Method, device and storage medium for improving laser ranging capability of radar system

Abstract

A method, device and storage medium for improving laser ranging capability of a radar system. The method comprises: obtaining a first current signal output by a receiving sensor and a second current signal output by a reference sensor (S401); determining a residual cancellation amount based on the first current signal and the second current signal (S402); determining whether strong light noise exists in echo light based on the residual cancellation amount (S403); and adjusting a bias voltage of a receiving end of the radar system in a case where the strong light noise exists in the echo light (S404). The method can detect whether strong light noise exists in echo light by setting a receiving sensor and a reference sensor at the receiving end of the radar system, and if strong light noise exists, the bias voltage of the receiving end is reduced to reduce the average current of the receiving sensor and reduce noise excitation, thereby improving the accuracy of the ranging capability of the radar system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of measurement, in particular to a method and device for improving laser ranging capability of a radar system and a storage medium. BACKGROUND

[0002] In recent years, the unmanned driving technology is in a period of vigorous development, and the vehicle-mounted radar system is an important component in the unmanned driving technology. In the receiving end of the existing radar system, the sensor arranged therein can adopt a single photon avalanche diode (SPAD) with high photoelectric detection capability, but the high gain characteristic of the SPAD can cause it to be particularly sensitive to ambient light and be easily affected by ambient light.

[0003] When the external ambient light becomes strong, the SPAD can continuously excite more micro-units to work, so that the average working current increases, and thus the internal temperature rise of the radar system also increases accordingly under the condition that the heat dissipation of the radar system is constant, which can further cause the SPAD to fail or output abnormal waveform due to high temperature environment, resulting in failure of target detection. Therefore, how to identify strong light noise and reduce the influence of strong light is a technical problem to be solved in the field. SUMMARY

[0004] The present application provides a method and device for improving laser ranging capability of a radar system and a storage medium.

[0005] In a first aspect, the present application provides a method for improving laser ranging capability of a radar system, the radar system comprising a laser for emitting pulsed laser, a receiving sensor for receiving return light and a reference sensor in a light-shielded state, wherein the receiving sensor and the reference sensor are arranged in a receiving end of the radar system; the method comprising:

[0006] obtaining a first current signal output by the receiving sensor and a second current signal output by the reference sensor;

[0007] determining a residual cancellation amount based on the first current signal and the second current signal;

[0008] determining whether there is strong light noise in the return light based on the residual cancellation amount;

[0009] adjusting a bias voltage of the receiving end of the radar system in the case that there is strong light noise in the return light.

[0010] In a second aspect, an embodiment of the present application provides a device for improving laser ranging capability of a radar system, the radar system comprising: a laser for emitting pulsed laser light, a receiving sensor for receiving return light, and a reference sensor in a light-shielded state, wherein the receiving sensor and the reference sensor are at a receiving end of the radar system; the device comprising:

[0011] an acquisition module configured to acquire a first current signal output by the receiving sensor and a second current signal output by the reference sensor;

[0012] a first determination module configured to determine a cancellation residual based on the first current signal and the second current signal;

[0013] a second determination module configured to determine whether strong light noise exists in the return light based on the cancellation residual;

[0014] an adjustment module configured to adjust a bias voltage of the receiving end of the radar system in a case where the strong light noise exists in the return light.

[0015] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is adapted to be loaded by the processor and execute the method steps provided in the second aspect of the present application.

[0016] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is adapted to be loaded by the processor and execute the method steps provided in the third aspect of the present application.

[0017] The technical solutions provided by some embodiments of the present application have at least the following beneficial effects:

[0018] In the embodiments of the present application, the first current signal output by the receiving sensor and the second current signal output by the reference sensor can be acquired; the cancellation residual can be determined based on the first current signal and the second current signal; whether strong light noise exists in the return light can be determined based on the cancellation residual; and the bias voltage of the receiving end of the radar system can be adjusted in a case where the strong light noise exists in the return light. Thus, in the embodiments of the present application, whether strong light noise exists in the return light can be detected by means of setting the receiving sensor and the reference sensor at the receiving end of the radar system, and if strong light noise exists, the bias voltage of the receiving end is reduced to reduce the average current of the receiving sensor and reduce noise excitation, thereby improving the accuracy of the laser ranging capability of the radar system. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

[0020] Figure 1 The application scenario diagram of the method for improving the laser ranging capability of the radar system provided by the embodiments of the present application;

[0021] Figure 2a The structural block diagram of the laser radar receiving device provided by the embodiments of the present application;

[0022] Figure 2b The waveform diagram of the pulse laser receiving end in the radar system under normal ambient light conditions provided by the embodiments of the present application;

[0023] Figure 2c The implementation manner diagram of the transimpedance amplification circuit provided by the embodiments of the present application;

[0024] Figure 2d The implementation manner diagram of another transimpedance amplification circuit provided by the embodiments of the present application;

[0025] Figure 3 The waveform diagram of the pulse laser receiving end in the radar system under strong light irradiation conditions provided by the embodiments of the present application;

[0026] Figure 4 The flowchart of the method for improving the laser ranging capability of the radar system provided by the embodiments of the present application;

[0027] Figure 5 The waveform diagram of the radar system in which a preset bias control signal is applied to the receiving sensor and the reference sensor provided by the embodiments of the present application;

[0028] Figure 6 The flowchart of another method for improving the laser ranging capability of the radar system provided by the embodiments of the present application;

[0029] Figure 7 The echo light waveform diagram received by the receiving sensor in the receiving end provided by the embodiments of the present application;

[0030] Figure 8 The flowchart of another method for improving the laser ranging capability of the radar system provided by the embodiments of the present application;

[0031] Figure 9 The echo light waveform diagram received by the receiving sensor in another receiving end provided by the embodiments of the present application;

[0032] Figure 10 A flowchart of another method for improving laser ranging capability of a radar system according to an embodiment of the present application is shown in FIG. 6.

[0033] Figure 11 A structural diagram of a device for improving laser ranging capability of a radar system according to an embodiment of the present application is shown in FIG. 7.

[0034] Figure 12 A circuit diagram of an adjustment module according to an embodiment of the present application is shown in FIG. 8.

[0035] Figure 13 A circuit diagram of another adjustment module according to an embodiment of the present application is shown in FIG. 9.

[0036] Figure 14 A circuit diagram of another adjustment module according to an embodiment of the present application is shown in FIG. 10.

[0037] Figure 15 A structural diagram of an electronic device according to an embodiment of the present application is shown in FIG. 11. DETAILED DESCRIPTION

[0038] The following description refers to the accompanying drawings. Unless otherwise noted, like elements in different drawings represent the same or similar elements. The following description of exemplary embodiments is not meant to represent all embodiments in accordance with the present application. Rather, it is an example of apparatus and methods in accordance with some aspects of the present application, as detailed in the appended claims.

[0039] In the description of the present application, it should be understood that the terms "first", "second" and the like are used to describe various elements, but are not used to indicate or imply relative importance. The above terms can be understood by those of ordinary skill in the art according to the specific meaning in the present application. In addition, in the description of the present application, "a plurality of" means two or more, unless otherwise specified. "And / or", which describes the relationship between the associated objects, means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. The character " / " generally represents a "or" relationship between the associated objects.

[0040] Figure 1 An application scenario of a method for improving laser ranging capability of a radar system according to an embodiment of the present application is shown in FIG. 5. The radar system can include a power module, a control and signal processing unit, a pulsed laser transmitting end, and a pulsed laser receiving end.

[0041] Specifically, the power module can be controlled by a control and signal processing unit in the radar system to supply power to the pulse laser emitting end and the pulse laser receiving end, and to control the laser in the pulse laser emitting end to emit pulse laser to the measured object, and then calculate the distance between the radar system and the measured object according to the time when the pulse laser receiving end receives the pulse laser.

[0042] Since the photoelectric current signal emitted by the pulse laser emitting end is weaker than the bias current signal sent by the bias power supply, even there is a gap in the order of magnitude, the pulse laser receiving end is difficult to detect the photoelectric current signal. Based on this, the pulse laser receiving end of the present application can include a receiving sensor and a reference sensor, wherein the reference sensor is in a light shielding state and is in a parallel state with the receiving sensor. The power module is integrated in the laser radar receiving device, which can make the laser radar receiving device more compact and the power supply mode more convenient.

[0043] Specifically, referring to Figure 2a , Figure 2a is a structural block diagram of a laser radar receiving device, wherein the receiving device includes a receiving sensor and a reference photoelectric sensor; wherein the reference sensor is in a light shielding state and is in parallel with the receiving sensor; the receiving device further includes a cancellation and transimpedance amplification circuit, which is connected with the receiving sensor and the reference sensor respectively, for cancellation and transimpedance amplification processing of two current signals output by the receiving sensor and the reference sensor, and outputting voltage signals obtained after the cancellation and transimpedance amplification processing; the current signal output by the reference sensor is positively correlated with the bias voltage applied to the reference sensor by the power supply; the receiving device further includes a second processing circuit connected with the cancellation and transimpedance amplification circuit, for calculating distance data according to the voltage signals obtained after the cancellation and transimpedance amplification processing.

[0044] It can be understood that, because the reference photoelectric sensor is connected in parallel with the detection photoelectric sensor, the bias voltage of the reference photoelectric sensor is equal to the bias voltage of the detection photoelectric sensor, that is, the bias current signals of the reference photoelectric sensor and the detection photoelectric sensor are the same; at the same time, because the reference photoelectric sensor is in a light-shielded state, the current signal output by the reference photoelectric sensor is the bias current signal at any time. Therefore, the bias voltage part is removed from the voltage signal obtained after the cancellation and transimpedance amplification processing, and only the photoelectric voltage part remains, so that the voltage signal obtained after the cancellation and transimpedance amplification processing is the photoelectric voltage signal at the time when the laser echo signal reaches the receiving sensor, and should be 0 at the time when the laser echo signal reaches the receiving sensor. Therefore, the second processing circuit can sensitively detect the voltage signal obtained after the cancellation and transimpedance amplification processing, and take the time when the voltage signal obtained after the cancellation and transimpedance amplification processing is detected as the time when the laser echo signal reaches the detection photoelectric sensor; therefore, the sensitivity and accuracy of detecting the laser echo signal are improved, and the accuracy of distance measurement is improved.

[0045] In addition, the laser radar receiving device can further include a power supply module connected with the receiving sensor and the control and signal processing unit respectively, for receiving the control signal sent by the control and signal processing unit, and applying a bias voltage corresponding to the control signal to the receiving sensor. It can be understood that, when the reference photoelectric sensor is connected in parallel with the detection photoelectric sensor, the power supply module applies the same bias voltage to the detection photoelectric sensor and the reference photoelectric sensor at the same time. The power supply module is integrated in the laser radar receiving device, which can make the laser radar receiving device more compact and the power supply mode more convenient.

[0046] Specifically, referring to Figure 2b Under normal ambient light conditions, when the laser in the pulsed laser emitting end does not emit pulsed laser, the cancellation residual of the voltage signal waveform obtained by subtracting the voltage signal generated by the receiving sensor from the voltage signal generated by the reference sensor is 0. Further, when the laser in the pulsed laser emitting end emits pulsed laser to the measured object, the voltage signal obtained after the cancellation and transimpedance amplification processing of the echo light of the pulsed laser received by the receiving sensor, from which it can be determined that the time when the echo light reaches the receiving sensor, and should be 0 at the time when the echo light reaches the receiving sensor.

[0047] Specifically, referring to Figure 2cAn embodiment of a cancellation and trans-impedance amplification circuit is shown. The current signals output by the receiving sensor and the reference sensor are respectively input to the two ends of the balanced side of a balun transformer. The remaining current after cancellation is coupled to the primary side through the transformer, and then the current signal is input to the trans-impedance amplifier for trans-impedance amplification to obtain a voltage signal after trans-impedance amplification processing. Specifically, the balun transformer in this embodiment can be selected to have low insertion loss and high symmetry, that is, the balun transformer has small signal attenuation and good cancellation processing performance, so that the range of the photoelectric current signal output by a single photoelectric sensor can be obtained. In terms of noise, the thermal noise of the matching resistor RT is mainly increased, which is much smaller than the current noise of the trans-impedance amplification circuit itself (the trans-impedance amplification processing also has this noise), and the influence on the signal-to-noise ratio of the photoelectric current signal can be basically ignored. That is, only a very small amount of thermal noise is added, and the photoelectric current signal is not weakened, and the influence on the signal-to-noise ratio is small, so that the photoelectric current signal amplification capability of the circuit has almost no decline.

[0048] Specifically, as an optional way, Figure 2d Another embodiment of a cancellation and trans-impedance amplification circuit is shown. The current signals output by the receiving sensor and the reference photoelectric sensor are respectively input to the trans-impedance amplifier for primary amplification, and the amplified voltage signals are input to the subtracter, and the cancellation voltage signal is output. Then the voltage signal after cancellation is amplified. It can be understood that the specific form of the trans-impedance amplification circuit is not limited in the present application.

[0049] It can be understood that in the above Figure 2a In the laser radar shown in the receiving cancellation architecture, the two sensor waveforms output the real echo after cancellation. However, in strong light conditions, the sensor receiving the echo is irradiated by strong light, and the temperature rises rapidly, while the temperature of the other cancellation reference register does not change synchronously, which will cause the breakdown voltage and equivalent parameters of the two sensors to change, and no longer match, and the cancellation residual will increase. The greater the temperature difference, the greater the cancellation residual. Especially for single-photon sensors, their high-gain characteristics make them particularly sensitive to ambient light, and the temperature rises sharply in strong light environment, which will eventually lead to detection failure.

[0050] Referring to Figure 3 , Figure 3 In strong light environment, when the laser in the pulsed laser emission end does not emit pulsed laser, the voltage signal waveforms generated by the receiving sensor and the reference sensor after subtraction are not zero due to the influence of strong light irradiation. It can be understood that in the Figure 3In the receiver based on the cancellation architecture shown, the waveforms from the two sensors are canceled out to output the true echo. However, because the sensor receiving the echo is exposed to strong light, its temperature rises rapidly, while the temperature of the other cancellation reference sensor does not change synchronously. This causes changes in the breakdown voltage and equivalent parameters of the two sensors, resulting in a mismatch and an increase in the cancellation residue. This is characterized by a larger temperature difference leading to a larger cancellation residue. Under strong light, the average operating current of the receiving sensor increases, and power consumption rises. Therefore, under constant heat dissipation conditions, increased temperature rise may cause the receiving sensor to fail due to high temperature or output abnormal waveforms, leading to target detection failure.

[0051] Possibly, embodiments of this application may employ the following methods to reduce the impact of strong light noise in ambient light:

[0052] 1) Reduce the amount of ambient light entering the pulsed laser receiver.

[0053] Specifically, embodiments of this application may incorporate structural designs such as light extinction and light blocking within the radar system to reduce ambient light entering the surface of the receiving sensor through non-main optical paths; and / or reduce the bandwidth of the receiving filter to reduce the amount of ambient light entering the main optical path;

[0054] 2) Enhance the heat dissipation unit in the radar system

[0055] Since the receiving sensor can excite unnecessary working units due to the influence of strong light noise, which increases the power consumption of the radar system, this application embodiment can consider adding a heat dissipation unit to the radar system to reduce the heat generated by the receiving sensor.

[0056] 3) Reduce the power consumption of the radar system

[0057] In addition, embodiments of this application may also consider reducing power consumption to reduce the temperature rise of the receiving sensor, thereby weakening the impact of strong light noise and reducing or eliminating false target points generated by strong light noise.

[0058] Next, combine Figure 1 The application scenario diagram of the method to improve the laser ranging capability of the radar system is introduced; Figure 2 shows the waveform diagram of the pulse laser receiver in the radar system; and... Figure 3 The schematic diagram of the pulsed laser receiver and control and signal processing unit in the radar system is introduced to illustrate the method for improving the laser ranging capability of the radar system provided by the embodiments of this application, so as to further detect whether there is still strong light noise in the pulsed laser receiver.

[0059] In one embodiment, Figure 4 The diagram shows a flowchart illustrating a method for improving the laser ranging capability of a radar system. Figure 4As shown, the method can include the following steps:

[0060] S401, acquiring a first current signal output by a receiving sensor and a second current signal output by a reference sensor.

[0061] Possibly, the embodiments of the present application can statistically analyze noise under current ambient light, emit pulsed laser after the same time interval of a continuous detection period, and then use the receiving sensor and the reference sensor to perform cancellation coding, emit pulsed laser after different time intervals of a continuous detection period, and then use the receiving sensor and the reference sensor to perform double-cancellation internal coding, or do not emit pulsed laser in a detection period, and detect cancellation residues generated based on the receiving sensor and the reference sensor. The detection period is used to represent a preset time period.

[0062] It can be understood that the noise statistics in the embodiments of the present application are to preset a noise threshold and statistically analyze the number of noises in the echo light within a preset time. According to the characteristics that the noise density becomes very high under strong light noise, it can be determined whether the current environmental condition is under strong light irradiation. Specifically, the noise threshold can be set according to the actual test of the photon amplitude or multi-photon amplitude of the photodetector in the pulsed laser receiving end, the Silicon photomultiplier (SiPM). The preset time can be set as a time interval corresponding to a 20m-200m distance interval.

[0063] Specifically, the embodiments of the present application can further perform the following operations before acquiring the first current signal output by the receiving sensor and the second current signal output by the reference sensor:

[0064] turning off the laser; and applying a preset bias control signal to the receiving sensor and the reference sensor. The preset bias control signal is to control the bias voltage of the receiving end to be less than the breakdown voltage in the leading light time period and to be greater than the breakdown voltage in the echo light time period.

[0065] It can be understood that the bias voltage is used to represent the voltage applied to the receiving sensor and the reference sensor.

[0066] Referring to Figure 5The waveforms shown are the preset bias control signals applied to the receiving sensor and the reference sensor. Among them: the control and signal processing unit can apply a bias voltage less than the breakdown voltage in the first preset time period between the transmission time T0 and the initial time Tbr; the transmission time is the transmission time of the laser signal, and the initial time is after the receiving time of the pilot light signal, so the first preset time period is the time period including the receiving time of the pilot light signal, that is, the pilot light time period. Further, the embodiments of the present application can continue to increase the value of the bias voltage at the same rate in the second preset time period between the initial time Tbr and the first time T1. Further, the embodiments of the present application can determine the value of the bias voltage corresponding to the current time according to the corresponding relationship between the receiving time of the laser echo signal and the bias voltage in the third preset time period between the first time T1 and the second time T2, and the embodiments of the present application can also adjust the applied bias voltage according to the value of the bias voltage corresponding to the current time.

[0067] It can be understood that, with reference to Figure 5 As shown, the laser transmission time can be T0, and the initial time can be Tbr. Since the initial time is after the receiving time of the pilot light signal, in the first preset time period of 0-Tbr, the bias voltage is less than the breakdown voltage Vbr, and the photoelectric amplification gain is approximately zero, avoiding the excitation of the receiving sensor by the pilot light signal. In the second preset time period and the third preset time period of Tbr-T2, that is, the echo light time period, the bias voltage rises rapidly to quickly increase the photoelectric amplification of the receiving sensor, so that the detection sensor can effectively amplify the real laser echo signal after the pilot light signal, and the real laser echo signal can be detected. In the third preset time period of T1-T2, the laser radar receiving device can amplify the laser echo signal effectively. When short-range ranging is performed in the second preset time period, the laser echo signal flight time is short, and the laser echo signal strength is high, so the gain requirement is low to avoid oversaturation; when long-range ranging is performed in the third preset time period, the laser echo signal flight time is long, and the laser echo signal strength is low, so the gain requirement is high to avoid failure to detect the laser echo signal.

[0068] S402, determining the cancellation residual based on the first current signal and the second current signal.

[0069] It can be understood that, the embodiments of the present application can use the laser of the pulse laser transmission end to emit pulse laser, and when it is detected that the bias voltage applied to the receiving sensor is greater than the breakdown voltage of the receiving sensor, the first current signal detected by the receiving sensor and the second current output by the reference sensor are obtained; the first current signal is related to the laser echo signal corresponding to the transmitted laser signal and the bias voltage, and the second current is related to the bias voltage.

[0070] Specifically, the echo light signal can stimulate the receiving sensor to detect the echo light signal, generate a current signal of the echo light corresponding to the pulsed laser emitted by the laser, thereby generating the cancellation residual. However, affected by the strong light noise, the stray echo signal generated by the strong light noise can also generate the echo light signal, and therefore, it is necessary to further determine whether the strong light noise exists in the received cancellation residual.

[0071] S403, determining whether the strong light noise exists in the echo light based on the cancellation residual.

[0072] It can be understood that, in the case that the current ambient light is normal light, the cancellation residual between the receiving sensor and the reference sensor is 0. In the case that the current ambient light is irradiated by strong light, the cancellation residual between the receiving sensor and the reference sensor can not be 0, that is, the receiving sensor can receive the echo light generated by the strong light noise.

[0073] Further, in the case that the current ambient light is normal light, after the laser in the pulsed laser emission end emits the pulsed laser, the cancellation residual between the receiving sensor and the reference sensor is not 0, and the receiving sensor can detect the current signal generated by the echo light of the pulsed laser. In the case that the current ambient light is irradiated by strong light, after the laser in the pulsed laser emission end emits the pulsed laser, the cancellation residual between the receiving sensor and the reference sensor is not 0, and the current signal detected by the receiving sensor can include not only the current signal generated by the echo light of the pulsed laser but also the current signal generated by the strong light noise.

[0074] S404, adjusting the bias voltage of the receiving end of the radar system in the case that the strong light noise exists in the echo light.

[0075] Possibly, the embodiment of the present application can reduce the influence of the strong light noise by reducing the bias voltage of the radar system. Since under the influence of the strong light noise, the noise output by the receiving sensor is high and the temperature rises fast, which can cause the cancellation to fail. Therefore, the embodiment of the present application can reduce the excitation of the receiving end noise and reduce the average current of the receiving sensor by reducing the bias voltage, so as to ensure that the cancellation residual will not exceed the standard and prevent the occurrence of the cancellation residual virtual scene.

[0076] Specifically, in the case that there is no strong light irradiation, the bottom noise of the pulsed laser receiving end is low, and when the current bias voltage of the radar system exceeds the breakdown voltage, the receiving sensor can detect the weak current signal to ensure the ranging capability of the radar system under the non-strong light condition. In the case that there is strong light irradiation, the embodiment of the present application can reduce the bias voltage to the voltage reduction threshold to reduce the gain of the receiving sensor, that is, to reduce the amplitude of the noise without changing the overall signal-to-noise ratio of the pulsed laser receiving end of the radar system.

[0077] The method for adjusting the bias voltage of the radar system can include:

[0078] The temperature or current of the receiving sensor is acquired. During the ranging of the radar system, the temperature sensor can be controlled to detect the temperature of the receiving sensor at a preset time interval; or the current detection module can be controlled to detect the current of the receiving sensor at a preset time. The preset time interval can be 2 ms, 3 s, etc., which is not limited in the present application.

[0079] The target bias voltage is determined according to the received temperature or current. After the temperature or current of the receiving sensor is acquired, the target bias voltage corresponding to the working temperature can be determined by querying the preset mapping relationship. The preset mapping relationship can be a temperature-bias voltage relationship or a current-bias voltage relationship. As the current increases, the thermal effect of the receiving sensor will intensify, and the temperature of the receiving sensor will rise. The current or temperature can be detected, or both the current and the temperature can be detected. The receiving capability of the receiving sensor is related to the bias voltage. When the bias voltage of the same receiving sensor is unchanged, the receiving capability is different due to the change of the working temperature. The selected receiving sensor can obtain its temperature-bias voltage relationship curve or current-bias voltage relationship curve by measurement. Taking the temperature-bias voltage relationship curve as an example, when the working temperature of the receiving sensor acquired is 40℃, the pressure difference ΔV corresponding to the temperature can be obtained by querying the mapping relationship curve, i.e. the target bias voltage of the receiving sensor is 30V when the working temperature is 40℃.

[0080] The voltage value applied to the anode and / or cathode of the receiving sensor is adjusted according to the target bias voltage. The target bias voltage is determined according to the temperature or current of the receiving sensor and is adjusted to compensate for the influence of the change of the temperature or current on the receiving capability of the receiving sensor.

[0081] Optionally, according to the target bias voltage, the duty cycle of the modulation signal applied to the negative electrode and / or the positive electrode of the power module is determined. The modulation signal is sent to the power module, and the power module outputs power to the anode and / or the cathode of the receiving sensor according to the modulation signal. Specifically, the voltage value applied to the cathode of the receiving sensor is detected and obtained; according to the target bias voltage and the voltage value applied to the cathode of the receiving sensor, the voltage value required to be applied to the anode of the receiving sensor is determined; the duty cycle of the modulation signal of the negative electrode of the power module is determined according to the voltage value of the anode of the receiving sensor, and the modulation signal is sent to the negative electrode of the power module. Alternatively, the voltage value applied to the anode of the receiving sensor is detected and obtained; according to the target bias voltage and the voltage value applied to the anode of the receiving sensor, the voltage value required to be applied to the cathode of the receiving sensor is determined; the duty cycle of the modulation signal of the positive electrode of the power module is determined according to the voltage value of the cathode of the receiving sensor, and the modulation signal is sent to the positive electrode of the power module. When the receiving sensor is in a normal working state, the slow temperature change caused by the ambient temperature, self temperature rise, device aging and other factors of the receiving sensor will also cause the temperature or current of the receiving sensor to change. At this time, by sending modulation signals with different duty cycles to the positive electrode and / or negative electrode of the power module, the bias voltage of the receiving sensor is adjusted to be in a good working state, the bias voltage of the receiving sensor during operation is dynamically adjusted, and the ranging range and reliability of the radar system are improved.

[0082] Optionally, according to the target bias voltage, the switching signal applied to the high-voltage amplifier of the power module is determined, and the high-voltage amplifier outputs different positive voltage values according to the received switching signal. Specifically, the first signal for low gear switching is sent to the high-voltage amplifier, and the high-voltage amplifier outputs a low gear positive voltage value, such as 1V; the second signal for high gear switching is sent to the high-voltage amplifier, and the high-voltage amplifier outputs a high gear positive voltage value, such as 5V. The positive voltage value gear output by the high-voltage amplifier can also include multiple gears, such as 3 gears, 10 gears, etc., which can be set according to the adjustment requirements, which are not limited here. When the receiving sensor is irradiated by strong light, a huge photoelectric current will be generated instantaneously, and the temperature or current of the receiving sensor will change suddenly. By controlling the high-voltage amplifier with fast response, the positive voltage value is pulled to the low gear instantaneously, the bias voltage of the receiving sensor is quickly lowered, and the device is prevented from being damaged while effectively receiving the strong return signal; as the strong light irradiation ends, the temperature or current of the receiving sensor decreases, and by controlling the high-voltage amplifier, the positive voltage value is switched back to the high gear to restore the normal working state. The radar system is prevented from being instantaneously blinded due to strong light irradiation, and the detection capability is improved.

[0083] In addition, the target bias voltage is determined according to the received temperature or current, the voltage value applied to the anode and / or cathode of the receiving sensor is adjusted according to the target bias voltage, and the receiving sensor temperature or current can also satisfy a preset condition; if yes, the duty cycle of the modulation signal applied to the negative electrode and / or positive electrode of the power supply module is determined according to the target bias voltage; if no, the switching signal of the high-voltage amplifier of the power supply module is determined according to the target bias voltage, and the high-voltage amplifier outputs different positive voltage values according to the received switching signal. The preset condition satisfied by the temperature or current of the receiving sensor refers to the mutation of the temperature or current. The temperature or current of the receiving sensor detected in the current time can be compared with the detection result of the previous time; if the difference between the two detection results is greater than a threshold value, it is considered that the temperature or current of the receiving sensor has mutated; if the difference between the two detection results is less than or equal to the threshold value, it is considered that the temperature or current of the receiving sensor has not mutated. When the temperature or current of the receiving sensor mutates, it means that a huge photocurrent is generated instantaneously, and the receiving sensor is irradiated by strong light. By controlling the high-voltage amplifier with fast response to instantaneously pull the positive voltage value to a low gear, the bias voltage of the receiving sensor is quickly adjusted to a low value, thereby avoiding damage to the device and effectively receiving the strong echo signal. With the end of strong light irradiation, the temperature or current of the receiving sensor decreases, and the high-voltage amplifier is controlled to switch the positive voltage value back to a high gear to restore the normal working state. When the temperature or current of the receiving sensor does not mutate, it means that the receiving sensor is in a normal working state, and the bias voltage does not need to be instantaneously and quickly adjusted; however, slow temperature changes caused by factors such as the ambient temperature of the working environment of the receiving sensor, the self-temperature rise of the receiving sensor, and device aging will also cause changes in the temperature or current of the receiving sensor. At this time, the modulation signal with different duty cycles is sent to the positive electrode and / or negative electrode of the power supply subcircuit by controlling the subcircuit, and the bias voltage of the receiving sensor is adjusted to a good working state, thereby realizing dynamic adjustment of the bias voltage of the receiving sensor during working and improving the ranging range and reliability of the radar system.

[0084] In addition, the embodiment of the present application can also avoid the influence of strong light noise by the main emission voltage reduction mode of the transmitting end. Specifically, the embodiment of the present application can respectively emit main pulse laser and secondary pulse laser in two consecutive detection periods, wherein the emission power of the first emitted main pulse laser is higher than the emission power of the second emitted secondary pulse laser. The influence of strong light noise is avoided by reducing the voltage corresponding to the emission power of the main pulse laser.

[0085] It can be understood that the emission power of the main pulse laser is relatively high, which can be used to detect distant objects, such as objects within a range of 15-60 meters. The emission power of the secondary pulse laser is relatively low, which can be used to detect close-range objects, such as objects within 15 meters.

[0086] Specifically, in the distance detection, when the voltage corresponding to the transmission power of the main pulse laser is reduced to a preset constant voltage, the bias voltage corresponding to the receiving end will also be reduced after the transmitting end transmits the photon signal, thereby reducing the average current of the receiving sensor so that the extinction residual will not exceed the extinction threshold, and the appearance of the extinction residual virtual scene is avoided. In addition, since the voltage corresponding to the transmission power of the secondary pulse laser is relatively low, no adjustment is needed.

[0087] Further, the embodiment of the present application can also consider filtering the strong light noise in the echo light. Specifically, by utilizing the time domain characteristics of the echo light data, the strong light noise data in the point cloud data of the echo light is removed, and then the echo light data of the pulse laser is smoothed or feature extracted.

[0088] In the embodiment of the present application, the first current signal output by the receiving sensor and the second current signal output by the reference sensor are obtained; the extinction residual is determined based on the first current signal and the second current signal; whether there is strong light noise in the echo light is determined based on the extinction residual; and the bias voltage of the receiving end of the radar system is adjusted in the case that there is strong light noise in the echo light. Thus, the embodiment of the present application can detect whether there is strong light noise in the echo light by setting the receiving sensor and the reference sensor at the receiving end of the radar system, and if there is strong light noise, the bias voltage of the receiving end is reduced to reduce the average current of the receiving sensor and reduce the noise excitation, thereby improving the accuracy of the ranging ability of the radar system.

[0089] In some embodiments, Figure 6 An exemplary flowchart of a method for improving the laser ranging ability of a radar system is shown. In the case that the transmission power of the pulse laser of the laser in at least two adjacent detection periods is the same, as shown in Figure 6 The method for improving the laser ranging ability of the radar system can at least include the following steps:

[0090] S601, obtaining the time when the laser transmits the pulse laser in at least two adjacent detection periods.

[0091] It can be understood that the transmission power of the pulse laser is the same as the transmission voltage of the transmitting end.

[0092] It can be understood that the embodiment of the present application can continuously obtain the time when the laser transmits the laser pulse in each detection period in multiple detection periods under the condition that the transmission voltage of the transmitting end is the same.

[0093] S602, obtaining the time when the receiving sensor outputs the first current signal and the time when the reference sensor outputs the second current signal.

[0094] Specifically, the embodiment of the present application can record the time when the first current signal corresponding to the echo light is detected by the receiving sensor and the time when the second current signal is output by the reference sensor within the corresponding time.

[0095] S603, when the time interval of the laser emitting pulsed laser in at least two adjacent detection periods is different, the rising time of the cancellation residual in the at least two adjacent detection periods is obtained, and when the rising time of the cancellation residual in the at least two adjacent detection periods is the same, it is determined that there is strong light noise in the echo light.

[0096] It can be understood that the transmission power of the radar system in the adjacent two detection periods is the same, and correspondingly, the time when the bias voltage is applied to the receiving sensor and the reference sensor is also the same.

[0097] Specifically, the rising time of the bias voltage on the receiving sensor and the reference sensor is used to represent the time when the bias voltage starts to increase from the constant voltage. For example Figure 5 In the embodiment, the bias voltage is a constant voltage V0 before T0, and the bias voltage starts to increase after T0, that is, T0 represents the rising time of the bias voltage at the receiving end of the radar system.

[0098] Referring to Figure 7 , the transmission power of the radar system in the adjacent two detection periods is the same, the pulsed laser emission time T1 is 0.5 ms in the first detection period 1S, and the pulsed laser emission time T4 is 1.6 ms in the second detection period 1S, that is, in the case of different transmission time intervals, the first current signal output by the receiving sensor and the second current signal output by the reference sensor in the two detection periods are obtained.

[0099] It can be understood that the embodiment of the present application can make the bias voltage at the receiving end of the radar system return to the initial state V0 at the starting time of each detection period.

[0100] It can be understood that, referring to Figure 7 , the emission time of pulsed laser in the first detection period is T1, the generation time of cancellation residual is T2, and the time of receiving the real target echo of the measured object is T3, the emission time of pulsed laser in the second detection period is T4, the generation time of cancellation residual is T5, and the time of receiving the real target echo of the measured object is T6. Since the emission times of pulsed laser in the two adjacent detection periods are relatively different, but the cancellation residual appears at the relatively same time in the two detection periods, it can be determined that there may be strong light noise in the ambient light in the two detection periods.

[0101] S604, in the case that strong light noise exists in the echo light, adjusting the bias voltage at the receiving end of the radar system.

[0102] Specifically, S604 is consistent with S404, which will not be repeated here.

[0103] It can be understood that the above embodiment is to identify strong light noise by adjusting the time interval of emitting pulsed laser. From the above analysis, it can be seen that under strong light irradiation conditions, the cancellation residual amount will increase, which may be misdetected as a target. The occurrence time of the cancellation residual amount is related to the rising time of the bias voltage, but is irrelevant to the emission time of the pulsed laser, but the real target echo position is strongly irrelevant to the rising time of the cancellation bias voltage, but is relevant to the emission time of the pulsed laser. Therefore, the embodiment of the present application can determine whether the echo light is a real target and strong light noise by adjusting the time interval of emitting pulsed laser in adjacent detection periods.

[0104] In some embodiments, Figure 8 An exemplary flowchart of a method for improving the laser ranging capability of a radar system provided by the embodiment of the present application is shown. In the case where the emission power of the laser in at least two adjacent detection periods is different, as shown in Figure 8 The method for improving the laser ranging capability of a radar system can at least include the following steps:

[0105] S801, acquiring the time of emitting pulsed laser by the laser in at least two adjacent detection periods.

[0106] Specifically, S801 is consistent with S501, which will not be repeated here.

[0107] S802, determining the cancellation residual amount based on the first current signal and the second current signal.

[0108] Specifically, S802 is consistent with S402, which will not be repeated here.

[0109] S803, when the time interval of emitting pulsed laser by the laser in at least two adjacent detection periods is the same, acquiring the rising time of the cancellation residual amount in at least two adjacent detection periods, and when the rising time of the cancellation residual amount in at least two adjacent detection periods is different, determining that there is strong light noise in the echo light.

[0110] It can be understood that when the emission time of pulsed laser in adjacent detection periods is the same but the power of pulsed laser emitted by the laser is different, the time of applying bias voltage on the receiving sensor and the reference sensor will be different.

[0111] Specifically, in the case where the emission power is different, the emission time T1 of pulsed laser in the first detection period 1S is 0.5 ms, and the emission time T of pulsed laser in the second period 1S is also 0.5 ms, that is, in the case where the emission time interval is the same, the first current signal output by the receiving sensor and the second current signal output by the reference sensor in these two consecutive periods are acquired.

[0112] It can be understood that, referring to Figure 9 In the first detection period, the emission time of the pulsed laser is T1, the generation time of the cancellation residue is T2, and the reception time of the real target echo of the measured object is T3. In the second detection period, the emission time of the pulsed laser is T4, the generation time of the cancellation residue is T5, and the reception time of the real target echo of the measured object is T6. Since the emission time interval of the pulsed laser in the two detection periods is the same, that is, the cancellation residue exists at different times in adjacent detection periods, it can be determined that there may be strong light noise in the ambient light in the two detection periods.

[0113] S804, in the case that the strong light noise exists in the echo light, adjusting the bias voltage of the receiving end of the radar system.

[0114] Specifically, S804 is consistent with S404, which will not be described here.

[0115] It can be understood that, since the occurrence time of the cancellation residue is related to the rising time of the bias voltage, and is irrelevant to the emission time of the pulsed laser, the position of the real target echo is irrelevant to the rising time of the cancellation bias voltage, and is relevant to the emission time of the pulsed laser. Therefore, the embodiment of the present application can determine whether the echo light is a real target and strong light noise by the emission time of the pulsed laser and the occurrence time of the cancellation residue.

[0116] In addition, in some embodiments, the method for improving the laser ranging capability of the radar system provided by the embodiment of the present application can also detect whether there is strong light noise in the environment in the case of closing the laser emitter. Specifically, the bias voltage greater than the breakdown voltage can be applied to the receiving sensor and the reference sensor to make the receiving sensor receive the light noise, and then based on the first voltage corresponding to the receiving sensor and the second voltage corresponding to the reference sensor, the value of the cancellation residue is determined. In the case that the value of the cancellation residue is greater than the cancellation residue detection threshold, it can be determined that there is strong light noise in the ambient light.

[0117] It can be understood that, the first voltage obtained by the control and signal processing unit processing the first current signal output on the receiving sensor in the adjacent detection period, and the second voltage obtained by processing the second current signal output by the reference sensor.

[0118] For example, the laser of the transmitting end does not emit pulsed laser in a detection period, but the receiving sensor in the receiving end is still turned on to receive the return light, further, the bias voltage is applied to the receiving sensor and the reference sensor to obtain the cancellation residual generated by the light noise, and the value of the cancellation residual is compared with the cancellation residual detection threshold, if the value of the cancellation residual exceeds the cancellation residual detection threshold, it can be determined that there is strong light irradiation in the current environment; if the cancellation residual is not greater than the cancellation residual detection threshold, it can be determined that there is no strong light irradiation in the current environment. It can be understood that the stronger the light noise is, the greater the value of the cancellation residual is. In some embodiments, Figure 10 An example shows a flow diagram of a method for improving the laser ranging capability of a radar system provided by the embodiments of the present application. As shown in Figure 10 The method for improving the laser ranging capability of the radar system can at least include the following steps:

[0119] S1001, obtaining a first current signal output by a receiving sensor and a second current signal output by a reference sensor.

[0120] Specifically, S1001 is consistent with S401, which will not be repeated here.

[0121] S1002, determining a cancellation residual based on the first current signal and the second current signal.

[0122] Specifically, S1002 is consistent with S402, which will not be repeated here.

[0123] S1003, determining whether there is strong light noise in the return light based on the cancellation residual.

[0124] Specifically, S1003 is consistent with S403, which will not be repeated here.

[0125] S1004, when detecting that there is strong light noise in the return light, determining whether there is strong light noise in the return light in the continuous n detection periods.

[0126] Possibly, the receiving sensor in the embodiments of the present application can obtain that the transmitting end of the pulsed laser emits n pulsed lasers to the measured object in the continuous n detection periods, further, the receiving sensor can correspondingly output n first current signals and the reference sensor can output n second current signals.

[0127] Possibly, the embodiments of the present application can generate the corresponding first voltage signal and the second voltage signal based on the first current signal output by the receiving sensor and the second current signal output by the reference sensor in each detection period, further, the value of the cancellation residual in each detection period can be determined according to the waveform relationship of the first voltage signal and the second voltage signal.

[0128] It can be understood that in the case that the cancellation residual in each detection period is not 0, there may be strong light noise in the echo light received by the receiving sensor.

[0129] S1005, when the echo light in the continuous n detection periods all has strong light noise, adjusting the bias voltage of the receiving end of the radar system.

[0130] Further, the embodiment of the present application can adjust the bias voltage of the receiving end of the radar system based on the voltage reduction threshold in continuous m detection periods.

[0131] It can be understood that in the case that the echo light in the continuous n detection periods all has strong light noise, the bias voltage is reduced based on the initial bias voltage in each detection period, and m detection periods are performed to obtain the detection distances of the m detection periods, and after m times of strong light distance detection, the radar system can exit the strong light detection mode and restore the voltage of the transmitting end to the state before adjustment.

[0132] Specifically, the embodiment of the present application can reduce the bias voltage of the receiving end of the radar system and perform point cloud filtering on the strong light noise that may exist to avoid problems such as sensor high-temperature failure, detection failure, and virtual scene caused by strong light noise.

[0133] Figure 11 is a structural schematic diagram of a device for improving laser ranging capability of a radar system provided by an exemplary embodiment of the present application. The device for improving laser ranging capability of a radar system can be arranged in a terminal device or other electronic device to perform the method for improving laser ranging capability of a radar system according to any of the above embodiments of the present application. Wherein, the radar system includes a laser for transmitting pulsed laser, a receiving sensor for receiving echo light, and a reference sensor in a light-shielded state, wherein the receiving sensor and the reference sensor are at the receiving end of the radar system; as shown in the figure, the device for improving laser ranging capability of a radar system includes: Figure 11

[0134] The acquisition module 111 is configured to acquire a first current signal output by the receiving sensor and a second current signal output by the reference sensor.

[0135] The first determination module 112 is configured to determine a cancellation residual based on the first current signal and the second current signal.

[0136] The second determination module 113 is configured to determine whether there is strong light noise in the echo light based on the cancellation residual.

[0137] The adjustment module 114 is configured to adjust the bias voltage of the receiving end of the radar system in the case that there is strong light noise in the echo light.

[0138] ​The adjusting module of the bias voltage of the radar system can include a control sub-circuit, a detection sub-circuit and a receiving sensor; the receiving sensor is used for receiving a return light signal and outputting a current signal; the detection sub-circuit is connected with the receiving sensor and is used for detecting the temperature or the current of the receiving sensor; a first end of the control sub-circuit is connected with the detection sub-circuit, and a second end is connected with the receiving sensor; the control sub-circuit is used for transmitting a first signal to the detection sub-circuit to make it detect the temperature or the current of the receiving sensor, receiving the detection result returned by the detection sub-circuit, and determining a target bias voltage according to the received temperature or current, and adjusting the voltage value applied to the anode and / or the cathode of the receiving sensor according to the target bias voltage.

[0139] Further, the control sub-circuit determines the target bias voltage corresponding to the temperature or the current according to a preset mapping relationship, and adjusts the voltage applied to the anode and / or the cathode of the receiving sensor according to the target bias voltage; the preset mapping relationship can be a temperature-bias voltage relationship or a current-bias voltage relationship. As the current increases, the thermal effect of the receiving sensor will intensify, and the temperature of the receiving sensor will rise; the current or the temperature can be detected, or both the current and the temperature can be detected. The receiving capability of the receiving sensor is related to the bias voltage; when the bias voltage of the same receiving sensor is unchanged, the receiving capability is different due to the change of the working temperature. The selected receiving sensor can obtain its temperature-bias voltage relationship curve or current-bias voltage relationship curve through measurement.

[0140] Optionally, as Figure 12As shown, the adjustment module further comprises a power supply sub-circuit, a negative electrode of the power supply sub-circuit is connected to an anode of the receiving sensor, and a positive electrode of the power supply sub-circuit is connected to a cathode of the receiving sensor; the control sub-circuit determines a duty cycle of a modulation signal applied to the negative electrode and / or the positive electrode of the power supply sub-circuit according to the target bias voltage. The positive electrode and / or the negative electrode of the power supply sub-circuit receives the modulation signal sent by the control sub-circuit and outputs power according to the modulation signal. Specifically, the control sub-circuit detects a voltage value applied to the cathode of the receiving sensor; determines a voltage value required to be applied to the anode of the receiving sensor according to the target bias voltage and the voltage value applied to the cathode of the receiving sensor; and determines the duty cycle of the modulation signal of the negative electrode of the power supply sub-circuit according to the voltage value of the anode of the receiving sensor and sends the modulation signal to the negative electrode of the power supply sub-circuit. Alternatively, the control sub-circuit detects a voltage value applied to the anode of the receiving sensor; determines a voltage value required to be applied to the cathode of the receiving sensor according to the target bias voltage and the voltage value applied to the anode of the receiving sensor; and determines the duty cycle of the modulation signal of the positive electrode of the power supply sub-circuit according to the voltage value of the cathode of the receiving sensor and sends the modulation signal to the positive electrode of the power supply sub-circuit. When the receiving sensor is in a normal working state, slow temperature changes caused by factors such as ambient temperature, self temperature rise and device aging of the receiving sensor will also cause changes in temperature or current of the receiving sensor. At this time, the control sub-circuit sends modulation signals with different duty cycles to the positive electrode and / or the negative electrode of the power supply sub-circuit to adjust the bias voltage of the receiving sensor so that the receiving sensor is in a good working state, realizes dynamic adjustment of the bias voltage of the receiving sensor during working, and improves the ranging range and reliability of the radar system.

[0141] Further, the adjustment circuit further comprises a voltage division sub-circuit, one end of the voltage division sub-circuit is connected to the anode of the power supply sub-circuit, and the other end is connected to the cathode of the receiving sensor. The voltage division sub-circuit is connected in series between the receiving sensor and the anode, can share part of the voltage to generate a relatively large voltage drop, the positive voltage value of the cathode of the receiving sensor decreases, and the bias voltage between the two ends becomes smaller. When the receiving sensor receives more light, the induced current generated is larger, the voltage drop generated by the voltage division sub-circuit is also larger, which can effectively reduce the bias voltage of the receiving sensor and avoid over-saturation. Specifically, the voltage division sub-circuit can be a resistance module, which can generate different voltage drops according to the size of the induced current. The larger the induced current, the larger the voltage drop, and the smaller the induced current, the smaller the voltage drop. The circuit is simple and uses the inherent properties of the device without complex control.

[0142] However, if the resistance of the series voltage division sub-circuit is too small, the active voltage drop effect is not obvious for the sharp increase of the induced current caused by strong light, and if the resistance is too large, it will cause a large voltage drop in the normal working state, affecting the ranging capability of the receiving sensor. In order to optimize the above problems, the voltage division sub-circuit can be a resistance module, which can generate different voltage drops according to the size of the induced current. The larger the induced current, the larger the voltage drop, and the smaller the induced current, the smaller the voltage drop. The circuit is simple and uses the inherent properties of the device without complex control. Figure 13As shown, the adjusting module can further include a power supply sub-circuit, a negative electrode of the power supply sub-circuit is connected to an anode of the receiving sensor, and a positive electrode of the power supply sub-circuit is connected to a cathode of the receiving sensor; the positive electrode of the power supply sub-circuit is connected to the high-voltage amplifier and connected to the cathode of the receiving sensor, the high-voltage amplifier receives a switching signal sent by the control sub-circuit, and outputs different positive voltage values according to the received switching signal. Specifically, the control sub-circuit sends a low-gear switching signal to the high-voltage amplifier, and the high-voltage amplifier outputs a low-gear positive voltage value, such as 1V; the control sub-circuit sends a high-gear switching signal to the high-voltage amplifier, and the high-voltage amplifier outputs a high-gear positive voltage value, such as 5V. The positive voltage value output by the high-voltage amplifier can also include multiple gears, such as 3 gears, 10 gears, etc., which can be set according to the adjustment requirements, and are not limited here. When the receiving sensor is irradiated by strong light, a huge photoelectric current will be generated instantaneously, and the temperature or current of the receiving sensor will change suddenly, so that the high-voltage amplifier with fast response is controlled to pull the positive voltage value to the low gear instantaneously, to quickly lower the bias voltage of the receiving sensor, to avoid damage of the device and also to effectively receive the strong echo signal; as the strong light irradiation ends, the temperature or current of the receiving sensor decreases, and the high-voltage amplifier is controlled to switch the positive voltage value back to the high gear, to restore the normal working state. The radar system is prevented from being instantaneously blinded due to strong light irradiation, and the detection capability is improved.

[0143] Optionally, as Figure 14As shown, the adjustment module can further include a power supply subcircuit and a judgment module. The negative pole of the power supply subcircuit is connected to the anode of the receiving sensor, the first end of the positive pole of the power supply subcircuit is directly connected to the cathode of the receiving sensor, and the second end is set as a high-voltage amplifier and connected to the cathode of the receiving sensor. The first end and the second end of the positive pole of the power supply subcircuit can both output power to the cathode of the receiving sensor. The positive pole and / or the negative pole of the power supply subcircuit receives the modulation signal sent by the control subcircuit and outputs power according to the modulation signal. The high-voltage amplifier receives the switching signal sent by the control subcircuit and switches the gear to output different positive voltage values according to the received switching signal. The judgment module is used to judge whether the temperature or current of the receiving sensor meets the preset condition and select whether to send the signal to the positive pole and / or the negative pole of the power supply subcircuit or to the high-voltage amplifier according to the judgment result. Specifically, the control subcircuit receives the temperature or current of the receiving sensor, and the judgment module judges whether the temperature or current of the receiving sensor meets the preset condition. If yes, the target bias voltage of the receiving sensor is determined, and the switching signal is sent to the high-voltage amplifier to make the high-voltage amplifier output the positive voltage value of the corresponding gear. If no, the target bias voltage of the receiving sensor is determined, and the modulation signal is sent to the positive pole of the power supply subcircuit. The preset condition met by the temperature or current of the receiving sensor refers to the mutation of the temperature or current. The temperature or current of the receiving sensor detected by the current detection subcircuit can be compared with the detection result of the previous time. If the difference between the two detection results is greater than a threshold value, it is considered that the temperature or current of the receiving sensor has mutated. If the difference between the two detection results is less than or equal to the threshold value, it is considered that the temperature or current of the receiving sensor has not mutated. When the temperature or current of the receiving sensor mutates, it means that a huge photoelectric current is generated instantaneously, the receiving sensor is irradiated by strong light, the positive voltage value is pulled to a low gear instantaneously by controlling the high-voltage amplifier responding quickly, the bias voltage of the receiving sensor is adjusted quickly, the device is prevented from being damaged, and the strong echo signal can be received effectively. With the end of strong light irradiation, the temperature or current of the receiving sensor decreases, the positive voltage value is switched back to a high gear by controlling the high-voltage amplifier, and the normal working state is restored. When the temperature or current of the receiving sensor does not mutate, it means that the receiving sensor is in a normal working state, and the bias voltage does not need to be adjusted instantaneously and quickly. However, the slow temperature change caused by the environmental temperature of the working receiving sensor, the self-temperature rise, device aging and other factors will also cause the temperature or current of the receiving sensor to change. At this time, the modulation signal with different duty cycles is sent to the positive pole and / or the negative pole of the power supply subcircuit by the control subcircuit to adjust the bias voltage of the receiving sensor so that the receiving sensor is in a good working state, the bias voltage of the receiving sensor during the working period is dynamically adjusted, and the ranging range and reliability of the radar system are improved.

[0144] In the embodiment of the present application, the first current signal output by the receiving sensor and the second current signal output by the reference sensor are acquired; the cancellation residual is determined based on the first current signal and the second current signal; whether there is strong light noise in the echo light is determined based on the cancellation residual; and the bias voltage of the receiving end of the radar system is adjusted in the case that there is strong light noise in the echo light. Thus, in the embodiment of the present application, whether there is strong light noise in the echo light is detected by means of setting the receiving sensor and the reference sensor at the receiving end of the radar system, and if there is strong light noise, the bias voltage of the receiving end is reduced to reduce the average current of the receiving sensor and reduce noise excitation, thereby improving the accuracy of the ranging capability of the radar system.

[0145] In some possible embodiments, the laser emits the pulsed laser with the same power in at least two adjacent detection periods; and before the acquisition module 111, the device further comprises:

[0146] a first time point acquisition module, configured to acquire a time point at which the laser emits the pulsed laser in at least two adjacent detection periods;

[0147] The second determination module 113 is specifically configured to:

[0148] when the time interval at which the laser emits the pulsed laser in the at least two adjacent detection periods is different, acquire rising time points of the cancellation residual of the at least two adjacent detection periods, and when the rising time points of the cancellation residual of the at least two adjacent detection periods are the same, determine that there is strong light noise in the echo light.

[0149] In some possible embodiments, the laser emits the pulsed laser with different powers in at least two adjacent detection periods;

[0150] before the acquisition module 111, the device further comprises:

[0151] a first time point acquisition module, configured to acquire a time point at which the laser emits the pulsed laser in at least two adjacent detection periods;

[0152] The second determination module 113 is specifically configured to:

[0153] when the time interval at which the laser emits the pulsed laser in the at least two adjacent detection periods is the same, acquire rising time points of the cancellation residual of the at least two adjacent detection periods, and when the rising time points of the cancellation residual of the at least two adjacent detection periods are different, determine that there is strong light noise in the echo light.

[0154] In some possible embodiments, before the acquisition module 111, the device further comprises:

[0155] The bias control signal application module is configured to close the laser, and apply a preset bias control signal to the receiving sensor and the reference sensor, wherein the preset bias control signal is configured to control the bias voltage of the receiving end to be less than the breakdown voltage in the leading light period and to be greater than the breakdown voltage in the echo light period.

[0156] In some possible embodiments, the adjustment module 114 includes a judgment unit configured to judge whether strong light noise exists in echo light in n continuous detection periods when it is detected that strong light noise exists in the echo light.

[0157] The adjustment unit is configured to adjust the bias voltage of the receiving end of the radar system when the strong light noise exists in the echo light in the n continuous detection periods.

[0158] In some possible embodiments, the adjustment unit is specifically configured to:

[0159] adjust the bias voltage of the receiving end of the radar system based on a voltage reduction threshold for m continuous detection periods.

[0160] In some possible embodiments, after the adjustment module 114, the device further includes a filtering module configured to perform point cloud filtering on the strong light noise.

[0161] It should be noted that the device for improving the laser ranging capability of the radar system provided in the above embodiments is used to execute the method for improving the laser ranging capability of the radar system, and only the division of the above functional modules is used as an example for description, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device for improving the laser ranging capability of the radar system and the method for improving the laser ranging capability of the radar system provided in the above embodiments belong to the same concept, and the implementation process is detailed in the method embodiments, which will not be described here.

[0162] The serial numbers of the above embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0163] Please refer to Figure 15 The present application provides a structural schematic diagram of an electronic device. As shown in Figure 15 The electronic device 120 can include at least one processor 121, at least one network interface 124, a user interface 123, a memory 125, and at least one communication bus 122.

[0164] The communication bus 122 is configured to realize the connection and communication between the components.

[0165] The user interface 123 can include a display, a camera, and optionally a standard wired interface and a wireless interface.

[0166] The network interface 124 can optionally include a standard wired interface and a wireless interface (e.g., a WI-FI interface).

[0167] The processor 121 can include one or more processing cores. The processor 121 connects various parts of the electronic device 120 through various interfaces and lines, and performs various functions of the electronic device 120 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 125, and calling data stored in the memory 125. Optionally, the processor 121 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 121 can be integrated with a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU is mainly used to process an operating system, a user interface, and an application program. The GPU is used to render and draw content to be displayed on the display. The modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 121, but can be implemented by a separate chip.

[0168] The memory 125 can include a random access memory (RAM) and a read-only memory (ROM). Optionally, the memory 125 includes a non-transitory computer-readable storage medium. The memory 125 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 125 can include a program storage area and a data storage area. The program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 125 can optionally be at least one storage device located away from the above-mentioned processor 121. For example, the memory 125 can be a cloud storage.Figure 15 As shown, the memory 125 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a radar system laser ranging capability improvement application.

[0169] In Figure 15 As shown in the electronic device 120, the user interface 123 is mainly used to provide an interface for user input and obtain user input data; and the processor 121 can be used to call the radar system laser ranging capability improvement application stored in the memory 125 and specifically perform the following operations:

[0170] Obtain the first current signal output by the receiving sensor and the second current signal output by the reference sensor;

[0171] Determine the cancellation residual based on the first current signal and the second current signal;

[0172] Determine whether there is strong light noise in the echo light based on the cancellation residual;

[0173] In the case where there is strong light noise in the echo light, adjust the bias voltage of the receiving end of the radar system.

[0174] In a possible embodiment, the power of the pulsed laser emitted by the laser in at least two adjacent detection periods is the same; and before the processor 121 performs the operation of obtaining the first current signal output by the receiving sensor and the second current signal output by the reference sensor, the processor 121 further performs:

[0175] Obtain the time when the laser emits the pulsed laser in at least two adjacent detection periods;

[0176] When the processor 121 performs the operation of determining whether there is strong light noise in the echo light based on the cancellation residual, the processor 121 specifically performs:

[0177] When the time interval of the pulsed laser emitted by the laser in the at least two adjacent detection periods is different, obtain the rising time of the cancellation residual of the at least two adjacent detection periods; and when the rising time of the cancellation residual of the at least two adjacent detection periods is the same, determine that there is strong light noise in the echo light.

[0178] In a possible embodiment, the power of the pulsed laser emitted by the laser in at least two adjacent detection periods is the same; and before the processor 121 performs the operation of obtaining the first current signal output by the receiving sensor and the second current signal output by the reference sensor, the processor 121 further performs:

[0179] Obtain the time when the laser emits the pulsed laser in at least two adjacent detection periods;

[0180] The processor 121, in the execution of the determining whether there is strong light noise in the echo light based on the cancellation residual, specifically executes:

[0181] When the time interval of the laser emitting the pulsed laser in the at least two adjacent detection periods is the same, the rising moments of the cancellation residual of the at least two adjacent detection periods are obtained, and when the rising moments of the cancellation residual of the at least two adjacent detection periods are different, it is determined that there is strong light noise in the echo light.

[0182] In a possible embodiment, before the processor 121 executes the obtaining of the first current signal of the receiving sensor output and the second current signal of the reference sensor output, the processor 121 further executes:

[0183] Turning off the laser;

[0184] Applying a preset bias control signal to the receiving sensor and the reference sensor; wherein the preset bias control signal is to control the bias voltage of the receiving end to be less than the breakdown voltage in the leading light time period and to be greater than the breakdown voltage in the echo light time period.

[0185] In a possible embodiment, when the processor 121 executes the adjusting the bias voltage of the receiving end of the radar system in the case that there is strong light noise in the echo light, the processor 121 specifically executes:

[0186] When detecting that there is strong light noise in the echo light, determining whether there is strong light noise in the echo light of the continuous n detection periods;

[0187] When there is strong light noise in the echo light of the continuous n detection periods, adjusting the bias voltage of the receiving end of the radar system.

[0188] In a possible embodiment, when the processor 121 executes the adjusting the bias voltage of the receiving end of the radar system, the processor 121 specifically executes:

[0189] For the continuous m detection periods, adjusting the bias voltage of the receiving end of the radar system based on a voltage reduction threshold.

[0190] In a possible embodiment, after the processor 121 executes the adjusting the bias voltage of the receiving end of the radar system in the case that there is strong light noise in the echo light, the processor 121 further executes: performing point cloud filtering on the strong light noise.

[0191] The embodiments of the present application also provide a computer readable storage medium, which stores instructions, when the instructions are run on a computer or a processor, causing the computer or the processor to execute the above-mentionedFigure 4 and Figure 6 、 Figure 8 、 Figure 10 one or more steps in the embodiments shown. The above-mentioned device for improving the laser ranging capability of a radar system can be stored in the computer-readable storage medium if each component module is realized in the form of a software function unit and sold or used as an independent product.

[0192] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted by the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that includes one or more available media sets. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital versatile disc (Digital Versatile Disc, DVD)), or a semiconductor medium (for example, a solid state disk (Solid State Disk, SSD)) and the like.

[0193] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by a computer program to instruct related hardware, which can be stored in a computer-readable storage medium. The program can include the processes of the above-mentioned embodiments when executed. The storage medium includes a read-only memory (Read Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and various media that can store program codes. In the case of no conflict, the technical features in the embodiments and the embodiments can be combined arbitrarily.

[0194] The above-described embodiments are merely exemplary and are not intended to limit the scope of the present application. Various modifications and improvements can be made to the embodiments of the present application by those skilled in the art without departing from the design spirit of the present application, and such modifications and improvements shall fall within the scope of the claims of the present application.

Claims

1. A method of improving laser ranging capability of a radar system, the method comprising: The radar system comprises a laser for emitting pulsed laser light, a receiving sensor for receiving return light, and a reference sensor in a light-shielded state, wherein the receiving sensor and the reference sensor are at the receiving end of the radar system; the method comprises: acquiring a first current signal output by the receiving sensor and a second current signal output by the reference sensor; determining a cancellation residual based on the first current signal and the second current signal; determining whether strong light noise exists in the return light based on the cancellation residual; in the case that strong light noise exists in the return light, adjusting the bias voltage of the receiving end of the radar system; wherein adjusting the bias voltage of the receiving end of the radar system comprises: acquiring the temperature or current of the receiving sensor; determining a target bias voltage according to the received temperature or current; adjusting the voltage value applied to the anode and / or cathode of the receiving sensor according to the target bias voltage; wherein the radar system further comprises a power supply module for applying a bias voltage to the receiving sensor, and adjusting the voltage value applied to the anode and / or cathode of the receiving sensor according to the target bias voltage comprises: determining the duty cycle of a modulation signal applied to the negative and / or positive electrode of the power supply module according to the target bias voltage; sending the modulation signal to the power supply module to make the power supply module output power to the anode and / or cathode of the receiving sensor according to the modulation signal.

2. The method of claim 1, wherein, The power of the pulsed laser light emitted by the laser in at least two adjacent detection periods is the same; before acquiring the first current signal output by the receiving sensor and the second current signal output by the reference sensor, the method further comprises: acquiring the time at which the laser emits the pulsed laser light in at least two adjacent detection periods; determining whether strong light noise exists in the return light based on the cancellation residual comprises: when the time interval at which the laser emits the pulsed laser light in the at least two adjacent detection periods is different, acquiring the rising time of the cancellation residual of the at least two adjacent detection periods, and when the rising time of the cancellation residual of the at least two adjacent detection periods is the same, determining that strong light noise exists in the return light.

3. The method of claim 1, wherein, The power of the pulsed laser light emitted by the laser in at least two adjacent detection periods is different; before acquiring the first current signal output by the receiving sensor and the second current signal output by the reference sensor, the method further comprises: acquiring the time at which the laser emits the pulsed laser light in at least two adjacent detection periods; determining whether strong light noise exists in the return light based on the cancellation residual comprises: when the time interval at which the laser emits the pulsed laser light in the at least two adjacent detection periods is the same, acquiring the rising time of the cancellation residual of the at least two adjacent detection periods, and when the rising time of the cancellation residual of the at least two adjacent detection periods is different, determining that strong light noise exists in the return light.

4. The method of claim 1, wherein, The method further comprises, before the acquiring the first current signal output by the receiving sensor and the second current signal output by the reference sensor: turning off the laser; applying a preset bias control signal to the receiving sensor and the reference sensor; wherein the preset bias control signal controls the bias voltage of the receiving end to be less than the breakdown voltage in the leading light time period and controls the bias voltage of the receiving end to be greater than the breakdown voltage in the echo light time period.

5. The method of claim 1, wherein, The adjusting the bias voltage of the receiving end of the radar system in the case that the strong light noise exists in the echo light comprises: when detecting that the strong light noise exists in the echo light, judging whether the strong light noise exists in the echo light of the continuous n detection periods; when the strong light noise exists in the echo light of the continuous n detection periods, adjusting the bias voltage of the receiving end of the radar system.

6. The method of claim 5, wherein, The adjusting the bias voltage of the receiving end of the radar system comprises: for the continuous m detection periods, adjusting the bias voltage of the receiving end of the radar system based on the voltage reduction threshold.

7. The method of claim 1, wherein, After the adjusting the bias voltage of the receiving end of the radar system in the case that the strong light noise exists in the echo light, the method further comprises: performing point cloud filtering on the strong light noise.

8. An apparatus for improving laser ranging capability of a radar system, the apparatus comprising: The radar system comprises: a laser for emitting pulsed laser, a receiving sensor for receiving echo light and a reference sensor in a light-shielded state, wherein the receiving sensor and the reference sensor are at the receiving end of the radar system; the device comprises: an acquisition module configured to acquire a first current signal output by the receiving sensor and a second current signal output by the reference sensor; a first determination module configured to determine a cancellation residual based on the first current signal and the second current signal; a second determination module configured to determine whether the strong light noise exists in the echo light based on the cancellation residual; an adjustment module configured to adjust the bias voltage of the receiving end of the radar system in the case that the strong light noise exists in the echo light. The adjustment module is specifically configured to: acquire the temperature or the current of the receiving sensor; determine a target bias voltage according to the received temperature or current; adjust the voltage value applied to the anode and / or cathode of the receiving sensor according to the target bias voltage. The radar system further comprises a power supply module configured to apply a bias voltage to the receiving sensor, and the adjustment module is further configured to: determine a duty cycle of a modulation signal applied to the negative electrode and / or positive electrode of the power supply module according to the target bias voltage; send the modulation signal to the power supply module, so that the power supply module outputs power to the anode and / or cathode of the receiving sensor according to the modulation signal.

9. A computer storage medium, characterized in that The computer storage medium stores a plurality of instructions, which are suitable for being loaded and executed by the processor to perform the method steps of any one of claims 1-7.

10. An electronic device, comprising: comprise: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded and executed by the processor to perform the method steps of any one of claims 1-7.

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