Reflectivity calculation method and device, electronic equipment and storage medium

Abstract

The present disclosure provides a reflectivity calculation method and device, electronic equipment and storage medium, relating to the technical field of radar, which comprises: obtaining a measurement distance according to a target object echo signal, obtaining a theoretical reference set corresponding to the measurement distance, the theoretical reference set comprising theoretical echo energy of a plurality of calibration boards with different preset reflectivities at the measurement distance; obtaining an actual echo energy according to the echo signal; determining a numerical interval in which the actual echo energy is located in the theoretical reference set; and determining the reflectivity of the target object according to the actual echo energy and the numerical interval. The present disclosure realizes the measurement of the reflectivity of a long-distance target object, and can obtain an accurate reflectivity of the target object through calculation even if the entire ranging range of the laser radar is not calibrated, without the need for an extra large calibration site, which is conducive to reducing the site cost required for target object reflectivity calculation and improving the accuracy of target object reflectivity measurement.

Description

Technical Field

[0001] This disclosure relates to the field of radar technology, and in particular to a method, apparatus, electronic device and storage medium for calculating reflectivity. Background Technology

[0002] LiDAR based on time-of-flight ranging typically obtains the target's range by measuring the time interval between the transmitted and received pulse signals. It can also calculate the target's reflectivity and other detection information by analyzing the waveform characteristics of the received pulse signals.

[0003] Typically, establishing the relationship between the waveform characteristics of the received pulse signal and its reflectivity requires prior reflectivity calibration. During calibration, due to the long ranging distance of the lidar (e.g., 0-150m), a 150m calibration area is needed. To control the required area size, the length of the calibration track within the area is limited. For example, the actual calibration area might have a 30m track length. However, in scenarios exceeding 30m, it becomes impossible to obtain direct and accurate information regarding the relationship between reflectivity and waveform characteristics.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to provide a method, apparatus, electronic device, and storage medium for calculating reflectance, which can solve the technical problem that the length of the calibration track used for reflectance calculation is limited by the size of the site, resulting in the inability to accurately obtain the reflectance of targets whose measurement distance exceeds the length of the calibration track.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0007] According to one aspect of this disclosure, a method for calculating reflectance is provided, the method comprising:

[0008] The measurement distance is obtained based on the echo signal of the target object, and the theoretical reference set corresponding to the above measurement distance is obtained. The above theoretical reference set includes the theoretical echo energy of multiple calibration plates with different preset reflectivities at the above measurement distance.

[0009] The actual echo energy is obtained based on the above echo signal;

[0010] Determine the numerical range of the actual echo energy in the theoretical reference set mentioned above;

[0011] The reflectivity of the target object is determined based on the actual echo energy and the numerical range described above.

[0012] Optionally, the steps for obtaining the theoretical reference set corresponding to the measured distance include:

[0013] Obtain an initial reference set, which includes the initial echo energy of the multiple calibration plates at the initial measurement distance;

[0014] Determine the first interpolation coefficient corresponding to the above measured distance;

[0015] Based on the aforementioned initial reference set, the aforementioned measured distance, and the aforementioned first interpolation coefficient, the aforementioned theoretical reference set is determined.

[0016] Optionally, the step of determining the first interpolation coefficient corresponding to the measured distance includes:

[0017] Determine the preset distance range in which the above measured distances fall;

[0018] Obtain the second interpolation coefficients corresponding to the above-mentioned preset distance interval;

[0019] Based on the measured distance, the preset distance range, and the second interpolation coefficient, the first interpolation coefficient is determined.

[0020] Optionally, the step of obtaining the second interpolation coefficients corresponding to the preset distance interval includes:

[0021] Obtain the maximum and minimum distance values ​​within the aforementioned preset distance range;

[0022] The upper limit interpolation coefficient corresponding to the maximum distance value and / or the lower limit interpolation coefficient corresponding to the minimum distance value are determined as the second interpolation coefficient.

[0023] Optionally, the step of determining the numerical range of the actual echo energy within the theoretical reference set includes:

[0024] By comparing the actual echo energies mentioned above with the magnitudes of multiple theoretical echo energies in the theoretical reference set mentioned above, a comparative relationship is obtained;

[0025] Based on the above comparison, the numerical range in which the actual echo energy is located is determined.

[0026] Optionally, the above theoretical reference set P = {P1, ..., P} n}, where P1, ..., P n Given multiple theoretical echo energies arranged in ascending order, where n ≥ 2 and n is an integer, the steps for determining the numerical range of the actual echo energy based on the comparison relationships described above include:

[0027] If the actual echo energy is greater than or equal to P n The above numerical range is determined to be [P]. n ,∞);

[0028] If the actual echo energy is less than or equal to P1, the numerical range is determined to be [0, P1].

[0029] If the actual echo energy is greater than P1 and the actual echo energy is less than P... n The above numerical range is determined to be [P]. i P i+1 ]; where 1≤i≤n-1 and n is an integer, P i Less than or equal to the above actual echo energy, P i+1 It is greater than or equal to the actual echo energy mentioned above.

[0030] Optionally, the step of determining the reflectivity of the target object based on the actual echo energy and the numerical range includes:

[0031] The above numerical range is [0, P1] or [P i P i+1 When the above numerical range is in the range, the maximum echo energy value and the upper limit preset reflectivity corresponding to the maximum echo energy value are obtained, as well as the minimum echo energy value and the lower limit preset reflectivity corresponding to the minimum echo energy value are obtained.

[0032] The reflectivity of the target object is determined based on the actual echo energy, the maximum echo energy, the upper limit preset reflectivity, the minimum echo energy, and the lower limit preset reflectivity.

[0033] Optionally, the step of determining the reflectivity of the target object based on the actual echo energy and the numerical range further includes:

[0034] The above numerical range is [P] n When ∞), obtain P n The corresponding maximum preset reflectivity;

[0035] The reflectivity of the target object is determined to be the maximum preset reflectivity.

[0036] According to another aspect of this disclosure, a reflectance calculation apparatus is provided, the reflectance calculation apparatus comprising:

[0037] The first calculation module is used to obtain the measurement distance based on the echo signal of the target object and to obtain the theoretical reference set corresponding to the measurement distance. The theoretical reference set includes the theoretical echo energy of multiple calibration plates with different preset reflectivities at the measurement distance.

[0038] The second calculation module is used to obtain the actual echo energy based on the echo signal mentioned above.

[0039] The interval determination module is used to determine the numerical interval of the actual echo energy in the theoretical reference set.

[0040] The third calculation module is used to determine the reflectivity of the target object based on the actual echo energy and the numerical range mentioned above.

[0041] According to another aspect of this disclosure, an electronic device is provided, the electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the reflectivity calculation method as described in the above embodiments.

[0042] According to another aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the reflectivity calculation method as described in the above embodiments.

[0043] The reflectivity calculation method, apparatus, electronic device, and storage medium provided in the embodiments of this disclosure have the following technical effects:

[0044] This disclosure employs a technical solution that uses the echo signal of a target object to obtain the measurement distance, acquires a theoretical reference set of theoretical echo energies of multiple calibration plates with different preset reflectivities at the measurement distance, obtains the actual echo energy based on the echo signal, determines the numerical range of the actual echo energy within the theoretical reference set, and determines the reflectivity of the target object based on the actual echo energy and the numerical range. This solution allows for the measurement of the reflectivity of distant target objects even when the measurement distance of the lidar exceeds the length of the calibration track. It allows for the fitting of theoretical echo energies of multiple calibration plates corresponding to multiple discrete distance values ​​based on the calibration results, the calculation of the theoretical reference set corresponding to the measurement distance based on the calibration results and the theoretical values ​​of the fitted results, and the calculation of the accurate reflectivity of the target object based on the relationship between the actual echo energy and the theoretical reference set. This achieves the measurement of the reflectivity of distant target objects. Even without calibrating the entire range of the lidar, the accurate reflectivity of the target object can still be calculated without the need for an additional, excessively large calibration site, which helps reduce the site cost required for target object reflectivity calculation and improves the accuracy of target object reflectivity measurement.

[0045] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0047] Figure 1 A schematic block diagram of production line operation and radar internal processing is shown;

[0048] Figure 2 A flowchart illustrating a reflectance calculation method in an exemplary embodiment of this disclosure is shown;

[0049] Figure 3 A schematic diagram of an exemplary echo signal curve is shown;

[0050] Figure 4 An exemplary flowchart illustrating the calculation of the theoretical reference set in the reflectivity calculation method of this disclosure is shown.

[0051] Figure 5 An exemplary flowchart corresponding to step S130 in the reflectance calculation method of this disclosure is shown;

[0052] Figure 6 A schematic diagram of the structure of a reflectance calculation device according to an exemplary embodiment of the present disclosure is shown;

[0053] Figure 7 A schematic diagram of the structure of an electronic device in an exemplary embodiment of the present disclosure is shown. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0055] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0056] It should be noted that the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this disclosure, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0057] LiDAR ranging based on time-of-flight measurement typically obtains target measurement information by transmitting pulse signals and receiving echo pulse signals. In this method, the received pulse signal is an analog signal, which needs to be converted into a digital pulse signal before the time interval can be calculated. A common conversion method is to convert the analog echo signal into a digital signal using a comparator. The comparator has a threshold; signals below the threshold output 0, and signals above the threshold output 1. Using the comparator and the set threshold, the rise and fall times of the received pulse signal can be obtained. Then, based on the rise and fall times, the target object's measurement distance, reflectivity, and other detection information can be calculated.

[0058] The mass production process of lidar involves generating curves for auxiliary reflectivity calculation and importing these curves into the lidar system. Once the curves are imported, the lidar system uses these curves to calculate reflectivity. For example... Figure 1 As shown, Figure 1 A schematic block diagram illustrating production line operation and internal radar processing is shown. During production line operation, the process includes data acquisition, curve fitting generation, and equipment import. Specifically, after data acquisition, a fitting curve is generated and then imported into the corresponding lidar for storage. Internal lidar processing involves a processor performing distance and pulse width measurements. Based on the measured distance and pulse width, the production line measurement curve is obtained by looking up a table, followed by reflectivity calculation, and the output is the reflectivity value. The processor can be one or more of the following: PL (Programmable Logic), FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), or SOC (System on Chip).

[0059] Currently, reflectivity calibration is performed on-site. Since the area of ​​the site is fixed, the length of the calibration track is naturally limited by the site's dimensions. This means that reflectivity within the calibration track's length can be directly calculated from the calibration results. However, when the lidar's measurement distance exceeds the calibration track's length, accurate reflectivity cannot be directly calculated from the calibration results. To address these limitations, this disclosure provides a reflectivity calculation method that calculates the reflectivity for measurement distances exceeding the calibration track's length.

[0060] The following are embodiments of the reflectance calculation method provided in this disclosure. Wherein, Figure 2 A flowchart illustrating a reflectivity calculation method in an exemplary embodiment of this disclosure is shown. Figure 2 As shown, an embodiment of the present disclosure provides a reflectance calculation method, including the following scheme:

[0061] Step S110: Obtain the measured distance based on the echo signal of the target object, and acquire the theoretical reference set corresponding to the measured distance.

[0062] In an exemplary embodiment, when measuring distance, the lidar emits pulses and then receives pulses reflected by a target object (e.g., a building, plant, mountain, vehicle, etc.). These received pulses are referred to as echo lasers, and the pulses include optical pulses. The lidar converts the received echo lasers into an echo signal via a receiver's optical-to-electrical converter. The echo signal is an analog signal; after sampling and conversion, the analog signal becomes a digital signal.

[0063] It should be understood that echo energy can be represented by area. For example... Figure 3 As shown, the theoretical echo energy of multiple calibration plates with different preset reflectivities at the measurement distance can be represented by the integral area of ​​the region enclosed by the echo curves of the echo signals reflected by the multiple calibration plates with different preset reflectivities and the horizontal axis. The pulse width of the echo signal is obtained through digital signal processing, and the integral area of ​​the echo signal can be calculated based on the pulse width. For example... Figure 3 As shown, Figure 3 A schematic diagram of an exemplary echo signal curve is shown. The pulse width is denoted as w, and it can be calculated from the rising edge time r and the falling edge time f, i.e., w = f – r. Furthermore, after obtaining the pulse width, it is corrected to improve its accuracy. The corrected pulse width is then used as the final data and as the basis for calculating the reflectivity of the target object, which helps to improve the accuracy of the target object's reflectivity calculation.

[0064] After acquiring the echo signal reflected from the target object by the lidar, the reception time of the echo signal is calculated using the rising edge time *r* and falling edge time *f*. The measured distance of the target object is then calculated based on the time interval between the transmission and reception times; this measured distance represents the actual distance between the target object and the lidar. After obtaining the measured distance, a theoretical reference set is acquired. This theoretical reference set includes the theoretical echo energy at the measured distance from multiple calibration plates with different preset reflectivities; that is, the theoretical reference set P = {P1, ..., P2}. n}, where P1, ..., P n These are multiple theoretical echo energies arranged from smallest to largest, where n ≥ 2 and n is an integer.

[0065] The theoretical echo energies of multiple calibration plates with different preset reflectivities at the measurement distance need to be obtained through calibration results. Before calculating the reflectivity, calibration plates with multiple preset reflectivities are set in advance. For example, 4 calibration plates with preset reflectivities are set at the measurement distance. The preset reflectivities of the 4 calibration plates are M1, M2, M3, and M4 respectively, where M1 < M2 < M3 < M4, M4 is a high reflection, and the calibration plate with a preset reflectivity of M4 can be a high reflection plate, which is a calibration plate coated with a high reflection film. The echo energy magnitude can be represented by the integral area of the echo signal. The integral areas of the regions enclosed by the echo curves of the echo signals reflected by the 1st - 4th calibration plates and the horizontal axis are sq1, sq2, sq3, and sq4 respectively, which are represented by the area matrix as C[sq1, sq2, sq3, sq4], that is, P1 = sq1, P2 = sq2, P3 = sq3, P4 = sq4; where sq1 < sq2 < sq3 < sq4.

[0066] Step S120: Obtain the actual echo energy based on the above echo signal.

[0067] After obtaining the echo signal of the target object, the pulse width and echo curve of the echo signal are obtained through the echo signal of the target object, and then the actual echo energy at the measurement distance can be calculated through the obtained pulse width, or the actual echo energy at the measurement distance can be represented by the integral area of the region enclosed by the echo curve and the horizontal axis.

[0068] Step S130: Determine the numerical interval where the above actual echo energy is located in the above theoretical reference set.

[0069] Since the reflectivities of the target object are diverse, it is very unlikely that the actual echo energy exactly corresponds to the theoretical echo energies of multiple preset reflectivities. Therefore, it is necessary to determine the relationship between the reflectivity of the target object and multiple preset reflectivities by comparing the relationship between the theoretical echo energy and the actual echo energy, and then obtain the reflectivity of the target object. After obtaining the theoretical reference set and the actual echo energy, multiple numerical intervals are constructed based on the theoretical echo energies included in the theoretical reference set, and then it is judged which numerical interval the actual echo energy falls into. For example, n = 4, the theoretical reference set includes 4 theoretical echo energies, and the multiple numerical intervals are [0, P1], (P1, P2), [P2, P3], (P3, P4), and [P4, ∞). Suppose P1 = 10, P2 = 40, and the actual echo energy = 20, then the actual echo energy falls within (P1, P2).

[0070] Step S140: Determine the reflectivity of the above target object based on the above actual echo energy and the above numerical interval.

[0071] Each numerical interval has an endpoint value corresponding to a preset reflectivity. After determining the numerical interval where the actual echo energy is located, the maximum value of the numerical interval is determined to be the first reference reference echo energy value, and the minimum value is determined to be the second reference reference echo energy value. The preset reflectivity corresponding to the first reference reference echo energy value is the upper limit preset reflectivity, and the preset reflectivity corresponding to the second reference reference echo energy value is the lower limit preset reflectivity.

[0072] After obtaining the first reference echo energy value, the second reference echo energy value, the upper preset reflectivity, and the lower preset reflectivity, the reflectivity of the target object is calculated using the target object reflectivity calculation formula. The reflectivity calculation formula is as follows:

[0073] ref=(area–a_low) / (a_high–a_low)*(r_low–r_high)+r_low;

[0074] ref represents reflectivity, area represents actual echo energy, a_high represents the first reference reference echo energy value, a_low represents the second reference reference echo energy value, r_high represents the upper limit preset reflectivity, and r_low represents the lower limit preset reflectivity.

[0075] This embodiment, based on the above technical solution, utilizes a method that obtains the measurement distance from the echo signal of the target object, acquires a theoretical reference set of theoretical echo energies from multiple calibration plates corresponding to the measurement distance and including different preset reflectivities, obtains the actual echo energy from the echo signal, determines the numerical range of the actual echo energy within the theoretical reference set, and determines the reflectivity of the target object based on the actual echo energy and the numerical range. This method allows for the measurement of the reflectivity of distant target objects even when the measurement distance of the lidar exceeds the length of the calibration track. It allows for the fitting of theoretical echo energies from multiple calibration plates corresponding to multiple discrete distance values ​​based on the calibration results, the calculation of the theoretical reference set corresponding to the measurement distance based on the calibration results and the theoretical values ​​of the fitting results, and the calculation of the accurate reflectivity of the target object based on the relationship between the actual echo energy and the theoretical reference set. This achieves the measurement of the reflectivity of distant target objects. Even without calibrating the entire ranging range of the lidar, the accurate reflectivity of the target object can still be calculated without the need for an additional, extremely large calibration site. This reduces the site cost required for calculating the reflectivity of the target object and improves the accuracy of the target object reflectivity measurement.

[0076] For example, Figure 4 An exemplary flowchart illustrating the calculation of the theoretical reference set in the reflectance calculation method of this disclosure is shown. Optionally, based on the above method embodiments, obtaining the theoretical reference set corresponding to the measured distance includes the following schemes:

[0077] Step S111: Obtain an initial reference set, which includes the initial echo energy of the multiple calibration plates at the initial measurement distance;

[0078] Step S112: Determine the first interpolation coefficient corresponding to the above measured distance;

[0079] Step S113: Determine the theoretical reference set based on the initial reference set, the measured distance, and the first interpolation coefficient.

[0080] The initial reference set consists of the echo energy of multiple calibration boards with preset reflectivities at a distance of 0m from the lidar. This initial reference set includes multiple initial echo energies obtained during the lidar's production calibration. During mass production, due to factors such as component discreteness and accumulated assembly errors, the characteristics of the echo signal from each lidar will differ. Lidar is a precision measurement device; to ensure detection accuracy, each lidar must be calibrated after assembly and production, and the calibration data must be written into the lidar. The initial echo energy of multiple preset reflectivities is also one of the multiple calibration values.

[0081] As mentioned earlier, due to site limitations, the range of distances that can be calibrated when a lidar calibrates the echo energy of multiple calibration plates (with known reflectivity) at different distances is limited. For example, the maximum ranging distance of a lidar is 200m, while the calibration track is only 30m. Therefore, the echo energy of multiple calibration plates can only be calibrated within a 30m range, and the calibration result is used as the theoretical echo energy. For echo energy data of multiple calibration plates beyond 30m, the data is obtained by fitting multiple echo energy data calibrated within 30m, and the fitting result is used as the theoretical echo energy.

[0082] In an exemplary embodiment, the echo energies of 4 calibration plates within 30 m are calibrated in advance. The reflectivities of the 4 calibration plates are standard reflectivities, namely M1, M2, M3, and M4. Fitting is performed according to the calibration results within 30 m to obtain the echo energies of the 4 calibration plates at different distances within the range of 30 m - 150 m. For example, the echo energies of the 4 calibration plates at a distance of 40 m are P1, P2, P3, and P4 respectively. To facilitate the operation of the processor, the theoretical echo energies obtained through calibration and fitting are quantized. The theoretical echo energies of the 4 calibration plates at a certain distance are represented in the form of multiplying a coefficient by a coefficient value, and are stored in the lidar in this form. Since the echo energy is directly calibrated within 30 m usually at certain distance intervals, such as 0 m, 10 m, 20 m, etc., it is impossible to cover every distance value from 0 to 30 m in actual operation, and the calibration results are discrete in the distance dimension. Therefore, when fitting the range greater than 30 m according to the calibration results within the range less than or equal to 30 m, the obtained results also have a fitting result at a certain distance interval, and the fitting results are also discrete in the distance dimension. Specifically, as shown in Table 1, there is a coefficient every 10 m after exceeding 30 m.

[0083] In Table 1, C1 < C2 < C3 < C4 < C5 < C6 < C7 < C8 < C9 < C10 < C11 < C12 < C13, C1 is greater than 30 m, and the distance between every two distance values in C1 - C13 is 10 m. The starting distance is C1, and the 4 reflectivities M1, M2, M3, and M4 respectively correspond to the coefficient values in Table 1. For example, when the starting distance is C1, the coefficient values corresponding to the 4 reflectivities are k11, k12, k13, and k14 respectively. The quantization value of the coefficient is 2^12 / 200. For example, if the value of k14 is 0.5, then the quantized value is 0.5 * 2^12 / 200 = 10.24, and the theoretical echo energy written into the lidar is 10.

[0084] After the lidar converts the analog echo signal into a digital signal, the rising edge time and falling edge time of the echo signal can be obtained through a comparator and the set threshold. The measured distance between the lidar and the target object is calculated based on the rising edge time and falling edge time, that is, the measured distance obtained by measuring the target object with the radar.

[0085] Calibration plates with multiple reflectivities are set in advance for reflectivity calibration. The integral area of the region enclosed by the signal curve of the echo signal reflected by the calibration plates with multiple reflectivities and the horizontal coordinate axis represents the initial echo energies of multiple calibration plates at the initial measurement distance, thereby obtaining the initial reference set. The initial reference set P0 = {P01, ……, P0 n}, where P01, ……, P0 nA plurality of initial echo energies arranged from small to large, where n≥2 and n is an integer. Here, the initial echo energy is the echo energy measured when the calibration plate is placed at the initial position in front of the lidar, that is, when the distance between the lidar and the calibration plate is 0.

[0086] Table 1

[0087]

[0088] For example, the calibration plate includes 4 types, that is, 4 standard reflectivities. Using the integral area to represent the initial echo energy, the integral area of the region enclosed by the echo signal returned at the initial position and the horizontal axis also includes 4, that is, the obtained initial echo energy also includes 4 values, which are represented by the area matrix as D[sq1,sq2,sq3,sq4], that is, P01 = sq1, P02 = sq2, P03 = sq3, P04 = sq4, and sq1 < sq2 < sq3 < sq4. D[sq1,sq2,sq3,sq4] is the integral area of the region enclosed by the echo signal curve and the horizontal axis when the distance between the 4 types of calibration plates and the lidar is 0, and this distance = 0m.

[0089] After obtaining the initial echo energy, calculate the first interpolation coefficient corresponding to the measurement distance, denoted as coe, and this first interpolation coefficient is used in the calculation of the theoretical reference set.

[0090] Optionally, based on the above method embodiment, step S112 for determining the first interpolation coefficient includes the following scheme:

[0091] Determine the preset distance interval where the above measurement distance is located;

[0092] Obtain the second interpolation coefficient corresponding to the above preset distance interval;

[0093] Determine the above first interpolation coefficient according to the above measurement distance, the above preset distance interval, and the above second interpolation coefficient.

[0094] After obtaining the initial reference set, determine the preset distance interval where the measurement distance is located. As can be seen from the foregoing, for the echo energies of multiple calibration plates obtained by fitting, there is a fitting result at a certain interval, which is divided into multiple preset distance intervals. For example, as shown in Table 1, assume the measurement distance is 32m, and this measurement distance is between C1 and C2, falling between the preset distance intervals dis_1 and dis_0, dis_0 = C1, dis_1 = C2, that is, the preset distance interval is [C1,C2].

[0095] After obtaining the preset distance interval in which the measured distance lies and the second interpolation coefficient corresponding to the preset distance interval, the first interpolation coefficient corresponding to the measured distance is obtained. Optionally, based on the above method embodiments, obtaining the second interpolation coefficient corresponding to the preset distance interval includes the following schemes:

[0096] Obtain the maximum and minimum distance values ​​within the aforementioned preset distance range;

[0097] The upper limit interpolation coefficient corresponding to the maximum distance value and / or the lower limit interpolation coefficient corresponding to the minimum distance value are determined as the second interpolation coefficient.

[0098] It should be understood that the multiple discrete distance values ​​in Table 1 divide the ranging range into multiple preset distance intervals. The maximum and minimum distance values ​​of each preset distance interval are the endpoint values ​​of the interval, which are the distance values ​​in Table 1, and each distance value corresponds to a preset interpolation coefficient. Once the preset distance interval is determined, the maximum and minimum distance values ​​of that preset distance interval are also determined, and the preset interpolation coefficients corresponding to the maximum and / or minimum distance values ​​can be found in Table 1. Among them, the preset interpolation coefficient corresponding to the maximum distance value is called the upper limit interpolation coefficient, and the preset interpolation coefficient corresponding to the minimum distance value is called the lower limit interpolation coefficient. For example, if the preset distance interval is [C1, C2], and the preset interpolation coefficients found in Table 1 are coe_0 and coe_1, then the lower limit interpolation coefficient is coe_0, and the upper limit interpolation coefficient is coe_1. In addition, when the measured distance is greater than the maximum distance value in Table 1, the second interpolation coefficient is directly the preset interpolation coefficient corresponding to the maximum distance value in Table 1, that is, the second interpolation coefficient is coe_12.

[0099] Theoretically, each distance value corresponds to a preset interpolation coefficient. However, since both the calibration and fitting results are discrete, when the measured distance is not directly equal to the existing calibration and fitting results, the first interpolation coefficient needs to be calculated. Once the preset distance interval is determined, the endpoints of the preset distance interval can also be determined, and the second interpolation coefficient can then be determined using the maximum and minimum distance values ​​within the preset distance interval. Furthermore, based on the measured distance, the preset distance interval, and the second interpolation coefficient, the first interpolation coefficient coe is calculated; the formula for calculating the first interpolation coefficient coe is as follows:

[0100] coe = (dis_X - dis_(i-1)) / (dis_i - dis_(i-1)) * (coe_(i-1) - coe_i) + coe_(i-1). Where dis_X represents the measured distance, dis_i represents the maximum distance value within the preset distance interval, dis_(i-1) represents the minimum distance value within the preset distance interval, and coe_i and coe_(i-1) represent the second interpolation coefficients, where coe_i is the upper limit interpolation coefficient, coe_(i-1) is the lower limit interpolation coefficient, and i is a positive integer.

[0101] When the measured distance is 32m, the measured distance is within the preset distance interval (dis_0, dis_1). The lower limit interpolation coefficient corresponding to the minimum distance value in the preset distance interval is coe_0, and the upper limit interpolation coefficient corresponding to the maximum distance value is coe_1. The formula for calculating the first interpolation coefficient coe is as follows:

[0102] coe=(32-dis_0) / (dis_1-dis_0)*(coe_0-coe_1)+coe_0.

[0103] After obtaining the initial reference set, the measured distance, and the first interpolation coefficients, calculate the theoretical reference set P = {P1, ..., P2} corresponding to the measured distance. n The theoretical reference set P = {P1, ..., P} n The calculation formula for} is as follows:

[0104] P = {P01, ..., P0} n}-(X-0)*coe; where, P0={P01、……、P0 n} represents the initial reference set corresponding to the initial measured distance, which is 0m.

[0105] For example, when there are 4 types of calibration plates, n=4, and the 4 preset reflectivities are M1, M2, M3, and M4, the theoretical reference set is C[sq1,sq2,sq3,sq4], that is:

[0106] C[sq1,sq2,sq3,sq4]=D[sq1,sq2,sq3,sq4]-(32-C1)*coe; where D[sq1,sq2,sq3,sq4] represents the initial reference set corresponding to a measurement distance of 0m, and sq1, sq2, sq3, and sq4 are the initial echo energies of the four calibration plates at 0m.

[0107] For example, Figure 5 An exemplary flowchart corresponding to step S130 in the reflectance calculation method of this disclosure is shown. Optionally, based on the above method embodiment, step S130 includes the following scheme:

[0108] Step S131: Compare the actual echo energy with the magnitudes of multiple theoretical echo energies in the theoretical reference set to obtain the comparison relationship;

[0109] Step S132: Based on the above comparison relationship, determine the above numerical range in which the actual echo energy is located.

[0110] In one exemplary embodiment, after obtaining the actual echo energy, the actual echo energy is compared with the magnitudes of multiple theoretical echo energies in the theoretical reference set to obtain a comparison relationship between the actual echo energy and the multiple theoretical echo energies in the theoretical reference set. This comparison relationship can be represented by an order of magnitude, for example, through P. 实际 This represents the actual echo energy, and the comparison relationship is P1. <P 实际 <P2<P3……<P n, , or P n >……>P3>P2>P 实际 >P1, and then determine the numerical range of the actual echo energy by comparing the relationships.

[0111] Optionally, based on the above method embodiments, step S132 includes the following:

[0112] If the actual echo energy is greater than or equal to P n The numerical range is determined to be [P]. n ,∞);

[0113] If the actual echo energy is less than or equal to P1, the numerical range is determined to be [0, P1].

[0114] If the actual echo energy is greater than P1 and the actual echo energy is less than P n The numerical range is determined to be [P]. i P i+1 Where 1≤i≤n-1 and n is an integer, P i Less than or equal to the actual echo energy, P i+1 Greater than or equal to the actual echo energy.

[0115] Since the theoretical reference set P = {P1, ..., P2} n}, where P1, ..., P nMultiple theoretical echo energies arranged from small to large, where n≥2 and n is an integer. For example, when there are 4 calibration plates, n = 4, and the 4 preset reflectivities are M1, M2, M3, and M4 respectively, the theoretical reference set is C[sq1, sq2, sq3, sq4], that is, P1 = sq1, P2 = sq2, P3 = sq3, P4 = sq4, and the actual echo energy is denoted as area. If area≥sq4, the numerical interval where the actual echo energy is located is [sq4, ∞); if area≤sq1, the numerical interval where the actual echo energy is located is [0, sq1]; if area≥sq2 and area<sq3, the numerical interval where the actual echo energy is located is [sq2, sq3].

[0116] Optionally, based on the above method embodiments, step S140 includes the following solutions:

[0117] When the above numerical interval is [0, P1] or [Pi, Pi+1], obtain the maximum echo energy in the above numerical interval and the upper preset reflectivity corresponding to the maximum echo energy, the minimum echo energy in the above numerical interval, and the lower preset reflectivity corresponding to the minimum echo energy;

[0118] Determine the reflectivity of the above target object according to the above actual echo energy, the above maximum echo energy, the above upper preset reflectivity, the above minimum echo energy, and the above lower preset reflectivity.

[0119] In an exemplary embodiment, after determining the numerical interval where the actual echo energy is located, the endpoint values of the numerical interval can also be obtained, and the endpoint values include the maximum echo energy and the minimum echo energy in the numerical interval. Since the values in the theoretical reference set are known quantities, and multiple theoretical echo energies included in the theoretical reference set all correspond to preset reflectivities, the preset reflectivity corresponding to the maximum echo energy in the numerical interval is determined as the upper preset reflectivity, and the preset reflectivity corresponding to the minimum echo energy is determined as the lower preset reflectivity.

[0120] Since each element value in each numerical interval is associated with a preset reflectivity, for the case where the actual echo energy is not directly equal to the echo energy value in the theoretical reference set, it is necessary to calculate the reflectivity corresponding to the actual echo energy, and this reflectivity is the reflectivity of the target object.

[0121] After obtaining the actual echo energy, maximum echo energy, upper limit preset reflectivity, minimum echo energy, and lower limit preset reflectivity, the reflectivity of the target object is calculated using the aforementioned target object reflectivity calculation formula. Here, ref represents reflectivity, area represents actual echo energy, a_high represents maximum echo energy, a_low represents minimum echo energy, r_high represents upper limit preset reflectivity, and r_low represents lower limit preset reflectivity. For example, if the actual echo energy falls within the range [sq2, sq3], where the preset reflectivity for sq2 is F1, and the preset reflectivity for sq3 is F2, and F2 > F1, then a_low = sq2, a_high = sq3, r_low = F1, and r_high = F2. Therefore, in the case where the actual echo energy falls within the range [sq2, sq3], the reflectivity ref is:

[0122] ref=(area–sq2) / (sq3–sq2)*(F1–F2)+F1.

[0123] For example, if the actual echo energy falls within the range [0, sq1], and the preset reflectivity corresponding to sq1 is F3, where F3 > 0, then a_low = 0, a_high = sq1, r_low = 0, and r_high = F3. When the actual echo energy falls within the range [0, F3], the reflectivity ref is:

[0124] ref=(area–0) / (sq1–0)*(0–F3)+0.

[0125] Optionally, based on the above method embodiments, step S140 further includes the following:

[0126] The above numerical range is [P] n When ∞), obtain P n The corresponding maximum preset reflectivity;

[0127] The reflectivity of the target object is determined to be the maximum preset reflectivity.

[0128] In an exemplary embodiment, after determining the numerical range where the actual echo energy is located, if the numerical range where the actual echo energy is located is determined to be [P], n If (∞), then obtain P. n The corresponding maximum preset reflectance is determined, and this maximum preset reflectance is set as the reflectance ref of the target object. Here, the theoretical reference set P = {P1, ..., P...} n}, and each theoretical echo energy in the theoretical reference set P is associated with a preset reflectivity, which is within the numerical range of the actual echo energy [P]. nIn the case of (∞), the actual echo energy area ≥ P n So, P n If it is the largest element value in the theoretical reference set P, then P will be... n The associated preset reflectance is determined as the maximum preset reflectance, and then the maximum preset reflectance is determined as the reflectance ref of the target object.

[0129] For example, the theoretical reference set is C[sq1,sq2,sq3,sq4], i.e., P1 = sq1, P2 = sq2, P3 = sq3, P4 = sq4, and the actual echo energy is represented by area. If area ≥ sq4, then the numerical interval of the actual echo energy is [sq4, ∞), where, assuming the preset reflectivity associated with sq4 is k, then the reflectivity of the target object is ref = k. In the above case, the reflectivity of the target object can be obtained quickly, simplifying the process of determining reflectivity.

[0130] The following are embodiments of the apparatus disclosed herein, which can be used to execute embodiments of the method disclosed herein. For details not disclosed in the apparatus embodiments of this disclosure, please refer to the embodiments of the method disclosed herein.

[0131] in, Figure 6 A schematic diagram of a reflectivity calculation device that can be applied according to an embodiment of this disclosure is shown. Please refer to... Figure 6 The reflectivity calculation device shown in the figure can be implemented as a whole or part of the terminal through software, hardware, or a combination of both, or it can be integrated into the terminal or server as an independent module.

[0132] The reflectance calculation device 600 in this embodiment of the present disclosure includes:

[0133] The first calculation module 610 is used to obtain the measurement distance based on the echo signal of the target object and to obtain the theoretical reference set corresponding to the measurement distance. The theoretical reference set includes the theoretical echo energy of multiple calibration plates with different preset reflectivities at the measurement distance.

[0134] The second calculation module 620 is used to obtain the actual echo energy based on the echo signal mentioned above.

[0135] The interval determination module 630 is used to determine the numerical interval of the actual echo energy in the theoretical reference set.

[0136] The third calculation module 640 is used to determine the reflectivity of the target object based on the actual echo energy and the numerical range mentioned above.

[0137] In an exemplary embodiment, based on the foregoing scheme, the first calculation module 610, in obtaining the theoretical reference set corresponding to the measured distance, includes:

[0138] The data acquisition unit is used to acquire an initial reference set, which includes the initial echo energy of the multiple calibration plates at the initial measurement distance.

[0139] The coefficient query unit is used to determine the first interpolation coefficient corresponding to the above measured distance;

[0140] The theoretical calculation unit is used to determine the theoretical reference set based on the initial reference set, the measured distance, and the first interpolation coefficient.

[0141] In an exemplary embodiment, based on the foregoing scheme, the coefficient query unit includes:

[0142] The distance interval determination subunit is used to determine the preset distance interval in which the above-mentioned measured distances lie;

[0143] The coefficient query subunit is used to obtain the second interpolation coefficients corresponding to the above-mentioned preset distance interval;

[0144] The coefficient calculation subunit is used to determine the first interpolation coefficient based on the measured distance, the preset distance interval, and the second interpolation coefficient.

[0145] In an exemplary embodiment, based on the foregoing scheme, the coefficient query subunit is specifically used to obtain the maximum distance value and the minimum distance value of the preset distance interval in order to obtain the second interpolation coefficient corresponding to the preset distance interval, and to determine the upper limit interpolation coefficient corresponding to the maximum distance value and / or the lower limit interpolation coefficient corresponding to the minimum distance value as the second interpolation coefficient.

[0146] In an exemplary embodiment, based on the foregoing scheme, the interval determination module 630 includes:

[0147] The comparison unit is used to compare the actual echo energy with the magnitude of multiple theoretical echo energies in the theoretical reference set to obtain the comparison relationship.

[0148] The numerical range determination unit is used to determine the numerical range in which the actual echo energy is located based on the above comparison relationship.

[0149] In an exemplary embodiment, based on the foregoing scheme, the theoretical reference set P = {P1, ..., P...} n}, where P1, ..., P n These are multiple theoretical echo energies arranged in ascending order, where n ≥ 2 and n is an integer. The defined unit for the above numerical interval includes:

[0150] The first interval determines the sub-unit, used if the actual echo energy is greater than or equal to P. n The above numerical range is determined to be [P]. n ,∞);

[0151] The second interval determination sub-unit is used to determine the above numerical interval as [0, P1] if the above actual echo energy is less than or equal to P1.

[0152] The third interval determines the sub-unit, used when the actual echo energy is greater than P1 and the actual echo energy is less than P. n The above numerical range is determined to be [P]. i P i+1 ]; where 1≤i≤n-1 and n is an integer, P i Less than or equal to the above actual echo energy, P i+1 It is greater than or equal to the actual echo energy mentioned above.

[0153] In an exemplary embodiment, based on the foregoing scheme, the third computing module 640 includes:

[0154] The extreme value acquisition unit is used to obtain values ​​in the above numerical range of [0, P1] or [P]. i P i+1 When the above numerical range is in the range, the maximum echo energy value and the upper limit preset reflectivity corresponding to the maximum echo energy value are obtained, as well as the minimum echo energy value and the lower limit preset reflectivity corresponding to the minimum echo energy value are obtained.

[0155] The reflectivity calculation unit is used to determine the reflectivity of the target object based on the actual echo energy, the maximum echo energy, the upper limit preset reflectivity, the minimum echo energy, and the lower limit preset reflectivity.

[0156] In an exemplary embodiment, based on the foregoing scheme, the reflectivity calculation device further includes:

[0157] The reflectance query unit is used to query values ​​within the above-mentioned range [P]. n When ∞), obtain P n The corresponding maximum preset reflectivity is determined, and the reflectivity of the target object is determined to be the maximum preset reflectivity.

[0158] It should be noted that the reflectance calculation device provided in the above embodiments is only illustrated by the division of the above functional modules when executing the reflectance calculation method. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the reflectance calculation device and the reflectance calculation method embodiments provided in the above embodiments belong to the same concept. Therefore, for details not disclosed in the device embodiments of this disclosure, please refer to the above-described embodiments of the reflectance calculation method of this disclosure, which will not be repeated here.

[0159] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0160] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described in the foregoing embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, as well as magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0161] This disclosure also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of any of the methods described above.

[0162] Figure 7 A schematic diagram of the electronic device is shown. Please refer to [link / reference]. Figure 7 As shown, the electronic device 700 includes a processor 701 and a memory 702.

[0163] In this embodiment, processor 701 is the control center of the computer system, and can be a processor of a physical machine or a processor of a virtual machine. Processor 701 may include one or more processing cores, such as a 4-core processor or an 8-core processor. Processor 701 can be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 701 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state.

[0164] In this embodiment of the disclosure, the processor 701 is specifically configured to: obtain a measurement distance based on the echo signal of the target object; obtain a theoretical reference set corresponding to the measurement distance, wherein the theoretical reference set includes the theoretical echo energy of multiple calibration plates with different preset reflectivities at the measurement distance; obtain the actual echo energy based on the echo signal; determine the numerical range of the actual echo energy in the theoretical reference set; and determine the reflectivity of the target object based on the actual echo energy and the numerical range.

[0165] Furthermore, the processor 701 is also configured to: acquire an initial reference set, the initial reference set including the initial echo energy of the plurality of calibration plates at an initial measurement distance; determine the first interpolation coefficient corresponding to the measurement distance; and determine the theoretical reference set based on the initial reference set, the measurement distance and the first interpolation coefficient.

[0166] Furthermore, the processor 701 is also configured to: determine the preset distance interval in which the measured distance is located; obtain the second interpolation coefficient corresponding to the preset distance interval; and determine the first interpolation coefficient based on the measured distance, the preset distance interval, and the second interpolation coefficient.

[0167] Furthermore, the processor 701 is also configured to: obtain the maximum distance value and the minimum distance value of the preset distance interval; and determine the upper limit interpolation coefficient corresponding to the maximum distance value and / or the lower limit interpolation coefficient corresponding to the minimum distance value as the second interpolation coefficient.

[0168] Furthermore, the processor 701 is also used to: compare the magnitude of the actual echo energy with the magnitude of multiple theoretical echo energies in the theoretical reference set to obtain a comparison relationship; and determine the numerical range in which the actual echo energy is located based on the comparison relationship.

[0169] Furthermore, the aforementioned theoretical reference set P = {P1, ..., P} n}, where P1, ..., P n Let each of the theoretical echo energies be arranged in ascending order, where n ≥ 2 and n is an integer. The processor 701 is further configured to: if the actual echo energy is greater than or equal to P... n The above numerical range is determined to be [P]. n If the actual echo energy is less than or equal to P1, the numerical range is determined to be [0, P1]; if the actual echo energy is greater than P1 and less than P1, the range is determined to be [0, P1]. n The above numerical range is determined to be [P]. i P i+1 ]; where 1≤i≤n-1 and n is an integer, P i Less than or equal to the above actual echo energy, P i+1 It is greater than or equal to the actual echo energy mentioned above.

[0170] Furthermore, the processor 701 is also used to: in the above-mentioned numerical range of [0, P1] or [P i P i+1 When the above numerical range is in use, the maximum echo energy value and the upper limit preset reflectivity corresponding to the maximum echo energy value are obtained, the minimum echo energy value and the lower limit preset reflectivity corresponding to the minimum echo energy value are obtained; based on the actual echo energy, the maximum echo energy value, the upper limit preset reflectivity, the minimum echo energy value and the lower limit preset reflectivity, the reflectivity of the target object is determined.

[0171] Furthermore, the processor 701 is also used to: within the aforementioned numerical range [P] n When ∞), obtain P n The corresponding maximum preset reflectivity; the reflectivity of the target object is determined to be the maximum preset reflectivity.

[0172] Memory 702 may include one or more computer-readable storage media, which may be non-transitory. Memory 702 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments of this disclosure, the non-transitory computer-readable storage media in memory 702 is used to store at least one instruction, which is executed by processor 701 to implement the methods in the embodiments of this disclosure.

[0173] In some embodiments, the electronic device 700 further includes a peripheral device interface 703 and at least one peripheral device. The processor 701, memory 702, and peripheral device interface 703 are connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 703 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of a display screen 704, a camera 705, and an audio circuit 706.

[0174] Peripheral device interface 703 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 701 and memory 702. In some embodiments of this disclosure, processor 701, memory 702, and peripheral device interface 703 are integrated on the same chip or circuit board; in other embodiments of this disclosure, any one or two of processor 701, memory 702, and peripheral device interface 703 can be implemented on separate chips or circuit boards. This disclosure does not specifically limit the scope of the embodiments.

[0175] Display screen 704 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 704 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 701 for processing. In this case, display screen 704 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments of this disclosure, there may be one display screen 704, which serves as the front panel of electronic device 700; in other embodiments, there may be at least two display screens 704, respectively disposed on different surfaces of electronic device 700 or in a folded design; in still other embodiments, display screen 704 may be a flexible display screen, disposed on a curved or folded surface of electronic device 700. Furthermore, display screen 704 may be configured as a non-rectangular irregular shape, i.e., a non-rectangular screen. Display screen 704 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0176] Camera 705 is used to capture images or videos. Optionally, camera 705 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the electronic device 700, and the rear-facing camera is located on the back of the electronic device 700. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments of this disclosure, camera 705 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cool light flash, which can be used for light compensation at different color temperatures.

[0177] The audio circuit 706 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals that are input to the processor 701 for processing. For stereo sound acquisition or noise reduction purposes, there may be multiple microphones, each located in a different part of the electronic device 700. The microphone may also be an array microphone or an omnidirectional microphone.

[0178] Power supply 707 is used to supply power to various components in electronic device 700. Power supply 707 can be alternating current, direct current, a disposable battery, or a rechargeable battery. When power supply 707 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, while a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0179] The structural block diagram of the electronic device 700 shown in the embodiments of this disclosure does not constitute a limitation on the electronic device 700. The electronic device 700 may include more or fewer components than shown, or combine certain components, or adopt different component arrangements.

[0180] In the description of this disclosure, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances. Furthermore, in the description of this disclosure, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0181] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, equivalent variations made in accordance with the claims of this disclosure are still within the scope of this disclosure.

Claims

1. A method for calculating reflectance, characterized in that, The method for calculating reflectance includes: The measurement distance is obtained based on the echo signal of the target object, and a theoretical reference set corresponding to the measurement distance is acquired. The theoretical reference set includes the theoretical echo energy of multiple calibration plates with different preset reflectivities at the measurement distance. The theoretical reference set P = {P1, ..., P2} n }, P1, ..., P n These are multiple theoretical echo energies arranged from smallest to largest, where n ≥ 2 and n is an integer; The actual echo energy is obtained based on the echo signal. Determine the numerical range of the actual echo energy within the theoretical reference set; The reflectivity of the target object is determined based on the actual echo energy and the numerical range. The step of determining the reflectivity of the target object based on the actual echo energy and the numerical range includes: The numerical range is [0, P1] or [P...]. i P i+1 When [the value is specified], obtain the maximum echo energy value within the specified numerical range and the upper limit preset reflectivity corresponding to the maximum echo energy value, the minimum echo energy value within the specified numerical range and the lower limit preset reflectivity corresponding to the minimum echo energy value, P i Less than or equal to the actual echo energy, P i+1 Greater than or equal to the actual echo energy, 1≤i≤n-1; The reflectivity of the target object is determined based on the actual echo energy, the maximum echo energy, the upper limit preset reflectivity, the minimum echo energy, and the lower limit preset reflectivity.

2. The reflectance calculation method as described in claim 1, characterized in that, The step of obtaining the theoretical reference set corresponding to the measured distance includes: Obtain an initial reference set, which includes the initial echo energy of the plurality of calibration plates at an initial measurement distance; Determine the first interpolation coefficient corresponding to the measured distance; The theoretical reference set is determined based on the initial reference set, the measured distance, and the first interpolation coefficient.

3. The reflectance calculation method as described in claim 2, characterized in that, The step of determining the first interpolation coefficient corresponding to the measured distance includes: Determine the preset distance range in which the measured distance falls; Obtain the second interpolation coefficients corresponding to the preset distance interval; The first interpolation coefficient is determined based on the measured distance, the preset distance range, and the second interpolation coefficient.

4. The reflectance calculation method as described in claim 3, characterized in that, The step of obtaining the second interpolation coefficients corresponding to the preset distance interval includes: Obtain the maximum and minimum distance values ​​within the preset distance range; The upper limit interpolation coefficient corresponding to the maximum distance value and / or the lower limit interpolation coefficient corresponding to the minimum distance value are determined as the second interpolation coefficient.

5. The reflectance calculation method as described in claim 1, characterized in that, The step of determining the numerical range of the actual echo energy within the theoretical reference set includes: By comparing the actual echo energy with the magnitudes of multiple theoretical echo energies in the theoretical reference set, a comparison relationship is obtained. Based on the comparison relationship, the numerical range in which the actual echo energy falls is determined.

6. The reflectance calculation method as described in claim 5, characterized in that, The step of determining the numerical range in which the actual echo energy falls based on the comparison relationship includes: If the actual echo energy is greater than or equal to P n The numerical range is determined to be [P]. n ,∞); If the actual echo energy is less than or equal to P1, the numerical range is determined to be [0, P1]. If the actual echo energy is greater than P1 and the actual echo energy is less than P... n The numerical range is determined to be [P]. i P i+1 ].

7. The reflectance calculation method as described in claim 6, characterized in that, The step of determining the reflectivity of the target object based on the actual echo energy and the numerical range further includes: The numerical range is [P] n When ∞), obtain P n The corresponding maximum preset reflectivity; The reflectivity of the target object is determined to be the maximum preset reflectivity.

8. A reflectivity calculation device, characterized in that, The reflectivity calculation device includes: The first calculation module is used to obtain the measurement distance based on the echo signal of the target object, and to acquire the theoretical reference set corresponding to the measurement distance. The theoretical reference set includes the theoretical echo energy of multiple calibration plates with different preset reflectivities at the measurement distance. The theoretical reference set P = {P1, ..., P2} n }, P1, ..., P n These are multiple theoretical echo energies arranged from smallest to largest, where n ≥ 2 and n is an integer; The second calculation module is used to obtain the actual echo energy based on the echo signal; The interval determination module is used to determine the numerical interval of the actual echo energy in the theoretical reference set; The third calculation module is used to determine the reflectivity of the target object based on the actual echo energy and the numerical range. The step of determining the reflectivity of the target object based on the actual echo energy and the numerical range includes: The numerical range is [0, P1] or [P i P i+1 When [the value is specified], obtain the maximum echo energy value within the specified numerical range and the upper limit preset reflectivity corresponding to the maximum echo energy value, the minimum echo energy value within the specified numerical range and the lower limit preset reflectivity corresponding to the minimum echo energy value, P i Less than or equal to the actual echo energy, P i+1 Greater than or equal to the actual echo energy, 1≤i≤n-1; The reflectivity of the target object is determined based on the actual echo energy, the maximum echo energy, the upper limit preset reflectivity, the minimum echo energy, and the lower limit preset reflectivity.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the reflectivity calculation method as described in any one of claims 1 to 7.

10. 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 reflectivity calculation method as described in any one of claims 1 to 7.

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