A method, device, medium and equipment for simulating and calculating laser echo energy

Abstract

The present application discloses a method, device, medium and equipment for simulating and calculating laser echo energy. A simulation model of laser echo power is constructed based on the parameters of a laser sensor; the energy amplitude of a first effective laser echo signal without the influence of weather factors is calculated; the extinction coefficient and the scattering coefficient are calculated based on weather factors; the energy amplitude of a second effective laser echo signal and the energy amplitude of a backscattering signal under weather factors are calculated based on the extinction coefficient and the scattering coefficient; that is, the energy amplitude of a first effective laser echo signal without the influence of weather factors is calculated, and then the extinction coefficient and the scattering coefficient are calculated based on weather factors, and the energy amplitudes of the laser echo signal and the backscattering signal under weather factors are calculated in combination with the energy amplitude of the first effective laser echo signal, the extinction coefficient and the scattering coefficient, so as to simulate the detection performance of a laser radar in rainy and foggy weather, thereby providing accurate data support for the detection of a laser radar under complex weather conditions.

Description

Technical Field

[0001] The present application relates to the field of laser radar simulation technology, and specifically to a simulation calculation method, device, medium and equipment for laser echo energy. Background Art

[0002] With the development of Internet of Vehicles technology, more and more intelligent driving vehicles have emerged, and intelligent driving (especially autonomous driving) requires vehicles to have real-time environmental perception capabilities under all-weather and all-road conditions. As a new generation of active laser measurement equipment, LiDAR measures the three-dimensional contour of the target through high-frequency ranging and scanning angle measurement, and can accurately perceive the road environment and obstacles around the vehicle. Compared with binocular cameras and millimeter-wave radars, LiDAR based on optical signals has superior angular resolution and ranging accuracy.

[0003] However, LiDAR is very sensitive to bad weather such as rain and fog. Rain, fog and other particle molecules in the atmosphere have extremely strong extinction and scattering characteristics. When the laser beam collides with them, the laser beam energy will decay sharply, resulting in a significant decrease in the detection distance. At the same time, the backscattering effect of the particle molecules causes the LiDAR to receive a large amount of scattered signals, causing serious interference to the recognition of effective signals. The differences in frequency, bandwidth, wavelength and other characteristics between the scattered signal and the effective signal are very small, and it is difficult for LiDAR to distinguish between the two, which undoubtedly increases the difficulty of analyzing the effective echo signal.

[0004] In view of this, there is an urgent need for an effective echo signal that can effectively distinguish and calculate scattered signals to provide accurate data support for the detection performance of lidar in intelligent driving. Summary of the invention

[0005] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a method, device, medium and equipment for simulating and calculating laser echo energy.

[0006] According to one aspect of the present application, a simulation calculation method for laser echo energy is provided, including: constructing a simulation model of laser echo power based on parameters of a laser sensor; calculating a first effective laser echo signal energy amplitude without the influence of weather factors based on the simulation model; calculating an extinction coefficient and a scattering coefficient based on weather factors; wherein the extinction coefficient and the scattering coefficient respectively represent the influence effect of weather factors on the effective laser echo signal energy and the influence effect of weather factors on the backscattered signal energy; and calculating a second effective laser echo signal energy amplitude and a backscattered signal energy amplitude under weather factors based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient.

[0007] In one embodiment, the calculating, based on the simulation model, the first effective laser echo signal energy amplitude without the influence of weather factors comprises:

[0008] The calculation formula of the energy amplitude of the first effective laser echo signal is as follows:

[0009] ;

[0010] in, is the energy amplitude of the first effective laser echo signal, is the effective receiving aperture, The normalized energy distribution of the matrix defined for the laser foot point, is the total energy of the laser beam, is the target reflectivity, To detect the distance, is the transmission efficiency of the optical system.

[0011] In one embodiment, the calculating the second effective laser echo signal energy amplitude and the backscattered signal energy amplitude under weather factors based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient includes:

[0012] The calculation formula of the energy amplitude of the second effective laser echo signal is as follows:

[0013] ;

[0014] in, is the energy amplitude of the second effective laser echo signal, is the extinction coefficient.

[0015] In one embodiment, the calculating the second effective laser echo signal energy amplitude and the backscattered signal energy amplitude under weather factors based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient includes:

[0016] The calculation formula of the backscatter signal energy amplitude is as follows:

[0017] ;

[0018] in, is the backscattered signal energy amplitude, is the backscattering coefficient.

[0019] In one embodiment, the weather factor includes raindrops or fog particles; wherein the calculation of the extinction coefficient and the scattering coefficient based on the weather factor includes:

[0020] Based on the weather factors, the extinction factor and the backscattering factor are calculated; wherein the calculation formulas of the extinction factor and the backscattering factor are as follows:

[0021] ,

[0022] ;

[0023] in, is the extinction factor, is the backscattering factor, , is the scale factor of the raindrop sphere, , is the wavelength of the laser beam, is the diameter of raindrops or fog particles, Re(a n +b n ) express (a n +b n ) The real part of a n and b n The calculation formula is as follows:

[0024] ,

[0025] ;

[0026] in, m is the refractive index of raindrops or fog particles, is the magnetic constant, and They are spherical Bessel functions and complex variable functions respectively;

[0027] The extinction coefficient and the scattering coefficient are calculated based on the extinction factor and the backscattering factor.

[0028] In one embodiment, the calculating the extinction coefficient and the scattering coefficient based on the extinction factor and the backscattering factor comprises:

[0029] The extinction coefficient is calculated based on the extinction factor and the distribution function of raindrops or fog particles; wherein the calculation formula of the extinction coefficient is as follows:

[0030] ;

[0031] in, is the extinction coefficient, is the diameter of raindrops or fog particles, N(D) is the distribution function of raindrops or fog particles.

[0032] In one embodiment, the calculating the extinction coefficient and the scattering coefficient based on the extinction factor and the backscattering factor comprises:

[0033] The scattering coefficient is calculated based on the backscattering factor and the distribution function of raindrops or fog particles; wherein the calculation formula of the scattering coefficient is as follows:

[0034] ;

[0035] in, is the scattering coefficient, is the diameter of raindrops or fog particles, N(D) is the distribution function of raindrops or fog particles.

[0036] According to another aspect of the present application, a simulation calculation device for laser echo energy is provided, including: a simulation model construction module, which is used to construct a simulation model of laser echo power based on parameters of a laser sensor; an echo amplitude calculation module, which is used to calculate a first effective laser echo signal energy amplitude without the influence of weather factors based on the simulation model; an influence coefficient calculation module, which is used to calculate an extinction coefficient and a scattering coefficient based on weather factors; wherein the extinction coefficient and the scattering coefficient respectively represent the influence effect of weather factors on the effective laser echo signal energy and the influence effect of weather factors on the backscattered signal energy; a laser energy calculation module, which is used to calculate a second effective laser echo signal energy amplitude and a backscattered signal energy amplitude under weather factors based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient.

[0037] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute any of the above-mentioned methods for simulating and calculating the laser echo energy.

[0038] According to another aspect of the present application, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; and the processor is used to execute any of the above-mentioned simulation calculation methods for laser echo energy.

[0039] The present application provides a method, device, medium and equipment for simulating and calculating laser echo energy. A simulation model of laser echo power is constructed based on the parameters of a laser sensor. Based on the simulation model, a first effective laser echo signal energy amplitude without the influence of weather factors is calculated. Based on the weather factors, an extinction coefficient and a scattering coefficient are calculated. The extinction coefficient and the scattering coefficient respectively represent the effect of weather factors on the effective laser echo signal energy and the effect of weather factors on the backscattered signal energy. Based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient, a second effective laser echo signal energy amplitude and a backscattered signal energy amplitude under weather factors are calculated. That is, a simulation model is constructed by the real parameters of the laser sensor and the first effective laser echo signal energy amplitude without the influence of weather factors is calculated. Then, the extinction coefficient and the scattering coefficient are calculated based on the weather factors. The second effective laser echo signal energy amplitude and the backscattered signal energy amplitude under weather factors are calculated in combination with the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient, so as to simulate the detection performance of the laser radar in rainy and foggy weather, thereby providing accurate data support for the detection of the laser radar under complex weather conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0041] Figure 1 It is a flowchart of a simulation calculation method of laser echo energy provided by an exemplary embodiment of the present application.

[0042] Figure 2 It is a schematic diagram of the echo energy calculation of any pixel in the effective laser footprint set.

[0043] Figure 3 It is a schematic diagram of the corresponding relationship between the extinction factor, backscattering factor and water droplet diameter.

[0044] Figure 4 It is a schematic diagram of the structure of a simulation calculation device for laser echo energy provided by an exemplary embodiment of the present application.

[0045] Figure 5 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0046] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0047] Figure 1 FIG. 1 is a flow chart of a simulation calculation method for laser echo energy provided by an exemplary embodiment of the present application. Figure 1 As shown, the simulation calculation method of the laser echo energy includes the following steps:

[0048] Step 110: Construct a simulation model of laser echo power based on the parameters of the laser sensor.

[0049] By establishing a simulation environment and building a mathematical model of the laser radar echo power equation, the various parameters and basic framework required for the simulation model are constructed. Specifically, this application constructs a simulation model of laser echo power based on various parameters of existing laser sensors, where the parameters of the laser sensor include: peak power, pulse width, pulse energy, maximum detection distance, overall system efficiency, etc. The simulation model is constructed by using the real parameters of the laser sensor in the actual environment to obtain a real model that can be used in the actual environment.

[0050] Step 120: Based on the simulation model, calculate the energy amplitude of the first effective laser echo signal without the influence of weather factors.

[0051] After the simulation model is constructed, the present application inputs the laser power echo equation and various parameters into the simulation model to obtain the first effective laser echo signal energy amplitude incident on the detection target without the influence of weather factors, that is, to obtain the first effective laser echo signal energy amplitude without interference from weather factors (that is, ideal situation).

[0052] Step 130: Calculate the extinction coefficient and the scattering coefficient based on weather factors.

[0053] Among them, the extinction coefficient and the scattering coefficient represent the effect of weather factors on the energy of the effective laser echo signal and the effect of weather factors on the energy of the backscattered signal, respectively. After calculating the first effective laser echo signal energy amplitude without the influence of weather factors, the present application further considers the influence of weather factors and introduces the extinction coefficient and the scattering coefficient to reflect the influence and noise of weather factors (such as rain and fog, etc.) on the echo signal in the simulation environment.

[0054] Step 140: Based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient, calculate the second effective laser echo signal energy amplitude and the backscattering signal energy amplitude under weather factors.

[0055] After calculating the extinction coefficient and the scattering coefficient, the present application combines the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient to calculate the second effective laser echo signal energy amplitude and the backscattering signal energy amplitude under weather factors. That is, on the basis of the first effective laser echo signal energy amplitude without weather factors, the extinction coefficient and the scattering coefficient are added to calculate the second effective laser echo signal energy amplitude and the backscattering signal energy amplitude under weather factors, simulate the detection results of the lidar in the natural weather environment, provide data support for the attenuation evaluation of the detection performance of intelligent driving lidar under severe weather conditions, and provide scene data for the training of autonomous driving algorithms under complex weather conditions.

[0056] The present application provides a simulation calculation method for laser echo energy. The method comprises the following steps: constructing a simulation model of laser echo power based on the parameters of a laser sensor; calculating a first effective laser echo signal energy amplitude without the influence of weather factors based on the simulation model; calculating an extinction coefficient and a scattering coefficient based on weather factors; wherein the extinction coefficient and the scattering coefficient respectively represent the influence of weather factors on the effective laser echo signal energy and the influence of weather factors on the backscattering signal energy; calculating a second effective laser echo signal energy amplitude and a backscattering signal energy amplitude under weather factors based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient; that is, constructing a simulation model based on the real parameters of the laser sensor and calculating the first effective laser echo signal energy amplitude without the influence of weather factors, and then calculating the extinction coefficient and the scattering coefficient based on weather factors, and calculating the second effective laser echo signal energy amplitude and the backscattering signal energy amplitude under weather factors based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient, so as to simulate the detection performance of the laser radar in rainy and foggy weather, thereby providing accurate data support for the detection of the laser radar under complex weather conditions.

[0057] In one embodiment, the calculation formula of the energy amplitude of the first effective laser echo signal is as follows:

[0058] ;

[0059] in, is the energy amplitude of the first effective laser echo signal, is the effective receiving aperture, The normalized energy distribution of the matrix defined for the laser foot point, is the total energy of the laser beam, is the target reflectivity, To detect the distance, is the transmission efficiency of the optical system.

[0060] First, based on the construction of the dual-axis laser radar, the laser beam propagation distance is Z, laser corner radius r and receiving field of view radius R They are:

[0061] ;

[0062] in, Indicates the radius of the laser foot point at the initial position, represents the radius of the receiving field of view at the initial position, is the divergence angle of the laser beam, Indicates the azimuth.

[0063] In a rectangular coordinate system with the center of the laser receiving system as the origin (0,0), the laser emission source is located at point , the coordinates of the point where the laser beam hits the ground (i.e. the center of the laser foot point) are set as ,in d is the horizontal distance from the emission source to the laser foot point, where .

[0064] Then, this application builds a n×n Dimensional matrix , to represent the energy distribution in this area. Each element of corresponds to a pixel, whose position is given by the coordinates ( ), the energy value is expressed by Indicates that and are the row index and column index of the matrix respectively. Therefore, each pixel has a clear spatial location and corresponding energy value, providing a detailed description of the energy distribution of the laser foot point. The distance from each pixel to the center of the receiving system is given as This distance It can be expressed as a function that relates the spatial relationship between the position of the pixel and the center of the receiving system, defined as:

[0065] ;

[0066] In this framework, the present application establishes a decision mechanism to determine whether each pixel of the laser footprint is within the field of view of the receiver. Specifically, a statistical matrix is ​​introduced. , which determines the position of each pixel through simple logical conditions. Specifically, if the distance from a pixel to the center of the receiving system is No larger than the effective field of view radius of the receiver , then the pixel is considered to be within the field of view, and accordingly, the matrix The value at this point is set to 1; if it is outside the range, The value at this point is set to 0. Thus, It becomes a binary matrix containing information inside and outside the field of view.

[0067] According to the principle of geometric optics, the energy emitted by any object point in space must pass through the entrance pupil and entrance window of the system at the same time to be received by the detector, which is: Figure 2 Using the projection method, the entrance window is projected onto the entrance pupil plane, and the occlusion caused by the transmitting system is removed. The overlapping part of the entrance window projection and the entrance pupil is the effective receiving aperture. ,like Figure 3 The shaded area in the figure is shown.

[0068] Among them, the projection of the entrance window on the entrance pupil plane for:

[0069] ;

[0070] in, (x w ,y w ) is the coordinate of the effective receiving aperture, is the radius of the effective receiving aperture, and are the radius and position of the entrance window, are the radius and position of the circular detector, respectively. is the focal length.

[0071] Effective receiving aperture The calculation formula is:

[0072]

[0073] in, is the area of ​​a pixel.

[0074] In one embodiment, the calculation formula of the second effective laser echo signal energy amplitude is as follows:

[0075] ;

[0076] in, is the energy amplitude of the second effective laser echo signal, is the extinction coefficient.

[0077] Based on the above analysis process, the present application combines the influence of weather factors on the effective laser echo signal to calculate the energy amplitude of the second effective laser echo signal when there is severe weather such as rain and fog.

[0078] In one embodiment, the calculation formula of the backscatter signal energy amplitude is as follows:

[0079] ;

[0080] in, is the backscattered signal energy amplitude, is the backscattering coefficient.

[0081] Based on the above analysis process, this application combines the influence of weather factors on backscattering to calculate the energy amplitude of the backscattering signal when there is severe weather such as rain and fog.

[0082] In one embodiment, the weather factor includes raindrops or fog particles; wherein the specific implementation of the above step 130 may be:

[0083] Based on weather factors, the extinction factor and backscattering factor are calculated; based on the extinction factor and backscattering factor, the extinction coefficient and scattering coefficient are calculated; wherein, the calculation formulas of the extinction factor and backscattering factor are as follows:

[0084] ,

[0085] ;

[0086] in, is the extinction factor, is the backscattering factor, , is the scale factor of the raindrop sphere, , is the wavelength of the laser beam, is the diameter of raindrops or fog particles, Re(a n +b n ) express (a n +b n ) The real part of a n and b n The calculation formula is as follows:

[0087] ,

[0088] ;

[0089] in, m is the refractive index of raindrops or fog particles, is the magnetic constant, and They are spherical Bessel functions and complex functions respectively.

[0090] Specifically, the present application calculates the received energy amplitude by inputting real lidar parameters, takes into account the influence of rain and foggy weather, and calculates the extinction factor and backscattering factor in the propagation process under the influence of rain and foggy weather according to the particle size distribution of rain and fog particles and the Mie scattering model, and calculates the extinction coefficient and scattering coefficient based on the extinction factor and backscattering factor.

[0091] For example, the present application uses the 905nm band, and the diameter of a single raindrop or fog droplet particle can be approximated to , the refractive index is sphere, where the refractive index is the complex refractive index and j represents the imaginary part (physical meaning represents absorption). The diameter of the raindrop is 0 3mm, the diameter of the mist is 0.01um .

[0092] In one embodiment, the calculation formula of the extinction coefficient is as follows:

[0093] ;

[0094] in, is the extinction coefficient, is the diameter of raindrops or fog particles, N(D) is the distribution function of raindrops or fog particles.

[0095] In one embodiment, the calculation formula of the scattering coefficient is as follows:

[0096] ;

[0097] in, is the scattering coefficient, is the diameter of raindrops or fog particles, N(D) is the distribution function of raindrops or fog particles.

[0098] Specifically, the size model of raindrops covers the characteristics of their particle size distribution. A large number of experiments have been conducted on rainfall in different regions, and common model classifications have been obtained, including: MP distribution, log-normal distribution, Gamma distribution, Weibull distribution, and because of the high complexity of fog droplet size distribution experiments in a dynamic environment, the Gamma distribution function is usually used to characterize the size distribution of fog droplets. Therefore, the Gamma distribution suitable for raindrops and fog droplets is used as the size distribution.

[0099] Described by Gamma distribution :

[0100] ;

[0101] in, is the number of water droplets per unit volume (i.e., density), is the water droplet diameter with maximum probability of occurrence, and is the shape factor of the Gamma distribution. This application discusses and analyzes the port and inland data. is 1000 , 1. 0.5, 0.05 ; Under inland rainfall conditions and unchanged, but becomes 2. 0.07 In foggy weather, moderate radiation fog and strong radiation fog occupy most of the foggy weather scenes in life. is 100 , Both are 6. Both are 1, medium radiation fog For 2 , strong radiation fog For 4 Based on this distribution The extinction coefficient and scattering coefficient under rainy and foggy weather conditions are calculated, and then the effective laser echo signal energy amplitude and the backscattering signal energy amplitude are calculated.

[0102] This application is based on the simulation model constructed above, using a 905-nanometer wavelength laser to explore the performance of the lidar system under specific weather conditions. These conditions include coastal and inland rainfall environments, as well as radiation fog of varying intensities. The coaxial lidar used has the following characteristics: Gaussian laser beam energy distribution, 25-watt peak power, emission angle of 4 milliradians, laser beam diameter of 25 mm, receiving aperture of 50 mm, and field of view of 8 milliradians. And the reflectivity of the target object is set to 0.3. For a target with a reflectivity of 0.3, the reliable detection distances under rainfall (port) and rainfall (inland) weather conditions are 68 meters and 99 meters, respectively. If the target reflectivity is higher than 0.3, the reliable detection distance will increase. Under the condition of a reflectivity of 0.3, the effective detection distance of the lidar in strong radiation fog and medium radiation fog environments is only 7 meters and 28 meters.

[0103] Figure 4 FIG. 1 is a schematic diagram of a structure of a simulation calculation device for laser echo energy provided by an exemplary embodiment of the present application. Figure 4As shown, the simulation calculation device 40 for laser echo energy includes: a simulation model construction module 41, which is used to construct a simulation model of laser echo power based on the parameters of the laser sensor; an echo amplitude calculation module 42, which is used to calculate the first effective laser echo signal energy amplitude without the influence of weather factors based on the simulation model; an influence coefficient calculation module 43, which is used to calculate the extinction coefficient and the scattering coefficient based on weather factors; wherein the extinction coefficient and the scattering coefficient respectively represent the influence effect of weather factors on the effective laser echo signal energy and the influence effect of weather factors on the backscattered signal energy; a laser energy calculation module 44, which is used to calculate the second effective laser echo signal energy amplitude and the backscattered signal energy amplitude under weather factors based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient.

[0104] The present application provides a device for simulating and calculating laser echo energy. The device constructs a simulation model of laser echo power based on the parameters of a laser sensor through a simulation model construction module 41. The echo amplitude calculation module 42 calculates the energy amplitude of a first effective laser echo signal without the influence of weather factors based on the simulation model. The influence coefficient calculation module 43 calculates the extinction coefficient and the scattering coefficient based on weather factors. The extinction coefficient and the scattering coefficient respectively represent the influence of weather factors on the energy of an effective laser echo signal and the influence of weather factors on the energy of a backscattered signal. The laser energy calculation module 44 calculates the energy amplitude of the first effective laser echo signal, the extinction coefficient and the scattering coefficient based on weather factors. The light coefficient and scattering coefficient are used to calculate the second effective laser echo signal energy amplitude and the backscattering signal energy amplitude under weather factors; that is, the simulation model is constructed through the real parameters of the laser sensor and the first effective laser echo signal energy amplitude without the influence of weather factors is calculated, and then the extinction coefficient and scattering coefficient are calculated based on the weather factors, and the second effective laser echo signal energy amplitude and the backscattering signal energy amplitude under weather factors are calculated in combination with the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient, so as to simulate the detection performance of the laser radar in rainy and foggy weather, thereby providing accurate data support for the detection of the laser radar under complex weather conditions.

[0105] In one embodiment, the calculation formula of the energy amplitude of the first effective laser echo signal is as follows:

[0106] ;

[0107] in, is the energy amplitude of the first effective laser echo signal, is the effective receiving aperture, The normalized energy distribution of the matrix defined for the laser foot point, is the total energy of the laser beam, is the target reflectivity, To detect the distance, is the transmission efficiency of the optical system.

[0108] In one embodiment, the calculation formula of the second effective laser echo signal energy amplitude is as follows:

[0109] ;

[0110] in, is the energy amplitude of the second effective laser echo signal, is the extinction coefficient.

[0111] In one embodiment, the calculation formula of the backscatter signal energy amplitude is as follows:

[0112] ;

[0113] in, is the backscattered signal energy amplitude, is the backscattering coefficient.

[0114] In one embodiment, the weather factor includes raindrops or fog particles; wherein the above-mentioned influence coefficient calculation module 43 can be further configured as follows:

[0115] Based on weather factors, the extinction factor and backscattering factor are calculated; based on the extinction factor and backscattering factor, the extinction coefficient and scattering coefficient are calculated; wherein, the calculation formulas of the extinction factor and backscattering factor are as follows:

[0116] ,

[0117] ;

[0118] in, is the extinction factor, is the backscattering factor, , is the scale factor of the raindrop sphere, , is the wavelength of the laser beam, is the diameter of raindrops or fog particles, Re(a n +b n ) express (a n +b n ) The real part of a n and b n The calculation formula is as follows:

[0119] ,

[0120] ;

[0121] in, m is the refractive index of raindrops or fog particles, is the magnetic constant, and They are spherical Bessel functions and complex functions respectively.

[0122] In one embodiment, the calculation formula of the extinction coefficient is as follows:

[0123] ;

[0124] in, is the extinction coefficient, is the diameter of raindrops or fog particles, N(D) is the distribution function of raindrops or fog particles.

[0125] In one embodiment, the calculation formula of the scattering coefficient is as follows:

[0126] ;

[0127] in, is the scattering coefficient, is the diameter of raindrops or fog particles, N(D) is the distribution function of raindrops or fog particles.

[0128] Below, reference Figure 5 The electronic device according to the embodiment of the present application is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signal from them.

[0129] Figure 5 A block diagram of an electronic device according to an embodiment of the present application is illustrated.

[0130] like Figure 5 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0131] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0132] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0133] In one example, the electronic device 10 may further include: an input device 13 and an output device 14 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0134] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, which is used to receive the collected input signals from the first device and the second device.

[0135] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0136] The output device 14 can output various information to the outside, including the determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0137] Of course, to simplify, Figure 5 Only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 10 may also include any other appropriate components.

[0138] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0139] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0140] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0141] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0142] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0143] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0144] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0145] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0146] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A simulation calculation method for laser echo energy, It is characterized in that include: Based on the parameters of the laser sensor, a simulation model of the laser echo power is constructed; Based on the simulation model, calculating the energy amplitude of the first effective laser echo signal without the influence of weather factors; Based on weather factors, an extinction coefficient and a scattering coefficient are calculated; wherein the extinction coefficient and the scattering coefficient represent the effect of weather factors on the energy of effective laser echo signals and the effect of weather factors on the energy of backscattered signals, respectively; Based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient, calculating the second effective laser echo signal energy amplitude and the backscattering signal energy amplitude under weather factors; Wherein, the calculating, based on the simulation model, the first effective laser echo signal energy amplitude without the influence of weather factors comprises: The calculation formula of the energy amplitude of the first effective laser echo signal is as follows: ； in, is the energy amplitude of the first effective laser echo signal, is the effective receiving aperture, The normalized energy distribution of the matrix defined for the laser foot point, is the total energy of the laser beam, is the target reflectivity, To detect the distance, is the transmission efficiency of the optical system.

2. The method for simulating and calculating laser echo energy according to claim 1, It is characterized in that The calculating of the second effective laser echo signal energy amplitude and the backscattering signal energy amplitude under weather factors based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient comprises: The calculation formula of the energy amplitude of the second effective laser echo signal is as follows: ； in, is the energy amplitude of the second effective laser echo signal, is the extinction coefficient.

3. The method for simulating and calculating laser echo energy according to claim 1, It is characterized in that The calculating of the second effective laser echo signal energy amplitude and the backscattering signal energy amplitude under weather factors based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient comprises: The calculation formula of the backscatter signal energy amplitude is as follows: ； in, is the backscattered signal energy amplitude, is the scattering coefficient.

4. The method for simulating and calculating laser echo energy according to claim 1, It is characterized in that The weather factors include raindrops or fog particles; wherein the calculation of the extinction coefficient and the scattering coefficient based on the weather factors includes: Based on the weather factors, the extinction factor and the backscattering factor are calculated; wherein the calculation formulas of the extinction factor and the backscattering factor are as follows: ， ； in, is the extinction factor, is the backscattering factor, , is the scale factor of the raindrop sphere, , is the wavelength of the laser beam, is the diameter of raindrops or fog particles, Re(a n + b n ) express (a n +b n ) The real part of a n and b n The calculation formula is as follows: ， ； in, m is the refractive index of raindrops or fog particles, is the magnetic constant, and They are spherical Bessel functions and complex variable functions respectively; The extinction coefficient and the scattering coefficient are calculated based on the extinction factor and the backscattering factor.

5. The method for simulating and calculating laser echo energy according to claim 4, It is characterized in that The calculating the extinction coefficient and the scattering coefficient based on the extinction factor and the backscattering factor comprises: The extinction coefficient is calculated based on the extinction factor and the distribution function of raindrops or fog particles; wherein the calculation formula of the extinction coefficient is as follows: ； in, is the extinction coefficient, is the diameter of raindrops or fog particles, N(D) is the distribution function of raindrops or fog particles.

6. The method for simulating and calculating laser echo energy according to claim 4, It is characterized in that The calculating the extinction coefficient and the scattering coefficient based on the extinction factor and the backscattering factor comprises: The scattering coefficient is calculated based on the backscattering factor and the distribution function of raindrops or fog particles; wherein the calculation formula of the scattering coefficient is as follows: ； in, is the scattering coefficient, is the diameter of raindrops or fog particles, N(D) is the distribution function of raindrops or fog particles.

7. A simulation calculation device for laser echo energy, It is characterized in that include: A simulation model building module, used to build a simulation model of laser echo power based on the parameters of the laser sensor; An echo amplitude calculation module, used for calculating the energy amplitude of the first effective laser echo signal without the influence of weather factors based on the simulation model; An influence coefficient calculation module, used to calculate the extinction coefficient and the scattering coefficient based on weather factors; wherein the extinction coefficient and the scattering coefficient represent the influence effect of weather factors on the effective laser echo signal energy and the influence effect of weather factors on the backscattering signal energy respectively; A laser energy calculation module, used to calculate a second effective laser echo signal energy amplitude and a backscattering signal energy amplitude under weather factors based on the first effective laser echo signal energy amplitude, the extinction coefficient and the scattering coefficient; Wherein, the echo amplitude calculation module is configured as follows: The calculation formula of the energy amplitude of the first effective laser echo signal is as follows: ； in, is the energy amplitude of the first effective laser echo signal, is the effective receiving aperture, The normalized energy distribution of the matrix defined for the laser foot point, is the total energy of the laser beam, is the target reflectivity, To detect the distance, is the transmission efficiency of the optical system.

8. A computer-readable storage medium, It is characterized in that The storage medium stores a computer program, and the computer program is used to execute the simulation calculation method of laser echo energy described in any one of claims 1 to 6.

9. An electronic device, It is characterized in that include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the simulation calculation method of laser echo energy described in any one of claims 1-6.

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