A laser radar self-checking method and device, a storage medium and an electronic device

Abstract

The application provides a laser radar self-checking method and device, a storage medium and an electronic device. The laser radar comprises a control unit, a detection unit, a transmitting module and a receiving module. The control unit controls the transmitting module to transmit test laser according to a preset coding rule when the laser radar is in a target posture. The control unit performs self-checking according to a first echo signal, a second echo signal and the coding rule to determine whether an abnormality exists in a laser signal processing link of the laser radar. The first echo signal is an echo signal detected by the detection unit, and the second echo signal is an echo signal detected by the receiving module. The laser radar self-checking method provided by the application can diagnose the state of the laser signal processing link, determine whether an abnormality exists in the laser signal processing link, and thus improve the comprehensiveness and coverage of self-checking.

Description

Technical Field

[0001] This application relates to the field of radar, and more specifically, to a self-testing method, apparatus, storage medium, and electronic device for lidar. Background Technology

[0002] Intelligent driving technology is being used more and more widely in the automotive industry, and LiDAR, as a core sensor for intelligent driving technology, is also being used more and more extensively.

[0003] LiDAR provides vehicles with distance information about environmental targets, offering crucial input data for intelligent driving decisions and thus being a product directly related to driving safety. Therefore, the safety of LiDAR products themselves must be fully guaranteed. Providing reliable target distance information is the most important function of LiDAR; if this function is compromised, monitoring, fault diagnosis, and reporting mechanisms are necessary to ensure safe operation.

[0004] Therefore, how to test lidar to ensure its reliable operation has become a difficult problem of concern to those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a self-testing method, device, storage medium, and electronic device for lidar to ensure the reliable operation of lidar.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0007] In a first aspect, embodiments of this application provide a self-testing method for a lidar, applied to a lidar, wherein the lidar includes a control unit, a detection unit, a transmitting module, and a receiving module, and the method includes:

[0008] When the lidar is in the target posture, the control unit controls the emission module to emit test lasers according to preset encoding rules;

[0009] The control unit performs a self-test based on the first echo signal, the second echo signal, and the encoding rules to determine whether there is an abnormality in the laser signal processing link of the lidar;

[0010] Wherein, the first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module.

[0011] Optionally, the step of the control unit performing a self-test based on the first echo signal, the second echo signal, and the encoding rules to determine whether there is an anomaly in the laser signal processing link of the lidar includes:

[0012] The control unit determines the first pulse signal rule of the first echo signal and the second pulse signal rule of the second echo signal;

[0013] The control unit performs a self-test based on the first pulse signal rule, the second pulse signal rule, and the encoding rule to determine whether there is an abnormality in the laser signal processing link of the lidar.

[0014] Optionally, the encoding rule includes the time interval between any two adjacent pulses in the test laser, the first pulse signal rule includes a first type of time interval information, the second pulse signal rule includes a second type of time interval information, the first type of time interval information includes the time interval between any two adjacent pulses in the first echo signal, and the second type of time interval information includes the time interval between any two adjacent pulses in the second echo signal. The control unit performs a self-test based on the first pulse signal rule, the second pulse signal rule, and the encoding rule to determine whether there is an anomaly in the laser signal processing link of the lidar, including:

[0015] The control unit determines the matching results of the first type of time interval information and the second type of time interval information with the encoding rules, respectively;

[0016] The control unit determines whether there is an anomaly in the laser signal processing link of the lidar based on the matching result.

[0017] Optionally, the step of the control unit determining whether there is an anomaly in the laser signal processing link of the lidar based on the matching result includes:

[0018] If both the first type of time interval information and the second type of time interval information match the encoding rules, the control unit determines that the lidar is normal.

[0019] If the control unit determines that the receiving module is abnormal when the first type of time interval information matches the encoding rule and the second type of time interval information does not match the encoding rule;

[0020] If the control unit determines that the transmission module is abnormal when both the first type of time interval information and the second type of time interval information do not match the encoding rules.

[0021] Optionally, before the control unit performs a self-test based on the first echo signal, the second echo signal, and the encoding rules to determine whether there is an abnormality in the laser signal processing link of the lidar, the method further includes:

[0022] If the control unit receives the first echo signal but does not receive the second echo signal, it determines that the receiving module is malfunctioning.

[0023] If the control unit does not receive the first echo signal and the second echo signal, it determines that the transmitting module is abnormal.

[0024] Optionally, the first echo signal includes a first main echo signal and a first target echo signal, and the second echo signal includes a second main echo signal and a second target echo signal;

[0025] The transmitting module includes n transmitting units, and the receiving module includes m receiving units, where n≥1 and m≥1. The number of channels for the first main echo signal is n, the number of channels for the first target echo signal is n, the number of channels for the second main echo signal is n×m, and the number of channels for the second target echo signal is n×m.

[0026] Optionally, before the control unit controls the emission module to emit a test laser according to a preset encoding rule when the lidar is in the target attitude, the method further includes:

[0027] The control unit controls the horizontal rotation mechanism and the vertical rotation mechanism of the lidar to move so that the lidar is in the target posture, wherein the test laser emitted by the lidar hits the target object in the target posture.

[0028] Optionally, the target pose includes any one or more of the following: a first pose, a second pose, a third pose, a fourth pose, a fifth pose, and a sixth pose.

[0029] In the first posture, the horizontal rotation mechanism of the lidar is positioned to the leftmost position of the horizontal field of view, and the vertical rotation mechanism of the lidar is positioned to the bottommost position of the vertical field of view.

[0030] In the second posture, the horizontal rotation mechanism is positioned at the center of the horizontal field of view, and the vertical rotation mechanism is positioned at the bottom of the vertical field of view;

[0031] In the third posture, the horizontal rotation mechanism is positioned to the rightmost position of the horizontal field of view, and the vertical rotation mechanism is positioned to the bottommost position of the vertical field of view.

[0032] In the fourth posture, the horizontal rotation mechanism is positioned to the rightmost side of the horizontal field of view, and the vertical rotation mechanism is positioned to a preset angle, wherein the preset angle represents moving upward by a preset angle from the bottom position of the vertical field of view;

[0033] In the fifth posture, the vertical rotation mechanism is positioned at a preset angle, and the horizontal rotation mechanism is positioned at the center of the horizontal field of view.

[0034] In the sixth posture, the vertical rotation mechanism is positioned at a preset angle, and the horizontal rotation mechanism is positioned at the leftmost side of the horizontal field of view.

[0035] Optionally, the number of target postures is Q, 2≤Q≤6. Before controlling the emission module to emit the test laser according to the preset encoding rules, the method further includes:

[0036] The control unit controls the lidar to switch to the i-th target attitude;

[0037] Wherein, the i-th target pose is any one of the Q target poses;

[0038] After the control unit performs a self-test based on the first echo signal, the second echo signal, and the encoding rules to determine whether there is an abnormality in the laser signal processing link of the lidar, the method further includes:

[0039] The control unit controls the lidar to switch to the (i+1)th target attitude, and repeatedly controls the emission module to emit test lasers according to the preset encoding rules until the lidar self-test under Q target attitudes is completed.

[0040] Secondly, embodiments of this application provide a self-testing device for a lidar system, applied to a lidar system. The lidar system includes a control unit, a detection unit, a transmitting module, and a receiving module. The device includes:

[0041] The processing unit is used by the control unit to control the emission module to emit test lasers according to preset encoding rules when the lidar is in the target posture.

[0042] The diagnostic unit is used by the control unit to perform a self-test based on the first echo signal, the second echo signal and the encoding rules to determine whether there is an abnormality in the laser signal processing link of the lidar;

[0043] Wherein, the first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module.

[0044] Optionally, the diagnostic unit is further configured to determine the first pulse signal rule of the first echo signal and the second pulse signal rule of the second echo signal in the control unit;

[0045] The diagnostic unit is also used by the control unit to perform a self-test based on the first pulse signal rule, the second pulse signal rule and the encoding rule to determine whether there is an abnormality in the laser signal processing link of the lidar.

[0046] Optionally, the encoding rule includes the time interval between any two adjacent pulses in the test laser, the first pulse signal rule includes a first type of time interval information, the second pulse signal rule includes a second type of time interval information, the first type of time interval information includes the time interval between any two adjacent pulses in the first echo signal, and the second type of time interval information includes the time interval between any two adjacent pulses in the second echo signal;

[0047] The diagnostic unit is also used by the control unit to determine the matching results of the first type of time interval information and the second type of time interval information with the encoding rules, respectively;

[0048] The diagnostic unit is also used by the control unit to determine whether there is an abnormality in the laser signal processing link of the lidar based on the matching result.

[0049] Optionally, the diagnostic unit is further configured to determine that the lidar is normal when both the first type of time interval information and the second type of time interval information match the coding rule.

[0050] The diagnostic unit is further configured to determine that the receiving module is abnormal when the first type of time interval information matches the encoding rule and the second type of time interval information does not match the encoding rule.

[0051] The diagnostic unit is also used to determine that the transmission module is abnormal when the control unit finds that both the first type of time interval information and the second type of time interval information do not match the encoding rules.

[0052] Optionally, the diagnostic unit is further configured to determine that the receiving module is malfunctioning when the control unit receives the first echo signal but does not receive the second echo signal;

[0053] The diagnostic unit is also used to determine that the transmitting module is malfunctioning when the control unit does not receive the first echo signal and the second echo signal.

[0054] Thirdly, embodiments of this application provide a storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method.

[0055] Fourthly, embodiments of this application provide an electronic device, the electronic device comprising: a control unit and a memory, the memory being used to store one or more programs; when the one or more programs are executed by the control unit, the above-described method is implemented.

[0056] Compared to existing technologies, this application provides a self-testing method, apparatus, storage medium, and electronic device for lidar. The lidar includes a control unit, a detection unit, a transmitting module, and a receiving module. When the lidar is in a target posture, the control unit controls the transmitting module to emit test lasers according to preset encoding rules. The control unit performs a self-test based on a first echo signal, a second echo signal, and the encoding rules to determine whether there are any abnormalities in the lidar's laser signal processing link. The first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module. The lidar self-testing method provided in this application can diagnose the status of the laser signal processing link, determine whether there are any abnormalities in the laser signal processing link, and thus improve the comprehensiveness and coverage of the self-test.

[0057] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0058] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application;

[0060] Figure 2 A flowchart illustrating the self-testing method for lidar provided in this application embodiment;

[0061] Figure 3 A schematic diagram of the sub-step S105 provided in the embodiments of this application;

[0062] Figure 4 A schematic diagram of the sub-step S105-2 provided in the embodiments of this application;

[0063] Figure 5 This is a schematic diagram of single-channel laser pulse comparison provided in an embodiment of this application;

[0064] Figure 6A schematic diagram of the sub-steps of S105-2B provided in the embodiments of this application;

[0065] Figure 7 This is one of the flowcharts illustrating the self-testing method for lidar provided in the embodiments of this application;

[0066] Figure 8 The second schematic flowchart of the self-testing method for lidar provided in the embodiments of this application;

[0067] Figure 9 This is a schematic diagram of a self-testing device for lidar provided in an embodiment of this application.

[0068] In the diagram: 10-Control unit; 20-Transmitting module; 30-Receiving module; 40-Detection unit; 501-Processing unit; 502-Diagnostic unit. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0070] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0071] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0072] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0073] In the description of this application, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0074] In the description of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0075] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0076] Existing vehicle-mounted lidar systems primarily monitor parameters such as power supply voltage, current, and temperature of key modules. However, their diagnostic coverage for problems across the entire lidar transmission / reception, rotation circuit, and signal processing link is insufficient. To overcome these issues, this application provides a lidar power-on self-test method. The self-test covers the lidar's transmitting module, rotation system, receiving module, and control unit (also known as the signal processing unit), effectively improving the diagnostic coverage of the lidar transmission / reception link and enhancing the accuracy of the power-on self-test.

[0077] For details, please refer to Figure 1 , Figure 1This is a schematic diagram of the structure of a lidar provided in an embodiment of this application. Figure 1 As shown, the lidar includes a control unit 10, a detection unit 40, a transmitting module 20, and a receiving module 30. The control unit 10 can send control information to the transmitting module 20 to control the transmitting module 20 to emit test lasers according to preset encoding rules. The detection unit 40 and the receiving module 30 can receive the reflected laser signals, generate corresponding echo signals, and transmit the collected echo signals to the control unit 10.

[0078] Optionally, the transmitting module 20 has n_TX laser transmitting units, the receiving module 30 has m_RX receiving units, and the detection unit 40 has K_Test receiving units. In order to balance low cost and low failure rate, the detection unit 40 has 1 receiving unit, that is, K equals 1.

[0079] It should be understood that, Figure 1 The structure shown is only a partial schematic diagram of the lidar; the lidar may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0080] The self-testing method for lidar provided in this application embodiment can be applied to, but is not limited to, [various applications]. Figure 1 For the specific process of the lidar shown, please refer to [link / reference]. Figure 2 The self-testing methods for lidar include S102 and S105, which are described in detail below.

[0081] S102, when the lidar is in the target attitude, the control unit controls the emission module to emit test lasers according to the preset coding rules.

[0082] Optionally, the control unit 10 sends a corresponding control signal to the transmitting module 20 so that the transmitting module 20 emits a test laser according to a preset encoding rule.

[0083] The target attitude refers to any attitude at which the test laser emitted by the transmitting module 20 can accurately hit the target object. It should be understood that the target object can be the ground, trees, vehicles, houses, etc. When the lidar is not in the target attitude, the test laser may be fired into the sky, and in this case, the detection unit 40 and the receiving module 30 may not be able to collect the echo signal.

[0084] S105, the control unit performs a self-test based on the first echo signal, the second echo signal and the encoding rules to determine whether there is an abnormality in the laser signal processing link of the lidar.

[0085] The first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module.

[0086] It should be understood that the first and second echo signals should match the coding rules corresponding to the test laser. If any one or more sets of echo signals do not match the coding rules corresponding to the test laser, it indicates that there is an anomaly in the lidar, specifically, an anomaly in the laser signal processing link.

[0087] It should be noted that when it is determined that there is no abnormality in the lidar under a certain posture, the lidar can be switched to the next target posture, and the above steps S102 and S105 can be repeated to complete the repeated self-check under multiple postures and ensure the accuracy of the self-check results.

[0088] In summary, this application provides a self-testing method for a lidar system. The lidar includes a control unit, a detection unit, a transmitting module, and a receiving module. When the lidar is in a target posture, the control unit controls the transmitting module to emit a test laser according to a preset encoding rule. The control unit performs a self-test based on a first echo signal, a second echo signal, and the encoding rule to determine whether there are any abnormalities in the lidar's laser signal processing link. The first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module. The lidar self-testing method provided in this application can diagnose the status of the laser signal processing link, determine whether there are any abnormalities in the link, and thus improve the comprehensiveness and coverage of the self-test.

[0089] exist Figure 2 Based on the above, regarding the content in S105, and how to ensure the accuracy of the self-test results, this application embodiment also provides an optional implementation method, please refer to... Figure 3 S105 includes S105-1 and S105-2, which are described in detail below.

[0090] S105-1, The control unit determines the first pulse signal rule of the first echo signal and the second pulse signal rule of the second echo signal.

[0091] Optionally, the first pulse signal rule can characterize the time interval rule between any two adjacent pulses in the first echo signal, and the second pulse signal rule can characterize the time interval rule between any two adjacent pulses in the second echo signal. Alternatively, the first pulse signal rule can characterize any pulse width rule in the first echo signal, and the second pulse signal rule can characterize any pulse width rule in the second echo signal. The pulse width characterizes the duration of the pulse peak. The time interval between pulses characterizes the duration interval between two pulse peaks.

[0092] S105-2, the control unit performs a self-test based on the first pulse signal rule, the second pulse signal rule, and the encoding rule to determine whether there is an abnormality in the laser signal processing link of the lidar.

[0093] It should be understood that the encoding rules are of the same type as the first pulse signal rules and the second pulse signal rules. The encoding rules may include the time interval between any two adjacent pulses in the test laser, or any pulse width in the test laser.

[0094] In one possible implementation, the encoding rules include the time interval between any two adjacent pulses in the test laser. The first pulse signal rule includes a first type of time interval information, and the second pulse signal rule includes a second type of time interval information. The first type of time interval information includes the time interval between any two adjacent pulses in the first echo signal, and the second type of time interval information includes the time interval between any two adjacent pulses in the second echo signal. It should be noted that the "any adjacent" indication here includes the time interval between all adjacent pulses.

[0095] Based on this, regarding Figure 3 Regarding the content in S105-2, how to determine whether there is an anomaly in the laser signal processing link of the lidar? This application embodiment also provides a possible implementation method, please refer to... Figure 4 S105-2 includes S105-2A and S105-2B, which are described in detail below.

[0096] S105-2A, the control unit obtains the matching results of the first type of time interval information and the second type of time interval information with the coding rules respectively.

[0097] Optionally, the matching results include whether the first type of time interval information matches the encoding rule and whether the second type of time interval information matches the encoding rule. S105-2B, the control unit determines whether there is an anomaly in the laser signal processing link of the lidar based on the matching results.

[0098] Optionally, by determining whether the first type of time interval information and the second type of time interval information match the time interval between any two adjacent pulses in the test laser corresponding to the encoding rule, it can be determined whether there is an anomaly in the laser signal processing link of the lidar.

[0099] In one possible implementation, the first echo signal includes a first main echo signal and a first target echo signal, and the second echo signal includes a second main echo signal and a second target echo signal. Specifically, the first main echo signal is the echo signal formed by the test laser reflecting off the radar inside the radar and onto the detection unit 40, and then collected; the first target echo signal is the echo signal formed by the test laser hitting a real external target and reflecting off the radar and onto the detection unit 40, and then collected. The second main echo signal is the echo signal formed by the test laser reflecting off the radar inside the radar and onto the receiving module 30, and then collected; the second target echo signal is the echo signal formed by the test laser hitting a real external target and reflecting off the radar and onto the receiving module 30, and then collected.

[0100] like Figure 1 As shown, the transmitting module includes n transmitting units, and the receiving module includes m receiving units, where n≥1, m≥1, the number of the first main echo signal is n, the number of the first target echo signal is n, the number of the second main echo signal is n×m, and the number of the second target echo signal is n×m.

[0101] Optionally, the first type of time interval information includes the time interval between any two adjacent pulses in the first main echo signal and the time interval between any two adjacent pulses in the first target echo signal, and the second type of time interval information includes the time interval between any two adjacent pulses in the second main echo signal and the time interval between any two adjacent pulses in the second target echo signal.

[0102] Optionally, in S105-1 and S105-2, the time interval information corresponding to each of the first main echo signal, the first target echo signal, the second main echo signal, and the second target echo signal can be acquired, or only the time interval information corresponding to a portion of the echo signals can be acquired. This information is then matched with preset encoding rules to determine if there are any anomalies in the laser signal processing link of the lidar.

[0103] By comparing the second type of time interval corresponding to the reflected signals of each transmitting unit collected by each receiving unit with the time interval corresponding to the coding rule, the transmitting unit that is malfunctioning can be identified.

[0104] Please refer to Figure 5 , Figure 5 This is a schematic diagram of single-channel laser pulse comparison provided in an embodiment of this application.

[0105] Optionally, during development, through testing, it can be determined that, under the preset encoding rules, the time intervals based on the laser emission pulses are ΔT1, ΔT2, ..., ΔTn. Analysis of the acquired echo signals reveals that the main wave intervals corresponding to the second main echo signals received by the m channels of the receiving module are ΔT_mrx11, ΔT_mrx12, ..., ΔT_mrx1n, ΔT_mrx21, ΔT_mrx22, ..., ΔT_mrx2n…ΔT_mrxm1, ΔT_mrxm2, ..., ΔT_mrxmn.

[0106] The echo interval times corresponding to the second target echo signals received by the m channels of the receiving module are ΔT_rx11, ΔT_rx12, ... ΔT_rx1n, ΔT_rx21, ΔT_rx22, ... ΔT_rx2n… ΔT_rxm1, ΔT_rxm2, ... ΔT_rxmn.

[0107] Optionally, by comparing the main wave interval time corresponding to the second main echo signal received by the m channels of the receiving module, the echo interval time corresponding to the second target echo signal received by the m channels of the receiving module, and the time interval of the laser emission pulses, it can be determined whether the second type of time interval information matches the encoding rule. Similarly, it can also be determined whether the first type of time interval information matches the encoding rule.

[0108] Optionally, when the second type of time interval information corresponding to any one of the second main echo signals and the second target echo signals corresponding to the receiving unit of the receiving module 30 matches the coding rule, it can be determined that the second type of time interval information corresponding to the receiving unit matches the coding rule; or when the second type of time interval information corresponding to all the second main echo signals and the second target echo signals corresponding to the receiving unit of the receiving module 30 matches the coding rule, it can be determined that the second type of time interval information corresponding to the receiving unit matches the coding rule.

[0109] like Figure 5 As shown, if the laser emission has a fixed frequency, then the period is also fixed. Within this fixed period, high and low voltage levels occupy a certain proportion of time. For example, if the period is 100ns, in the first period, the high voltage level occupies 40ns, and the low voltage level occupies 60%; in the second period, the high voltage level occupies 20ns, and the low voltage level occupies 80%. It should be noted that the division in the diagram is for illustrative purposes only and does not constitute a limitation. Alternatively, the laser emission frequency can be variable. The high-level pulse width can be fixed, for example, 10ns. In this case, the proportion issue does not need to be considered, and the interval time can be a multiple of 10ns, such as a 30ns interval between the first and second pulses, and a 60ns interval between the second and third pulses.

[0110] exist Figure 4 Based on the above, this application embodiment also provides a possible implementation of the content in S105-2B, please refer to... Figure 6 S105-2 includes S105-2B1, S105-2B2 and S105-2B3, which are described in detail below.

[0111] S105-B1, the control unit determines that the lidar is normal if both the first type of time interval information and the second type of time interval information match the coding rules.

[0112] S105-2B2, if the control unit determines that the receiving module is abnormal when the first type of time interval information matches the encoding rule and the second type of time interval information does not match the encoding rule.

[0113] Optionally, by comparing the second type of time interval corresponding to each receiving unit in the receiving module 30, abnormal receiving units, i.e., receiving units whose second type of time interval information does not match the encoding rules, can be identified.

[0114] S105-2B3, the control unit determines that the transmission module is abnormal when both the first type of time interval information and the second type of time interval information do not match the coding rules.

[0115] Optionally, by comparing the first type of time interval and the second type of time interval corresponding to the laser signal emitted by each transmitting unit in the transmitting module 20, abnormal transmitting units, i.e., transmitting units whose first type of time interval information and / or second type of time interval information do not match the encoding rules, can be identified.

[0116] exist Figure 2 Based on this, regarding how to further ensure the accuracy of self-test results, this application embodiment also provides a possible implementation method, please refer to... Figure 7 Prior to S105, the self-testing methods for lidar also included S103 and S104, which are described in detail below.

[0117] S103, if the control unit receives the first echo signal but does not receive the second echo signal, it determines that the receiving module is abnormal.

[0118] S104, if the control unit does not receive the first echo signal and the second echo signal, it determines that the transmitting module is abnormal.

[0119] It should be understood that not receiving the first echo signal means receiving the first main echo signal, and not receiving the second echo signal means not receiving the second main echo signal.

[0120] Optionally, in Figure 2 Based on this, regarding how to adjust the attitude of the lidar, this application embodiment also provides a possible implementation method, please refer to... Figure 8 Prior to S102, the self-testing method for lidar also includes S101, which is described in detail below.

[0121] S101, the control unit controls the horizontal rotation mechanism and the vertical rotation mechanism of the lidar to move the lidar to the target orientation.

[0122] In this scenario, the test laser emitted by the lidar, under the target's attitude, hits the target object.

[0123] Optionally, the target pose includes any one or more of the first pose, second pose, third pose, fourth pose, fifth pose, and sixth pose.

[0124] In the first orientation, the horizontal rotation mechanism of the lidar is positioned at the far left of the horizontal field of view, and the vertical rotation mechanism of the lidar is positioned at the bottom of the vertical field of view.

[0125] In the second posture, the horizontal rotation mechanism is positioned at the center of the horizontal field of view, and the vertical rotation mechanism is positioned at the bottom of the vertical field of view.

[0126] In the third posture, the horizontal rotation mechanism is positioned to the far right of the horizontal field of view, and the vertical rotation mechanism is positioned to the bottom of the vertical field of view.

[0127] In the fourth posture, the horizontal rotation mechanism is positioned to the far right of the horizontal field of view, and the vertical rotation mechanism is positioned to a preset angle (Δθ). The preset angle represents the upward movement of a preset angle from the bottom position of the vertical field of view. This ensures the laser reaches the ground, and the control unit controls the laser to emit a test laser according to a specific coding rule.

[0128] The fifth posture involves positioning the vertical rotation mechanism to a preset angle and the horizontal rotation mechanism to the center of the horizontal field of view.

[0129] The sixth posture: the vertical rotation mechanism is positioned at a preset angle, and the horizontal rotation mechanism is positioned at the leftmost side of the horizontal field of view.

[0130] It should be noted that adjusting the pose of the lidar requires a rotation system. The lidar internally monitors the operating status of the rotation system; if the rotation system malfunctions and fails to perform position control as instructed, the monitoring system will output an abnormality message.

[0131] In one optional implementation, the number of target poses is Q, where 2 ≤ Q ≤ 6. For example, if Q is 3, the first target pose is the first pose described above, the second target pose is the second pose described above, and the third target pose is the third pose described above.

[0132] Before the control module emits the test laser according to the preset coding rules, the lidar self-test method also includes:

[0133] The control unit controls the lidar to switch to the attitude of the i-th target.

[0134] The i-th target pose is any one of the Q target poses.

[0135] After the control unit performs a self-test based on the first echo signal, the second echo signal, and the encoding rules to determine whether there is an abnormality in the laser signal processing link of the lidar, the method also includes...

[0136] The control unit controls the lidar to switch to the (i+1)th target attitude, and repeatedly controls the emission module to emit test lasers according to the preset coding rules until the lidar self-test under Q target attitudes is completed.

[0137] Optionally, by repeating S102 and S105 above, repeated self-checks under multiple postures can be completed to ensure the accuracy of the self-check results.

[0138] In one possible implementation, when an anomaly is detected in the lidar, a fault report can be made to prompt staff to perform repairs.

[0139] Optionally, S101-S105 provided in this application embodiment can be executed during the power-on self-test phase of the lidar. After the lidar is powered on, this application embodiment also provides a possible implementation for how to complete the self-test during the working phase: the control unit can control the emission module to emit test lasers according to preset coding rules at preset periodic intervals, repeatedly executing S102-S105 to monitor and diagnose the lidar's status during the working self-test phase.

[0140] Please see Figure 9 , Figure 9 This application provides a self-testing device for a lidar system.

[0141] Optionally, a lidar self-test device is applied to the lidar described above.

[0142] The lidar self-test device includes a processing unit 501 and a diagnostic unit 502.

[0143] The processing unit 501 is used to control the transmitting module to emit test lasers according to preset encoding rules when the lidar is in the target attitude.

[0144] The diagnostic unit 502 is used to control the system to perform self-tests based on the first echo signal, the second echo signal and the encoding rules to determine whether there is an abnormality in the laser signal processing link of the lidar.

[0145] The first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module.

[0146] Optionally, the processing unit 501 may execute S101 and S102 as described above, and the diagnostic unit 502 may execute S103, S104 and S105 as described above.

[0147] Optionally, the diagnostic unit 502 is further configured to control the control unit to determine the first pulse signal rule of the first echo signal and the second pulse signal rule of the second echo signal;

[0148] The diagnostic unit 502 is also used to perform self-tests by the control unit based on the first pulse signal rule, the second pulse signal rule and the encoding rule to determine whether there is an abnormality in the laser signal processing link of the lidar.

[0149] Optionally, the encoding rules include the time interval between any two adjacent pulses in the test laser, the first pulse signal rules include a first type of time interval information, the second pulse signal rules include a second type of time interval information, the first type of time interval information includes the time interval between any two adjacent pulses in the first echo signal, and the second type of time interval information includes the time interval between any two adjacent pulses in the second echo signal;

[0150] The diagnostic unit 502 is also used to control the control unit to determine the matching results of the first type of time interval information and the second type of time interval information with the coding rules, respectively;

[0151] The diagnostic unit 502 is also used by the control unit to determine whether there is an abnormality in the laser signal processing link of the lidar based on the matching results.

[0152] Optionally, the diagnostic unit 502 is also used to determine that the lidar is normal when both the first type of time interval information and the second type of time interval information match the coding rules.

[0153] The diagnostic unit 502 is also used to control the control unit to determine that the receiving module is abnormal when the first type of time interval information matches the encoding rule and the second type of time interval information does not match the encoding rule;

[0154] The diagnostic unit 502 is also used to determine that the transmission module is abnormal when both the first type of time interval information and the second type of time interval information do not match the coding rules.

[0155] Optionally, the diagnostic unit 502 is also used to determine that the receiving module is malfunctioning when the control unit receives the first echo signal but does not receive the second echo signal;

[0156] The diagnostic unit 502 is also used to determine if the transmission module is malfunctioning when the control unit does not receive the first echo signal and the second echo signal.

[0157] It should be noted that the lidar self-testing device provided in this embodiment can execute the method flow shown in the above-described method flow embodiment to achieve the corresponding technical effects. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above-described embodiments.

[0158] This application also provides a storage medium storing computer instructions and programs, which, when read and executed, perform the lidar self-test method described above. The storage medium may include memory, flash memory, registers, or a combination thereof.

[0159] The following provides an electronic device, which can be... Figure 1 The lidar device shown may include Figure 1 The terminal devices shown are terminal devices for the lidar equipment, such as drones, cars, and other mobile devices. These electronic devices include... Figure 1 As shown, the above-described self-test method for lidar can be implemented. Specifically, the electronic device further includes: a control unit 10, a memory, and a bus. The control unit 10 may be a CPU. The memory is used to store one or more programs, which, when executed by the control unit, perform the lidar self-test method of the above embodiment.

[0160] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0161] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0162] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0163] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0164] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A self-testing method for lidar, characterized in that, Applied to lidar, the lidar including a control unit, a detection unit, a transmitting module, and a receiving module, the method includes: When the lidar is in the target posture, the control unit controls the emission module to emit test lasers according to preset encoding rules; The control unit performs a self-test based on the first echo signal, the second echo signal, and the encoding rules to determine whether there is an abnormality in the laser signal processing link of the lidar; Wherein, the first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module; The step of the control unit performing a self-test based on the first echo signal, the second echo signal, and the encoding rules to determine whether there is an anomaly in the laser signal processing link of the lidar includes: The control unit determines the first pulse signal rule of the first echo signal and the second pulse signal rule of the second echo signal; The control unit performs a self-test based on the first pulse signal rule, the second pulse signal rule, and the encoding rule to determine whether there is an abnormality in the laser signal processing link of the lidar; The encoding rules include the time interval between any two adjacent pulses in the test laser. The first pulse signal rule includes a first type of time interval information, and the second pulse signal rule includes a second type of time interval information. The first type of time interval information includes the time interval between any two adjacent pulses in the first echo signal, and the second type of time interval information includes the time interval between any two adjacent pulses in the second echo signal. The control unit performs a self-test based on the first pulse signal rule, the second pulse signal rule, and the encoding rules to determine whether there is an anomaly in the laser signal processing link of the lidar, including: The control unit determines the matching results of the first type of time interval information and the second type of time interval information with the encoding rules, respectively; The control unit determines whether there is an anomaly in the laser signal processing link of the lidar based on the matching result.

2. The self-testing method for lidar as described in claim 1, characterized in that, The step of the control unit determining whether there is an anomaly in the laser signal processing link of the lidar based on the matching result includes: If both the first type of time interval information and the second type of time interval information match the encoding rules, the control unit determines that the lidar is normal. If the control unit determines that the receiving module is abnormal when the first type of time interval information matches the encoding rule and the second type of time interval information does not match the encoding rule; If the control unit determines that the transmission module is abnormal when both the first type of time interval information and the second type of time interval information do not match the encoding rules.

3. The self-testing method for lidar as described in claim 1, characterized in that, Before the control unit performs a self-test based on the first echo signal, the second echo signal, and the encoding rules to determine whether there is an abnormality in the laser signal processing link of the lidar, the method further includes: If the control unit receives the first echo signal but does not receive the second echo signal, it determines that the receiving module is malfunctioning. If the control unit does not receive the first echo signal and the second echo signal, it determines that the transmitting module is malfunctioning.

4. The self-testing method for lidar as described in claim 1, characterized in that, The first echo signal includes a first main echo signal and a first target echo signal, and the second echo signal includes a second main echo signal and a second target echo signal; The transmitting module includes n transmitting units, and the receiving module includes m receiving units, where n≥1 and m≥1. The number of channels for the first main echo signal is n, the number of channels for the first target echo signal is n, the number of channels for the second main echo signal is n×m, and the number of channels for the second target echo signal is n×m.

5. The self-testing method for lidar as described in claim 1, characterized in that, Before the control unit controls the emission module to emit a test laser according to a preset encoding rule when the lidar is in the target attitude, the method further includes: The control unit controls the horizontal rotation mechanism and the vertical rotation mechanism of the lidar to move so that the lidar is in the target posture, wherein the test laser emitted by the lidar hits the target object in the target posture.

6. The self-testing method for lidar as described in claim 1, characterized in that, The target posture includes any one or more of the following: first posture, second posture, third posture, fourth posture, fifth posture, and sixth posture; In the first posture, the horizontal rotation mechanism of the lidar is positioned to the leftmost position of the horizontal field of view, and the vertical rotation mechanism of the lidar is positioned to the bottommost position of the vertical field of view. In the second posture, the horizontal rotation mechanism is positioned at the center of the horizontal field of view, and the vertical rotation mechanism is positioned at the bottom of the vertical field of view; In the third posture, the horizontal rotation mechanism is positioned to the rightmost position of the horizontal field of view, and the vertical rotation mechanism is positioned to the bottommost position of the vertical field of view. In the fourth posture, the horizontal rotation mechanism is positioned to the rightmost side of the horizontal field of view, and the vertical rotation mechanism is positioned to a preset angle, wherein the preset angle represents moving upward by a preset angle from the bottom position of the vertical field of view; In the fifth posture, the vertical rotation mechanism is positioned at a preset angle, and the horizontal rotation mechanism is positioned at the center of the horizontal field of view. In the sixth posture, the vertical rotation mechanism is positioned at a preset angle, and the horizontal rotation mechanism is positioned at the leftmost side of the horizontal field of view.

7. The self-testing method for lidar as described in claim 6, characterized in that, The number of target postures is Q, where 2 ≤ Q ≤ 6. Before controlling the emission module to emit the test laser according to the preset encoding rules, the method further includes: The control unit controls the lidar to switch to the i-th target attitude; Wherein, the i-th target pose is any one of the Q target poses; After the control unit performs a self-test based on the first echo signal, the second echo signal, and the encoding rules to determine whether there is an abnormality in the laser signal processing link of the lidar, the method further includes: The control unit controls the lidar to switch to the (i+1)th target attitude, and repeatedly controls the emission module to emit test lasers according to the preset encoding rules until the lidar self-test under Q target attitudes is completed.

8. A self-testing device for lidar, characterized in that, Applied to lidar, the lidar includes a control unit, a detection unit, a transmitting module, and a receiving module, and the device includes: The processing unit is used by the control unit to control the emission module to emit test lasers according to preset encoding rules when the lidar is in the target posture. The diagnostic unit is used by the control unit to perform a self-test based on the first echo signal, the second echo signal and the encoding rules to determine whether there is an abnormality in the laser signal processing link of the lidar; Wherein, the first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module; The diagnostic unit is also used by the control unit to determine the first pulse signal rule of the first echo signal and the second pulse signal rule of the second echo signal; The diagnostic unit is also used for the control unit to perform a self-test based on the first pulse signal rule, the second pulse signal rule and the encoding rule to determine whether there is an abnormality in the laser signal processing link of the lidar; The encoding rules include the time interval between any two adjacent pulses in the test laser. The first pulse signal rule includes a first type of time interval information, and the second pulse signal rule includes a second type of time interval information. The first type of time interval information includes the time interval between any two adjacent pulses in the first echo signal, and the second type of time interval information includes the time interval between any two adjacent pulses in the second echo signal. The diagnostic unit is also used by the control unit to determine the matching results of the first type of time interval information and the second type of time interval information with the encoding rules, respectively; The diagnostic unit is also used by the control unit to determine whether there is an abnormality in the laser signal processing link of the lidar based on the matching result.

9. The self-testing device for lidar as described in claim 8, characterized in that, The diagnostic unit is also used to determine that the lidar is normal when both the first type of time interval information and the second type of time interval information match the coding rule. The diagnostic unit is further configured to determine that the receiving module is abnormal when the first type of time interval information matches the encoding rule and the second type of time interval information does not match the encoding rule. The diagnostic unit is also used to determine that the transmission module is abnormal when the control unit finds that both the first type of time interval information and the second type of time interval information do not match the encoding rules.

10. The lidar self-testing device as described in claim 8, characterized in that, The diagnostic unit is also used to determine that the receiving module is abnormal when the control unit receives the first echo signal but does not receive the second echo signal; The diagnostic unit is also used to determine that the transmitting module is malfunctioning when the control unit does not receive the first echo signal and the second echo signal.

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

12. An electronic device, characterized in that, include: A control unit and a memory, the memory being used to store one or more programs; When the one or more programs are executed by the control unit, the method as described in any one of claims 1-7 is implemented.

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