Detection method and device, electronic equipment and storage medium

Abstract

The invention provides a detection method and device, electronic equipment and a storage medium, and relates to the technical field of radars, and the method comprises the steps: obtaining environment information; according to the environment information, determining a first signal processing mode of the receiver on the detection echo currently scanned and received; processing a received echo signal according to the first signal processing mode; and generating detection information according to the processed receiving echo signal. According to the method and the device, the processing modes of the detection echo signals under the same receiving lens and the same receiver are switched, the first signal processing mode of the detection echoes currently scanned and received is determined through the environment information, and the first signal processing mode comprises a grayscale image output mode or a point cloud signal processing output mode. The detection resolution can be improved by outputting a grayscale image mode. And by outputting the point cloud data, invalid detection information is prevented from being output when the environment does not meet the requirement, and the detection accuracy is further improved.

Description

Technical Field

[0001] The present disclosure relates to the field of radar technology, and in particular to a detection method, device, electronic equipment and storage medium. Background Art

[0002] Autonomous driving requires a variety of sensors to detect obstacles and the surrounding environment. Cars equipped with these sensors have different roles and performances depending on the distance, angle, and detection accuracy of the test target. In particular, in order to achieve high-precision advanced visual functions in practical applications of autonomous driving, multiple types of sensors must be used as so-called "sensor fusion" to compensate for the shortcomings of another sensor according to the role of each sensor. Among the various sensors, cameras can recognize the shape and color of road signs, white lines, etc.; ultrasonic waves can detect close objects; millimeter wave radars can detect long-distance objects including relative speed; and lidars can detect the position and distance of objects.

[0003] As the detection accuracy requirements for autonomous driving become increasingly higher, data output based on a single sensor may be limited by resolution and cannot meet the detection needs of autonomous driving.

[0004] Therefore, how to improve the resolution of the sensor and achieve accurate detection of lidar has become an urgent problem to be solved. Summary of the invention

[0005] The purpose of the present disclosure is to provide a detection method, device, electronic device and storage medium, which can further improve the resolution of detection by determining different processing modes of detection echoes according to environmental information.

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

[0007] According to one aspect of the present disclosure, a detection method is provided, the method comprising:

[0008] Obtain environmental information;

[0009] Determining, based on the environmental information, a first signal processing mode of the receiver for the detection echo received in the current scan;

[0010] processing the received echo signal according to the first signal processing mode;

[0011] The detection information is generated according to the processed received echo signal.

[0012] Optionally, the method further includes:

[0013] Obtaining the sampling frequency of the detection echo signal processing mode and the sampling times of the detection echo;

[0014] A second signal processing mode of the detection echo is determined according to the sampling frequency of the detection echo signal processing mode and the number of sampling times of the detection echo signal.

[0015] Optionally, the environmental information includes environmental illumination information. Accordingly, determining, according to the environmental information, a first signal processing mode of the receiver for the currently received detection echo includes:

[0016] A processing mode of the receiver for the first signal of the currently received detection echo is determined according to the ambient light information.

[0017] Optionally, the first signal processing mode is a grayscale image output mode or a point cloud signal processing output mode.

[0018] Optionally, the second signal processing mode is a grayscale image output mode or a point cloud signal processing output mode.

[0019] Optionally, determining, according to the ambient illumination information, a processing mode of the receiver for the first signal of the currently received detection echo includes:

[0020] When the value of the ambient light intensity information is greater than a first preset value, determining that the receiver performs detection echo output according to a grayscale image output mode;

[0021] When the value of the ambient light intensity information is less than or equal to a first preset value, it is determined that the receiver performs detection echo output according to the point cloud signal processing mode.

[0022] Optionally, the method further includes:

[0023] Obtaining a minimum receiving unit corresponding to the first signal processing mode;

[0024] The detection information is output according to the minimum receiving unit.

[0025] Optionally, the method further includes:

[0026] Obtaining a corresponding relationship between the output frequency of the detection information and the number of scans;

[0027] When the first preset number of scans corresponds to the output of one detection information, the detection information obtained by the first preset number of scans is fused according to a preset rule, and then the detection information is output.

[0028] Optionally, one scan includes multi-dimensional signal emission angles, and the point cloud signal processing mode includes:

[0029] Superimposing the echo signal of each transmission angle in the multi-dimensional signal;

[0030] Get the superimposed echo signal.

[0031] According to a second aspect of the disclosure, a detection device is provided, the detection device comprising:

[0032] Environment acquisition module, used to obtain environment information;

[0033] A determination module, configured to determine, based on the environmental information, a first signal processing mode of the receiver for the detection echo received in the current scan;

[0034] A processing module, configured to process the received echo signal according to the first signal processing mode;

[0035] A generating module is used to generate detection information according to the processed received echo signal.

[0036] According to a third aspect of the disclosure, an electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the detection method in the above embodiment when executing the computer program.

[0037] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the detection method in the above embodiment is implemented.

[0038] The reflectivity calculation method, device, electronic device, and storage medium provided by the embodiments of the present disclosure have the following technical effects:

[0039] The present disclosure obtains environmental information; determines the first signal processing mode of the receiver for the detection echo received in the current scan according to the environmental information; processes the received echo signal according to the first signal processing mode; and generates detection information according to the processed received echo signal. The present application determines the first signal processing mode of the detection echo received in the current scan by switching the processing mode environmental information of the detection echo signal under the same receiving lens and receiver, wherein the first signal processing mode includes a grayscale image output mode or a point cloud signal processing output mode. It can be understood that when the environment meets the needs, the detection resolution can be improved by outputting the grayscale image mode. At the same time, when the environment does not meet the needs, by outputting the point cloud data, invalid detection information can be avoided from being output when the environment does not meet the needs, thereby further improving the accuracy of the detection.

[0040] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0042] Figure 1 A schematic block diagram of the structure of a laser radar is shown;

[0043] Figure 2 A schematic diagram of the SPAD receiving array disclosed in the present invention is shown;

[0044] Figure 3 An exemplary flow chart corresponding to a detection method of the present disclosure is shown;

[0045] Figure 4 An exemplary flow chart corresponding to another detection method of the present disclosure is shown;

[0046] Figure 5 A schematic structural diagram of a detection device according to an exemplary embodiment of the present disclosure is shown;

[0047] Figure 6 A schematic structural diagram of an electronic device in an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0050] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are only examples of devices and methods consistent with some aspects of the present disclosure as detailed in the attached claims.

[0051] It should be noted that the above figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0052] like Figure 1 As shown, Figure 1A laser radar 100 based on time-of-flight measurement is shown, and the laser radar includes a transmitting driver 1, a laser transceiver system 2, and a control and signal processing system 3. Among them, the laser transceiver system 2 includes a transmitting module 21 and a receiving module 22. Generally, the measurement information of the detected target is obtained by transmitting a pulse signal and receiving an echo pulse signal reflected from the object. Since most of the laser radars currently use avalanche photodiodes (APDs) and silicon photomultipliers (SIPMs) as receiving detectors, the resolution is usually small and semantic information cannot be recognized. At the same time, if the transmitted light is blocked, the object cannot be detected.

[0053] Based on the above defects, the present disclosure provides a detection method, such as Figure 2 , pixel-level resolution and high-precision distance information can be obtained through array-type single-photon avalanche diodes (SPADs). It can be understood that the present application does not impose a unique restriction on the number of SPADs included in the array-type receiver and the arrangement of the SPADs. It can be understood that the present application does not impose a unique restriction on the signal receiving method of the array-type receiver. For example, the signal receiving method of the array-type receiver in the present application can be one-dimensional addressable reception (one scan corresponds to the reception of the entire row or column of SPADs), or two-dimensional addressable reception (one scan corresponds to a block or a preset number of SPADs). It can be understood that the present application does not limit the form of the transmitter corresponding to the array-type receiver. For example, in the present application, the transmitter corresponding to the array-type receiver can be an edge-emitting transmitter, such as a laser diode (laser Diode, LD), or it can also be a vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser, VCSEL). It is understandable that the present application does not impose a sole restriction on the scanning method of the transmitter. Specifically, for example, the transmission in the present application can be a linear array through a scanning device to achieve transmission scanning, for example, the transmission in the present application can also be a one-dimensional drive scanning of an area array to achieve transmission scanning, or the area array can be an addressable drive scanning to achieve transmission scanning. It is understandable that the present application can also achieve scanning by a transmitter plus a scanning device, wherein the scanning device can be a MEMS galvanometer, a one-dimensional galvanometer, a rotating reflector, a rotating polygonal mirror, and the present application does not limit the type of scanning device. It is understandable that the present application can also include a rotating platform, and the transceiver system is arranged on the rotating platform, and 360-degree scanning is achieved by driving the rotating platform to rotate.

[0054] The following are embodiments of the detection method provided by the present disclosure. Figure 3 FIG. 2 shows a flow chart of a detection method in an exemplary embodiment of the present disclosure. Figure 3 As shown, a detection method provided by an embodiment of the method disclosed herein includes the following schemes:

[0055] Step S110: Obtain environmental information.

[0056] The environmental information includes environmental illumination, environmental temperature, environmental humidity or a combination of one or more thereof.

[0057] Step S120: determining, according to the environmental information, a first signal processing mode of the receiver for the detection echo received in the current scan;

[0058] It can be understood that the first signal processing mode is a grayscale image output mode or a point cloud signal processing output mode.

[0059] Among them, it can be understood that the environmental information includes ambient lighting information. Accordingly, determining the first signal processing mode of the receiver for the currently received detection echo based on the environmental information includes: determining the processing mode of the first signal of the currently received detection echo by the receiver based on the ambient lighting information.

[0060] Among them, it can be understood that the processing mode of the receiver for the first signal of the currently received detection echo is determined based on the ambient lighting information, including: when the value of the ambient light intensity information is greater than a first preset value, determining that the receiver outputs the detection echo according to the grayscale image output mode; when the value of the ambient light intensity information is less than or equal to the first preset value, determining that the receiver outputs the detection echo according to the point cloud signal processing mode.

[0061] Among them, it can be understood that the environmental information can also include ambient temperature information. Accordingly, determining the first signal processing mode of the receiver for the currently received detection echo based on the environmental information includes: determining the first signal processing mode of the receiver for the currently received detection echo based on the ambient temperature information.

[0062] Among them, it can be understood that the environmental information is environmental temperature information, which determines the first signal processing mode of the detection echo currently received by the receiver, including: when the value of the ambient temperature is greater than the second preset value, determining that the receiver outputs the detection echo according to the grayscale image output mode; when the value of the ambient temperature information is less than or equal to the second preset value, determining that the receiver outputs the detection echo according to the point cloud signal processing mode.

[0063] Among them, it can be understood that the environmental information may also include environmental humidity information. Accordingly, determining the first signal processing mode of the receiver for the currently received detection echo based on the environmental information includes: determining the first signal processing mode of the receiver for the currently received detection echo based on the environmental humidity information.

[0064] Among them, it can be understood that the environmental information may also include environmental humidity information, and the first signal processing mode of the receiver for the currently received detection echo is determined based on the environmental information, including: judging whether the environmental humidity is greater than a third threshold, when the environmental humidity is greater than the third threshold, determining that the receiver outputs the detection echo according to the grayscale image processing mode, judging whether the environmental humidity is less than or equal to the third threshold, when the environmental humidity is less than or equal to the third threshold, determining that the receiver outputs the detection echo according to the point cloud signal processing mode.

[0065] It can be understood that the environmental information may also include both the ambient light and the ambient temperature; or the environmental information may also include both the ambient light and the ambient humidity; or the environmental information may also include both the ambient humidity and the ambient temperature. The step of determining the first signal processing mode of the receiver for the currently received detection echo based on the environmental information includes: obtaining the influence weight of each type of environmental information, and determining the first signal processing mode based on the environmental factor with the highest influence weight.

[0066] Step S130: Processing the received echo signal according to the first signal processing mode;

[0067] It can be understood that when the first signal processing mode is the point cloud signal processing mode, the received echo is processed according to the first signal processing mode, including simultaneously outputting two-dimensional plane intensity information and distance information according to the received echo signal.

[0068] It can be understood that when the first signal processing mode is a grayscale image output mode, the received echo is processed according to the first signal processing mode, including outputting the intensity information of the two-dimensional plane according to the received echo signal, that is, grayscale image information. This mode does not require the emission module to emit light, and only requires external ambient light to obtain the detection information of the environment.

[0069] It can be understood that before receiving the echo signal according to the first signal processing, the method further includes: determining a minimum receiving unit corresponding to the first signal processing mode, and outputting detection information according to the minimum receiving unit.

[0070] It can be understood that when the first signal processing mode is the point cloud signal processing mode, the output mode of the laser radar point cloud signal processing mode is usually 2*2, 3*3, or 4*4, etc., n*n spads are output. The number of spads corresponding to each point in the output mode of the specific point cloud signal processing mode depends on the detection accuracy requirements of the radar system.

[0071] Among them, it can be understood that when the first signal processing mode is a grayscale image mode, the output can be performed according to the smallest SPAD mode (how small the SPAD can be, how small the output can be), that is, the resolution can be further improved. Among them, the resolution is similar to that of a low-resolution car camera. Since the transmitting module will not work, some crosstalk is reduced, such as high reverse expansion. Among them, it can be understood that the resolution of the grayscale image mode depends on the process requirements of the SPAD device.

[0072] Step S140: Generate detection information according to the processed received echo signal.

[0073] It can be understood that one scan includes multi-dimensional signal transmission angles, and the point cloud signal processing mode includes: superimposing the echo signals of each transmission angle in the multi-dimensional signal; and obtaining the superimposed echo signals.

[0074] Among them, it can be understood that the method also includes obtaining the correspondence between the output frequency of the detection information and the number of scans. When the first preset number of scans corresponds to the output of one detection information, the detection information obtained by the first preset number of scans is fused according to preset rules, and the detection information is output.

[0075] Among them, it can be understood that the preset rule can be set according to the number of point cloud data outputs and the number of grayscale image outputs included in the preset number of times. Among them, for example, the point cloud images of the preset number of times can be fused and then fused with the grayscale image. Optionally, the point cloud image with the most recent timestamp in the point cloud data of the preset number of times can also be fused and output with the grayscale image, and the other point cloud data can be fused and output. Optionally, the preset rule can also be to first output the point cloud data and grayscale image data of the preset number of times, and then output a frame of point cloud data and grayscale image fusion data. Among them, it can be understood that the point cloud data can be fused and then fused with the grayscale image data. It can also be that any frame of point cloud data is fused with the grayscale image data. Optionally, it can also be that the frame of point cloud data with the most recent timestamp is fused with the grayscale image data and then output, which is not limited by this application.

[0076] It is understandable that the first preset number of times can be set according to the detection accuracy requirements of the radar. For example, it can be one frame of point cloud, then one frame of grayscale image, and then the two modes are fused through the back-end algorithm, and then one frame of point cloud, one frame of grayscale image, and the operation is repeated.

[0077] Among them, it can be understood that in some optional implementations, the preset number of adjustments can also be made according to the environment. For example, if the lighting conditions are insufficient, the number of frames of the point cloud can be increased, and the number of frames of the grayscale image can be reduced, such as 2 frames of point cloud and 1 frame of grayscale, or 3 frames of point cloud and one frame of grayscale, that is, the number of frames of the point cloud is greater than the number of frames of the grayscale image; if in bad weather conditions such as rain and fog, the number of frames of the grayscale image can be increased and the number of frames of the point cloud can be reduced, such as 2 frames of grayscale and 1 frame of point cloud, or 3 frames of grayscale and one frame of point cloud, that is, the number of frames of the grayscale image is greater than the number of frames of the point cloud.

[0078] It can be understood that, in the process of fusing the grayscale image and the point cloud, the method further includes: obtaining the minimum receiving unit corresponding to the point cloud data signal processing output mode, and fusing the point cloud data and the grayscale image according to the minimum receiving unit corresponding to the point cloud data processing mode. For example, if one point in the point cloud output mode corresponds to n*n SPADs, then the n*n pixels corresponding to the image are supplemented with one distance information.

[0079] Among them, as an optional implementation mode, the method further includes, before obtaining the environmental information, obtaining the sampling frequency of the detection echo signal processing mode and the sampling number of the detection echo; according to the sampling frequency of the detection echo signal processing mode and the sampling number of the detection echo, determining the signal processing mode of the detection echo received in the current scan. Afterwards, the signal processing mode of the detection echo currently scanned is corrected according to the environmental information. Specifically, as an optional implementation mode, if the processing mode of the detection echo is determined to be the point cloud signal processing output mode according to the sampling frequency of the detection echo signal processing mode and the sampling number of the detection echo, and the current environmental information is obtained to be a high temperature environment and / or a high humidity environment, then the signal processing mode is corrected to be a grayscale image output mode. Specifically, as another optional implementation mode, if the signal processing mode of the detection echo here is confirmed to be a grayscale image output mode according to the sampling frequency of the detection echo signal processing mode and the sampling number of the detection echo, and the current environmental information is obtained to be weak light or the ambient light intensity is greater than the preset value (i.e., strong light), then the signal processing mode is corrected to be a point cloud signal processing output mode.

[0080] This embodiment uses an array-type SPAD (Single Photon Avalanche Diode, SPAD) to obtain pixel-level resolution and high-precision distance information. At the same time, by judging the environmental information, the first signal processing mode of the receiver for the currently received detection echo is determined, the received echo signal is processed according to the first signal processing mode, and the detection information is generated according to the processed received echo signal. That is, the received echo signal is processed according to the environmental information, and the appropriate output mode of the received echo is selected to output the detection information, thereby overcoming the limitations of environmental factors and outputting more accurate detection information. At the same time, when the environment meets the conditions, higher-resolution detection information is obtained by switching the output mode of the detection echo signal. At the same time, the present application can obtain image information with depth information and realize the recognition of semantic information through the fusion of detection information of the two signal processing modes, thereby further improving the accuracy of detection.

[0081] The following are embodiments of the detection method provided by the present disclosure. Figure 4 FIG. 2 shows a flow chart of a detection method in an exemplary embodiment of the present disclosure. Figure 4 As shown, a detection method provided by an embodiment of the method disclosed herein includes the following schemes:

[0082] Step S210: acquiring the sampling frequency of the detection echo signal processing mode and the sampling times of the detection echo processing mode;

[0083] It can be understood that the detection echo signal processing mode includes a grayscale image output mode and a point cloud signal processing output mode.

[0084] Among them, it can be understood that the sampling frequency of the detection echo signal processing mode and the number of detection echo samplings are obtained. For example, the sampling frequency of the detection echo signal processing mode is the output frequency of the point cloud signal processing mode or the output frequency of the grayscale image. The number of samplings for obtaining the detection echo is the sampling number of the point cloud signal processing mode or the sampling number of the grayscale image mode. Among them, it can be understood that the sampling number of the point cloud signal processing mode can be the sampling number within a preset time range; optionally, the sampling number of the point cloud signal processing mode can also be the sampling number within a preset scanning cycle, and the present application does not limit this. Optionally, the sampling number of the grayscale image output mode can be the sampling number within a preset time range; optionally, the sampling number of the grayscale image output mode can also be the sampling number within a preset scanning cycle.

[0085] Step S220: determining a second signal processing mode of the detection echo according to the sampling frequency of the detection echo signal processing mode and the number of sampling times of the detection echo signal;

[0086] Among them, the second signal processing mode includes a grayscale image output mode or a point cloud signal processing output mode.

[0087] It is understandable that, in some embodiments, the processing mode of the detection echo signal may be determined based on one of the sampling frequency of acquiring the processing mode of the detection echo signal and the number of detection echo sampling times.

[0088] For example, the sampling frequency of the grayscale image processing mode is to output one frame of grayscale image for every three frames of detection echo data. Then, the scans can be grouped according to this frequency, and the number of times the detection is in the scan group can be obtained. According to this number, the corresponding signal processing mode corresponding to the current scan can be obtained.

[0089] For another example, the grayscale image acquisition times within the preset time is 10 times, and the point cloud signal processing mode acquisition times is 20 times. Then, the output information acquisition of a certain signal processing mode can be performed continuously within the preset time. Optionally, the information output of two signal processing modes can also be performed partially continuously. Optionally, the signal output mode can also be automatically generated according to the multiple relationship of the acquisition times. For example, the point cloud signal processing mode is acquired 2 times, and the grayscale image is acquired 1 time. Thus, the detection times corresponding to the current scan are obtained, and the detection echo signal processing mode corresponding to the current scan is determined.

[0090] Step S230: Obtaining environmental information;

[0091] It can be understood that the environmental information includes ambient light, ambient temperature, ambient humidity or a combination of one or more thereof.

[0092] Step S240: determining, according to the environmental information, a first signal processing mode of the receiver for the detection echo received in the current scan;

[0093] Among them, the first signal processing mode includes a grayscale image output mode or a point cloud signal processing output mode.

[0094] Among them, it can be understood that the environmental information includes ambient lighting information. Accordingly, determining the first signal processing mode of the receiver for the currently received detection echo based on the environmental information includes: determining the processing mode of the first signal of the currently received detection echo by the receiver based on the ambient lighting information.

[0095] Among them, it can be understood that the processing mode of the receiver for the first signal of the currently received detection echo is determined based on the ambient lighting information, including: when the value of the ambient light intensity information is greater than a first preset value, determining that the receiver outputs the detection echo according to the grayscale image output mode; when the value of the ambient light intensity information is less than or equal to the first preset value, determining that the receiver outputs the detection echo according to the point cloud signal processing mode.

[0096] Among them, it can be understood that the environmental information can also include ambient temperature information. Accordingly, determining the first signal processing mode of the receiver for the currently received detection echo based on the environmental information includes: determining the first signal processing mode of the receiver for the currently received detection echo based on the ambient temperature information.

[0097] Among them, it can be understood that the environmental information is environmental temperature information, which determines the first signal processing mode of the detection echo currently received by the receiver, including: when the value of the ambient temperature is greater than the second preset value, determining that the receiver outputs the detection echo according to the grayscale image output mode; when the value of the ambient temperature information is less than or equal to the second preset value, determining that the receiver outputs the detection echo according to the point cloud signal processing mode.

[0098] Among them, it can be understood that the environmental information may also include environmental humidity information. Accordingly, determining the first signal processing mode of the receiver for the currently received detection echo based on the environmental information includes: determining the first signal processing mode of the receiver for the currently received detection echo based on the environmental humidity information.

[0099] Among them, it can be understood that the environmental information may also include environmental humidity information, and the first signal processing mode of the receiver for the currently received detection echo is determined based on the environmental information, including: judging whether the environmental humidity is greater than a third threshold, when the environmental humidity is greater than the third threshold, determining that the receiver outputs the detection echo according to the grayscale image processing mode, judging whether the environmental humidity is less than or equal to the third threshold, when the environmental humidity is less than or equal to the third threshold, determining that the receiver outputs the detection echo according to the point cloud signal processing mode.

[0100] It can be understood that the environmental information may also include both the ambient light and the ambient temperature; or the environmental information may also include both the ambient light and the ambient humidity; or the environmental information may also include both the ambient humidity and the ambient temperature. The step of determining the first signal processing mode of the receiver for the currently received detection echo based on the environmental information includes: obtaining the influence weight of each type of environmental information, and determining the first signal processing mode based on the environmental factor with the highest influence weight.

[0101] Step 250: Processing the received echo signal according to the first signal processing mode;

[0102] It can be understood that when the first signal processing mode is the point cloud signal processing mode, the received echo is processed according to the first signal processing mode, including simultaneously outputting two-dimensional plane intensity information and distance information according to the received echo signal.

[0103] It can be understood that when the first signal processing mode is a grayscale image output mode, the received echo is processed according to the first signal processing mode, including outputting the intensity information of the two-dimensional plane according to the received echo signal, that is, grayscale image information. This mode does not require the emission module to emit light, and only requires external ambient light to obtain the detection information of the environment.

[0104] Step 260: Generate detection information according to the processed received echo signal.

[0105] It can be understood that one scan includes multi-dimensional signal transmission angles, and the point cloud signal processing mode includes: superimposing the echo signals of each transmission angle in the multi-dimensional signal; and obtaining the superimposed echo signals.

[0106] Among them, it can be understood that the method also includes obtaining the correspondence between the output frequency of the detection information and the number of scans. When the first preset number of scans corresponds to the output of one detection information, the detection information obtained by the first preset number of scans is fused according to preset rules, and the detection information is output.

[0107] Among them, it can be understood that the preset rule can be set according to the number of point cloud data outputs and the number of grayscale image outputs included in the preset number of times. Among them, for example, the point cloud images of the preset number of times can be fused and then fused with the grayscale image. Optionally, the point cloud image with the most recent timestamp in the point cloud data of the preset number of times can also be fused and output with the grayscale image, and the other point cloud data can be fused and output. Optionally, the preset rule can also be to first output the point cloud data and grayscale image data of the preset number of times, and then output a frame of point cloud data and grayscale image fusion data. Among them, it can be understood that the point cloud data can be fused and then fused with the grayscale image data. It can also be that any frame of point cloud data is fused with the grayscale image data. Optionally, it can also be that the frame of point cloud data with the most recent timestamp is fused with the grayscale image data and then output, which is not limited by this application.

[0108] It is understandable that the first preset number of times can be set according to the detection accuracy requirements of the radar. For example, it can be one frame of point cloud, then one frame of grayscale image, and then the two modes are fused through the back-end algorithm, and then one frame of point cloud, one frame of grayscale image, and the operation is repeated.

[0109] Among them, it can be understood that in some optional implementations, the preset number of adjustments can also be made according to the environment. For example, if the lighting conditions are insufficient, the number of frames of the point cloud can be increased, and the number of frames of the grayscale image can be reduced, such as 2 frames of point cloud and 1 frame of grayscale, or 3 frames of point cloud and one frame of grayscale, that is, the number of frames of the point cloud is greater than the number of frames of the grayscale image; if in bad weather conditions such as rain and fog, the number of frames of the grayscale image can be increased and the number of frames of the point cloud can be reduced, such as 2 frames of grayscale and 1 frame of point cloud, or 3 frames of grayscale and one frame of point cloud, that is, the number of frames of the grayscale image is greater than the number of frames of the point cloud.

[0110] It can be understood that, in the process of fusing the grayscale image and the point cloud, the method further includes: obtaining the minimum receiving unit corresponding to the point cloud data signal processing output mode, and fusing the point cloud data and the grayscale image according to the minimum receiving unit corresponding to the point cloud data processing mode. For example, if one point in the point cloud output mode corresponds to n*n SPADs, then the n*n pixels corresponding to the image are supplemented with one distance information.

[0111] This embodiment uses an array-type SPAD (Single Photon Avalanche Diode, SPAD) to obtain pixel-level resolution and high-precision distance information. At the same time, through the signal processing mode of the preset rule, the signal processing mode of the receiver for the currently received detection echo is determined, and then the currently received detection echo signal processing mode is corrected according to the environmental information, so as to obtain a signal processing mode that is more in line with environmental factors and detection requirements, and the received echo signal is processed according to the corrected signal processing mode, and the detection information is generated according to the processed received echo signal. According to the radar system settings and the current real-time environmental information, the output mode of the appropriate received echo is selected to output the detection information, thereby overcoming the limitations of environmental factors and outputting more accurate detection information. At the same time, when the environment meets the conditions, higher resolution detection information is obtained by switching the output mode of the detection echo signal. At the same time, the present application can obtain image information with depth information and realize the recognition of semantic information through the fusion of detection information of the two signal processing modes, thereby further improving the accuracy of detection.

[0112] in, Figure 5 A schematic diagram of the structure of a detection device to which the present disclosure can be applied is shown. Figure 5The detection device shown in the figure can be implemented as all or part of the terminal through software, hardware or a combination of both, and can also be integrated into the terminal or server as an independent module.

[0113] The detection device 500 in the embodiment of the present disclosure, the reflectivity calculation device 500 comprises:

[0114] The environment acquisition module 510 is used to acquire environment information;

[0115] A determination module 520, configured to determine, based on the environmental information, a first signal processing mode of the receiver for the detection echo received in the current scan;

[0116] A processing module 530, configured to process the received echo signal according to the first signal processing mode;

[0117] The generating module 540 generates detection information according to the processed received echo signal.

[0118] In an exemplary embodiment, based on the above scheme,

[0119] The acquisition module 510 is also used to acquire the sampling frequency of the detection echo signal processing mode and the sampling times of the detection echo;

[0120] The determination module 520 is further configured to determine a second signal processing mode of the detection echo according to a sampling frequency of the detection echo signal processing mode and a sampling number of the detection echo signal processing mode.

[0121] In an exemplary embodiment, based on the above scheme,

[0122] The environmental information includes environmental lighting information,

[0123] The determination module 520 is specifically configured to determine a processing mode of the receiver for the first signal of the currently received detection echo according to the ambient light information.

[0124] In an exemplary embodiment, the first signal processing mode is a grayscale image output mode or a point cloud signal processing output mode.

[0125] In an exemplary embodiment, the second signal processing mode is a grayscale image output mode or a point cloud signal processing output mode.

[0126] In an exemplary embodiment, the determination module 520 is specifically used to determine that the receiver outputs the detection echo in a grayscale image output mode when the value of the ambient light intensity information is greater than a first preset value; and to determine that the receiver outputs the detection echo in a point cloud signal processing mode when the value of the ambient light intensity information is less than or equal to the first preset value.

[0127] In an exemplary embodiment, the acquisition module 510 is further configured to acquire a minimum receiving unit corresponding to the first signal processing mode; and output detection information according to the minimum receiving unit.

[0128] In an exemplary embodiment, the acquisition module 510 is also used to obtain the corresponding relationship between the output frequency of the detection information and the number of scans; when the first preset number of scans corresponds to the output of one detection information, the detection information obtained by the first preset number of scans is fused according to a preset rule, and then the detection information is output.

[0129] In an exemplary embodiment, one scan includes multi-dimensional signal transmission angles, and the point cloud signal processing mode includes: superimposing the echo signal of each transmission angle in the multi-dimensional signal; and obtaining the superimposed echo signal.

[0130] It should be noted that when the detection device provided in the above embodiment executes the detection method, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the detection device and the detection method embodiment provided in the above embodiment belong to the same concept. Therefore, for details not disclosed in the embodiment of the device of the present disclosure, please refer to the embodiment of the detection method of the present disclosure, which will not be repeated here.

[0131] The serial numbers of the above-mentioned embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0132] The embodiments of the present disclosure also provide a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0133] An embodiment of the present disclosure further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of any of the above-mentioned method embodiments when executing the program.

[0134] Figure 6 The schematic diagram of the electronic device is shown schematically. Figure 6As shown, the electronic device 600 includes: a processor 601 and a memory 602 .

[0135] In the embodiment of the present disclosure, the processor 601 is the control center of the computer system, which can be the processor of a physical machine or the processor of a virtual machine. The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 601 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 601 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.

[0136] In an embodiment of the present disclosure, the processor 601 is specifically used to: obtain environmental information; determine, based on the environmental information, a first signal processing mode of the receiver for the detection echo received in the current scan; process the received echo signal according to the first signal processing mode; and generate detection information based on the processed received echo signal.

[0137] Furthermore, the processor 601 is also used to: obtain the sampling frequency of the detection echo signal processing mode and the sampling times of the detection echo; and determine the second signal processing mode of the detection echo according to the sampling frequency of the detection echo signal processing mode and the sampling times of the detection echo signal.

[0138] Furthermore, the processor 601 is further configured to: determine a processing mode of the receiver for the first signal of the currently received detection echo according to the ambient light information.

[0139] Furthermore, the first signal processing mode is a grayscale image output mode or a point cloud signal processing output mode. The second signal processing mode is a grayscale image output mode or a point cloud signal processing output mode.

[0140] Furthermore, the above-mentioned processor 601 is also used to: when the value of the ambient light intensity information is greater than a first preset value, determine that the receiver outputs the detection echo according to the grayscale image output mode; when the value of the ambient light intensity information is less than or equal to the first preset value, determine that the receiver outputs the detection echo according to the point cloud signal processing mode.

[0141] Furthermore, the processor 601 is further configured to: obtain a minimum receiving unit corresponding to the first signal processing mode; and output detection information according to the minimum receiving unit.

[0142] Furthermore, the processor 601 is also used to: obtain the corresponding relationship between the output frequency of the detection information and the number of scans; when the first preset number of scans corresponds to the output of one detection information, the detection information obtained by the first preset number of scans is fused according to a preset rule, and then the detection information is output.

[0143] Furthermore, one scan includes multi-dimensional signal transmission angles, and the point cloud signal processing mode includes: superimposing the echo signal of each transmission angle in the multi-dimensional signal; and obtaining the superimposed echo signal.

[0144] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments of the present disclosure, the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction, which is used to be executed by the processor 601 to implement the method in the embodiment of the present disclosure.

[0145] In some embodiments, the electronic device 600 further includes: a peripheral device interface 603 and at least one peripheral device. The processor 601, the memory 602 and the peripheral device interface 603 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 603 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a display screen 604, a camera 605 and an audio circuit 606.

[0146] The peripheral device interface 603 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 601 and the memory 602. In some embodiments of the present disclosure, the processor 601, the memory 602, and the peripheral device interface 603 are integrated on the same chip or circuit board; in some other embodiments of the present disclosure, any one or two of the processor 601, the memory 602, and the peripheral device interface 603 may be implemented on a separate chip or circuit board. The embodiments of the present disclosure are not specifically limited to this.

[0147] The display screen 604 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 604 is a touch display screen, the display screen 604 also has the ability to collect touch signals on the surface or above the surface of the display screen 604. The touch signal can be input to the processor 601 as a control signal for processing. At this time, the display screen 604 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments of the present disclosure, the display screen 604 can be one, and the front panel of the electronic device 600 is set; in other embodiments of the present disclosure, the display screen 604 can be at least two, which are respectively set on different surfaces of the electronic device 600 or are folded; in some other embodiments of the present disclosure, the display screen 604 can be a flexible display screen, which is set on the curved surface or folded surface of the electronic device 600. Even, the display screen 604 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 604 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, organic light-emitting diode).

[0148] The camera 605 is used to capture images or videos. Optionally, the camera 605 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the electronic device 600, and the rear camera is arranged on the back of the electronic device 600. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize the panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments of the present disclosure, the camera 705 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0149] The audio circuit 606 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 601 for processing. For the purpose of stereo sound collection or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the electronic device 600. The microphone may also be an array microphone or an omnidirectional collection microphone.

[0150] The power supply 607 is used to power various components in the electronic device 600. The power supply 607 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 607 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0151] The structural block diagram of the electronic device 600 shown in the embodiment of the present disclosure does not constitute a limitation on the electronic device 600 , and the electronic device 600 may include more or fewer components than those shown in the figure, or combine certain components, or adopt a different component arrangement.

[0152] In the description of the present disclosure, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances. In addition, in the description of the present disclosure, unless otherwise specified, "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previously associated objects are in an "or" relationship.

[0153] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, equivalent changes made according to the claims of the present disclosure are still within the scope covered by the present disclosure.

Claims

1. A detection method, characterized in that: The method comprises: Obtain environmental information; Determining, based on the environmental information, a first signal processing mode of the receiver for the detection echo received in the current scan; processing the received echo signal according to the first signal processing mode; The detection information is generated according to the processed received echo signal.

2. The detection method according to claim 1, characterized in that: The method further comprises: Obtaining the sampling frequency of the detection echo signal processing mode and the sampling times of the detection echo; A second signal processing mode of the detection echo is determined according to the sampling frequency of the detection echo signal processing mode and the sampling number of the detection echo signal processing mode.

3. The detection method according to claim 1, characterized in that: The environmental information includes environmental illumination information. Accordingly, determining the first signal processing mode of the receiver for the currently received detection echo according to the environmental information includes: A processing mode of the receiver for the first signal of the currently received detection echo is determined according to the ambient light information.

4. The detection method according to any one of claims 1 to 3, characterized in that: The first signal processing mode is a grayscale image output mode or a point cloud signal processing output mode.

5. The detection method according to claim 2, characterized in that: The second signal processing mode is a grayscale image output mode or a point cloud signal processing output mode.

6. The detection method according to claim 4, characterized in that: The step of determining, according to the ambient illumination information, a processing mode of the receiver for the first signal of the currently received detection echo comprises: When the value of the ambient light intensity information is greater than a first preset value, determining that the receiver performs detection echo output according to the grayscale image output mode; When the value of the ambient light intensity information is less than or equal to a first preset value, it is determined that the receiver performs detection echo output according to the point cloud signal processing mode.

7. The detection method according to claim 1, characterized in that: The method further comprises: Obtaining a minimum receiving unit corresponding to the first signal processing mode; The detection information is output according to the minimum receiving unit.

8. The detection method according to claim 1, characterized in that: The method further comprises: Obtaining a corresponding relationship between the output frequency of the detection information and the number of scans; When the first preset number of scans corresponds to the output of one detection information, the detection information obtained by the first preset number of scans is fused according to a preset rule, and then the detection information is output.

9. The detection method according to claim 5, wherein one scan includes multi-dimensional signal transmission angles, characterized in that: The point cloud signal processing mode includes: Superimposing the echo signal of each transmission angle in the multi-dimensional signal; Get the superimposed echo signal.

10. A detection device, characterized in that: The detection device comprises: Environment acquisition module, used to obtain environment information; A determination module, configured to determine, based on the environmental information, a first signal processing mode of the receiver for the detection echo received in the current scan; A processing module, configured to process the received echo signal according to the first signal processing mode; A generating module is used to generate detection information according to the processed received echo signal.

11. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the detection method according to any one of claims 1 to 9 is implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the detection method according to any one of claims 1 to 9 is implemented.

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