Laser radar and signal processing method and signal processing device thereof

Abstract

The embodiment of the invention provides a laser radar and a signal processing method and device thereof, and the laser radar comprises a plurality of detectors, and the signal processing method of the laser radar comprises the steps: selecting a target detector, and obtaining an output signal of the target detector; determining the total crosstalk amount generated by other detectors on the target detector; and obtaining an actual detection signal of the target detector according to an output signal of the target detector and the total crosstalk amount. By adopting the above scheme, noise points generated by the laser radar due to crosstalk between detectors can be eliminated, and the point cloud quality is improved.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of signal processing technology, and in particular, to a laser radar and a signal processing method and a signal processing device thereof. Background Art

[0002] When multiple detection channels of a laser radar work in parallel, crosstalk is likely to occur between the detection channels, especially when encountering detection objects with high reflectivity (such as highly reflective objects).

[0003] For example, the field of view detection corresponding to a detection channel B obtains an echo signal of a detection point C. Since the reflectivity of the detection point C is very high, it will cause crosstalk to the detection channel A, so that a detection result is also output within the field of view corresponding to the detection channel A, and the detection point C may be located outside the field of view corresponding to the detection channel A. This will cause the detection point C to appear in the detection result (for example, in the point cloud map) at a position where there was no detection point C originally, that is, some false points (noise points) appear around the point cloud, which is called "expansion" or "widening" of high-reflective objects.

[0004] The "expansion" phenomenon usually manifests itself as the point cloud outline of a normal high-reflectivity object (such as a traffic sign) spreading outward, imaging a point cloud shape that is larger than the real object, and the reflection intensity of the extra point cloud is relatively low. In other words, "expansion" means that after the laser scans a high-reflectivity object, the output point cloud will spread outward, looking like it has "expanded", so it is called high-reflectivity "expansion". Figure 1 The parts enclosed by solid lines 10 and 11 were originally thin rods, but due to the "expansion" problem, their shapes changed. Figure 1 There are a lot of noise points around the points with relatively high brightness ( Figure 1 The brighter points in the image above can even show thin rods as spherical objects.

[0005] In actual driving scenarios, highly reflective objects are very common, such as traffic signs. The echo intensity reflected back by highly reflective objects received by the lidar is very high, which can easily cause expansion or widening in the point cloud, affecting the quality of the point cloud.

[0006] The contents of the background technology section are merely the technologies known to the public and do not necessarily represent the existing technologies in the field. Summary of the invention

[0007] In view of this, the embodiments of this specification provide a laser radar and a signal processing method and a signal processing device thereof, which can eliminate the noise generated by the laser radar due to crosstalk between detectors and improve the quality of the point cloud.

[0008] First, an embodiment of this specification provides a signal processing method for a laser radar, wherein the laser radar includes a plurality of detectors, and the signal processing method includes:

[0009] Select a target detector and obtain its output signal;

[0010] Determine the total amount of crosstalk generated by other detectors to the target detector;

[0011] An actual detection signal of the target detector is obtained according to the output signal of the target detector and the total amount of crosstalk.

[0012] Optionally, selecting a target detector and acquiring its output signal includes:

[0013] It is determined whether the output signal of the detector is a high-reflection echo signal, and when it is determined that the output signal is a high-reflection echo signal, the detector is used as the target detector.

[0014] Optionally, determining whether the output signal of the detector is a high-reflection echo signal includes:

[0015] According to the signal characteristics of the output signal of the detector, it is determined whether the output signal is a high-reflection echo signal.

[0016] Optionally, the signal characteristics of the output signal include at least one of the following:

[0017] Noise value;

[0018] Strength value;

[0019] Pulse width of the echo waveform;

[0020] The slope of the echo waveform.

[0021] Optionally, determining the total amount of crosstalk generated by other detectors on the target detector includes:

[0022] Determine all detectors that generate crosstalk to the target detector as crosstalk detectors;

[0023] The crosstalk amount of the crosstalk detector is convolved with the crosstalk amount of the target detector to obtain the total crosstalk amount.

[0024] Optionally, convolving the crosstalk amount of the crosstalk detector with the target detector to obtain the total crosstalk amount includes:

[0025] Obtaining output signals of each crosstalk detector, and determining the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector;

[0026] The crosstalk amounts corresponding to the crosstalk detectors are accumulated to obtain the total crosstalk amount.

[0027] Optionally, the obtaining the output signal of each crosstalk detector and determining the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector includes:

[0028] The product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal is taken as the crosstalk amount corresponding to each crosstalk detector.

[0029] Optionally, the crosstalk coefficient is related to a distance between the crosstalk detector and the target detector.

[0030] Optionally, the signal processing method also includes: determining the obstacle distance based on the output signal of the target detector and the output signal of each of the crosstalk detectors, respectively, and when the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, setting the crosstalk coefficient of the corresponding crosstalk detector to zero.

[0031] Optionally, obtaining the actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk includes:

[0032] The actual detection signal is obtained by subtracting the total amount of crosstalk from the output signal of the target detector.

[0033] Optionally, the signal processing method further includes:

[0034] It is determined whether the signal strength of the actual detection signal exceeds a preset detection threshold to determine whether the actual detection signal is a valid signal.

[0035] Accordingly, an embodiment of the present specification further provides a signal processing device for a laser radar, wherein the laser radar includes a plurality of detectors, wherein the signal processing device includes:

[0036] A sampling module, adapted to obtain an output signal of a target detector;

[0037] The processing module is adapted to determine the total amount of crosstalk generated by other detectors on the target detector; and is adapted to obtain the actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk.

[0038] Optionally, the processing module is further adapted to determine whether the output signal of the detector is a high-reflection echo signal, and when it is determined that the output signal is a high-reflection echo signal, the detector is used as a target detector.

[0039] Optionally, the processing module is adapted to determine all detectors that generate crosstalk to the target detector as crosstalk detectors; and is adapted to convolute the crosstalk amounts of the crosstalk detectors on the target detector to obtain the total crosstalk amount.

[0040] Optionally, the processing module is suitable for acquiring the output signal of each crosstalk detector, and determining the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector; and is suitable for accumulating the crosstalk amount corresponding to each target detector to obtain the total crosstalk amount.

[0041] Optionally, the crosstalk coefficient is related to a distance between the crosstalk detector and the target detector.

[0042] Optionally, the processing module is also suitable for determining the obstacle distance according to the output signal of the target detector and the output signal of each crosstalk detector, respectively. When the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk coefficient of the corresponding crosstalk detector is set to zero.

[0043] Optionally, the processing module is further adapted to determine whether the signal strength of the actual detection signal exceeds a preset detection threshold, so as to determine whether the actual detection signal is a valid signal.

[0044] The embodiment of this specification also provides a laser radar, including:

[0045] A transmitting device, including a plurality of lasers, adapted to transmit a detection signal;

[0046] A receiving device, comprising a plurality of detectors, adapted to receive echo signals corresponding to the detection signals;

[0047] A signal processing device is coupled to the receiving device and is suitable for determining the total amount of crosstalk generated by other detectors on the target detector; and is suitable for obtaining the actual detection signal of the target detector based on the acquired output signal of the target detector and the total amount of crosstalk.

[0048] Optionally, the receiving device includes an area array detector.

[0049] For the laser radar including multiple detectors, the signal processing method of the laser radar of the embodiment of this specification is adopted. After the target detector is selected, the total amount of crosstalk generated by other detectors on the target detector can be determined, and then the actual detection signal of the target detector is obtained according to the acquired output signal of the target detector and the total amount of crosstalk. That is, the above-mentioned signal processing method can eliminate the total amount of crosstalk generated by other detectors on the target detector, so that the actual detection signal of the target detector does not include the crosstalk generated by other detectors, thereby eliminating the influence of crosstalk between detectors on the detection result, eliminating the noise generated by the crosstalk, and improving the point cloud quality.

[0050] Furthermore, by using the detector whose output signal is a high-reflection echo signal as the target detector, only the detector whose output signal is a high-reflection echo signal can be processed, thereby reducing the amount of calculation and improving the processing efficiency.

[0051] Furthermore, according to the signal characteristics of the output signal of any one of the detectors, it can be determined whether the output signal is a high-reflection echo signal, and the judgment process is simple and easy to implement.

[0052] Furthermore, since the output signal of the target detector is the result of the joint action of itself and all crosstalk detectors, by convolving the crosstalk amount of the crosstalk detector on the target detector, the total crosstalk amount obtained can more truly reflect the crosstalk caused by the crosstalk detector on the target detector, thereby improving the accuracy of the actual detection signal of the target detector.

[0053] Furthermore, the crosstalk amount can be determined based on the output signal of each crosstalk detector and its corresponding crosstalk coefficient, and the crosstalk amount corresponding to each crosstalk detector is accumulated to obtain the total crosstalk amount, thereby improving the accuracy of calculating the total crosstalk amount, and the calculation method is simple and easy to implement.

[0054] Furthermore, by setting the crosstalk coefficient to be related to the distance between the crosstalk detector and the target detector, the obtained crosstalk coefficient can more accurately reflect the crosstalk capability of the crosstalk detector to the target detector, thereby improving the accuracy of the calculated total crosstalk amount.

[0055] Furthermore, by determining the obstacle distance according to the output signal of the target detector and the output signal of each of the crosstalk detectors, when it is determined that the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk detector and the target detector do not detect the same obstacle, and the crosstalk generated by the crosstalk detector to the target detector is small. At this time, the crosstalk coefficient of the corresponding crosstalk detector can be set to zero, thereby improving the accuracy of the calculated crosstalk amount.

[0056] Furthermore, by judging whether the signal strength of the actual detection signal exceeds a preset detection threshold, it is possible to determine whether the actual detection signal is a valid signal, and when it is determined that the actual detection signal is a valid signal, information related to the obstacle is obtained; and when it is determined that the actual detection signal is an invalid signal, it is marked, thereby improving the accuracy of the point cloud data. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the drawings required for use in the embodiments of this specification or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0058] Figure 1 A schematic diagram showing the expansion of a highly reflective object;

[0059] Figure 2 A schematic diagram of the structure of a laser radar receiving end is shown;

[0060] Figure 3 A flow chart of a laser radar signal processing method according to an embodiment of the present specification is shown;

[0061] Figure 4 A flow chart of determining the total amount of crosstalk generated by each crosstalk detector to a target detector in an embodiment of this specification is shown;

[0062] Figure 5 A schematic diagram showing the receiving field distribution of the detector in the embodiment of this specification is shown;

[0063] Figure 6 A schematic diagram of the structure of a signal processing device of a laser radar in an embodiment of this specification is shown;

[0064] Figure 7a A point cloud data distribution diagram based on an existing detection scheme is shown;

[0065] Figure 7bA distribution diagram of point cloud data after de-crosstalk processing is shown in an embodiment of this specification;

[0066] Figure 8 A schematic diagram of the structure of a laser radar in an embodiment of this specification is shown. DETAILED DESCRIPTION

[0067] In order to enable those skilled in the art to better understand the problems existing in the prior art, the principle of crosstalk generated by laser radar is first briefly introduced below in combination with the structure of a laser radar.

[0068] See also Figure 2 A schematic diagram of the structure of a laser radar receiving end is shown in FIG. Figure 2 As shown, the receiving end of the laser radar includes a planar array detector photosensitive area A0, which has a plurality of detectors arranged in an array.

[0069] When the lidar detects, multiple detectors (e.g. Figure 2 The detectors A01 and A02 shown in the diagram can work in parallel. When the detectors detect a highly reflective obstacle, the echo signal is very strong. In addition to receiving the echo signal detected by itself, each detector will also generate crosstalk to other surrounding detectors. That is, each detector can not only receive the echo signal related to the obstacle detected by itself, but also receive the crosstalk signal generated by all detectors that can generate crosstalk to it (for example, detector A01 can receive the echo signal detected by itself and the crosstalk signal generated by detector A02). Therefore, the signal finally received by each detector is the result of the joint action of all detectors in the entire receiving field of view.

[0070] However, as can be seen from the background technology, when the detectors in the laser radar generate crosstalk, it is easy to form expansion or widening in the point cloud, affecting the quality of the point cloud.

[0071] For the laser radar including multiple detectors, in order to reduce the crosstalk between the detectors of the laser radar, in the embodiments of the present specification, after selecting the target detector, the total amount of crosstalk generated by other detectors on the target detector can be determined, and then the actual detection signal of the target detector is obtained according to the acquired output signal of the target detector and the total amount of crosstalk. That is, the above-mentioned signal processing method is used to eliminate the total amount of crosstalk generated by other detectors on the target detector, so that the actual detection signal of the target detector does not include the crosstalk generated by other detectors, thereby eliminating the influence of the crosstalk between the detectors on the detection results, eliminating the noise generated by the crosstalk, and improving the point cloud quality.

[0072] In order to enable those skilled in the art to better understand the inventive concepts, working principles and advantages of the embodiments of this specification, the signal processing schemes of the laser radar in the embodiments of the present invention are described in detail below.

[0073] For a laser radar that includes multiple detectors, when the detectors in the laser radar work in parallel, crosstalk may occur between the detectors. In order to reduce the crosstalk between the laser radar detectors, refer to Figure 3 The flowchart of a laser radar signal processing method in an embodiment of the present specification is shown. In some embodiments of the present specification, the output signal of each detector can be processed according to the following steps:

[0074] S11, select a target detector and obtain its output signal.

[0075] In a specific implementation, a photodetector may be used as a detector in a laser radar.

[0076] As an optional example, the photodetector can be an avalanche photodiode (APD), a single photon avalanche diode (SPAD), a silicon photomultiplier (SiPM) or other photodetectors. The embodiments of this specification do not limit the specific structure of the detector, as long as the detector can perform photoelectric conversion on the received light signal to obtain a corresponding output signal.

[0077] To avoid crosstalk problems between detectors, any one or more of the multiple detectors can be selected as target detectors to process the output signals of the target detectors; or detectors that meet preset conditions can be selected from the multiple detectors, and the output signals of the detectors that meet the preset conditions can be processed in turn according to the working timing of the detectors. The embodiments of this specification do not impose any restrictions on the selection of the target detector, as long as the output signal of the detector can be obtained.

[0078] In a specific implementation, the output signal may be a signal related to obstacle information detected by the target detector. In some embodiments, the output signal may include a signal output by the target detector itself and a crosstalk signal generated by other detectors to the target detector.

[0079] S12, determining the total amount of crosstalk generated by other detectors on the target detector.

[0080] Specifically, for the selected target detector, the amount of crosstalk generated by other detectors on the target detector can be determined, and then the total amount of crosstalk generated by other detectors on the target detector can be inferred.

[0081] S13, obtaining an actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk.

[0082] In a specific implementation, the actual detection signal of the target detector can be obtained by using a preset calculation method according to the output signal of the target detector and the total amount of crosstalk.

[0083] As an optional example, the total amount of crosstalk may be subtracted from the output signal of the target detector to obtain the actual detection signal of the target detector, that is, the difference between the output signal of the target detector and the total amount of crosstalk is used as the actual detection signal of the target detector.

[0084] It can be understood that the above calculation method is only an example. In the embodiments of this specification, the specific calculation method for obtaining the actual detection signal of the target detector is not limited, as long as the actual detection signal of the target detector can be obtained based on the output signal of the target detector and the total amount of crosstalk.

[0085] Therefore, by using the signal processing method of the laser radar in the embodiment of this specification, the total amount of crosstalk generated by other detectors on the target detector can be eliminated, so that the actual detection signal of the target detector does not include the crosstalk generated by other detectors, thereby eliminating the influence of crosstalk between detectors on the detection results, eliminating the noise generated by crosstalk, and improving the quality of the point cloud.

[0086] In order to enable those skilled in the art to better understand and implement the embodiments of this specification, some specific examples are given below for the specific implementation of the signal processing solution of the laser radar in the embodiments of this specification.

[0087] In the actual working process, the inventors found that if the detector detects an ordinary obstacle (which can be understood as an object with low reflectivity, such as an object with a reflectivity lower than the first reflectivity threshold), the energy of the echo signal detected by it is weak, and the amount of crosstalk generated to other detectors is small and can be ignored, so it will not affect the output signals of other detectors. Therefore, in some embodiments of the present specification, when it is determined that the detector detects a high-reflectivity obstacle (for example, an object with a reflectivity higher than the second reflectivity threshold, the second reflectivity threshold can be greater than or equal to the first reflectivity threshold), the output signal of the detector can be processed to eliminate crosstalk.

[0088] Based on this, in a specific implementation, it can be determined whether the output signal of the detector is a high-reflection echo signal. When it is determined that the output signal is a high-reflection echo signal, the detector is used as the target detector.

[0089] By adopting the above-mentioned judgment method, only the detectors whose output signals are high-reflection echo signals can be processed, which can reduce the amount of calculation and improve the processing efficiency.

[0090] In a specific implementation, when the target detector detects a high-reflection obstacle, the echo light signal it receives is very strong, so the output signal has a signal characteristic corresponding to a strong echo. Therefore, it is possible to determine whether the output signal of the detector is a high-reflection echo signal based on the signal characteristic of the output signal of the detector, and the judgment process is simple and easy to implement.

[0091] In some embodiments of the present specification, the signal characteristics of the output signal include at least one of a noise value, an intensity value, a pulse width of an echo waveform, and a slope of an echo waveform.

[0092] It should be noted that the types of signal characteristics of the above-mentioned output signals are only examples. In some other embodiments, the signal characteristics of the output signal may also include: number of photons, integral value, etc. The embodiments of this specification do not impose any limitations on this, as long as it is possible to determine whether the output signal is a high-reflection echo signal based on the signal characteristics.

[0093] For ease of understanding, the following describes in detail how to determine whether an output signal is a high-reflection echo signal based on the signal characteristics of the output signal through specific examples.

[0094] Example 1: According to the relative relationship between the noise value of the detector output signal and the preset noise threshold, it is determined whether the output signal of the detector is a high reflection signal. Specifically:

[0095] When it is determined that the noise value of the detector output signal is less than the preset noise threshold, it means that the detector has not detected a high-reflection obstacle, and the output signal is not a high-reflection echo signal.

[0096] When it is determined that the noise value of the detector output signal is greater than the preset noise threshold, it means that the detector detects a high-reflection obstacle and the output signal is a high-reflection echo signal.

[0097] As a specific example, the preset noise threshold may be determined according to the baseline noise of the detector output signal.

[0098] Example 2: Since the reflectivity of highly reflective obstacles is much higher than that of ordinary objects, for detection signals with the same luminous intensity, the output signal intensity corresponding to when the detector detects the echo of a highly reflective obstacle is much greater than the output signal intensity corresponding to when it detects the echo of an ordinary obstacle. Therefore, it is possible to determine whether the output signal of the detector is a highly reflective echo signal based on the signal intensity.

[0099] Specifically, when it is determined that the intensity corresponding to the output signal is greater than the preset intensity threshold, it means that the detector has detected a high-reflection obstacle, and the output signal is a high-reflection echo signal. The detector can be used as a target detector, and then the output signal of the detector can be processed to eliminate crosstalk; when it is determined that the intensity corresponding to the output signal is less than the preset intensity threshold, it means that the detector has not detected a high-reflection obstacle, and the output signal is not a high-reflection echo signal, and there is no need to eliminate crosstalk on the output signal of the detector.

[0100] In other embodiments, it is possible to determine whether the output signal is a high-reflection echo signal based on the correspondence between other features of the echo waveform and the echo signals of obstacles with different reflectivity received by the detector. In some specific examples, it is possible to determine whether the output signal is a high-reflection echo signal based on the relationship between the pulse width of the echo waveform and the preset pulse width, or the relationship between the slope of the echo waveform and the preset slope, and when it is determined that the output signal is a high-reflection echo signal, the output signal of the detector is processed to eliminate crosstalk.

[0101] In a specific embodiment, according to actual needs, it is also possible to determine whether the output signal is a high-reflection echo signal by determining the relationship between the integral value of the output signal within a preset period and the preset integral value, and this specification embodiment does not limit this.

[0102] In some other embodiments, at least two parameters of the noise value, the intensity value, the pulse width of the echo waveform, and the slope of the echo waveform may be combined to determine whether the output signal of the detector is a high-reflection echo signal, so as to improve the determination accuracy.

[0103] In a specific implementation, when it is determined that the output signal is a high-reverse echo signal, the corresponding detector can be used as a target detector, and then the detector that generates crosstalk to the target detector can be determined, and then the total amount of crosstalk to the target detector can be determined.

[0104] Reference Figure 4 A flowchart of determining the total amount of crosstalk generated by each crosstalk detector to the target detector in an embodiment of this specification is shown in FIG. Figure 4 As shown, in some embodiments of this specification, the total amount of crosstalk can be determined specifically according to the following steps:

[0105] S21, determining all detectors that generate crosstalk to the target detector as crosstalk detectors.

[0106] Specifically, after determining the target detector, it is considered that not all detectors will cause crosstalk to the target detector. For example, if a detector detects an ordinary obstacle or the distance between the detector and the target detector is far, it may not cause crosstalk to the target detector. Therefore, before calculating the total amount of crosstalk, it is necessary to determine which detectors will cause crosstalk to the target detector.

[0107] In some embodiments of the present specification, all detectors that generate crosstalk to the target detector may be determined based on the receiving field of view distribution (point spread function) of the target detector.

[0108] For example, refer to Figure 5 A schematic diagram of the receiving field of view distribution of a target detector in an embodiment of the present specification is shown, wherein plane P0 represents a detector array, wherein each rectangular grid represents a detector, and the detector array may include multiple detectors; the x-axis and y-axis represent the positions of each detector, and the relative positions of each detector can be determined by the x-axis and y-axis; the z-axis represents the signal strength value of each detector; the pulse graph P1 represents the point spread function of the target detector, and the point spread function is used to characterize the crosstalk capability of other detectors to the target detector, or to characterize the target detector's ability to receive signals at different positions.

[0109] In a specific implementation, when determining a target detector, e.g. Figure 5 The detector with the coordinate value ((19, 20), (6, 7)) is the target detector. According to its corresponding point spread function, all detectors that cause crosstalk to it can be determined, such as Figure 5 The detector covered by the intersection of the middle pulse pattern P1 and the plane P0 is used as a crosstalk detector.

[0110] In some other embodiments, when a target detector is determined, detectors within a certain range around the target detector may be used as crosstalk detectors.

[0111] In some other embodiments, when determining the target detector, other detectors may also be used as crosstalk detectors.

[0112] In some embodiments of the present specification, in order to reduce the difficulty of calculation, each target detector may use the same point spread function, that is, it is considered that the point spread function of each detector in the array detector is the same. In some other embodiments, the point spread function of each target detector may be obtained respectively, and the crosstalk detector that generates crosstalk to each target detector may be determined respectively, so as to improve the accuracy of the actual detection signal of the acquired target detector.

[0113] It should be noted that Figure 5 The receiving field of view distribution of the detector shown is only an example. For different application scenarios, the field of view distribution corresponding to each detector may be different, and the embodiments of this specification do not impose any restrictions on this, as long as the field of view distribution of the detector can be established.

[0114] S22, convolving the crosstalk amount of the crosstalk detector with the target detector to obtain the total crosstalk amount.

[0115] Specifically, when all detectors that can generate crosstalk to the target detector are determined, the crosstalk amount of each crosstalk detector to the target detector can be calculated respectively, and each crosstalk amount can be convolved to obtain the total crosstalk amount.

[0116] Since the output signal of the target detector is the result of the joint action of itself and all crosstalk detectors, by convolving the crosstalk amount of the crosstalk detector on the target detector, the total crosstalk amount obtained can more truly reflect the crosstalk generated by all crosstalk detectors on the target detector, thereby improving the accuracy of the actual detection signal of the acquired target detector.

[0117] In some embodiments of this specification, the step S21 may specifically include:

[0118] C1: Obtain the output signal of each crosstalk detector, and determine the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector.

[0119] In a specific implementation, the crosstalk amount of each crosstalk detector target detector can be obtained by using a preset calculation method according to the output signal of each crosstalk detector and the crosstalk coefficient.

[0120] As an optional example, the product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal can be used as the crosstalk amount corresponding to each crosstalk detector.

[0121] It can be understood that the above calculation method is only an example. In the embodiments of this specification, the specific calculation method for obtaining the crosstalk amount corresponding to each crosstalk detector is not limited, as long as the crosstalk amount can be obtained based on the crosstalk coefficient corresponding to the crosstalk detector and the signal strength of its output signal.

[0122] C2: Accumulate the crosstalk amounts corresponding to the crosstalk detectors to obtain the total crosstalk amount.

[0123] Specifically, through step C1, the crosstalk amount of each crosstalk detector to the target detector can be obtained, and the total crosstalk amount of all crosstalk detectors to the target detector can be obtained by accumulating the crosstalk amounts, thereby improving the accuracy of calculating the total crosstalk amount. The calculation method is simple and easy to implement.

[0124] In a specific implementation, the inventors conducted further research on the factors that affect the crosstalk coefficient and found that the crosstalk coefficient is related to the distance between the crosstalk detector and the target detector.

[0125] For example, continue to refer to Figure 5 ,Depend on Figure 5 It can be seen that the closer the target detector is to it, the stronger its signal receiving ability is. Therefore, the closer the crosstalk detector is to the target detector, the greater the crosstalk intensity it generates on the target detector, and its corresponding crosstalk coefficient is also larger; while the crosstalk detector that is farther away from the target detector generates smaller crosstalk on the target detector, and its corresponding crosstalk coefficient is also smaller. There are even some crosstalk detectors that generate a relative crosstalk intensity value of 0 on the target detector, and the crosstalk coefficient is 0.

[0126] That is, the crosstalk coefficient is negatively correlated with the distance between the crosstalk detector and the target detector. The farther the distance between the crosstalk detector and the target detector, the smaller the crosstalk coefficient; the closer the distance between the crosstalk detector and the target detector, the larger the crosstalk coefficient. Therefore, by setting the crosstalk coefficient to be related to the distance between the crosstalk detector and the target detector, the obtained crosstalk coefficient can more accurately reflect the crosstalk capability of the crosstalk detector to the target detector, thereby improving the accuracy of the calculated total crosstalk amount.

[0127] As another specific example, the receiving field distribution of the target detector is obtained through testing, and the crosstalk coefficient of each crosstalk detector is obtained according to the receiving field distribution. Figure 5 As shown, according to the receiving field of view distribution, if the signal strength of the target detector itself is 5500, and the corresponding signal strength of a crosstalk detector is 4500, the crosstalk coefficient of the crosstalk detector to the target detector can be 4500 / 5500≈0.818.

[0128] In order to enable those skilled in the art to better understand the signal processing method in the embodiments of the present specification, the specific process of the signal processing method in the embodiments of the present specification is described in detail below through a specific example.

[0129] When multiple detectors of the laser radar work in parallel, the output signals corresponding to each detector can be obtained. When it is determined that the output signal of any one of the detectors is a high-reflection echo signal, the detector can be used as the target detector.

[0130] Afterwards, the receiving field of view distribution of the target detector is obtained (see Figure 5), according to the point spread function of the target detector, all detectors that generate crosstalk to the target detector can be determined and used as crosstalk detectors, and then the crosstalk coefficient corresponding to each crosstalk detector is determined according to the relative signal strength between each crosstalk detector and the target detector.

[0131] The product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal is calculated respectively to obtain the crosstalk amount generated by each crosstalk detector on the target detector, and each crosstalk amount is superimposed to obtain the total crosstalk amount generated by all crosstalk detectors on the target detector.

[0132] Finally, the actual detection signal can be obtained by subtracting the total amount of crosstalk from the output signal of the target detector, and information related to the obstacle can be obtained according to the actual detection signal.

[0133] In the above signal processing process, the total amount of crosstalk is obtained based on the fact that both the target detector and the crosstalk detector detect a high-reflection obstacle, and the crosstalk detector receives a strong echo reflected by the high-reflection obstacle, thus generating crosstalk to the target detector. In the actual working process, some crosstalk detectors may not detect the high-reflection obstacle, in which case the crosstalk generated by the crosstalk detector is very small and can be ignored.

[0134] Based on this, in some embodiments of the present specification, after the crosstalk detector is determined, the crosstalk coefficient of the crosstalk detector can also be determined by the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector.

[0135] As a specific example, the obstacle distance can be determined according to the output signal of the target detector and the output signal of each crosstalk detector, respectively. When the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk coefficient of the corresponding crosstalk detector is set to zero.

[0136] Specifically, when it is determined that the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, it means that the crosstalk detector and the target detector detect different obstacles. It can also be considered that the crosstalk detector may not detect a high-reflection obstacle, that is, the crosstalk detector does not receive a high-reflection echo. At this time, the crosstalk generated by the crosstalk detector to the target detector is small. At this time, the crosstalk coefficient of the corresponding crosstalk detector can be set to zero, thereby improving the accuracy of the calculated crosstalk amount.

[0137] It is understandable that when the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector does not exceed the preset distance threshold, the crosstalk coefficient corresponding to each crosstalk detector can still be determined according to the point spread function of the target detector.

[0138] In some embodiments of the present specification, the preset distance threshold can be flexibly set according to actual needs. For example, for some scenarios with higher precision requirements, the preset distance threshold can be a smaller value or a smaller interval value; for some scenarios with lower precision requirements, the preset distance threshold can be a larger value or a larger interval value. The embodiments of the present specification do not limit this.

[0139] As an optional example, the preset distance threshold may be 10 cm.

[0140] In a specific implementation, since the output signal of the target detector is the result of the combined action of all crosstalk detectors and itself, it is possible that the target detector fails to detect an obstacle, and its output signal is all crosstalk generated by each crosstalk detector. Therefore, after obtaining the actual detection signal of the target detector in the above manner, it is also possible to determine whether the signal strength of the actual detection signal exceeds the preset detection threshold to determine whether the actual detection signal is a valid signal.

[0141] Specifically, when it is determined that the signal strength of the actual detection signal exceeds the preset detection threshold, it means that the actual detection signal is a valid signal, and the target detector detects an obstacle, and then according to the actual detection signal, information related to the obstacle can be obtained; when the signal strength of the actual detection signal does not exceed the preset detection threshold, it means that the target detector may not receive the obstacle echo, and its output signal is generated by the crosstalk detector, and thus the actual detection signal is determined to be an invalid signal.

[0142] Furthermore, the actual detection signal determined to be an invalid signal can be marked, for example, the corresponding data point is filtered out from the point cloud data, or the corresponding data point is marked as unreliable data in the point cloud data, thereby improving the accuracy of the point cloud data. As a specific example, after completing the processing of the target detector, the other detectors are judged or processed separately. Specifically, all the detectors performing detection are judged separately in a certain order, and when it is determined that the detector detects a high-reflective obstacle, further crosstalk elimination processing is performed to reduce noise and improve the quality of the point cloud.

[0143] It should be noted that the signal processing method provided in the embodiment of the present invention is not limited to the application of planar array detectors. For linear array or other forms of detectors, as long as there are multiple detectors detecting in parallel, the signal processing method provided in the embodiment of the present invention can be used to eliminate crosstalk for the target detector.

[0144] The embodiments of this specification also provide a signal processing device corresponding to the above-mentioned signal processing method, which is described in detail below with reference to the accompanying drawings through specific embodiments. It should be noted that the signal processing device described below can be considered as a functional module required to implement the signal processing method provided by the present invention; the content of the signal processing device described below can be referenced to the content of the signal processing method described above.

[0145] See also Figure 6 A signal processing device of a laser radar in an embodiment of the present specification is shown, wherein the laser radar L0 includes a plurality of detectors 11 to 1n, wherein n is an integer greater than 1.

[0146] In some embodiments of the present specification, the detector may be a photodetector. As an optional example, the photodetector may be a photodetector such as an avalanche photodiode APD, a single photon avalanche photodiode SPAD, or a silicon photomultiplier SiPM.

[0147] The signal processing device 60 may include:

[0148] A sampling module 61, adapted to obtain an output signal of a target detector;

[0149] The processing module 62 is adapted to determine the total amount of crosstalk generated by other detectors on the target detector; and to obtain the actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk.

[0150] Specifically, for a laser radar L0 with multiple detectors, after determining the target detector, the processing module 62 can determine the total amount of crosstalk generated by other detectors on the target detector, and then according to the output signal of the target detector acquired by the sampling module 61 and the total amount of crosstalk, the processing module 62 can obtain the actual detection signal of the target detector, thereby eliminating the total amount of crosstalk generated by other detectors on the target detector, so that the actual detection signal of the target detector does not include the crosstalk generated by other detectors, thereby eliminating the influence of the crosstalk between the detectors on the detection results, eliminating the noise generated by the crosstalk, and improving the quality of the point cloud.

[0151] It should be noted that any one or more of the multiple detectors can be selected as the target detector to process the output signals of each target detector; or a detector with preset conditions can be selected from the multiple detectors, and the output signals of the detectors that meet the preset conditions can be processed in turn according to the working timing of the detectors. The embodiments of this specification do not impose any restrictions on the selection of the target detector, as long as the output signal of the detector can be obtained.

[0152] In the actual working process, the inventors found that if the detector detects an ordinary obstacle (which can be understood as an object with low reflectivity, such as an object with a reflectivity lower than the first reflectivity threshold), the energy of the echo signal detected by it is weak, and the amount of crosstalk generated to other detectors is small and can be ignored, so it will not affect the output signals of other detectors. Therefore, in some embodiments of the present specification, when it is determined that the detector detects a high-reflectivity obstacle (for example, an object with a reflectivity higher than the second reflectivity threshold, the second reflectivity threshold can be greater than or equal to the first reflectivity threshold), the output signal of the detector can be processed to eliminate crosstalk.

[0153] Based on this, in the specific implementation, the processing module can determine whether the output signal of the detector is a high-reflection echo signal. When it is determined that the output signal is a high-reflection echo signal, the detector is used as the target detector. The specific judgment process can be found in the above content and will not be elaborated here.

[0154] In the actual processing process, after the target detector is determined, it is taken into consideration that not all detectors will cause crosstalk to the target detector. For example, if the detector detects an ordinary object or the distance between the detector and the target detector is far, it may not cause crosstalk to the target detector. Therefore, before calculating the total amount of crosstalk, it is necessary to determine which detectors will cause crosstalk to the target detector and serve as crosstalk detectors, and then it is only necessary to calculate the crosstalk amount of each crosstalk detector to the target detector.

[0155] In some embodiments of the present specification, the processing module may determine all detectors that generate crosstalk to the target detector as crosstalk detectors, and convolute the crosstalk amounts of the crosstalk detectors on the target detector to obtain the total crosstalk amount.

[0156] As a specific example, the processing module may determine all detectors that generate crosstalk to the target detector according to the receiving field of view distribution (point spread function) of the target detector. The specific process may refer to the above content.

[0157] In some other examples, when a target detector is determined, detectors within a certain range around the target detector may be used as crosstalk detectors.

[0158] In some other examples, when determining the target detector, other detectors may also be used as crosstalk detectors.

[0159] In some embodiments of the present specification, in order to reduce the difficulty of calculation, each target detector may use the same point spread function, that is, it is considered that the receiving field of view distribution of each detector in the array detector is the same. In some other embodiments, the point spread function of each target detector may be obtained respectively, and the crosstalk detector that generates crosstalk to each target detector may be determined respectively, so as to improve the accuracy of the actual detection signal of the acquired target detector.

[0160] In a specific implementation, the processing module can obtain the output signal of each crosstalk detector, and determine the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector, and accumulate the crosstalk amount corresponding to each target detector to obtain the total crosstalk amount.

[0161] Specifically, the processing module can take the product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal as the crosstalk amount corresponding to each crosstalk detector, and then add up the crosstalk amounts, which can improve the accuracy of calculating the total amount of crosstalk of all crosstalk detectors on the target detector, and the calculation method is simple and easy to implement.

[0162] In a specific implementation, the inventors conducted further research on the factors that affect the crosstalk coefficient and found that the crosstalk coefficient is related to the distance between the crosstalk detector and the target detector.

[0163] Furthermore, if Figure 5 As shown, the closer the target detector is to it, the stronger its signal receiving ability is. Therefore, the closer the crosstalk detector is to the target detector, the greater the crosstalk intensity it generates on the target detector, and its corresponding crosstalk coefficient is also larger; while the crosstalk detector that is farther away from the target detector generates less crosstalk on the target detector, and its corresponding crosstalk coefficient is also smaller, that is, the crosstalk coefficient is negatively correlated with the distance between the crosstalk detector and the target detector. Therefore, by setting the crosstalk coefficient to be related to the distance between the crosstalk detector and the target detector, the obtained crosstalk coefficient can more accurately reflect the crosstalk ability of the crosstalk detector to the target detector, thereby improving the accuracy of the calculated total amount of crosstalk.

[0164] In a specific implementation, the processing module may obtain the actual detection signal of the target detector by adopting a preset calculation method according to the output signal of the target detector and the total amount of crosstalk.

[0165] As an optional example, the processing module may subtract the total amount of crosstalk from the output signal of the target detector to obtain the actual detection signal of the target detector, that is, take the difference between the output signal of the target detector and the total amount of crosstalk as the actual detection signal of the target detector.

[0166] In order to enable those skilled in the art to better understand the working principle of the signal processing device in the embodiment of this specification, the specific processing process of the signal processing device in the embodiment of this specification is described in detail below through a specific example.

[0167] When multiple detectors of the laser radar work in parallel, the sampling module can obtain the output signals corresponding to each detector. When the processing module determines that the output signal of any one of the detectors is a high-reflection echo signal, the detector can be used as the target detector.

[0168] Afterwards, the processing module can obtain the point spread function of the target detector, and determine all detectors that produce crosstalk to the target detector based on the point spread function of the target detector, and use them as crosstalk detectors, and then determine the crosstalk coefficient corresponding to each crosstalk detector based on the relative signal strength between each crosstalk detector and the target detector.

[0169] Then, the processing module can calculate the product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal to obtain the crosstalk amount generated by each crosstalk detector on the target detector, and superimpose each crosstalk amount to obtain the total crosstalk amount generated by all crosstalk detectors on the target detector.

[0170] Finally, the processing module subtracts the total amount of crosstalk from the output signal of the target detector to obtain the actual detection signal, and information related to the obstacle can be obtained according to the actual detection signal.

[0171] In the above signal processing process, the total amount of crosstalk is obtained based on the fact that both the target detector and the crosstalk detector detect a high-reflection obstacle, and the crosstalk detector receives a strong echo reflected by the high-reflection obstacle, thus generating crosstalk to the target detector. In the actual working process, some crosstalk detectors may not detect the high-reflection obstacle, in which case the crosstalk generated by the crosstalk detector is very small and can be ignored.

[0172] Based on this, in some embodiments of the present specification, after the processing module determines the crosstalk detector, the crosstalk coefficient of the crosstalk detector can also be determined by the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector.

[0173] As a specific example, the processing module can also determine the obstacle distance based on the output signal of the target detector and the output signal of each crosstalk detector, respectively. When the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk coefficient of the corresponding crosstalk detector is set to zero.

[0174] Specifically, when the processing module determines that the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds the preset distance threshold, it means that the crosstalk detector and the target detector detect different obstacles. It can also be considered that the crosstalk detector may not hit the high-reflection obstacle, that is, the crosstalk detector did not receive the high-reflection echo. At this time, the crosstalk generated by the crosstalk detector to the target detector is small. At this time, the crosstalk coefficient of the corresponding crosstalk detector can be set to zero, thereby improving the accuracy of the calculated crosstalk amount.

[0175] It is understandable that when the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector does not exceed the preset distance threshold, the processing module can still determine the crosstalk coefficient corresponding to each crosstalk detector according to the point spread function of the target detector.

[0176] In some embodiments of the present specification, the preset distance threshold can be flexibly set according to actual needs. As an optional example, the preset distance threshold can be 10 cm.

[0177] In a specific implementation, since the output signal of the target detector is the result of the combined action of all crosstalk detectors and itself, it is possible that the target detector fails to detect an obstacle, and its output signal is all crosstalk generated by each crosstalk detector. Therefore, after obtaining the actual detection signal of the target detector in the above manner, it is also possible to determine whether the signal strength of the actual detection signal exceeds the preset detection threshold to determine whether the actual detection signal is a valid signal.

[0178] Specifically, when the processing module determines that the signal strength of the actual detection signal exceeds the preset detection threshold, it means that the actual detection signal is a valid signal, and the target detector detects a high-reflection obstacle, and then according to the actual detection signal, information related to the obstacle can be obtained; when the processing module determines that the signal strength of the actual detection signal does not exceed the preset detection threshold, it means that the actual detection signal is an invalid signal, and its output signal is generated by the crosstalk detector, and thus the actual detection signal is determined to be an invalid signal.

[0179] Furthermore, the processing module may mark the actual detection signal determined to be an invalid signal, for example, by filtering out the corresponding data point from the point cloud data, or marking the corresponding data point in the point cloud data as unreliable data, thereby improving the accuracy of the point cloud data.

[0180] In a specific implementation, the sampling module can be implemented by a sampling circuit, an application-specific integrated circuit (ASIC), or one or more integrated circuits configured in the embodiments of this specification, or by a processing chip such as a central processing unit (CPU) or a field programmable gate array (FPGA).

[0181] The processing module can be implemented by a processing chip such as a central processing unit (CPU), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC) or one or more integrated circuits configured to implement the embodiments of this specification.

[0182] In some embodiments of the present specification, the above-mentioned signal processing device and laser radar can be applied to corresponding equipment. For example, the signal processing device and laser radar can be applied to a vehicle. During the operation of the vehicle, the laser radar can detect the surrounding environment and output corresponding signals. The signal processing device can process the output signals to improve the quality of the point cloud.

[0183] Reference Figure 7a A point cloud data distribution diagram based on an existing detection scheme and Figure 7b The distribution diagram of the point cloud data after de-crosstalk processing in the embodiment of this specification is shown, wherein: Figure 7a The middle regions D1 and D2 are point cloud data of high-reflectivity obstacles (such as road signs) detected by the target detector. Figure 7a It can be seen that there are many noise points generated by crosstalk detectors around it.

[0184] When the signal processing scheme in the embodiment of this specification is adopted, Figure 7b As shown in the figure, the number of noise points around areas D1 and D2 is significantly reduced, the crosstalk problem between detectors is basically eliminated, and the point cloud quality is improved.

[0185] It should be noted that when multiple detectors work in parallel, if the detector does not detect a high-reflection obstacle or is far away from the target detector, it cannot generate crosstalk to the target detector or the generated crosstalk is very small. At this time, when processing the output signal of the target detector, it is not necessary to consider the amount of crosstalk generated by the detector, and the data points detected by the detector will still be retained in the point cloud. Figure 7b As shown, the data points in region D3 are not removed.

[0186] The embodiments of this specification also provide a laser radar, which is described in detail below with reference to the accompanying drawings through specific examples.

[0187] Reference Figure 8 The structure diagram of a laser radar in an embodiment of the present specification is shown in FIG. 1 . In some embodiments of the present specification, the laser radar L1 may include a transmitting device TX, a receiving device RX, and a signal processing device 80 as described in any of the foregoing embodiments, wherein:

[0188] The transmitting device TX includes a plurality of lasers (eg Figure 8 Schematic lasers T1 to Tq, where q is an integer greater than 1), adapted to emit a detection signal;

[0189] The receiving device RX includes a plurality of detectors (e.g. Figure 8 illustrative lasers R1 to Rp, where p is an integer greater than 1), adapted to receive an echo signal corresponding to the detection signal;

[0190] The signal processing device 80 is coupled to the receiving device RX, and is suitable for determining the total amount of crosstalk generated by other detectors on the target detector; and is suitable for obtaining the actual detection signal of the target detector based on the acquired output signal of the target detector and the total amount of crosstalk.

[0191] The specific implementation of the signal processing device 80 can be found in the specific introduction of the aforementioned embodiment, and will not be described in detail here.

[0192] Specifically, any one of the lasers T1 to Tq can emit a detection signal (detection beam or laser signal) to the outside world, and then the detector corresponding to the laser will receive the echo signal (reflection signal) reflected from the obstacle 8A. When the signal processing device 80 determines that the output signal of the detector is a high-reflection echo signal based on the signal characteristics of the output signal of the detector, the detector is used as the target detector, and then the total amount of crosstalk generated by other detectors on the target detector is determined, and the actual detection signal of the target detector is obtained based on the output signal of the target detector and the total amount of crosstalk; when the signal processing device 80 determines that the output signal of the detector is not a high-reflection echo signal based on the signal characteristics of the output signal of the detector, there is no need to determine the total amount of crosstalk generated by other detectors on it.

[0193] In some embodiments of the present specification, the signal processing device 80 may also be coupled to the transmitting device TX. After acquiring the actual detection signal of the target detector or the output signal, the signal processing device 80 may determine the flight time of the detection signal according to the time of transmitting the detection signal and the time of receiving the echo signal, and then obtain the distance information of the obstacle 8A. Furthermore, the signal processing device 80 may also obtain parameters such as the reflectivity of the obstacle 8A for detecting, identifying or tracking the obstacle 8A.

[0194] In specific implementations, the correspondence between lasers and detectors can be flexibly set according to actual needs. For example, lasers and detectors can be set one-to-one, that is, q can be equal to p; for another example, one laser can correspond to multiple detectors, that is, q can be less than p; for another example, one detector can correspond to multiple lasers, that is, p can be less than q. This specification does not impose any restrictions on this, as long as the laser radar can complete the process of detecting obstacles.

[0195] In some embodiments of the present specification, the receiving device may include an area array detector, which may be composed of a plurality of detectors arranged in a preset array, one or more detectors may serve as a pixel point, and the pixel point may output detection data and form a data point in a point cloud after processing.

[0196] It is understandable that the receiving device may also be other forms of detectors. For example, the receiving device may be a linear array detector. The embodiments of this specification do not impose any restrictions on the specific form of the receiving device, as long as the receiving device can receive echo signals related to obstacles.

[0197] Although the embodiments of this specification are disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A laser radar signal processing method, characterized in that: The laser radar includes a plurality of detectors, and the signal processing method includes: Select a target detector and obtain its output signal; Determine the total amount of crosstalk generated by other detectors to the target detector; An actual detection signal of the target detector is obtained according to the output signal of the target detector and the total amount of crosstalk.

2. The signal processing method according to claim 1, characterized in that: The step of selecting a target detector and obtaining an output signal thereof includes: It is determined whether the output signal of the detector is a high-reflection echo signal, and when it is determined that the output signal is a high-reflection echo signal, the detector is used as the target detector.

3. The signal processing method according to claim 2, characterized in that: The determining whether the output signal of the detector is a high-reflection echo signal comprises: According to the signal characteristics of the output signal of the detector, it is determined whether the output signal is a high-reflection echo signal.

4. The signal processing method according to claim 3, characterized in that: The signal characteristics of the output signal include at least one of the following: Noise value; Strength value; Pulse width of the echo waveform; The slope of the echo waveform.

5. The signal processing method according to claim 1, characterized in that: Determining the total amount of crosstalk generated by other detectors on the target detector includes: Determine all detectors that generate crosstalk to the target detector as crosstalk detectors; The crosstalk amount of the crosstalk detector is convolved with the crosstalk amount of the target detector to obtain the total crosstalk amount.

6. The signal processing method according to claim 5, characterized in that: The step of convolving the crosstalk amount of the target detector with the crosstalk detector to obtain the total crosstalk amount includes: Obtaining output signals of each crosstalk detector, and determining the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector; The crosstalk amounts corresponding to the crosstalk detectors are accumulated to obtain the total crosstalk amount.

7. The signal processing method according to claim 6, characterized in that: The step of obtaining the output signal of each crosstalk detector and determining the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector includes: The product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal is taken as the crosstalk amount corresponding to each crosstalk detector.

8. The signal processing method according to claim 6, characterized in that: The crosstalk coefficient is related to the distance between the crosstalk detector and the target detector.

9. The signal processing method according to claim 8, characterized in that: Also includes: The obstacle distance is determined according to the output signal of the target detector and the output signal of each crosstalk detector respectively. When the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk coefficient of the corresponding crosstalk detector is set to zero.

10. The signal processing method according to claim 1, characterized in that: The step of obtaining an actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk comprises: The actual detection signal is obtained by subtracting the total amount of crosstalk from the output signal of the target detector.

11. The signal processing method according to any one of claims 1 to 10, characterized in that: Also includes: It is determined whether the signal strength of the actual detection signal exceeds a preset detection threshold to determine whether the actual detection signal is a valid signal.

12. A laser radar signal processing device, characterized in that: The laser radar includes a plurality of detectors, wherein the signal processing device includes: A sampling module, adapted to obtain an output signal of a target detector; The processing module is adapted to determine the total amount of crosstalk generated by other detectors on the target detector; and is adapted to obtain the actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk.

13. The signal processing device according to claim 12, characterized in that: The processing module is further adapted to determine whether the output signal of the detector is a high-reflection echo signal, and when it is determined that the output signal is a high-reflection echo signal, the detector is used as a target detector.

14. The signal processing device according to claim 12, characterized in that: The processing module is adapted to determine all detectors that generate crosstalk to the target detector as crosstalk detectors; and is adapted to convolve the crosstalk amounts of the crosstalk detectors on the target detector to obtain the total crosstalk amount.

15. The signal processing device according to claim 14, characterized in that: The processing module is suitable for acquiring the output signal of each crosstalk detector and determining the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector; and is suitable for accumulating the crosstalk amount corresponding to each target detector to obtain the total crosstalk amount.

16. The signal processing device according to claim 15, characterized in that: The crosstalk coefficient is related to the distance between the crosstalk detector and the target detector.

17. The signal processing device according to claim 16, characterized in that: The processing module is also suitable for determining the obstacle distance according to the output signal of the target detector and the output signal of each crosstalk detector, respectively. When the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk coefficient of the corresponding crosstalk detector is set to zero.

18. The signal processing device according to claim 12, characterized in that: The processing module is adapted to subtract the total amount of crosstalk from the output signal of the target detector to obtain the actual detection signal.

19. The signal processing device according to any one of claims 12 to 18, characterized in that: The processing module is further adapted to determine whether the signal strength of the actual detection signal exceeds a preset detection threshold, so as to determine whether the actual detection signal is a valid signal.

20. A laser radar, characterized in that: include: A transmitting device, including a plurality of lasers, adapted to transmit a detection signal; A receiving device, comprising a plurality of detectors, adapted to receive echo signals corresponding to the detection signals; a signal processing device, coupled to the receiving device, adapted to determine the total amount of crosstalk generated by other detectors to the target detector; And it is suitable for obtaining the actual detection signal of the target detector according to the obtained output signal of the target detector and the total amount of crosstalk.

21. The laser radar according to claim 20, characterized in that: The receiving device includes a planar array detector.

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