect, determining the pulse width and leading edge value deviation of each calibration echo includes:

[0039] Determine the pulse width and leading edge value of each calibration echo corresponding to the calibration plate;

[0040] According to the pulse width of each calibration echo, a reference calibration echo with the largest pulse width is determined, and the leading edge value of the reference calibration echo is determined as the calibration leading edge value corresponding to the calibration plate;

[0041] The difference between the leading edge value of each calibration echo and the calibration leading edge value is respectively determined as the leading edge value deviation of each calibration echo.

[0042] Optionally, in another possible implementation of the first aspect, the determining whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table includes:

[0043] Determining the difference between each of the calibrated peak values in the preset peak pulse width correction table and the actual peak value;

[0044] When the absolute value of the difference between any calibration peak value and the actual peak value is less than or equal to the peak value threshold, determining the any calibration peak value as a reference calibration peak value corresponding to the actual peak value;

[0045] If the absolute value of the difference between the calibrated pulse width corresponding to the reference calibrated peak value and the actual pulse width is less than or equal to the pulse width threshold, then determining that the actual peak value matches the actual pulse width;

[0046] If the absolute value of the difference between the calibrated pulse width corresponding to the reference calibrated peak value and the actual pulse width is greater than the pulse width threshold, it is determined that the actual peak value does not match the actual pulse width.

[0047] In the second aspect, an embodiment of the present application provides a device for correcting a laser radar echo waveform, comprising: a first determination module for determining an actual leading edge value, an actual trailing edge value, an actual pulse width and at least one actual peak value corresponding to the echo waveform; a first judgment module for judging whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table, wherein the preset peak pulse width correction table includes a correspondence between multiple calibrated peak values and calibrated pulse widths; a second determination module for determining the calibrated pulse width corresponding to the actual peak value as the corrected pulse width corresponding to the actual peak value when the actual peak value does not match the actual pulse width; a third determination module for determining the corrected waveform corresponding to the echo waveform based on the actual leading edge value, the actual trailing edge value, the actual peak value and the corrected pulse width corresponding to the actual peak value; and a fourth determination module for determining the echo waveform as the corrected waveform of the echo waveform when the actual peak value matches the actual pulse width.

[0048] In a possible implementation of the second aspect, the third determining module includes:

[0049] A first determining unit is used to determine a corrected waveform according to the actual leading edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value;

[0050] or,

[0051] a second determining unit, configured to determine a first corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value;

[0052] The third determining unit is configured to determine a second corrected waveform corresponding to the echo waveform according to the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value.

[0053] Optionally, in another possible implementation of the second aspect, the number of the actual peaks is 1; accordingly, the first determining unit is specifically configured to:

[0054] The sum of the actual leading edge value and the corrected pulse width corresponding to the actual peak value is determined as the corrected trailing edge value corresponding to the actual leading edge value;

[0055] The actual leading edge value is used as the leading edge value of the modified waveform, the modified trailing edge value is used as the trailing edge value of the modified waveform, and the actual peak value is used as the peak value of the modified waveform to determine the modified waveform.

[0056] Optionally, in another possible implementation of the second aspect, the number of the actual peaks is greater than 1, the actual peaks include a first actual peak corresponding to the actual leading edge value and a second actual peak corresponding to the actual trailing edge value, and the corrected pulse width includes a first corrected pulse width corresponding to the first actual peak and a second corrected pulse width corresponding to the second actual peak; accordingly, the second determining unit is specifically configured to:

[0057] The sum of the actual leading edge value and the first corrected pulse width is determined as the corrected trailing edge value corresponding to the actual leading edge value;

[0058] Determine the first modified waveform by using the actual leading edge value as the leading edge value of the first modified waveform, the modified trailing edge value as the trailing edge value of the first modified waveform, and the first actual peak value as the peak value of the first modified waveform;

[0059] Accordingly, the third determining unit is specifically configured to:

[0060] The difference between the actual trailing edge value and the second corrected pulse width is determined as the corrected leading edge value corresponding to the actual trailing edge value;

[0061] The second correction waveform is determined by using the corrected leading edge value as the leading edge value of the second correction waveform, the actual trailing edge value as the trailing edge value of the second correction waveform, and the second actual peak value as the peak value of the second correction waveform.

[0062] Optionally, in yet another possible implementation of the second aspect, the apparatus further includes:

[0063] A first acquisition module is configured to acquire a plurality of calibration echoes reflected by the calibration plate, wherein the calibration echoes are reflections of light waves emitted by the laser radar to the calibration plate;

[0064] a fifth determination module, configured to determine the peak value and pulse width of each calibration echo;

[0065] The first generating module is used to generate a preset peak value pulse width correction table according to the peak value and pulse width of each calibration echo.

[0066] Optionally, in yet another possible implementation of the second aspect, the apparatus further includes:

[0067] The first correction module is used to correct the leading edge value of the correction waveform according to a preset pulse width leading edge correction table and the corrected pulse width, wherein the pulse width leading edge correction table includes a correspondence between multiple calibrated pulse widths and calibrated leading edge value deviations.

[0068] Optionally, in another possible implementation of the second aspect, the first correction module includes:

[0069] a fourth determining unit, configured to determine a calibration leading edge value deviation corresponding to the corrected pulse width based on a preset pulse width leading edge correction table and the corrected pulse width;

[0070] The fifth determining unit is configured to determine the sum of the calibration leading edge value deviation corresponding to the corrected pulse width and the leading edge value of the corrected pulse width as the leading edge value of the corrected waveform, so as to correct the leading edge value of the corrected waveform.

[0071] Optionally, in another possible implementation of the second aspect, the apparatus further includes:

[0072] A second acquisition module is used to acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to the reflection wave of the light wave emitted by the laser radar to the calibration plate;

[0073] a sixth determination module, configured to determine the pulse width and leading edge value deviation of each calibration echo;

[0074] The second generating module is used to generate a preset pulse width leading edge correction table according to the pulse width and leading edge value deviation of each calibration echo.

[0075] Optionally, in yet another possible implementation of the second aspect, the sixth determining module includes:

[0076] a sixth determining unit, configured to determine the pulse width and leading edge value of each calibration echo;

[0077] A first acquisition unit is used to obtain the actual distance between the calibration plate and the laser radar;

[0078] a seventh determining unit, configured to determine a calibration frontier value corresponding to the calibration plate according to an actual distance between the calibration plate and the laser radar;

[0079] The eighth determining unit is configured to determine the difference between the leading edge value of each calibration echo and the calibration leading edge value as the leading edge value deviation of each calibration echo.

[0080] Optionally, in yet another possible implementation of the second aspect, the sixth determining module includes:

[0081] a ninth determining unit, configured to determine a pulse width and a leading edge value of each calibration echo corresponding to the calibration plate;

[0082] a tenth determining unit, configured to determine a reference calibration echo having the largest pulse width according to the pulse widths of the respective calibration echoes, and determine the leading edge value of the reference calibration echo as the calibration leading edge value corresponding to the calibration plate;

[0083] The eleventh determining unit is configured to determine the difference between the leading edge value of each calibration echo and the calibration leading edge value as the leading edge value deviation of each calibration echo.

[0084] Optionally, in yet another possible implementation of the second aspect, the first judgment module includes:

[0085] a twelfth determining unit, configured to determine a difference between each calibrated peak value in a preset peak pulse width correction table and an actual peak value;

[0086] a thirteenth determining unit, configured to determine any calibrated peak value as a reference calibrated peak value corresponding to the actual peak value when the absolute value of the difference between any calibrated peak value and the actual peak value is less than or equal to the peak value threshold;

[0087] a fourteenth determining unit, configured to determine that the actual peak value matches the actual pulse width when an absolute value of a difference between a calibrated pulse width corresponding to the reference calibrated peak value and the actual pulse width is less than or equal to a pulse width threshold;

[0088] A fifteenth determining unit is configured to determine that the actual peak value does not match the actual pulse width when an absolute value of a difference between a calibrated pulse width corresponding to the reference calibrated peak value and the actual pulse width is greater than a pulse width threshold.

[0089] In a third aspect, an embodiment of the present application provides a terminal device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aforementioned method for correcting the laser radar echo waveform when executing the computer program.

[0090] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, characterized in that when the computer program is executed by a processor, it implements the method for correcting the laser radar echo waveform as described above.

[0091] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a terminal device, enables the terminal device to execute the method for correcting the laser radar echo waveform as described above.

[0092] Compared with the prior art, the beneficial effects of the embodiments of the present application are as follows: through a pre-calibrated preset peak pulse width correction table, abnormal echo waveforms with tailing points or echo superposition where the actual peak value does not match the actual pulse width are identified, and the abnormal echo waveforms are corrected according to the preset peak pulse width correction table, so that the echo waveforms with tailing points or echo superposition are directly determined through waveform recognition and corrected, which not only improves the accuracy and reliability of tailing point identification and waveform correction, but also does not require improvements to the laser radar hardware, and has low cost and technical difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0094] Figure 1 1 is a flow chart of a method for correcting a laser radar echo waveform provided in one embodiment of the present application;

[0095] Figure 2 is a schematic diagram of an echo waveform provided in an embodiment of the present application;

[0096] Figure 3 is a schematic diagram of another echo waveform provided by an embodiment of the present application;

[0097] Figure 4 This is a schematic diagram of correcting an echo waveform provided by an embodiment of the present application;

[0098] Figure 5 This is another schematic diagram of correcting an echo waveform provided by an embodiment of the present application;

[0099] Figure 6 1 is a flow chart of a method for correcting a laser radar echo waveform provided in another embodiment of the present application;

[0100] Figure 7 Schematic diagram of the structure of the laser radar echo waveform correction device provided in an embodiment of the present application;

[0101] Figure 8 It is a structural diagram of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0102] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0103] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0104] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0105] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0106] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0107] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0108] The following describes in detail the laser radar echo waveform correction method, device, terminal equipment, storage medium and computer program provided in this application with reference to the accompanying drawings.

[0109] Figure 1 A flow chart of a method for correcting a laser radar echo waveform provided in an embodiment of the present application is shown.

[0110] Step 101: Determine an actual leading edge value, an actual trailing edge value, an actual pulse width, and at least one actual peak value corresponding to an echo waveform.

[0111] It should be noted that the laser radar echo waveform correction method of the embodiment of the present application can be performed by the laser radar echo waveform correction device of the embodiment of the present application. The laser radar echo waveform correction device of the embodiment of the present application can be configured in any terminal device to perform the laser radar echo waveform correction method of the embodiment of the present application. For example, the laser radar echo waveform correction device of the embodiment of the present application can be configured in a laser radar to process the echo acquired by the laser radar and improve the quality of the point cloud generated by the laser radar.

[0112] Among them, the echo waveform can refer to the waveform of the echo received by the laser radar receiver after the laser beam emitted by the laser radar is reflected by the object being measured; the echo waveform can be used to represent the change of voltage over time.

[0113] The actual leading edge value may refer to a time value corresponding to a point in the echo waveform where the voltage is equal to the voltage threshold and the acquisition time is the minimum.

[0114] The actual trailing edge value may refer to a time value corresponding to a point in the echo waveform where the voltage is equal to the voltage threshold and the acquisition time is the largest.

[0115] The actual pulse width may refer to the difference between the actual trailing edge value and the actual leading edge value of the echo waveform.

[0116] The actual peak value may refer to the voltage corresponding to the time point at which the maximum value is obtained in the echo waveform.

[0117] In an embodiment of the present application, during operation of the laser radar, the light wave transmitting device of the laser radar can emit a laser beam at a certain frequency. The emitted laser beam can form an echo after being reflected by the object to be measured and is received by the laser radar receiver. The analog-to-digital converter (ADC) in the laser radar can sample the received echo at a certain frequency to generate a discrete sequence of voltages with respect to time, and then generate an echo waveform based on the discrete sequence. After an echo is received, the time point at which the voltage in the echo waveform is equal to the voltage threshold can be determined based on a preset voltage threshold, and the minimum time point is determined as the actual leading edge value corresponding to the echo waveform, and the maximum time point is determined as the actual trailing edge value corresponding to the echo waveform. The difference between the actual trailing edge value and the actual leading edge value is then determined as the actual pulse width corresponding to the echo waveform. Finally, the voltage corresponding to the time point at which the maximum value is obtained in the echo waveform is determined as the actual peak value corresponding to the echo waveform.

[0118] For example, if Figure 2As shown, it is a schematic diagram of the echo waveform provided by an embodiment of the present application, wherein the horizontal axis represents the coordinate axis corresponding to time t, the vertical axis represents the coordinate axis corresponding to voltage, the dotted line in the figure represents the preset voltage threshold, start1 is the actual leading edge value, stop1 is the actual delay value, v1 and v2 are the two actual peak values of the echo waveform, and the pulse width of the echo waveform is the difference between stop1 and start1.

[0119] Step 102 , judging whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table, if so, executing step 105 ; otherwise, executing step 103 .

[0120] The preset peak pulse width correction table may include a plurality of corresponding relationships between calibrated peak values and calibrated pulse widths.

[0121] The calibration peak value may refer to the peak value of the echo corresponding to each light wave emitted within the light intensity range of the light wave that can be emitted by the laser radar.

[0122] Among them, the calibrated pulse width can refer to the peak value of the echo corresponding to each light wave emitted by the laser radar within the light intensity range of the light wave that the laser radar can emit, when there is no guarantee that there is no tailing point or echo superposition.

[0123] In the embodiments of the present application, since the preset peak pulse width correction table can include the correspondence between the peak values and pulse widths of a large number of echoes within the light intensity range of the light waves that can be transmitted by the laser radar, when there is no tailing point or echo superposition, the correspondence between the calibrated peak value and the calibrated pulse width included in the preset peak pulse width correction table is the correspondence between the peak value and the pulse width of the echo when there are no abnormal conditions such as tailing points or echo superposition. Therefore, whether the echo waveform corresponds to a tailing point can be determined based on whether the preset peak pulse width correction table contains the correspondence between the actual peak value and the actual pulse width of the echo waveform.

[0124] As a possible implementation method, the number of actual peaks corresponding to the echo waveform can be first determined. If the number of actual peaks corresponding to the echo waveform is 1, the actual peak can be searched for in each calibrated peak in the preset peak pulse width correction table, and when the calibrated peak corresponding to the actual peak is the same as the actual pulse width, it is determined that the actual peak of the echo waveform matches the actual pulse width, and it can be determined that the echo waveform is not the echo waveform corresponding to the tail point; if the number of actual peaks corresponding to the echo waveform is greater than 1, for example 2, it can be determined that the actual peak of the echo waveform does not match the actual pulse width, that is, the echo waveform is the echo waveform corresponding to the tail point, or there are abnormal conditions such as echo superposition.

[0125] Furthermore, since the peak values of all echoes during the actual use of the laser radar may not be completely and accurately covered when generating the preset peak pulse width correction table, and there may also be slight errors when the laser radar processes the echoes, when the preset peak pulse width correction table includes a calibration peak value whose difference from the actual peak value is less than a certain threshold, it can be determined that the preset peak pulse width correction table includes the actual peak value, so as to further improve the accuracy and reliability of peak matching. That is, in a possible implementation of the embodiment of the present application, the above step 102 may include:

[0126] Determining the difference between each calibrated peak value in a preset peak pulse width correction table and the actual peak value;

[0127] When the absolute value of the difference between any calibrated peak value and the actual peak value is less than or equal to the peak value threshold, any calibrated peak value is determined as a reference calibrated peak value corresponding to the actual peak value;

[0128] If the absolute value of the difference between the calibrated pulse width corresponding to the reference calibration peak value and the actual pulse width is less than or equal to the pulse width threshold, it is determined that the actual peak value matches the actual pulse width;

[0129] If the absolute value of the difference between the calibrated pulse width corresponding to the reference calibrated peak value and the actual pulse width is greater than the pulse width threshold, it is determined that the actual peak value does not match the actual pulse width.

[0130] As a possible implementation method, if the absolute value of the difference between any calibrated peak value and the actual peak value contained in the preset peak pulse width correction table is less than or equal to the peak threshold, it can be determined that the actual peak value is very close to the calibrated peak value, and the calibrated peak value is determined as the reference calibrated peak value corresponding to the actual peak value, so that the calibrated pulse width corresponding to the reference calibrated peak value can be determined as the calibrated pulse width corresponding to the actual peak value, and then the absolute value of the difference between the calibrated pulse width corresponding to the reference calibrated peak value and the actual pulse width can be less than or equal to the pulse width threshold, and it can be determined that the calibrated pulse width corresponding to the actual peak value is very close to the actual pulse width, so that it can be determined that the actual peak value matches the actual pulse width; if the absolute value of the difference between the calibrated pulse width corresponding to the reference calibrated peak value and the actual pulse width is greater than the pulse width threshold, it can be determined that the difference between the calibrated pulse width corresponding to the actual peak value and the actual pulse width is large, so that it can be determined that the actual peak value does not match the actual pulse width.

[0131] It should be noted that in actual use, the peak threshold and the pulse width threshold can be set to smaller values to ensure the accuracy of the peak value and the pulse width matching. For example, the peak threshold and the pulse width threshold can be set to 0 or a value close to 0.

[0132] Furthermore, before the laser radar is put into use, the actual use scenario of the laser radar can be simulated to calibrate the laser radar to generate a preset peak pulse width correction table. That is, in a possible implementation of the embodiment of the present application, before the above step 102, the following steps may also be included:

[0133] Acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echoes refer to reflected waves of light waves emitted by the laser radar to the calibration plate;

[0134] Determine the peak value and pulse width of each calibration echo;

[0135] A preset peak-to-pulse-width correction table is generated based on the peak value and pulse width of each calibration echo.

[0136] As a possible implementation method, since parameters such as the reflectivity of the object being measured, the distance between the object being measured and the laser radar, and the intensity of the incident light wave will affect the peak value, pulse width, leading edge value, trailing edge value and other parameters of the echo, before the laser radar is put into use, calibration plates with various reflectivities can be used as the object being measured to calibrate the laser radar, or a high-reflectivity calibration plate can be used as the object being measured to calibrate the laser radar. During the calibration process, the purpose of adjusting the echo peak value and pulse width can be achieved by blocking the laser radar's transmitting or receiving mirror group, or adjusting the outgoing or incident light intensity of the light wave, so as to generate a preset peak pulse width correction table while ensuring that there is no tailing point or echo superposition.

[0137] For example, the intensity of the light wave emitted by the laser radar can be adjusted within the range of the light wave intensity that the laser radar can emit, and the light wave is emitted to the calibration plate. After that, the reflected calibration echo is obtained, and the peak value and pulse width of each calibration echo are determined, and the peak value and pulse width of each calibration echo are stored as the calibration peak value and calibration pulse width in a preset pulse width peak correction table. It should be noted that during the calibration process, the intensity of the light wave incident on the calibration plate can be continuously adjusted; and after all light waves of light intensities are tested, the reflectivity of the calibration plate can be adjusted, and the above process of emitting light waves of different light intensities to the calibration plate can be repeated to generate a correspondence between the peak value and pulse width of the calibration echo under different reflectivities, so that the preset peak pulse width correction table finally generated can include a large number of correspondences between calibration peak values and calibration pulse widths under various reflectivities and various light intensities, so that the preset peak pulse width correction table can meet various needs of the laser radar during actual use.

[0138] Step 103: Determine the calibrated pulse width corresponding to the actual peak value as the corrected pulse width corresponding to the actual peak value.

[0139] In an embodiment of the present application, if it is determined that the actual peak value of the echo waveform does not match the actual pulse width, it can be determined that the echo waveform corresponds to an echo waveform with a trailing point or that the echo waveform contains echo superposition. Since trailing points or waveform superposition typically cause the echo waveform's pulse width to be widened, the echo waveform's pulse width can be corrected based on the actual peak value of the echo waveform and a preset peak-to-pulse-width correction table to restore a normal echo waveform. Thus, when the actual peak value does not match the actual pulse width, the calibrated pulse width corresponding to the actual peak value can be obtained from the preset peak-to-pulse-width correction table, and the corrected pulse width corresponding to the actual peak value can be used.

[0140] As a possible implementation method, if the actual peak value of the echo waveform is one, the corrected pulse width corresponding to the actual peak value can be determined; if the actual peak value of the echo waveform is multiple, the corrected pulse width corresponding to each actual peak value can be determined separately to restore the multiple echoes superimposed in the echo waveform.

[0141] Step 104 : Determine a corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value.

[0142] In the embodiment of the present application, after the corrected pulse width corresponding to the actual peak value of the echo waveform is determined, the echo waveform can be corrected according to the corrected pulse width to determine a corrected waveform corresponding to the echo waveform.

[0143] Furthermore, since, when echo waveforms are superimposed, the actual leading edge value corresponding to the echo waveform is typically the accurate leading edge value of the first echo received, the actual trailing edge value corresponding to the echo waveform is typically the accurate trailing edge value of the last echo received, and the actual peak value corresponding to the echo waveform is typically the accurate peak value of each received echo, in this embodiment of the present application, a specific method for correcting the echo waveform can be determined based on the specific shape of the echo waveform to further improve the accuracy and reliability of the echo waveform correction. That is, in one possible implementation of this embodiment of the present application, step 104 may include:

[0144] Determine the corrected waveform according to the actual leading edge value, the actual peak value and the corrected pulse width corresponding to the actual peak value;

[0145] or,

[0146] Determine a first corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value;

[0147] A second corrected waveform corresponding to the echo waveform is determined according to the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value.

[0148] As a possible implementation method, regardless of the presence of trailing points or waveform superposition, the echoes initially received by the LiDAR are usually normal, and the echo waveform becomes abnormal only when other echoes are received during the normal echo reception process. Therefore, the actual leading edge value and actual peak value of the echo waveform initially received by the LiDAR are usually accurate. Therefore, when the actual peak value of the echo waveform is 1, the actual peak value is usually the accurate peak value of the echo waveform. Therefore, the echo waveform can be corrected based on the actual leading edge value, actual peak value, and corrected pulse width of the echo waveform to generate a corrected waveform corresponding to the echo waveform. Therefore, when the actual peak value of the echo waveform is 1, the corrected waveform corresponding to the echo waveform can be determined in the following way:

[0149] The sum of the actual leading edge value and the corrected pulse width corresponding to the actual peak value is determined as the corrected trailing edge value corresponding to the actual leading edge value;

[0150] The actual leading edge value is used as the leading edge value of the modified waveform, the modified trailing edge value is used as the trailing edge value of the modified waveform, and the actual peak value is used as the peak value of the modified waveform to determine the modified waveform.

[0151] It should be noted that when waveforms overlap, if multiple waveforms are received continuously in a very short period of time (for example, when the incident light wave strikes two surfaces very close to each other, or when the incident light wave strikes a smooth surface with high reflectivity and refracts), or the time interval between the waveform received later and the waveform received earlier is long, or the waveform received later is severely attenuated due to various reasons, then the echo waveform will typically have only one actual peak. In these cases, the waveform received later will either be very close to the waveform received earlier or very inaccurate, making it unnecessary to restore it for use. Therefore, when the echo waveform contains one actual peak, the corrected waveform corresponding to the echo waveform can be restored based on the more accurate actual leading edge value, the actual peak value, and the accurately determined corrected pulse width. That is, the sum of the actual leading edge value and the corrected pulse width can be determined as the corrected trailing edge value, the actual leading edge value can be used as the leading edge value of the corrected waveform, the corrected trailing edge value can be determined as the trailing edge value of the corrected waveform, and the actual peak value of the echo waveform can be determined as the peak value of the corrected waveform, thereby determining the corrected waveform.

[0152] For example, if Figure 3 As shown in FIG. 1 , another echo waveform provided by an embodiment of the present application is shown. In this echo waveform, there is only one actual peak value v1, whose actual leading edge value is start1 and whose actual trailing edge value is stop1. Therefore, according to the actual peak value v1, the calibrated pulse width corresponding to the actual peak value v1 can be obtained from the preset peak pulse width correction table and used as the corrected pulse width. Then, the sum of start1 and the corrected pulse width is determined as the corrected trailing edge value stop2, as shown in FIG. Figure 4As shown, the corrected waveform corresponding to the echo waveform can be determined according to the actual leading edge value start1, the actual peak value v1 and the corrected trailing edge value stop2.

[0153] As a possible implementation, if the echo waveform has multiple actual peaks, such as two actual peaks, it can be determined that the echo waveform is a case of two distinct echoes superimposed. Furthermore, the actual leading edge value corresponding to the echo waveform is the leading edge value of the echo received first, and the actual trailing edge value corresponding to the echo waveform is the trailing edge value of the echo received later. The actual peak value received first is the actual peak value of the echo received first, and the actual peak value received later is the actual peak value of the echo received later. Therefore, the two corrected pulse widths determined based on the actual peak values are the actual pulse widths of the two echoes, respectively. Thus, when the echo waveform has multiple actual peaks, two normal echoes can be restored based on the actual leading edge values and actual trailing edge values, as well as each actual peak value and its corresponding corrected pulse width. That is, when the number of actual peaks is greater than one, the actual peaks can include a first actual peak value corresponding to the actual leading edge value and a second actual peak value corresponding to the actual trailing edge value. The corrected pulse widths can include a first corrected pulse width corresponding to the first actual peak value and a second corrected pulse width corresponding to the second actual peak value. The corrected waveform corresponding to the echo waveform can be determined in the following manner:

[0154] The sum of the actual leading edge value and the first corrected pulse width is determined as the corrected trailing edge value corresponding to the actual leading edge value;

[0155] Determine the first modified waveform by using the actual leading edge value as the leading edge value of the first modified waveform, the modified trailing edge value as the trailing edge value of the first modified waveform, and the first actual peak value as the peak value of the first modified waveform;

[0156] The difference between the actual trailing edge value and the second corrected pulse width is determined as the corrected leading edge value corresponding to the actual trailing edge value;

[0157] The second correction waveform is determined by using the corrected leading edge value as the leading edge value of the second correction waveform, the actual trailing edge value as the trailing edge value of the second correction waveform, and the second actual peak value as the peak value of the second correction waveform.

[0158] The first actual peak value may refer to the actual peak value received first after the actual leading edge value corresponding to the echo waveform; the second actual peak value may refer to the actual peak value received last before the actual trailing edge value corresponding to the echo waveform. Figure 2 As shown, the first actual peak value of the echo waveform is v1, and the second actual peak value is v2.

[0159] It should be noted that, since the actual leading edge value and the first actual peak value of the echo waveform are the accurate leading edge value and accurate peak value of the echo received first, the first corrected pulse width determined based on the first actual peak value is also the accurate pulse width of the echo received first. Therefore, the sum of the actual leading edge value and the first corrected pulse width can be determined as the corrected trailing edge value corresponding to the actual leading edge value to determine the accurate trailing edge value of the echo received first, so that the actual leading edge value corresponding to the echo waveform can be determined as the leading edge value of the first corrected waveform, the corrected trailing edge value can be determined as the trailing edge value of the first corrected waveform, and the first actual peak value can be used as the peak value of the first corrected waveform, so as to determine the first corrected waveform corresponding to the echo waveform, that is, to restore the echo waveform received first.

[0160] Similarly, since the actual trailing edge value and the second actual peak value of the echo waveform are the accurate leading edge value and accurate peak value of the echo received later, the second corrected pulse width determined based on the second actual peak value is also the accurate pulse width of the echo received later. Therefore, the difference between the actual trailing edge value and the second corrected pulse width can be determined as the corrected leading edge value corresponding to the actual trailing edge value to determine the accurate trailing edge value of the echo received first, so that the actual trailing edge value corresponding to the echo waveform can be determined as the trailing edge value of the second corrected waveform, the corrected leading edge value can be determined as the leading edge value of the second corrected waveform, and the second actual peak value can be used as the peak value of the first corrected waveform, so as to determine the second corrected waveform corresponding to the echo waveform, that is, to restore the echo waveform received later.

[0161] For example, if Figure 5 As shown, it is a schematic diagram of another method for correcting an echo waveform provided by an embodiment of the present application, wherein there are two actual peak values v1 and v2 in the echo waveform, wherein the actual leading edge value is start1 and the actual trailing edge value is stop1, so that the calibrated pulse width corresponding to the actual peak value v1 can be obtained from the preset peak pulse width correction table according to the actual peak value v1 and used as the first corrected pulse width, and then the sum of start1 and the first corrected pulse width is determined as the corrected trailing edge value stop2, and then the first corrected waveform corresponding to the echo waveform can be determined according to the actual leading edge value start1, the actual peak value v1 and the corrected trailing edge value stop2; and, according to the actual peak value v2, the calibrated pulse width corresponding to the actual peak value v2 can be obtained from the preset peak pulse width correction table and used as the second corrected pulse width, and then the difference between stop1 and the second corrected pulse width is determined as the corrected leading edge value start2, and then the second corrected waveform corresponding to the echo waveform can be determined according to the corrected leading edge value start2, the actual peak value v2 and the actual trailing edge value stop1.

[0162] Step 105: Determine the echo waveform as a corrected waveform corresponding to the echo waveform.

[0163] In an embodiment of the present application, if it is determined that the actual peak value corresponding to the echo waveform matches the actual pulse width, it can be determined that the echo waveform is a normal waveform without a tailing point or echo superposition, so that the echo waveform can be directly determined as the corrected waveform corresponding to the echo waveform, that is, the echo waveform does not need to be corrected.

[0164] The laser radar echo waveform correction method provided in the embodiment of the present application determines the actual leading edge value, actual trailing edge value, actual pulse width and at least one actual peak value corresponding to the echo waveform, and judges whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table. When the actual peak value does not match the actual pulse width, the calibrated pulse width corresponding to the actual peak value in the preset peak pulse width correction table is determined as the corrected pulse width corresponding to the actual peak value, and then determines the corrected waveform corresponding to the echo waveform according to the actual leading edge value, actual trailing edge value, actual peak value and the corrected pulse width corresponding to the actual peak value. Thus, through the pre-calibrated preset peak pulse width correction table, abnormal echo waveforms with tailing points or echo superposition where the actual peak value does not match the actual pulse width are identified, and the abnormal echo waveforms are corrected according to the preset peak pulse width correction table. Thus, the echo waveforms with tailing points or echo superposition are directly determined through waveform recognition and corrected, which not only improves the accuracy and reliability of tailing point identification and waveform correction, but also does not require any hardware improvements to the laser radar, and has low cost and technical difficulty.

[0165] In one possible implementation of the present application, since the leading edge value of the echo waveform represents the time interval between the laser radar emitting a light wave and acquiring the corresponding echo of that light wave, the distance between the laser radar and the object being measured can be determined based on the leading edge value of the echo waveform. However, due to different reflectivities on the surface of the object being measured, even if the distance between the object being measured and the laser radar is the same, the corresponding echo leading edge values may be different, resulting in inaccurate distance measurement. Therefore, after correcting the echo waveform, the leading edge value of the corrected waveform can also be corrected to further improve the accuracy and reliability of the echo correction.

[0166] The following combination Figure 6 , the method for correcting the laser radar echo waveform provided in the embodiment of the present application is further explained.

[0167] Figure 6 A flow chart of another method for correcting a laser radar echo waveform provided in an embodiment of the present application is shown.

[0168] like Figure 6 As shown, the method for correcting the laser radar echo waveform includes the following steps:

[0169] Step 201: Determine an actual leading edge value, an actual trailing edge value, an actual pulse width, and at least one actual peak value corresponding to an echo waveform.

[0170] Step 202 , judging whether the actual peak value matches the actual pulse width according to the preset peak pulse width correction table, if so, executing step 205 ; otherwise, executing step 203 .

[0171] Step 203: Determine the calibrated pulse width corresponding to the actual peak value as the corrected pulse width corresponding to the actual peak value.

[0172] Step 204 : Determine a corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value.

[0173] Step 205: Determine the echo waveform as a corrected waveform corresponding to the echo waveform.

[0174] The specific implementation process and principle of the above steps 201-205 can be referred to the detailed description of the above embodiment and will not be repeated here.

[0175] Step 206 , correcting the leading edge value of the corrected waveform according to the preset pulse width leading edge correction table and the corrected pulse width.

[0176] The pulse width leading edge correction table may include a plurality of corresponding relationships between calibrated pulse widths and calibrated leading edge value deviations.

[0177] In an embodiment of the present application, in order to prevent the leading edge value error caused by different reflectivities of the measured object and ensure the accuracy of the lidar ranging, the leading edge value of the correction waveform corresponding to the echo waveform can be corrected to further improve the reliability of the echo correction.

[0178] As a possible implementation method, the laser radar can be calibrated before it is put into use to generate a preset pulse width front correction table containing a large number of correspondences between calibration pulse widths and calibration front value deviations. Therefore, after determining the correction waveform corresponding to the echo waveform, the calibration front value deviation corresponding to the correction pulse width in the preset pulse width front correction table can be determined based on the correction pulse width of the correction waveform. The calibration front value deviation corresponding to the correction pulse width is then used to correct the correction waveform of the correction waveform to determine the front value of the correction waveform and achieve correction of the front value of the correction waveform. That is, in a possible implementation method of the embodiment of the present application, the above step 206 may include:

[0179] According to the preset pulse width leading edge correction table and the corrected pulse width, the calibration leading edge value deviation corresponding to the corrected pulse width is determined;

[0180] The sum of the calibration leading edge value deviation corresponding to the corrected pulse width and the leading edge value of the corrected pulse width is determined as the leading edge value of the corrected waveform, so as to correct the leading edge value of the corrected waveform.

[0181] It should be noted that, since the corrected pulse width is the accurate pulse width corresponding to the corrected waveform, the leading edge value deviation determined based on the corrected pulse width is also accurate.

[0182] As an example, if the actual peak value corresponding to the echo waveform is 1, that is, the corrected waveform corresponding to the echo waveform is 1, then the calibrated leading edge value deviation corresponding to the corrected pulse width can be directly determined based on the corrected pulse width corresponding to the corrected waveform, and the sum of the leading edge value of the corrected waveform and the calibrated leading edge value deviation can be determined as the leading edge value of the corrected waveform to correct the leading edge value of the corrected waveform.

[0183] As an example, if the echo waveform corresponds to multiple actual peaks, for example, there are 2 actual peaks, that is, the corrected waveform corresponding to the echo waveform includes a first corrected waveform and a second corrected waveform, and thus the calibrated leading edge value deviation corresponding to the first corrected pulse width can be determined based on the first corrected pulse width corresponding to the first corrected waveform, and the sum of the calibrated leading edge value deviation corresponding to the first corrected pulse width and the leading edge value of the first corrected waveform can be determined as the leading edge value of the first corrected waveform to correct the leading edge value of the first corrected waveform; and, based on the second corrected pulse width corresponding to the second corrected waveform, the calibrated leading edge value deviation corresponding to the second corrected pulse width can be determined, and the sum of the calibrated leading edge value deviation corresponding to the second corrected pulse width and the leading edge value of the second corrected waveform can be determined as the leading edge value of the second corrected waveform to correct the leading edge value of the second corrected waveform.

[0184] Furthermore, before the laser radar is put into use, it can be calibrated by simulating the actual use scenario of the laser radar to generate a preset pulse width leading edge correction table. That is, in a possible implementation of the embodiment of the present application, before the above step 206, it can also include:

[0185] Acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echoes refer to reflected waves of light waves emitted by the laser radar to the calibration plate;

[0186] Determine the pulse width and leading edge value deviation of each calibration echo;

[0187] A preset pulse width leading edge correction table is generated based on the pulse width and leading edge value deviation of each calibration echo.

[0188] As a possible implementation method, since the reflectivity of the object being measured will affect the leading edge value of the echo, the distance measured by the laser radar is different when the objects being measured with different reflectivities are in the same position. Therefore, before the laser radar is put into use, calibration plates with different reflectivities can be placed in the same position, or the laser radar can be calibrated by changing the reflectivity of the same calibration plate as the object being measured, so as to generate a preset pulse width leading edge correction table while ensuring that there are no tailing points or echo superposition.

[0189] Exemplarily, for the same reflectivity calibration plate, the light wave intensity emitted by the laser radar can be adjusted within the light wave intensity range that the laser radar can emit, and emitted to the calibration plate, and then the reflected calibration echo is obtained, and the pulse width and leading edge value of the calibration echo are determined, and then the leading edge value of the calibration echo is judged to be accurate based on the actual distance between the calibration plate corresponding to the calibration echo and the laser radar, and when the leading edge value of the calibration echo is accurate, the pulse width and leading edge value of the calibration echo are stored as calibration pulse width and calibration leading edge value in a preset pulse width leading edge correction table; if the leading edge value of the calibration echo is determined to be inaccurate, the leading edge value deviation corresponding to the pulse width of the calibration echo can be determined based on the accurate leading edge value of the calibration plate corresponding to the calibration echo, and the pulse width and leading edge value deviation corresponding to the calibration echo are stored as calibration pulse width and calibration leading edge value deviation in a preset pulse width leading edge correction table. That is, in a possible implementation method of the embodiment of the present application, the pulse width and leading edge value deviation of each calibration echo can be determined in the following manner:

[0190] Determine the pulse width and leading edge value of each calibration echo;

[0191] Get the actual distance between the calibration plate and the lidar;

[0192] According to the actual distance between the calibration plate and the laser radar, the calibration frontier value corresponding to the calibration plate is determined;

[0193] The difference between the leading edge value of each calibration echo and the calibration leading edge value is respectively determined as the leading edge value deviation of each calibration echo.

[0194] In the embodiment of the present application, during the calibration process, the calibration front value corresponding to the calibration plate can be first determined according to the actual distance between the calibration plate and the laser radar, that is:

[0195]

[0196] Where t0 is the calibration frontier value corresponding to the calibration plate, d is the actual distance between the calibration plate and the lidar, and v is the speed of light.

[0197] After obtaining a calibration echo, the leading edge value and pulse width of the calibration echo can be determined, and the difference between the leading edge value of the calibration echo and the calibration leading edge value can be determined as the leading edge value deviation corresponding to the pulse width of the calibration echo. The pulse width and leading edge value deviation of the calibration echo are then taken as a set of calibration pulse width and calibration leading edge value deviation and stored in a preset pulse width leading edge correction table.

[0198] For example, the accuracy of the leading edge values of the calibration echoes can be determined based on the leading edge value of the calibration echo with the largest pulse width corresponding to the calibration plate. That is, in one possible implementation of the embodiment of the present application, the pulse width and leading edge deviation of each calibration echo can be determined by the following method:

[0199] Determine the pulse width and leading edge value of each calibration echo corresponding to the calibration plate;

[0200] According to the pulse width of each calibration echo, a reference calibration echo with the largest pulse width is determined, and the leading edge value of the reference calibration echo is determined as the calibration leading edge value corresponding to the calibration plate;

[0201] The difference between the leading edge value of each calibration echo and the calibration leading edge value is respectively determined as the leading edge value deviation of each calibration echo.

[0202] In an embodiment of the present application, during the calibration process, the calibration plate can be set at the same distance, and the parameters of the light wave incident to the calibration plate and the reflectivity parameters of the calibration plate can be adjusted to adjust the pulse width of the echo reflected by the calibration plate. After that, the leading edge value of the calibration echo with the largest pulse width corresponding to the calibration plate can be determined as the accurate leading edge value corresponding to the calibration plate, that is, the calibration echo with the largest pulse width corresponding to the calibration plate can be determined as the reference calibration echo, and then the leading edge value of the reference calibration echo can be determined as the calibration leading edge value.

[0203] Afterwards, after obtaining a calibration echo, the leading edge value and pulse width of the calibration echo can be determined, and the difference between the leading edge value of the calibration echo and the calibration leading edge value can be determined as the leading edge value deviation corresponding to the pulse width of the calibration echo. The pulse width and leading edge value deviation of the calibration echo are then taken as a set of calibration pulse width and calibration leading edge value deviation and stored in a preset pulse width leading edge correction table, thereby obtaining the corresponding relationship between each pulse width and leading edge value deviation.

[0204] It should be noted that since the leading edge value of the echo actually refers to the time interval between the light wave transmitter of the laser radar emitting the light wave and the receiver of the laser radar obtaining the echo corresponding to the light wave, when the leading edge value corresponding to the calibrated echo of the maximum pulse width is used as the calibrated leading edge value to generate a preset pulse width leading edge value correction table, the distance obtained according to the corrected leading edge value is also the distance between the object to be measured and the receiver of the laser radar. Therefore, in this case, after determining the distance between the object to be measured and the receiver of the laser radar according to the corrected leading edge value, the distance error introduced by the installation position of the laser radar receiver inside the laser radar can also be determined according to the internal parameters of the laser radar, and the difference between the determined distance between the object to be measured and the receiver of the laser radar and the distance error is determined as the final measured distance between the laser radar and the object to be measured to eliminate the measurement error introduced by the internal components of the laser radar.

[0205] The method for correcting a laser radar echo waveform provided in an embodiment of the present application determines the actual leading edge value, actual trailing edge value, actual pulse width and at least one actual peak value corresponding to the echo waveform, and judges whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table. When the actual peak value does not match the actual pulse width, the calibrated pulse width corresponding to the actual peak value in the preset peak pulse width correction table is determined as the corrected pulse width corresponding to the actual peak value. Thereafter, a corrected waveform corresponding to the echo waveform is determined according to the actual leading edge value, actual trailing edge value, actual peak value and the corrected pulse width corresponding to the actual peak value. Then, the leading edge value of the corrected waveform is corrected according to the preset pulse width leading edge correction table and the corrected pulse width. Therefore, through the pre-calibrated preset peak pulse width correction table, abnormal echo waveforms with tailing points or echo superposition where the actual peak value does not match the actual pulse width are identified, and the abnormal echo waveforms are corrected according to the preset peak pulse width correction table, so that the echo waveforms with tailing points or echo superposition can be directly determined through waveform recognition and corrected, which not only improves the accuracy and reliability of tailing point identification and waveform correction, but also does not require improvement to the hardware of the lidar, and has low cost and technical difficulty; and by correcting the leading edge value of the corrected waveform, the leading edge value error introduced by the reflectivity of the measured object is reduced, thereby further improving the accuracy and reliability of the echo waveform correction.

[0206] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0207] Corresponding to the method for correcting the laser radar echo waveform described in the above embodiment, Figure 7A structural block diagram of a device for correcting a laser radar echo waveform provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0208] Reference Figure 7 The device 30 comprises:

[0209] A first determining module 31 is configured to determine an actual leading edge value, an actual trailing edge value, an actual pulse width, and at least one actual peak value corresponding to an echo waveform;

[0210] A first judgment module 32 is configured to judge whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table, wherein the preset peak pulse width correction table includes a correspondence between a plurality of calibrated peak values and calibrated pulse widths;

[0211] The second determining module 33 is configured to determine the calibrated pulse width corresponding to the actual peak value as the corrected pulse width corresponding to the actual peak value when the actual peak value does not match the actual pulse width;

[0212] The third determining module 34 is used to determine the corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual trailing edge value, the actual peak value and the corrected pulse width corresponding to the actual peak value;

[0213] The fourth determining module 35 is configured to determine the echo waveform as a corrected waveform of the echo waveform when the actual peak value matches the actual pulse width.

[0214] In actual use, the laser radar echo waveform correction device provided in the embodiment of the present application can be configured in any terminal device to execute the aforementioned laser radar echo waveform correction method.

[0215] The laser radar echo waveform correction device provided in the embodiment of the present application determines the actual leading edge value, actual trailing edge value, actual pulse width and at least one actual peak value corresponding to the echo waveform, and judges whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table. When the actual peak value does not match the actual pulse width, the calibrated pulse width corresponding to the actual peak value in the preset peak pulse width correction table is determined as the corrected pulse width corresponding to the actual peak value, and then determines the corrected waveform corresponding to the echo waveform according to the actual leading edge value, actual trailing edge value, actual peak value and the corrected pulse width corresponding to the actual peak value. Thus, through the pre-calibrated preset peak pulse width correction table, abnormal echo waveforms with tailing points or echo superposition where the actual peak value does not match the actual pulse width are identified, and the abnormal echo waveforms are corrected according to the preset peak pulse width correction table. Thus, the echo waveforms with tailing points or echo superposition are directly determined through waveform recognition and corrected, which not only improves the accuracy and reliability of tailing point identification and waveform correction, but also does not require any hardware improvements to the laser radar, and has low cost and technical difficulty.

[0216] In a possible implementation form of the present application, the third determining module 34 includes:

[0217] A first determining unit is used to determine a corrected waveform according to the actual leading edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value;

[0218] or,

[0219] a second determining unit, configured to determine a first corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value;

[0220] The third determining unit is configured to determine a second corrected waveform corresponding to the echo waveform according to the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value.

[0221] Furthermore, in another possible implementation form of the present application, the number of the actual peak value is 1; accordingly, the first determining unit is specifically configured to:

[0222] The sum of the actual leading edge value and the corrected pulse width corresponding to the actual peak value is determined as the corrected trailing edge value corresponding to the actual leading edge value;

[0223] The actual leading edge value is used as the leading edge value of the modified waveform, the modified trailing edge value is used as the trailing edge value of the modified waveform, and the actual peak value is used as the peak value of the modified waveform to determine the modified waveform.

[0224] Furthermore, in another possible implementation of the present application, the number of the actual peaks is greater than 1, the actual peaks include a first actual peak corresponding to the actual leading edge value and a second actual peak corresponding to the actual trailing edge value, and the corrected pulse width includes a first corrected pulse width corresponding to the first actual peak and a second corrected pulse width corresponding to the second actual peak; accordingly, the second determining unit is specifically configured to:

[0225] The sum of the actual leading edge value and the first corrected pulse width is determined as the corrected trailing edge value corresponding to the actual leading edge value;

[0226] Determine the first modified waveform by using the actual leading edge value as the leading edge value of the first modified waveform, the modified trailing edge value as the trailing edge value of the first modified waveform, and the first actual peak value as the peak value of the first modified waveform;

[0227] Accordingly, the third determining unit is specifically configured to:

[0228] The difference between the actual trailing edge value and the second corrected pulse width is determined as the corrected leading edge value corresponding to the actual trailing edge value;

[0229] The second correction waveform is determined by using the corrected leading edge value as the leading edge value of the second correction waveform, the actual trailing edge value as the trailing edge value of the second correction waveform, and the second actual peak value as the peak value of the second correction waveform.

[0230] Furthermore, in another possible implementation form of the present application, the apparatus 30 further includes:

[0231] A first acquisition module is configured to acquire a plurality of calibration echoes reflected by the calibration plate, wherein the calibration echoes are reflections of light waves emitted by the laser radar to the calibration plate;

[0232] a fifth determination module, configured to determine the peak value and pulse width of each calibration echo;

[0233] The first generating module is used to generate a preset peak value pulse width correction table according to the peak value and pulse width of each calibration echo.

[0234] Furthermore, in another possible implementation form of the present application, the apparatus 30 further includes:

[0235] The first correction module is used to correct the leading edge value of the correction waveform according to a preset pulse width leading edge correction table and the corrected pulse width, wherein the pulse width leading edge correction table includes a correspondence between multiple calibrated pulse widths and calibrated leading edge value deviations.

[0236] Furthermore, in another possible implementation form of the present application, the first correction module includes:

[0237] a fourth determining unit, configured to determine a calibration leading edge value deviation corresponding to the corrected pulse width based on a preset pulse width leading edge correction table and the corrected pulse width;

[0238] The fifth determining unit is configured to determine the sum of the calibration leading edge value deviation corresponding to the corrected pulse width and the leading edge value of the corrected pulse width as the leading edge value of the corrected waveform, so as to correct the leading edge value of the corrected waveform.

[0239] Furthermore, in another possible implementation form of the present application, the apparatus 30 further includes:

[0240] A second acquisition module is used to acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to the reflection wave of the light wave emitted by the laser radar to the calibration plate;

[0241] a sixth determination module, configured to determine the pulse width and leading edge value deviation of each calibration echo;

[0242] The second generating module is used to generate a preset pulse width leading edge correction table according to the pulse width and leading edge value deviation of each calibration echo.

[0243] Furthermore, in another possible implementation form of the present application, the sixth determining module includes:

[0244] a sixth determining unit, configured to determine the pulse width and leading edge value of each calibration echo;

[0245] A first acquisition unit is used to obtain the actual distance between the calibration plate and the laser radar;

[0246] a seventh determining unit, configured to determine a calibration frontier value corresponding to the calibration plate according to an actual distance between the calibration plate and the laser radar;

[0247] The eighth determining unit is configured to determine the difference between the leading edge value of each calibration echo and the calibration leading edge value as the leading edge value deviation of each calibration echo.

[0248] Furthermore, in another possible implementation form of the present application, the sixth determining module includes:

[0249] a ninth determining unit, configured to determine a pulse width and a leading edge value of each calibration echo corresponding to the calibration plate;

[0250] a tenth determining unit, configured to determine a reference calibration echo having the largest pulse width according to the pulse widths of the respective calibration echoes, and determine the leading edge value of the reference calibration echo as the calibration leading edge value corresponding to the calibration plate;

[0251] The eleventh determining unit is configured to determine the difference between the leading edge value of each calibration echo and the calibration leading edge value as the leading edge value deviation of each calibration echo.

[0252] Furthermore, in another possible implementation of the present application, the first determination module 32 includes:

[0253] a twelfth determining unit, configured to determine a difference between each calibrated peak value in a preset peak pulse width correction table and an actual peak value;

[0254] a thirteenth determining unit, configured to determine any calibrated peak value as a reference calibrated peak value corresponding to the actual peak value when the absolute value of the difference between any calibrated peak value and the actual peak value is less than or equal to the peak value threshold;

[0255] a fourteenth determining unit, configured to determine that the actual peak value matches the actual pulse width when an absolute value of a difference between a calibrated pulse width corresponding to the reference calibrated peak value and the actual pulse width is less than or equal to a pulse width threshold;

[0256] A fifteenth determining unit is configured to determine that the actual peak value does not match the actual pulse width when an absolute value of a difference between a calibrated pulse width corresponding to the reference calibrated peak value and the actual pulse width is greater than a pulse width threshold.

[0257] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0258] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0259] In order to implement the above embodiments, the present application also proposes a terminal device.

[0260] Figure 8 This is a schematic diagram of the structure of a terminal device according to an embodiment of the present application.

[0261] like Figure 8 As shown, the terminal device 200 includes:

[0262] A memory 210 and at least one processor 220, a bus 230 connecting different components (including the memory 210 and the processor 220), the memory 210 stores a computer program, and when the processor 220 executes the program, the method for correcting the laser radar echo waveform described in the embodiment of the present application is implemented.

[0263] Bus 230 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0264] The terminal device 200 typically includes a variety of electronic device readable media. These media can be any available media that can be accessed by the terminal device 200, including volatile and non-volatile media, removable and non-removable media.

[0265] The memory 210 may also include computer system readable media in the form of volatile memory, such as random access memory (RAM) 240 and / or cache memory 250. The terminal device 200 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 260 may be used to read and write non-removable, non-volatile magnetic media ( Figure 8 Not shown, often called a "hard drive"). Although Figure 8 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 230 via one or more data medium interfaces. Memory 210 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present application.

[0266] A program / utility 280 having a set (at least one) of program modules 270 may be stored, for example, in memory 210. Such program modules 270 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 270 generally implement the functions and / or methods of the embodiments described herein.

[0267] The terminal device 200 can also communicate with one or more external devices 290 (e.g., a keyboard, a pointing device, a display 291, etc.), can also communicate with one or more devices that enable a user to interact with the terminal device 200, and / or can communicate with any device that enables the terminal device 200 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication can be performed via an input / output (I / O) interface 292. Furthermore, the terminal device 200 can also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 293. As shown, the network adapter 293 communicates with other modules of the terminal device 200 via a bus 230. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the terminal device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0268] The processor 220 executes various functional applications and data processing by running programs stored in the memory 210 .

[0269] It should be noted that the implementation process and technical principles of the terminal device of this embodiment can be found in the aforementioned explanation of the method for correcting the laser radar echo waveform of the embodiment of the present application, and will not be repeated here.

[0270] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0271] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0272] If the integrated unit is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned method embodiment by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can at least include: any entity or device capable of carrying computer program code to a camera / terminal device, a recording medium, computer memory, read-only memory (ROM), random access memory (RAM), an electric carrier signal, a telecommunications signal, and a software distribution medium. Examples include a USB flash drive, a mobile hard drive, a magnetic disk, or an optical disk. In some jurisdictions, based on legislation and patent practice, computer-readable media cannot be electric carrier signals or telecommunications signals.

[0273] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0274] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0275] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0276] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0277] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for correcting a laser radar echo waveform, characterized in that: include: Determine an actual leading edge value, an actual trailing edge value, an actual pulse width, and at least one actual peak value corresponding to the echo waveform; Determining whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table, wherein the preset peak pulse width correction table includes a correspondence between a plurality of calibrated peak values and calibrated pulse widths; If the actual peak value does not match the actual pulse width, the calibrated pulse width corresponding to the actual peak value is determined as the corrected pulse width corresponding to the actual peak value; Determining a corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value; If the actual peak value matches the actual pulse width, the echo waveform is determined to be a corrected waveform of the echo waveform.

2. The method according to claim 1, wherein The determining, based on the actual leading edge value, the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value, of a corrected waveform corresponding to the echo waveform includes: Determining the corrected waveform according to the actual leading edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value; or, determining a first corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual peak value, and a corrected pulse width corresponding to the actual peak value; A second corrected waveform corresponding to the echo waveform is determined according to the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value.

3. The method according to claim 2, wherein The number of the actual peaks is 1, and determining the corrected waveform according to the actual leading edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value includes: Determine the sum of the actual leading edge value and the corrected pulse width corresponding to the actual peak value as the corrected trailing edge value corresponding to the actual leading edge value; The modified waveform is determined by using the actual leading edge value as the leading edge value of the modified waveform, the modified trailing edge value as the trailing edge value of the modified waveform, and the actual peak value as the peak value of the modified waveform.

4. The method according to claim 2, wherein The number of the actual peaks is greater than 1, the actual peaks include a first actual peak corresponding to the actual leading edge value and a second actual peak corresponding to the actual trailing edge value, the corrected pulse width includes a first corrected pulse width corresponding to the first actual peak and a second corrected pulse width corresponding to the second actual peak, and determining the first corrected waveform corresponding to the echo waveform based on the actual leading edge value, the actual peak, and the corrected pulse width corresponding to the actual peak includes: Determine the sum of the actual leading edge value and the first corrected pulse width as the corrected trailing edge value corresponding to the actual leading edge value; Determine the first modified waveform by using the actual leading edge value as the leading edge value of the first modified waveform, the modified trailing edge value as the trailing edge value of the first modified waveform, and the first actual peak value as the peak value of the first modified waveform; The determining, according to the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value, a second corrected waveform corresponding to the echo waveform comprises: Determine the difference between the actual trailing edge value and the second corrected pulse width as the corrected leading edge value corresponding to the actual trailing edge value; The second modified waveform is determined by using the modified leading edge value as the leading edge value of the second modified waveform, the actual trailing edge value as the trailing edge value of the second modified waveform, and the second actual peak value as the peak value of the second modified waveform.

5. The method according to claim 1, wherein Before determining whether the actual peak value matches the actual pulse width according to the preset peak pulse width correction table, the method further includes: Acquire a plurality of calibration echoes reflected by a calibration plate, wherein the calibration echoes are reflections of light waves emitted by the laser radar to the calibration plate; Determining the peak value and pulse width of each calibration echo; The preset peak-to-pulse-width correction table is generated according to the peak value and pulse width of each calibration echo.

6. The method according to any one of claims 1 to 5, characterized in that: After determining the corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value, the method further includes: The leading edge value of the corrected waveform is corrected according to a preset pulse width leading edge correction table and the corrected pulse width, wherein the pulse width leading edge correction table includes a correspondence between a plurality of calibrated pulse widths and calibrated leading edge value deviations.

7. The method according to claim 6, wherein The step of correcting the leading edge value of the corrected waveform according to a preset pulse width leading edge correction table and the corrected pulse width includes: Determining a calibration leading edge value deviation corresponding to the corrected pulse width according to the preset pulse width leading edge correction table and the corrected pulse width; The sum of the calibration leading edge value deviation corresponding to the corrected pulse width and the leading edge value of the corrected pulse width is determined as the leading edge value of the corrected waveform, so as to correct the leading edge value of the corrected waveform.

8. The method according to claim 6, wherein Before correcting the leading edge value of the corrected waveform according to the preset pulse width leading edge correction table and the corrected pulse width, the method further includes: Acquire a plurality of calibration echoes reflected by a calibration plate, wherein the calibration echoes are reflections of light waves emitted by the laser radar to the calibration plate; Determining the pulse width and leading edge value deviation of each calibration echo; The preset pulse width leading edge correction table is generated according to the pulse width and leading edge value deviation of each calibration echo.

9. The method according to claim 8, wherein Determining the pulse width and leading edge value deviation of each calibration echo includes: Determining the pulse width and leading edge value of each calibration echo; Obtaining the actual distance between the calibration plate and the laser radar; Determining a calibration frontier value corresponding to the calibration plate according to an actual distance between the calibration plate and the laser radar; The difference between the leading edge value of each calibration echo and the calibration leading edge value is respectively determined as the leading edge value deviation of each calibration echo.

10. The method according to claim 8, wherein Determining the pulse width and leading edge value deviation of each calibration echo includes: Determining the pulse width and leading edge value of each calibration echo corresponding to the calibration plate; Determining a reference calibration echo with the largest pulse width according to the pulse widths of the calibration echoes, and determining the leading edge value of the reference calibration echo as the calibration leading edge value corresponding to the calibration plate; The difference between the leading edge value of each calibration echo and the calibration leading edge value is respectively determined as the leading edge value deviation of each calibration echo.

11. The method according to any one of claims 1 to 5, characterized in that: The determining whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table includes: Determining the difference between each of the calibrated peak values in the preset peak pulse width correction table and the actual peak value; When the absolute value of the difference between any calibration peak value and the actual peak value is less than or equal to the peak value threshold, determining the any calibration peak value as a reference calibration peak value corresponding to the actual peak value; If the absolute value of the difference between the calibrated pulse width corresponding to the reference calibrated peak value and the actual pulse width is less than or equal to the pulse width threshold, then determining that the actual peak value matches the actual pulse width; If the absolute value of the difference between the calibrated pulse width corresponding to the reference calibrated peak value and the actual pulse width is greater than the pulse width threshold, it is determined that the actual peak value does not match the actual pulse width.

12. A laser radar echo waveform correction device, characterized in that: include: A first determination module is used to determine an actual leading edge value, an actual trailing edge value, an actual pulse width and at least one actual peak value corresponding to the echo waveform; a first judgment module, configured to judge whether the actual peak value matches the actual pulse width according to a preset peak pulse width correction table, wherein the preset peak pulse width correction table includes a correspondence between a plurality of calibrated peak values and calibrated pulse widths; a second determining module, configured to determine, when the actual peak value does not match the actual pulse width, a calibrated pulse width corresponding to the actual peak value as a corrected pulse width corresponding to the actual peak value; a third determining module, configured to determine a corrected waveform corresponding to the echo waveform according to the actual leading edge value, the actual trailing edge value, the actual peak value, and the corrected pulse width corresponding to the actual peak value; The fourth determining module is configured to determine the echo waveform as a corrected waveform of the echo waveform when the actual peak value matches the actual pulse width.

13. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 11 is implemented.

14. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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