Radar crosstalk prevention method and device, lidar and storage medium

Abstract

Embodiments of the present application provide a radar anti-crosstalk method and device, a laser radar and a storage medium, and relate to the technical field of radars. The method comprises the following steps: controlling each detection channel in a preset detection channel group to be opened in turn and to emit test signals in turn; acquiring reflection signals of a standard reflection target to the test signals in turn; acquiring crosstalk signals formed by each of the reflection signals in each remaining detection channel in the preset detection channel group in turn, each of the remaining detection channels being a remaining detection channel of the preset detection channel group except the current detection channel; determining crosstalk filtering parameters corresponding to each of the detection channels according to each of the crosstalk signals in turn; and filtering out crosstalk signals in a normal working state of the preset detection channel group of the laser radar according to all the crosstalk filtering parameters. The present embodiment reduces crosstalk between detection channels from the source, improves the influence of channel crosstalk on output point cloud data, and increases the reliability of the laser radar.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and more specifically, to a radar anti-crosstalk method, device, lidar, and storage medium. Background Technology

[0002] Automotive LiDAR, with its superior range and spatial resolution, is considered a crucial component in the perception phase of autonomous driving. Range, spatial resolution, and pixel frequency are the most important performance indicators of LiDAR. Pixel frequency refers to the number of data pixels output by the LiDAR per second; a higher pixel frequency results in higher 3D imaging resolution and more refined image quality of the target object.

[0003] To improve the point frequency, lidar typically employs a scheme where multiple beams emit light and detect simultaneously. However, because obstacles diffusely reflect the laser beam, interference can occur between reflected light from different channels emitting light simultaneously. This can cause one channel to receive reflected light from another, resulting in channel crosstalk. Furthermore, insufficient isolation between channels within the lidar's internal processing modules or spatial radiation can also cause channel crosstalk. Channel crosstalk reduces the detection efficiency of targets, leading to missed detections, missing data points, ghosting in the point cloud, and the generation of false target points. All of these factors reduce the reliability of the lidar point cloud, thus limiting its application.

[0004] In existing technologies, crosstalk is usually eliminated by filtering and deleting erroneous data points in the point cloud. However, this method is essentially a secondary processing of the already obtained point cloud data to reduce the error caused by crosstalk, and it cannot reduce the crosstalk between channels during operation. Summary of the Invention

[0005] To address the aforementioned technical problems, embodiments of this application provide a radar anti-crosstalk method, apparatus, lidar, and storage medium.

[0006] In a first aspect, embodiments of this application provide a radar anti-crosstalk method applied to a lidar, wherein the lidar includes a preset detection channel group, the preset detection channel group including multiple detection channels, and the method includes:

[0007] The system controls each detection channel in the preset detection channel group to be activated sequentially and transmit test signals in sequence.

[0008] The reflection signals of the test signal from the standard reflective target are acquired sequentially;

[0009] The crosstalk signals formed by each of the reflected signals in each of the remaining detection channels in the preset detection channel group are obtained sequentially, wherein each of the remaining detection channels is the remaining detection channel in the preset detection channel group excluding the current detection channel;

[0010] The crosstalk filtering parameters corresponding to each detection channel are determined sequentially based on each crosstalk signal.

[0011] Based on all the crosstalk filtering parameters, crosstalk signals in the normal operating state of the preset detection channel group of the lidar are filtered out.

[0012] In one embodiment, before each detection channel in the preset detection channel group is sequentially activated, the following steps are included:

[0013] The system controls all detection channels in the preset detection channel group to shut down until no laser signal is detected in any of the detection channels.

[0014] In one embodiment, determining the crosstalk filtering parameters corresponding to each of the detection channels based on each of the crosstalk signals includes:

[0015] Determine whether the crosstalk signal is greater than the effective signal threshold;

[0016] If the crosstalk signal is less than the effective signal threshold, then the crosstalk filtering parameter is set to 0;

[0017] If the crosstalk signal is greater than or equal to the effective signal threshold, then the crosstalk filtering parameters are assigned values ​​according to the test filtering function.

[0018] In one embodiment, the test filter function is:

[0019]

[0020] Where xm1(t) represents the crosstalk filtering parameter of the m-th remaining probe channel tdm relative to the current probe channel td1, Rm represents the pulse peak amplitude of the crosstalk signal received by the m-th remaining probe channel tdm, S1 represents the pulse peak amplitude of the test signal transmitted by the current probe channel td1, δ(t) represents the unit impulse function, and t0 represents the pulse time difference between the crosstalk signal received by the m-th remaining probe channel tdm and the test signal transmitted by the current probe channel td1.

[0021] In one embodiment, the method further includes:

[0022] The crosstalk filtering parameters are determined based on the crosstalk delay value and the crosstalk ratio value.

[0023] In one embodiment, filtering out crosstalk signals in the normal operating state of the preset detection channel group of the lidar based on all the crosstalk filtering parameters includes:

[0024] Under normal operating conditions of the lidar, the current working channel and remaining working channel of the preset detection channel group are obtained;

[0025] Obtain the received signals of each of the remaining working channels;

[0026] The received signals of each of the remaining working channels are convolved with the crosstalk filtering parameters corresponding to each of the remaining working channels to obtain the convolution operation results corresponding to each of the remaining working channels;

[0027] Summing all the convolution operation results yields the crosstalk signal corresponding to the current working channel.

[0028] The crosstalk signal is filtered out.

[0029] Secondly, embodiments of this application provide a radar anti-crosstalk device applied to a lidar, wherein the lidar includes a preset detection channel group, the preset detection channel group includes multiple detection channels, and the device includes:

[0030] The transmitting module is used to control the sequential activation of each detection channel in the preset detection channel group, and to transmit test signals sequentially.

[0031] The first acquisition module is used to sequentially acquire the reflection signals of the standard reflective target to the test signal;

[0032] The second acquisition module is used to sequentially acquire the crosstalk signals formed by each of the reflected signals in each of the remaining detection channels in the preset detection channel group, wherein each of the remaining detection channels is the remaining detection channel in the preset detection channel group excluding the current detection channel;

[0033] The determining module is used to sequentially determine the crosstalk filtering parameters corresponding to each of the detection channels based on each of the crosstalk signals;

[0034] The filtering module is used to filter out crosstalk signals in the normal operating state of the preset detection channel group of the lidar according to all the crosstalk filtering parameters.

[0035] In one embodiment, the determining module is further configured to:

[0036] Determine whether the crosstalk signal is greater than the effective signal threshold;

[0037] If the crosstalk signal is less than the effective signal threshold, then the crosstalk filtering parameter is set to 0;

[0038] If the crosstalk signal is greater than or equal to the effective signal threshold, then the crosstalk filtering parameters are assigned values ​​according to the test filtering function.

[0039] Thirdly, embodiments of this application provide a lidar, including a memory and a processor, wherein the memory is used to store a computer program, and the computer program executes the radar anti-crosstalk method provided in the first aspect when the processor is running.

[0040] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when run on a processor, executes the radar anti-crosstalk method provided in the first aspect.

[0041] The radar crosstalk prevention method provided in this application obtains the crosstalk characteristics of each detection channel by using a standard reflecting target as a reference through calibration. This allows for convenient and accurate acquisition of the crosstalk filtering parameters of the channel to other channels. Then, the crosstalk filtering parameters of each detection channel are used to process the received signal of the lidar, thereby improving the impact of channel crosstalk on the output point cloud data from the source and increasing the reliability of the lidar. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of the present invention, 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 the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A schematic flowchart of a radar anti-crosstalk method provided in an embodiment of this application;

[0044] Figure 2 A schematic diagram of a specific embodiment of the radar anti-crosstalk method provided in this application;

[0045] Figure 3 This is a schematic diagram of the radar anti-crosstalk device provided in an embodiment of this application. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0047] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0048] It should be noted that similar labels 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.

[0049] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention 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, and therefore should not be construed as a limitation of this invention.

[0050] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0051] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0052] Example 1

[0053] This application provides a radar anti-crosstalk method applied to lidar, wherein the lidar includes a preset detection channel group, and the preset detection channel group includes multiple detection channels.

[0054] For details, see Figure 1 The radar anti-crosstalk method includes:

[0055] Step S110: Control each detection channel in the preset detection channel group to turn on in sequence and transmit test signals in sequence;

[0056] Step S110 is essentially a calibration step; specifically, a standard reflective target needs to be set first. The standard reflective target can be a standard diffuse reflective target plate. The reflectivity value of the standard diffuse reflective target plate can be selected based on the application scenario of the LiDAR. For example, 20% is typically chosen for autonomous driving scenarios; if the target object in the application scenario has low reflectivity, such as in a coal storage scenario, 5% can be selected.

[0057] The preset distance between the lidar and the standard reflective target can be selected as close as possible, because channel crosstalk is more severe at close range, so the elimination effect will be better. For example, for a lidar with a range of 200m, the preset distance can be selected as 5m.

[0058] It is important to note that before transmitting the test signal, it is necessary to ensure that there are no laser signals in any of the detection channels to avoid interference with the calibration. Specifically, in one embodiment, before sequentially activating each detection channel in the preset detection channel group, the process includes: controlling all detection channels in the preset detection channel group to close until there are no laser signals in any of the detection channels.

[0059] Step S120: Sequentially acquire the reflection signals of the standard reflective target to the test signal;

[0060] Specifically, a standard reflective target will reflect the test signal, at which point the reflected signal is collected or tested.

[0061] Step S130: Sequentially acquire the crosstalk signals formed by each of the remaining detection channels in the preset detection channel group for each of the reflected signals, wherein each of the remaining detection channels is the remaining detection channel in the preset detection channel group excluding the current detection channel;

[0062] The reflected signal will generate crosstalk signals in the remaining detection channels besides the current detection channel. The crosstalk signal can be used to determine the next crosstalk filtering function.

[0063] Step S140: Determine the crosstalk filtering parameters corresponding to each detection channel in sequence based on each crosstalk signal;

[0064] In one embodiment, determining the crosstalk filtering parameters corresponding to each of the detection channels based on each of the crosstalk signals includes:

[0065] Determine whether the crosstalk signal is greater than the effective signal threshold; if the crosstalk signal is less than the effective signal threshold, then assign a value of 0 to the crosstalk filtering parameter; if the crosstalk signal is greater than or equal to the effective signal threshold, then assign a value to the crosstalk filtering parameter according to the test filtering function.

[0066] Specifically, for a group of multiple channels being detected simultaneously, one channel is selected to emit a laser. The multiple channels being detected simultaneously are denoted as a group, for example, group number z1 can contain channels {td1, td2, ..., tdm}; lidar usually also includes multiple detection channel groups, such as group numbers z2, z3, ..., zn, where each group contains multiple detection channels.

[0067] However, when eliminating channel crosstalk, it is sufficient to consider only the channel crosstalk within the same group number, because different group numbers will not be detected at the same time and are separated from each other in time, so there is no crosstalk.

[0068] In one embodiment, the test filter function is:

[0069]

[0070] Where xm1(t) represents the crosstalk filtering parameter of the m-th remaining probe channel tdm relative to the current probe channel td1, Rm represents the pulse peak amplitude of the crosstalk signal received by the m-th remaining probe channel tdm, S1 represents the pulse peak amplitude of the test signal transmitted by the current probe channel td1, δ(t) represents the unit impulse function, and t0 represents the pulse time difference between the crosstalk signal received by the m-th remaining probe channel tdm and the test signal transmitted by the current probe channel td1.

[0071] Taking the channel crosstalk within group number z1 as an example, we first select only the detection channel td1 to emit the laser. Then, the test filter function at this time is Equation 1:

[0072]

[0073] Where x21(t) represents the crosstalk filter of the remaining detection channel td2 relative to the preset detection channel td1, R2 represents the pulse peak amplitude of the crosstalk signal received by the remaining detection channel td2, S1 represents the pulse peak amplitude of the laser signal emitted by the preset detection channel td1, and δ(t) represents the unit impulse function.

[0074] Specifically, the laser signal emitted by channel td1 is preset to a single-pulse signal s1(t). The crosstalk signal received by channel td2 is denoted as r2(t). The crosstalk filtering parameter x21(t) of channel td1 to channel td2 can be obtained as follows:

[0075] Let th be the amplitude threshold of the effective signal, and let t0 be the pulse time difference between r2(t) and s1(t).

[0076] Then, the signal transmitted by td1 is filtered using Formula 2: Formula 2:

[0077]

[0078] Similarly, using the method described above, the crosstalk filtering parameters {x31(t),…,xm1(t)} of the detection channel td1 for other channels within group z1 can be obtained. The situation is similar if other channels are selected for laser emission, and will not be elaborated further here.

[0079] By changing one detection channel and repeating steps S130 and S140, the crosstalk filtering parameters {x21(t),…,xm1(t)} of channel td1 for other channels in group z1 are obtained. To obtain the crosstalk filtering functions of other detection channels, simply change the detection channel emitting the laser, for example, to channel t2 emitting the laser, and the crosstalk filter {x12(t),…,xm2(t)} of channel td2 for other channels in group z1 can be obtained.

[0080] Once all detection channels emit lasers individually once, the crosstalk filtering parameters between all channels within group number z1 can be obtained, denoted as {xij(t)}, where i and j are channel numbers from 1 to m and i and j are not equal, and xij(t) represents the crosstalk between detection channel tdj and detection channel tdi.

[0081] In one embodiment, the crosstalk filtering parameters can also be determined by the crosstalk delay value and the crosstalk ratio value. For example, the crosstalk delay value and the corresponding crosstalk ratio value of the detection channel td1 to other channels in group number z1 are obtained, and the crosstalk delay value and the corresponding crosstalk ratio value of each other channel are multiplied and accumulated to obtain the crosstalk filtering parameters of the detection channel td1.

[0082] In other words, the crosstalk filtering parameter x21(t) can also be replaced by two values, t0 and a = R2 / S1, which can reduce the demand for storage units.

[0083] Step S150: Based on all the crosstalk filtering parameters, filter out the crosstalk signals in the normal working state of the preset detection channel group of the lidar.

[0084] In one embodiment, filtering out crosstalk signals in the normal operating state of the preset detection channel group of the lidar based on all the crosstalk filtering parameters includes:

[0085] Under normal operating conditions of the lidar, the current working channel and remaining working channels of the preset detection channel group are acquired; the received signals of each remaining working channel are acquired; the received signals of each remaining working channel are convolved with the crosstalk filtering parameters corresponding to each remaining working channel to obtain the convolution operation results corresponding to each remaining working channel; all the convolution operation results are summed to obtain the crosstalk signal corresponding to the current working channel; and the crosstalk signal is filtered out.

[0086] like Figure 2 As shown, Figure 2A specific embodiment for filtering crosstalk signals is shown. The received signals of each remaining working channel can be convolved with the crosstalk filtering parameters corresponding to each remaining working channel according to the working filtering function. For example, when the lidar is working normally and the target object is arbitrary, the received signals corresponding to the channels {td1, td2, ..., tdm} of group number z1 are {rtd1(t), rtd2(t), ..., rtdm(t)}, respectively. The waveform processing method for eliminating crosstalk can be found in the working filtering function described below.

[0087] The working filter function is Equation 3:

[0088]

[0089] Where rtdm(t) is the received signal corresponding to the m-th channel tdm, rtdm 消除 xij(t) is the cancellation signal corresponding to the m-th channel tdm, and xij(t) is the crosstalk filtering parameter among all channels in the same group. This represents the convolution operation. In actual devices, crosstalk between some channels may be small, and the crosstalk filtering parameter may be 0. In this case, the corresponding terms can be removed from the above formula to simplify the calculation process and reduce the computational load.

[0090] As can be seen, the embodiments of this application process the waveform before acquiring the point cloud data, thereby ensuring that the output point cloud data is not affected by channel crosstalk, removing false points while ensuring that real points are effectively detected, thus improving the number of effective data points and the reliability of the point cloud.

[0091] Convolution operation in step S150 Alternatively, a t0 delay and a multiplier (multiply a) can be used instead, which can also reduce the need for computing units.

[0092] In this embodiment, crosstalk filtering parameters are configured for each channel before normal operation. This improves the effectiveness of channel crosstalk before point cloud data generation, thus more effectively eliminating false points or ghosting caused by channel crosstalk. Furthermore, after waveform processing, this embodiment can detect real points previously "covered" by false points, reducing the probability of missed detections and increasing the number of valid points on the target, thereby improving the reliability of the LiDAR point cloud data.

[0093] It is important to note that the crosstalk filtering parameters are actually the parameters of the crosstalk filter, which can be an FIR digital filter in the FPGA chip. When the LiDAR is in normal working condition, these crosstalk filters are used in step S150, all within the waveform processing algorithm of the FPGA.

[0094] In summary, the radar crosstalk prevention method provided in this application has the following beneficial effects:

[0095] The radar crosstalk prevention method provided in this embodiment obtains the crosstalk characteristics of each detection channel by using a standard reflecting target as a reference through calibration. This allows for convenient and accurate acquisition of the crosstalk filtering parameters of the channel to other channels. Then, the crosstalk filtering parameters of each detection channel are used to process the received signal of the lidar, thereby improving the impact of channel crosstalk on the output point cloud data from the source and increasing the reliability of the lidar.

[0096] Example 2

[0097] Furthermore, this application provides a radar anti-crosstalk device applied to lidar, wherein the lidar includes a preset detection channel group, and the preset detection channel group includes multiple detection channels.

[0098] Specifically, such as Figure 3 As shown, the device 300 includes:

[0099] The transmitting module 310 is used to control each detection channel in the preset detection channel group to be turned on sequentially and transmit test signals sequentially.

[0100] The first acquisition module 320 is used to sequentially acquire the reflection signals of the test signal from the standard reflection target;

[0101] The second acquisition module 330 is used to sequentially acquire the crosstalk signals formed by each of the reflected signals in each of the remaining detection channels in the preset detection channel group, wherein each of the remaining detection channels is the remaining detection channel in the preset detection channel group excluding the current detection channel;

[0102] The determining module 340 is used to determine the crosstalk filtering parameters corresponding to each of the detection channels in sequence based on each of the crosstalk signals;

[0103] The filtering module 350 is used to filter out crosstalk signals in the normal working state of the preset detection channel group of the lidar according to all the crosstalk filtering parameters.

[0104] In one embodiment, the determining module 340 is further configured to:

[0105] Determine whether the crosstalk signal is greater than the effective signal threshold;

[0106] If the crosstalk signal is less than the effective signal threshold, then the crosstalk filtering parameter is set to 0;

[0107] If the crosstalk signal is greater than or equal to the effective signal threshold, then the crosstalk filtering parameters are assigned values ​​according to the test filtering function.

[0108] The radar anti-crosstalk device 300 provided in this embodiment can implement the radar anti-crosstalk method provided in Embodiment 1. To avoid repetition, it will not be described again here.

[0109] The radar crosstalk prevention device provided in this embodiment obtains the crosstalk characteristics of each detection channel by using a standard reflecting target as a reference target through calibration. This allows for convenient and accurate acquisition of the crosstalk filtering parameters of the channel to other channels. Then, the crosstalk filtering parameters of each detection channel are used to process the received signal of the lidar, thereby improving the impact of channel crosstalk on the output point cloud data from the source and increasing the reliability of the lidar.

[0110] Example 3

[0111] Furthermore, this application provides a lidar, including a memory and a processor. The memory stores a computer program, which executes the radar anti-crosstalk method provided in Embodiment 1 when the computer program is run on the processor.

[0112] The lidar provided in this embodiment of the invention can achieve the radar anti-crosstalk method provided in Embodiment 1 and has the same technical effect. To avoid repetition, it will not be described again here.

[0113] Example 4

[0114] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the radar anti-crosstalk method provided in Embodiment 1.

[0115] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0116] The computer-readable storage medium provided in this embodiment can implement the radar anti-crosstalk method provided in Embodiment 1 and has the same technical effect. To avoid repetition, it will not be described again here.

[0117] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal that includes that element.

[0118] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0119] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of protection of this application, and all of these forms are within the protection scope of this application.

Claims

1. A radar crosstalk prevention method, characterized by, The method is applied to a laser radar, the laser radar comprises a preset detection channel group, the preset detection channel group comprises a plurality of detection channels, and the method comprises the following steps: controlling each detection channel in the preset detection channel group to be opened in turn and to emit a test signal in turn; acquiring reflection signals of a standard reflection target to the test signals in turn; acquiring crosstalk signals formed by each reflection signal in each remaining detection channel in the preset detection channel group in turn, each remaining detection channel being a remaining detection channel of the preset detection channel group except a current detection channel; determining crosstalk filtering parameters corresponding to each detection channel according to each crosstalk signal in turn; filtering out crosstalk signals in a normal working state of the preset detection channel group of the laser radar according to all the crosstalk filtering parameters; wherein the determining of the crosstalk filtering parameters corresponding to each detection channel according to each crosstalk signal comprises: determining whether the crosstalk signal is greater than an effective signal threshold value; if the crosstalk signal is less than the effective signal threshold value, assigning a value of 0 to the crosstalk filtering parameter; if the crosstalk signal is greater than or equal to the effective signal threshold value, assigning a value to the crosstalk filtering parameter according to a test filtering function; wherein the test filtering function is: ； wherein Cm represents the crosstalk filter parameter of the mth remaining probing channel tdm with respect to the current probing channel td1, Rm Cm represents the impulse peak amplitude of the crosstalk signal received by the mth remaining probing channel tdm, S 1 represents the impulse peak amplitude of the test signal emitted by the current probing channel td1, δ(t) δ(t) represents the unit impulse function, t 0 represents the impulse time difference of the crosstalk signal received by the mth remaining probing channel tdm and the test signal emitted by the current probing channel td1.

2. The radar anti-cross-talk method of claim 1, wherein, Before the controlling of each detection channel in the preset detection channel group to be opened in turn, the following step is further included: controlling all the detection channels in the preset detection channel group to be closed until there is no laser signal in all the detection channels.

3. The radar anti-cross-talk method of claim 1, wherein, The method further comprises: determining the crosstalk filtering parameters according to a crosstalk delay value and a crosstalk proportion value.

4. The radar anti-cross-talk method of claim 1, wherein, The filtering out of the crosstalk signals in the normal working state of the preset detection channel group of the laser radar according to all the crosstalk filtering parameters comprises: acquiring a current working channel and a remaining working channel of the preset detection channel group in the normal working state of the laser radar; acquiring a receiving signal of each remaining working channel; performing convolution operation on the receiving signal of each remaining working channel and the crosstalk filtering parameter corresponding to each remaining working channel to obtain a convolution operation result corresponding to each remaining working channel; summing all the convolution operation results to obtain a crosstalk signal corresponding to the current working channel; and filtering out the crosstalk signal.

5. A radar anti-crosstalk device, characterized in that The device is applied to a laser radar, the laser radar comprises a preset detection channel group, the preset detection channel group comprises a plurality of detection channels, and the device comprises: a transmitting module, configured to control each detection channel in the preset detection channel group to be opened in turn and to emit a test signal in turn; a first acquiring module, configured to acquire reflection signals of a standard reflection target to the test signals in turn; a second acquiring module, configured to acquire crosstalk signals formed by each reflection signal in each remaining detection channel in the preset detection channel group in turn, each remaining detection channel being a remaining detection channel of the preset detection channel group except a current detection channel; a determining module, configured to determine crosstalk filtering parameters corresponding to each detection channel according to each crosstalk signal in turn; a filtering module, configured to filter out crosstalk signals in a normal working state of the preset detection channel group of the laser radar according to all the crosstalk filtering parameters; the determining module is further configured to: determining whether the crosstalk signal is greater than an effective signal threshold value; if the crosstalk signal is less than the effective signal threshold value, assigning a value of 0 to the crosstalk filtering parameter; if the crosstalk signal is greater than or equal to the effective signal threshold value, assigning a value to the crosstalk filtering parameter according to a test filtering function; wherein the test filtering function is: ； wherein Cm represents the crosstalk filter parameter of the mth remaining probing channel tdm with respect to the current probing channel td1, Rm Am represents the pulse peak amplitude of the crosstalk signal received by the mth remaining probing channel tdm, S 1 represents the pulse peak amplitude of the test signal emitted by the current probing channel td1, δ(t) δ(t) represents the unit impulse function, t 0 represents the pulse time difference of the crosstalk signal received by the mth remaining probing channel tdm and the test signal emitted by the current probing channel td1.

6. A lidar, comprising: A radar anti-crosstalk method according to any one of claims 1 to 4 is executed by a computer program running on a processor.

7. A computer-readable storage medium, characterized in that, A computer program is stored on a computer readable medium and, when executed on a processor, executes a radar anti-crosstalk method according to any one of claims 1 to 4.

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