Method, device and laser radar system based on dual pulse decoding ranging

Abstract

The present application discloses a method, device and laser radar system based on dual-pulse decoding ranging. It relates to the field of laser radar ranging, and the method includes: according to a preset light-emitting interval, controlling the laser plate of the laser radar to emit two pulses in sequence; receiving and recording multiple echoes received by the laser radar, wherein the multiple echoes include at least one light window echo and one target echo; delaying the multiple echoes to obtain multiple delayed waves, and determining the delayed wave information corresponding to the multiple delayed waves, wherein the number of multiple echoes is consistent with that of the multiple delayed waves; decoding at least one effective wave according to the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, and determining the ranging result corresponding to the target according to the effective wave information corresponding to the at least one effective wave. Through the present application, the technical problem of laser radar being affected by interference and generating a secondary blind spot in the related technology is solved.

Description

Technical Field

[0001] The present application relates to the field of laser radar ranging, and in particular, to a method, device and laser radar system based on dual-pulse decoding ranging. Background Art

[0002] In the prior art, in the field of dTOF LiDAR, in order to solve the problem of mutual interference between LiDARs, it is generally adopted to transmit two pulses with a fixed time interval, and then decode and calculate the target distance according to the predetermined time interval. In addition, due to the limitations of existing optical materials and optical designs, most LiDARs will have a blind spot due to the echo reflected by the front window (light window) of the LiDAR, that is, each time a light is emitted, an echo reflected by the front window of the radar will be received first. This echo will last for a few ns at least and more than 10 ns at most, resulting in the echo reflected by the close-range target not being responded to by the receiver. If two pulses are emitted, the front window will also reflect two echoes into the receiver. Under normal circumstances, the light window echo and the target echo are as shown in the attached figure. Figure 1 In another case, the time when the first echo reflected by the target enters the receiver overlaps with the time when the second echo reflected by the front window enters the receiver, and the weak echo will be covered by the strong echo. In general, the front window echo covers the target echo, as shown in the specific schematic diagram. Figure 2 As shown in the figure, a secondary blind zone will be generated at a distance of N*c / 2 from the radar (where c is the speed of light). In addition, there is another abnormal situation such as Figure 3 As shown, when the time interval between the target's primary echo and the window's secondary echo is within a certain range corresponding to the light-emitting interval, noise will also be generated at the position corresponding to the window's secondary echo.

[0003] Currently, no effective solution has been proposed for the above-mentioned problems existing in the related technologies. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device and laser radar system based on dual-pulse decoding ranging to solve the problem of laser radar being affected by interference and generating secondary blind spots in the related art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for ranging based on double-pulse decoding is provided. The method includes: according to a preset light-emitting interval, controlling the laser plate of the laser radar to emit two pulses in sequence; receiving and recording multiple echoes received by the laser radar, wherein the multiple echoes include at least one light window echo and one target echo; delaying the multiple echoes to obtain multiple delayed waves, and determining the delayed wave information corresponding to the multiple delayed waves, wherein the number of the multiple echoes is consistent with the number of the multiple delayed waves; decoding at least one effective wave according to the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, and determining the ranging result corresponding to the target according to the effective wave information corresponding to the at least one effective wave.

[0006] Furthermore, delay processing is performed on multiple echoes respectively to obtain multiple delayed waves, and delayed wave information corresponding to the multiple delayed waves is determined, including: recording the rising edge information and the falling edge information corresponding to each echo respectively, and determining the rising edge moment and the falling edge moment corresponding to each echo; based on a preset light-emitting interval, delaying the rising edge moment and the falling edge moment corresponding to each echo by the preset light-emitting interval respectively, and recording the delayed rising edge moment and the delayed falling edge moment obtained after the delay; and determining each delayed rising edge moment and the delayed falling edge moment as the delayed wave information corresponding to the delayed wave after delay processing.

[0007] Furthermore, based on the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, at least one effective wave is decoded, including: traversing the multiple echoes and the multiple delayed waves in sequence to determine multiple traversal results; screening non-zero results from the multiple traversal results; and determining the non-zero results as effective waves.

[0008] Furthermore, based on the effective wave information corresponding to at least one effective wave, determining the ranging result corresponding to the target includes: determining the effective wave rising edge moment and the effective wave falling edge moment corresponding to each effective wave; subtracting the duration corresponding to the light-emitting interval from the effective wave rising edge moment and the effective wave falling edge moment, respectively, to obtain the target rising edge moment and the target falling edge moment; calculating the distance corresponding to the target based on the target rising edge moment and the flight ranging method, and determining the distance as the ranging result.

[0009] Furthermore, after decoding at least one effective wave based on echo information corresponding to multiple echoes and delayed wave information corresponding to multiple delayed waves, the method also includes: determining the number of decoded effective waves; obtaining an echo optimization strategy, and determining the final output effective wave based on the number of effective waves and the echo optimization strategy.

[0010] Further, when the number of effective waves after decoding is 1 or 2, determining effective waves to be output finally according to the number of effective waves and the echo optimization strategy includes: determining all effective waves after decoding as effective waves to be output finally.

[0011] Further, when the number of effective waves after decoding is 3, the effective wave to be finally output is determined according to the number of effective waves and the echo optimization strategy, including: respectively determining the first effective wave, the second effective wave and the third effective wave, and the sequence numbers of the effective waves are distinguished according to the order of reception time; respectively performing difference processing on the effective wave rising edge time corresponding to the second effective wave and the third effective wave and the effective wave rising edge time of the first effective wave to obtain two effective wave difference values; respectively judging whether the two effective wave difference values ​​are within a preset range; if any one of the two effective wave difference values ​​is within the preset range, deleting the effective wave corresponding to the effective wave difference value, and retaining the first effective wave and the remaining effective waves; and outputting the first effective wave and the remaining effective waves.

[0012] Furthermore, when the number of valid waves after decoding is greater than or equal to 4, the final output valid wave is determined based on the number of valid waves and the echo optimization strategy, including: deleting all valid waves except the first valid wave, and outputting the first valid wave, wherein the first valid wave is the valid wave whose triggering moments of all valid waves are arranged in chronological order at the earliest.

[0013] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a device for solving laser radar interference based on double pulse decoding is provided. The device includes: a first control unit, which is used to control the laser plate of the laser radar to emit two pulses in sequence according to a preset light-emitting interval; a first receiving unit, which is used to receive and record multiple echoes received by the laser radar, wherein the multiple echoes include at least one light window echo and one target echo; a first determining unit, which is used to delay the multiple echoes respectively to obtain multiple delayed waves, and determine the delayed wave information corresponding to the multiple delayed waves, and the number of the multiple echoes is consistent with that of the multiple delayed waves; a second determining unit, which decodes at least one effective wave according to the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, and determines the ranging result corresponding to the target according to the effective wave information corresponding to the effective wave.

[0014] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a laser radar system is provided, including a laser transmitter, a laser detector, and a signal processing unit, wherein the laser transmitter and the laser detector are respectively connected to the signal processing unit, wherein the signal processing unit is used to execute the above-mentioned method of ranging based on dual-pulse decoding.

[0015] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a vehicle is provided, which is equipped with a laser radar system for executing the above-mentioned method of ranging based on dual-pulse decoding.

[0016] In order to achieve the above objective, according to another aspect of the present application, a non-transitory machine-readable medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the above method for ranging based on double-pulse decoding.

[0017] Through the present application, the following steps are adopted: according to the preset light-emitting interval, the laser plate of the laser radar is controlled to emit two pulses in sequence; multiple echoes received by the laser radar are received and recorded, and the multiple echoes include at least one light window echo and one target echo; the multiple echoes are respectively delayed to obtain multiple delayed waves, and the delayed wave information corresponding to the multiple delayed waves is determined, and the number of the multiple echoes is consistent with the number of the multiple delayed waves; according to the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, at least one effective wave is decoded, and according to the effective wave information corresponding to the at least one effective wave, the ranging result corresponding to the target is determined, which solves the problem of the laser radar being affected by interference and generating a secondary blind area in the related technology. Thus, the effect of improving the ranging accuracy of the laser radar is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 This is a schematic diagram of the normal situation of the echo pulses received by the receiver after the laser radar transmits double pulses;

[0020] Figure 2 This is a schematic diagram of the abnormal situation in which a weak echo is covered by a strong echo after the laser radar emits a double pulse, thereby generating a secondary blind area;

[0021] Figure 3 This is a schematic diagram of the abnormal situation where noise points are generated at the position corresponding to the window secondary echo after the laser radar emits double pulses;

[0022] Figure 4 is a flow chart of a method for ranging based on double pulse decoding provided in an embodiment of the present application;

[0023] Figure 5 is a schematic diagram of an echo and a delayed echo received by a laser radar provided in an embodiment of the present application;

[0024] Figure 6 It is a schematic diagram of five situations in which Ax and Bx overlap and detect effective waves provided by the embodiments of the present application;

[0025] Figure 7 It is a schematic diagram of the traversal process of the echo and the delayed wave provided in the embodiment of the present application;

[0026] Figure 8 It is a schematic diagram of specific detection of effective waves by Ax and Bx provided in an embodiment of the present application;

[0027] Figure 9-10 It is a schematic diagram of two specific situations corresponding to the case where the number of effective waves after decoding provided by the embodiment of the present application is 3;

[0028] Figure 11-Figure 12 It is a schematic diagram of two specific situations corresponding to when the number of effective waves after decoding is ≥4 provided in an embodiment of the present application;

[0029] Fig.13 is a schematic diagram of a device for solving laser radar interference based on double pulse decoding according to an embodiment of the present application;

[0030] Fig.14 A schematic diagram of an electronic device is provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0031] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] For the convenience of description, some nouns or terms involved in the embodiments of the present application are explained below:

[0035] TOF (Time of Flight) is a method of calculating distance by measuring the flight time of light. The basic principle is to emit a light signal to the target and then measure the flight time of the reflected light signal to calculate the distance of the target object.

[0036] Interference wave: LiDAR completes a measurement by emitting a laser pulse to the detection target and then receiving the light pulse reflected from the target. However, when multiple LiDARs are working at the same time in the same scene, they may also receive lasers emitted by other radars, resulting in erroneous measurement results. This phenomenon is called interference, and the light pulses from other LiDARs are called interference waves.

[0037] TDC: "Time-to-Digital Converter", a device or component used to measure time intervals and convert the measured time intervals into digital signals, which can be further processed to calculate the precise distance of the target.

[0038] Blind spot: Since the laser radar receiver is relatively sensitive and the front window is difficult to achieve 100% transmittance, when the emitted laser passes through the front window, some weak reflected light will enter the receiver to trigger echo detection. During this response period, it is unable to respond to the echo reflected by close-range targets, resulting in the failure to detect close-range targets. This section is called the blind spot.

[0039] FPGA: Field-Programmable Gate Array, is an integrated circuit chip whose internal logic gates, triggers and other digital logic units and connections can be configured or reconfigured by users through specific programming languages ​​(such as VHDL, Verilog) to realize specific digital circuits or systems.

[0040] In related technologies, as the cost of LiDAR decreases and the output increases, more and more models on the road are equipped with LiDAR. The increasing number of models on the road equipped with LiDAR will inevitably lead to mutual interference between LiDARs, so anti-interference capability is an important performance of LiDAR. In response to the problem of interference between radars, no effective solution has been proposed in related technologies.

[0041] The present invention is described below in conjunction with preferred implementation steps. Figure 4 is a flow chart of a method for ranging based on double pulse decoding provided in an embodiment of the present application, such as Figure 4 As shown, the method comprises the following steps:

[0042] Step S401, controlling the laser panel of the laser radar to emit two pulses in sequence according to a preset light-emitting interval;

[0043] Step S402, receiving and recording multiple echoes received by the laser radar, wherein the multiple echoes include at least one light window echo and one target echo;

[0044] The solution provided in this application mainly solves the problem of secondary blind spots when a target echo is covered by a light window echo received later after the double pulse or multiple pulses of the laser radar are emitted. Therefore, in this application, the TDC receives at least one light window echo and one target echo, which is within the scope of this application.

[0045] Step S403, performing delay processing on the multiple echoes respectively to obtain multiple delayed waves, and determining delayed wave information corresponding to the multiple delayed waves, wherein the number of the multiple echoes is consistent with the number of the multiple delayed waves;

[0046] Step S404, decoding at least one effective wave according to the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, and determining the distance measurement result corresponding to the target according to the effective wave information corresponding to the at least one effective wave.

[0047] The present application provides a new laser radar pulse decoding scheme as mentioned above. This method not only ensures the anti-interference ability of the laser radar, but also eliminates the abnormal problems of secondary blind spots and window secondary echo position noise points, thereby improving the robustness of the laser radar pulse coding technology based on TOF and TDC.

[0048] It should be noted that due to the different reflectivities of the detected targets and the different application fields of view, the receiver will not receive the light window echo and the target echo every time a pulse is emitted. If there is no target in the field of view, the receiver will not receive the target echo. The situation considered in this application is the situation where the previous echo is covered by the light window received by the subsequent receiver, and the situation where the time interval between the previous target echo and the subsequent light window echo is within a corresponding certain time interval.

[0049] In an optional embodiment of the present application, after the laser emits two pulses in sequence according to the light-emitting interval, taking the case where the TDC outputs 8 echoes (that is, the receiver receives 8 echoes) as an example, during the operation of the laser radar, the TDC outputs the rising and falling edges of the 8 echoes (in the absence of interference waves, there are only 4 echoes in the normal state, including 2 light window echoes and 2 target echoes), corresponding to 8 intervals on the time axis, recorded as A0 to A7, specifically, A0-light window 1 echo, A1-interference echo, A2-target 1 echo, A3-interference echo, A4-interference echo, A5-light window 2 echoes, A6-target 2 echoes and A7-interference echo, which include 4 normal echoes and 4 interference echoes, as shown in the figure. Figure 5 shown.

[0050] Furthermore, the light-emitting interval is recorded as N, and the rising edge information and falling edge information corresponding to each wave of A0~A7 are recorded respectively, wherein the rising edge information and the falling edge information at least include the triggering time corresponding to the rising edge and the falling edge, and the specific rising edge information also includes the duration of the rising edge and the amplitude of the rising edge. Similarly, the falling edge information also includes the duration of the falling edge and the amplitude of the rising edge.

[0051] In an optional embodiment, the above-mentioned echoes of A0 to A7 are delayed respectively, that is, based on the rising edge time and the falling edge time of A0 to A7, the light-emitting interval N is added respectively to obtain 8 delayed waves after delay processing. The delayed waves are as follows: Figure 5 B0~B7 shown in the figure, and record the rising edge time and falling edge time corresponding to each wave of B0~B7.

[0052] Further, according to the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, decoding at least one effective wave includes: traversing the multiple echoes and the multiple delayed waves in sequence to determine multiple traversal results; screening the non-zero results in the multiple traversal results; determining the non-zero results as effective waves, specifically, traversing the overlapping intervals of A0-A7 and B0-B7, specifically there are 8*8=64 results in total, and the FPGA needs to traverse these 64 situations during specific implementation. In the specific implementation process, the overlapping situations of Ax and Bx are generally as follows Figure 6 In any of the five cases shown, as shown in the figure, the specific output includes a zero result and a non-zero result. Figure 6 As shown, cases 1 to 4 detect valid waves, i.e., non-zero results, and case 5 does not detect valid waves, i.e., zero results. Figure 7 As shown, Figure 7 is a schematic diagram of the traversal of A0~A7 and B0~B7. At the same time, the schematic diagram of the specific detection of effective waves is as follows Figure 8 shown.

[0053] In an optional embodiment, the ranging result corresponding to the target is determined based on the effective wave information corresponding to at least one effective wave, including: determining the effective wave rising edge moment and the effective wave falling edge moment corresponding to each effective wave; subtracting the duration corresponding to the light-emitting interval from the effective wave rising edge moment and the effective wave falling edge moment, respectively, to obtain the target rising edge moment and the target falling edge moment; calculating the distance corresponding to the target based on the target rising edge moment and the flight ranging method, and determining the distance as the ranging result, specifically, the output effective wave is AxBx.

[0054] It should be noted that since the falling edge of the echo pulse is strongly correlated with the reflectivity of the target, in the present application, the rising edge moment of the effective wave is recorded, and based on the rising edge moment and TOF (flight ranging method), the ranging result corresponding to the target to be measured is calculated. This ranging result avoids the measurement result of the small blind area, and the accuracy is higher than that of the ranging method in the prior art.

[0055] In an optional embodiment, since the detected effective wave is in some cases a detected effective wave based on the interference wave, it is necessary to provide an echo optimization strategy to optimize the detected effective wave, and the specific optimization strategy varies according to the number of effective waves.

[0056] When the number of decoded valid waves is 1 or 2, the echo optimization strategy is not to optimize any valid wave, and directly output all valid waves as the valid waves outputted finally. When the number of decoded valid waves is 3, the echo optimization strategy is: distinguish the first valid wave, the second valid wave, and the third valid wave in the order of receiving time, perform difference processing on the rising edge time of the second valid wave and the rising edge time of the first valid wave, perform difference processing on the rising edge time of the third valid wave and the rising edge time of the first valid wave, and obtain 2 differences in total, delete the valid wave corresponding to the difference in the range of N+M among the 2 differences, and output the remaining valid waves. For example, if the difference corresponding to the second valid wave and the first valid wave is within the range of N+M, delete the second valid wave, directly output the first valid wave and the third valid wave, and determine the second valid wave as the false detection echo. If the difference corresponding to the third valid wave and the first valid wave is within the range of N+M, delete the third valid wave, directly output the first valid wave and the second valid wave, and determine the third valid wave as the false detection echo.

[0057] in, Fig. 9 and Fig.10 Two specific cases are shown when the number of effective waves is 3. Fig. 9 The figure shows the error detection echo obtained by error detection of the target echo and the light window echo. Fig.10The interference echo and the optical window echo are shown, and the situation of the interference echo being detected incorrectly.

[0058] There is another valid wave detection situation, that is, the number of valid waves after decoding is ≥4. Since the probability of the number of valid waves ≥4 is low, in this application, when encountering these situations, all detected waves except the first valid wave will be directly deleted, where the first valid wave is the valid wave that is the first in the chronological order of the triggering moments of all valid waves. The specific schematic situation is as follows Fig.11 as well as Fig.12 As shown, even if Fig.11 as well as Fig.12 In addition to the first valid wave, the correct echo is also detected, but on the basis of saving computing power, the remaining valid waves except the first valid wave are deleted.

[0059] The method based on double pulse decoding ranging provided by the embodiment of the present application is to control the laser plate of the laser radar to emit two pulses in sequence according to a preset light-emitting interval; receive and record multiple echoes received by the laser radar, wherein the multiple echoes include at least one light window echo and one target echo; delay the multiple echoes to obtain multiple delayed waves, and determine the delayed wave information corresponding to the multiple delayed waves, and the number of multiple echoes is consistent with that of the multiple delayed waves; decode at least one effective wave according to the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, and determine the ranging result corresponding to the target according to the effective wave information corresponding to at least one effective wave, thereby solving the problem of laser radar generating secondary blind spots and secondary echo position noise due to interference signals in the related art. Thus, the robustness of laser radar pulse coding technology based on TOF and TDC is improved.

[0060] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0061] The embodiment of the present application also provides a device for solving laser radar interference based on double pulse decoding. It should be noted that the device for solving laser radar interference based on double pulse decoding in the embodiment of the present application can be used to execute the method for solving laser radar interference based on double pulse decoding provided in the embodiment of the present application. The following introduces a device for solving laser radar interference based on double pulse decoding provided in the embodiment of the present application.

[0062] Fig.13 FIG. 1 is a schematic diagram of a device for solving laser radar interference based on double pulse decoding according to an embodiment of the present application. Fig.13As shown, the device includes: a first control unit 1301, used to control the laser plate of the laser radar to emit two pulses in sequence according to a preset light-emitting interval; a first receiving unit 1302, used to receive and record multiple echoes received by the laser radar, wherein the multiple echoes include at least one light window echo and one target echo; a first determining unit 1303, used to perform delay processing on the multiple echoes respectively to obtain multiple delayed waves, and determine the delayed wave information corresponding to the multiple delayed waves, and the number of the multiple echoes is consistent with the number of the multiple delayed waves; a second determining unit 1304, according to the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, decodes at least one effective wave, and determines the ranging result corresponding to the target according to the effective wave information corresponding to the effective wave.

[0063] In an optional embodiment, the first determination unit 1303 includes: a first recording subunit, used to respectively record the rising edge information and the falling edge information corresponding to each echo, and determine the rising edge moment and the falling edge moment corresponding to each echo; a second recording subunit, used to delay the rising edge moment and the falling edge moment corresponding to each echo by a preset light-emitting interval based on a preset light-emitting interval, and record the delayed rising edge moment and the delayed falling edge moment obtained after the delay; the first determination subunit is used to determine each delayed rising edge moment and the delayed falling edge moment as the delayed wave information corresponding to the delayed wave after delay processing.

[0064] In an optional embodiment, the second determination unit 1304 includes: a second determination subunit, used to traverse multiple echoes and multiple delayed waves in sequence to determine multiple traversal results; a first screening subunit, used to screen non-zero results in the multiple traversal results; and a third determination subunit, used to determine the non-zero results as valid waves.

[0065] In an optional embodiment, the second determination unit 1304 is used to include: a fourth determination subunit, used to determine the effective wave rising edge moment and the effective wave falling edge moment corresponding to each effective wave; a first calculation subunit, used to subtract the duration corresponding to the light-emitting interval from the effective wave rising edge moment and the effective wave falling edge moment, respectively, to obtain the target rising edge moment and the target falling edge moment; a second calculation subunit, used to calculate the distance corresponding to the target based on the target rising edge moment and the flight ranging method, and determine the distance as the ranging result.

[0066] In an optional embodiment, the fifth determination subunit is used to determine the number of decoded effective waves after decoding at least one effective wave based on echo information corresponding to multiple echoes and delayed wave information corresponding to multiple delayed waves; the sixth determination subunit is used to obtain an echo optimization strategy and determine the final output effective wave based on the number of effective waves and the echo optimization strategy.

[0067] In an optional embodiment, when the number of valid waves after decoding is 1 or 2, the sixth determining subunit includes: a first determining module, configured to determine that all valid waves after decoding are valid waves to be finally output.

[0068] In an optional embodiment, when the number of valid waves after decoding is 3, the sixth determination subunit includes: a second determination module, used to respectively determine the first valid wave, the second valid wave and the third valid wave, and the serial numbers of the valid waves are distinguished according to the order of reception time; a processing module, used to respectively perform difference processing on the valid wave rising edge time corresponding to the second valid wave and the third valid wave with the valid wave rising edge time of the first valid wave to obtain two valid wave difference values; a judgment module, used to respectively judge whether the two valid wave difference values ​​are within a preset range; a deletion module, used to delete the valid wave corresponding to any one of the two valid wave difference values ​​if the valid wave difference value is within the preset range, and retain the first valid wave and the remaining valid waves; a first output module, used to output the first valid wave and the remaining valid waves.

[0069] In an optional embodiment, when the number of valid waves after decoding is greater than or equal to 4, the sixth determination subunit includes: a second output module, used to delete all valid waves except the first valid wave, and output the first valid wave, wherein the first valid wave is the valid wave with the triggering time of all valid waves arranged earliest in chronological order.

[0070] The embodiment of the present application provides a device for solving laser radar interference based on double pulse decoding, which is used by a first control unit 1301 to control the laser plate of the laser radar to emit two pulses in sequence according to a preset light-emitting interval; a first receiving unit 1302 is used to receive and record multiple echoes received by the laser radar, wherein the multiple echoes include at least one light window echo and one target echo; a first determining unit 1303 is used to delay the multiple echoes respectively to obtain multiple delayed waves, and determine the delayed wave information corresponding to the multiple delayed waves, and the number of multiple echoes is consistent with that of the multiple delayed waves; a second determining unit 1304 decodes at least one effective wave according to the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, and determines the ranging result corresponding to the target according to the effective wave information corresponding to the effective wave, thereby solving the problem of laser radar generating secondary blind spots and secondary echo position noise points due to interference signals in the related art. Thus, the robustness of laser radar pulse coding technology based on TOF and TDC is improved.

[0071] A device for solving laser radar interference based on double pulse decoding includes a processor and a memory. The above-mentioned first control unit, etc. are stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0072] The processor contains a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the technical problem of inaccurate ranging caused by secondary blind spots caused by interference signals in laser radar.

[0073] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM, and the memory includes multiple memory chips.

[0074] An embodiment of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, a method for ranging based on double-pulse decoding is implemented.

[0075] An embodiment of the present invention provides a processor, which is used to run a program, wherein a method for ranging based on double-pulse decoding is executed when the program is run.

[0076] like Fig.14 As shown, an embodiment of the present invention provides an electronic device, the device includes a processor, a memory, and a program stored in the memory and executable on the processor, and the processor implements the following steps when executing the program: according to a preset light-emitting interval, controlling the laser panel of the laser radar to emit two pulses in sequence; receiving and recording multiple echoes received by the laser radar, wherein the multiple echoes include at least one light window echo and one target echo; performing delay processing on the multiple echoes to obtain multiple delayed waves, and determining delay wave information corresponding to the multiple delayed waves, wherein the number of the multiple echoes is consistent with the number of the multiple delayed waves; decoding at least one effective wave according to the echo information corresponding to the multiple echoes and the delay wave information corresponding to the multiple delayed waves, and determining the ranging result corresponding to the target according to the effective wave information corresponding to the at least one effective wave.

[0077] Furthermore, delay processing is performed on multiple echoes respectively to obtain multiple delayed waves, and delayed wave information corresponding to the multiple delayed waves is determined, including: recording the rising edge information and the falling edge information corresponding to each echo respectively, and determining the rising edge moment and the falling edge moment corresponding to each echo; based on a preset light-emitting interval, delaying the rising edge moment and the falling edge moment corresponding to each echo by the preset light-emitting interval respectively, and recording the delayed rising edge moment and the delayed falling edge moment obtained after the delay; and determining each delayed rising edge moment and the delayed falling edge moment as the delayed wave information corresponding to the delayed wave after delay processing.

[0078] Furthermore, based on the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, at least one effective wave is decoded, including: traversing the multiple echoes and the multiple delayed waves in sequence to determine multiple traversal results; screening non-zero results from the multiple traversal results; and determining the non-zero results as effective waves.

[0079] Furthermore, based on the effective wave information corresponding to at least one effective wave, determining the ranging result corresponding to the target includes: determining the effective wave rising edge moment and the effective wave falling edge moment corresponding to each effective wave; subtracting the duration corresponding to the light-emitting interval from the effective wave rising edge moment and the effective wave falling edge moment, respectively, to obtain the target rising edge moment and the target falling edge moment; calculating the distance corresponding to the target based on the target rising edge moment and the flight ranging method, and determining the distance as the ranging result.

[0080] Furthermore, after decoding at least one effective wave based on echo information corresponding to multiple echoes and delayed wave information corresponding to multiple delayed waves, the method also includes: determining the number of decoded effective waves; obtaining an echo optimization strategy, and determining the final output effective wave based on the number of effective waves and the echo optimization strategy.

[0081] Further, when the number of effective waves after decoding is 1 or 2, determining effective waves to be output finally according to the number of effective waves and the echo optimization strategy includes: determining all effective waves after decoding as effective waves to be output finally.

[0082] Further, when the number of effective waves after decoding is 3, the effective wave to be finally output is determined according to the number of effective waves and the echo optimization strategy, including: respectively determining the first effective wave, the second effective wave and the third effective wave, and the sequence numbers of the effective waves are distinguished according to the order of reception time; respectively performing difference processing on the effective wave rising edge time corresponding to the second effective wave and the third effective wave and the effective wave rising edge time of the first effective wave to obtain two effective wave difference values; respectively judging whether the two effective wave difference values ​​are within a preset range; if any one of the two effective wave difference values ​​is within the preset range, deleting the effective wave corresponding to the effective wave difference value, and retaining the first effective wave and the remaining effective waves; and outputting the first effective wave and the remaining effective waves.

[0083] Furthermore, when the number of valid waves after decoding is greater than or equal to 4, the final output valid wave is determined based on the number of valid waves and the echo optimization strategy, including: deleting all valid waves except the first valid wave, and outputting the first valid wave, wherein the first valid wave is the valid wave whose triggering moments of all valid waves are arranged in chronological order at the earliest.

[0084] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0085] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: according to a preset light-emitting interval, controlling the laser panel of the laser radar to emit two pulses in sequence; receiving and recording multiple echoes received by the laser radar, the multiple echoes including at least one light window echo and one target echo; performing delay processing on the multiple echoes respectively to obtain multiple delayed waves, and determining delay wave information corresponding to the multiple delayed waves, wherein the number of the multiple echoes is consistent with the number of the multiple delayed waves; decoding at least one effective wave according to the echo information corresponding to the multiple echoes and the delay wave information corresponding to the multiple delayed waves, and determining the ranging result corresponding to the target according to the effective wave information corresponding to the at least one effective wave.

[0086] Furthermore, delay processing is performed on multiple echoes respectively to obtain multiple delayed waves, and delayed wave information corresponding to the multiple delayed waves is determined, including: recording the rising edge information and the falling edge information corresponding to each echo respectively, and determining the rising edge moment and the falling edge moment corresponding to each echo; based on a preset light-emitting interval, delaying the rising edge moment and the falling edge moment corresponding to each echo by the preset light-emitting interval respectively, and recording the delayed rising edge moment and the delayed falling edge moment obtained after the delay; and determining each delayed rising edge moment and the delayed falling edge moment as the delayed wave information corresponding to the delayed wave after delay processing.

[0087] Furthermore, based on the echo information corresponding to the multiple echoes and the delayed wave information corresponding to the multiple delayed waves, at least one effective wave is decoded, including: traversing the multiple echoes and the multiple delayed waves in sequence to determine multiple traversal results; screening non-zero results from the multiple traversal results; and determining the non-zero results as effective waves.

[0088] Furthermore, based on the effective wave information corresponding to at least one effective wave, determining the ranging result corresponding to the target includes: determining the effective wave rising edge moment and the effective wave falling edge moment corresponding to each effective wave; subtracting the duration corresponding to the light-emitting interval from the effective wave rising edge moment and the effective wave falling edge moment, respectively, to obtain the target rising edge moment and the target falling edge moment; calculating the distance corresponding to the target based on the target rising edge moment and the flight ranging method, and determining the distance as the ranging result.

[0089] Furthermore, after decoding at least one effective wave based on echo information corresponding to multiple echoes and delayed wave information corresponding to multiple delayed waves, the method also includes: determining the number of decoded effective waves; obtaining an echo optimization strategy, and determining the final output effective wave based on the number of effective waves and the echo optimization strategy.

[0090] Further, when the number of effective waves after decoding is 1 or 2, determining effective waves to be output finally according to the number of effective waves and the echo optimization strategy includes: determining all effective waves after decoding as effective waves to be output finally.

[0091] Further, when the number of effective waves after decoding is 3, the effective wave to be finally output is determined according to the number of effective waves and the echo optimization strategy, including: respectively determining the first effective wave, the second effective wave and the third effective wave, and the sequence numbers of the effective waves are distinguished according to the order of reception time; respectively performing difference processing on the effective wave rising edge time corresponding to the second effective wave and the third effective wave and the effective wave rising edge time of the first effective wave to obtain two effective wave difference values; respectively judging whether the two effective wave difference values ​​are within a preset range; if any one of the two effective wave difference values ​​is within the preset range, deleting the effective wave corresponding to the effective wave difference value, and retaining the first effective wave and the remaining effective waves; and outputting the first effective wave and the remaining effective waves.

[0092] Furthermore, when the number of valid waves after decoding is greater than or equal to 4, the final output valid wave is determined based on the number of valid waves and the echo optimization strategy, including: deleting all valid waves except the first valid wave, and outputting the first valid wave, wherein the first valid wave is the valid wave whose triggering moments of all valid waves are arranged in chronological order at the earliest.

[0093] The present invention also provides a vehicle, which is equipped with the laser radar system provided by the present invention and is used to execute a method of ranging based on double-pulse decoding.

[0094] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0095] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0098] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0099] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0100] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include transitory media such as modulated data signals and carrier waves.

[0101] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0102] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0103] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for ranging based on double pulse decoding, characterized in that: include: According to the preset light-emitting interval, the laser panel of the laser radar is controlled to emit two pulses in sequence; Receiving and recording a plurality of echoes received by the laser radar, wherein the plurality of echoes include at least one light window echo and one target echo; Performing delay processing on the plurality of echoes respectively to obtain a plurality of delayed waves, and determining delayed wave information corresponding to the plurality of delayed waves, wherein the number of the plurality of echoes is consistent with the number of the plurality of delayed waves; Delaying the plurality of echoes to obtain a plurality of delayed waves, and determining the delayed wave information corresponding to the plurality of delayed waves, including: recording the rising edge information and the falling edge information corresponding to each of the echoes, and determining the rising edge time and the falling edge time corresponding to each of the echoes; Based on the preset light-emitting interval, the rising edge moment and the falling edge moment corresponding to each echo are respectively delayed by the preset light-emitting interval, and the delayed rising edge moment and the delayed falling edge moment obtained after the delay are recorded; each of the delayed rising edge moment and the delayed falling edge moment is determined as the delayed wave information corresponding to the delayed wave after the delay processing; According to the echo information corresponding to the plurality of echoes and the delayed wave information corresponding to the plurality of delayed waves, at least one effective wave is decoded, and according to the effective wave information corresponding to the at least one effective wave, a ranging result corresponding to the target is determined.

2. The method according to claim 1, characterized in that Decoding at least one effective wave according to the echo information corresponding to the plurality of echoes and the delayed wave information corresponding to the plurality of delayed waves, comprising: The plurality of echoes and the plurality of delayed waves are respectively and sequentially processed to determine a plurality of traversal results; Filtering non-zero results among the plurality of traversal results; The non-zero result is determined as the valid wave.

3. The method according to claim 2, characterized in that Determining a ranging result corresponding to the target according to effective wave information corresponding to at least one of the effective waves includes: Determine the rising edge moment of the effective wave and the falling edge moment of the effective wave corresponding to each of the effective waves; Subtract the duration corresponding to the light-emitting interval from the effective wave rising edge moment and the effective wave falling edge moment, respectively, to obtain the target rising edge moment and the target falling edge moment; According to the rising edge time of the target and the flight ranging method, the distance corresponding to the target is calculated, and the distance is determined as the ranging result.

4. The method according to claim 1, characterized in that After decoding at least one effective wave according to the echo information corresponding to the plurality of echoes and the delayed wave information corresponding to the plurality of delayed waves, the method further includes: determining the number of the decoded valid waves; An echo optimization strategy is acquired, and the effective waves to be finally output are determined according to the number of the effective waves and the echo optimization strategy.

5. The method according to claim 4, characterized in that When the number of the decoded effective waves is 1 or 2, determining the effective waves to be finally output according to the number of the effective waves and the echo optimization strategy includes: Determine all the decoded valid waves as the valid waves finally outputted.

6. The method according to claim 4, characterized in that When the number of the decoded effective waves is 3, determining the effective waves to be finally output according to the number of the effective waves and the echo optimization strategy includes: Determine respectively a first effective wave, a second effective wave and a third effective wave, wherein the sequence numbers of the effective waves are distinguished according to the order of receiving time; Respectively performing difference processing on the effective wave rising edge time corresponding to the second effective wave and the third effective wave and the effective wave rising edge time of the first effective wave to obtain two effective wave difference values; respectively determining whether the two effective wave difference values ​​are within a preset range; If any one of the two effective wave difference values ​​is within the preset range, the effective wave corresponding to the effective wave difference is deleted, and the first effective wave and the remaining effective waves are retained; The first effective wave and the remaining effective waves are output.

7. The method according to claim 6, characterized in that When the number of the decoded effective waves is greater than or equal to 4, determining the effective waves to be finally output according to the number of the effective waves and the echo optimization strategy includes: All the valid waves except the first valid wave are deleted, and the first valid wave is output, wherein the first valid wave is the valid wave whose triggering moments of all the valid waves are arranged most forward in chronological order.

8. A device for solving laser radar interference based on double pulse decoding, characterized in that: include: A first control unit is used to control the laser panel of the laser radar to emit two pulses in sequence according to a preset light-emitting interval; A first receiving unit, configured to receive and record a plurality of echoes received by the laser radar, wherein the plurality of echoes include at least one light window echo and one target echo; A first determining unit is used to perform delay processing on the plurality of echoes respectively to obtain a plurality of delayed waves, and determine delayed wave information corresponding to the plurality of delayed waves, wherein the number of the plurality of echoes is consistent with the number of the plurality of delayed waves; The first determining unit includes: a first recording subunit, used to respectively record the rising edge information and the falling edge information corresponding to each echo, and determine the rising edge moment and the falling edge moment corresponding to each echo; a second recording subunit, used to delay the rising edge moment and the falling edge moment corresponding to each echo by the preset light-emitting interval based on the preset light-emitting interval, and record the delayed rising edge moment and the delayed falling edge moment obtained after the delay; the first determining subunit is used to determine each delayed rising edge moment and the delayed falling edge moment as the delayed wave information corresponding to the delayed wave after the delay processing; The second determination unit decodes at least one effective wave according to the echo information corresponding to the plurality of echoes and the delayed wave information corresponding to the plurality of delayed waves, and determines the ranging result corresponding to the target according to the effective wave information corresponding to the effective wave.

9. A laser radar system, characterized in that: The laser radar system includes a laser emitter, a laser detector, and a signal processing unit, wherein the laser emitter and the laser detector are respectively connected to the signal processing unit, wherein the signal processing unit is used to execute the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle is equipped with the laser radar system according to claim 9, and is used to execute the method according to any one of claims 1 to 7.

11. A non-transitory machine-readable medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

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