Laser radar distance calculation method and device, equipment and storage medium

Abstract

The invention discloses a laser radar distance calculation method, device and equipment and a storage medium, and relates to the technical field of signal processing, and the laser radar distance calculation method comprises the steps: obtaining a laser reflection signal transmitted by a target object; and based on a distance calculation algorithm, processing the laser reflection signal and the amplitude of the sampling point, obtaining the calculation distance of the target object. According to the invention, based on a distance resolving algorithm, the reflected laser radar signal is sampled and the amplitude of the sampling point is processed, so that stable high-precision distance analysis can be maintained when the amplitude of the laser reflected signal changes in a large range.

Description

Technical Field

[0001] The present application relates to the field of signal processing technology, and in particular to a laser radar distance calculation method, device, equipment and storage medium. Background Art

[0002] In the development of LiDAR technology, it is crucial to ensure accurate distance measurement of target objects under various signal conditions. This requirement covers application scenarios such as autonomous driving, environmental perception, and industrial measurement, which have strict requirements on distance measurement accuracy and stability.

[0003] At present, common LiDAR distance calculation methods include centroid algorithm and edge detection algorithm. The centroid algorithm determines the distance by calculating the centroid of the signal, which is suitable for processing Gaussian waveform signals and has high accuracy; while the edge detection algorithm relies on detecting the edge changes of the signal to measure the distance, especially when processing large signal energy and forming saturation, it has certain advantages.

[0004] Although the centroid algorithm has high accuracy when processing Gaussian waveforms, it shows a significant decrease in accuracy when the signal energy is large and saturated. On the other hand, although the edge detection algorithm can cope with signal saturation, it is sensitive to signal interference and its accuracy is unstable when processing Gaussian waveforms. These problems limit the reliability and applicability of current LiDAR distance solution methods in complex environments. Therefore, how to maintain the high accuracy of LiDAR distance solution methods under different energy states has become an urgent problem to be solved. Summary of the invention

[0005] The purpose of this application is to provide a laser radar distance solution method, device, equipment and storage medium, aiming to solve the technical problem of maintaining high accuracy of the laser radar distance solution method under different energy states.

[0006] To achieve the above purpose, the present application proposes a laser radar distance solution method, the method comprising:

[0007] Obtain the laser reflection signal from the target object;

[0008] Based on the distance calculation algorithm, the laser reflection signal and the sampling point amplitude are processed to obtain the calculated distance of the target object.

[0009] In one embodiment, after obtaining the laser reflection signal from the target object, the method further includes:

[0010] Get the preset sampling frequency and the preset total number of sampling points;

[0011] Based on the preset sampling frequency and the preset total number of sampling points, the laser reflection signal is sampled to obtain a laser reflection signal sample.

[0012] In one embodiment, based on the distance calculation algorithm, the laser reflection signal and the sampling point amplitude are processed to obtain the calculated distance of the target object, including:

[0013] reading the laser reflection signal;

[0014] Based on the sampling points and their corresponding amplitudes, a first target value is obtained;

[0015] Based on the amplitude of the sampling point, a second target value is obtained;

[0016] Based on the comparison result between the second target value and the preset upper limit value, a first preset operation is performed to obtain a calculated distance.

[0017] In one embodiment, based on the comparison result between the second target value and the preset upper limit value, performing a first preset operation to obtain a calculated distance includes:

[0018] If the second target value is greater than the preset upper limit value, a solution distance is obtained based on the amplitude of the sampling point, the preset upper limit value, the second target and the first target value;

[0019] If the second target value is less than or equal to the preset upper limit value, a second preset operation is performed based on the comparison result between the position of the sampling point and the boundary value of the horizontal coordinate of the laser reflection signal sample to obtain the calculated distance.

[0020] In one embodiment, based on the comparison result between the position of the sampling point and the boundary value of the horizontal coordinate of the laser reflection signal sample, a second preset operation is performed to obtain a calculated distance, including:

[0021] If the horizontal coordinate of the sampling point is less than the boundary value of the horizontal coordinate of the laser reflection signal sample, the position after the sampling point is taken as the reference sampling point;

[0022] Based on the first target value, reference sampling points and their corresponding amplitudes, a first reference value is obtained;

[0023] Obtaining a second reference value based on the second target value and the amplitude of the reference sampling point;

[0024] Updating the reference sampling point to the sampling point, and destroying the data of the reference sampling point;

[0025] updating the first reference value to the first target value, and destroying data of the first reference value;

[0026] updating the second reference value to the second target value, and destroying the data of the second reference value;

[0027] Based on the comparison result between the second target value and the preset upper limit value, the first preset operation is performed to obtain a calculated distance.

[0028] In one embodiment, based on the comparison result between the position of the sampling point and the boundary value of the horizontal coordinate of the laser reflection signal sample, a second preset operation is performed to obtain a calculated distance, including:

[0029] If the horizontal coordinate of the sampling point is greater than or equal to the boundary value of the horizontal coordinate of the laser reflection signal sample, the calculated distance is obtained based on the first target value and the second target value.

[0030] In one embodiment, obtaining the calculated distance based on the amplitude of the sampling point, the preset upper limit value, the second target value, and the first target value includes:

[0031] Obtaining a corrected amplitude based on the amplitude of the sampling point, the second target value and the preset upper limit value;

[0032] Based on the second target value and the correction amplitude, obtaining a second correction value;

[0033] A calculated distance is obtained based on the second correction value and the first target value.

[0034] In addition, to achieve the above purpose, the present application also proposes a laser radar distance solving device, the device comprising:

[0035] An acquisition module is used to acquire a laser reflection signal from a target object;

[0036] The processing module is used to obtain the calculated distance of the target object based on the distance calculation algorithm, the processing of the laser reflection signal and the amplitude of the sampling point.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a laser radar distance solution device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the laser radar distance solution method as described above.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the laser radar distance solution method described above are implemented.

[0039] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the laser radar distance solution method described above.

[0040] One or more technical solutions proposed in this application have at least the following technical effects:

[0041] Obtain the laser reflection signal from the target object; based on the distance solution algorithm, the laser reflection signal and the amplitude of the sampling point are processed to obtain the solution distance of the target object. Ensure that the laser signal reflected by the target object is effectively obtained as the basic data for subsequent distance solution; based on the basic data of the laser reflection signal, obtain the amplitude data of the laser reflection signal sampling point, use the distance solution algorithm, combined with the amplitude data of the processed sampling point, calculate and obtain the accurate solution distance of the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the laser radar distance calculation method of the present application;

[0045] Figure 2 A schematic diagram of a flow chart provided for the second embodiment of the laser radar distance calculation method of the present application;

[0046] Figure 3 A schematic diagram of a brief flow chart of the laser radar distance calculation method provided in Example 2 of the present application;

[0047] Figure 4 This is a schematic diagram of the module structure of the laser radar distance solving device according to an embodiment of the present application;

[0048] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the laser radar distance solution method in the embodiment of the present application.

[0049] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0051] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0052] In the development of LiDAR technology, it is crucial to ensure accurate measurement of the distance of target objects under various signal conditions. This demand covers application scenarios such as autonomous driving and environmental perception. Currently, common LiDAR distance solution methods include the centroid algorithm and the edge detection algorithm. The centroid algorithm determines the distance by calculating the center of gravity of the signal. It is suitable for processing Gaussian waveform signals and has high accuracy. The edge detection algorithm relies on the edge change of the detection signal to measure the distance, and shows certain advantages when processing signals with large energy and saturation. However, the accuracy of the centroid algorithm decreases significantly when processing signals in high energy states, while the edge detection algorithm is easily affected by signal interference, resulting in unstable accuracy. These problems limit the reliability and applicability of current LiDAR distance solution methods in complex environments.

[0053] The main solution of the embodiment of the present application is: to process the received lidar reflection signal based on the centroid algorithm. When the laser reflection pulse energy is large and saturation is formed, the reliability and stability of the overall distance solution are improved by processing the amplitude of the sampling point, thereby improving the accuracy of the distance solution algorithm.

[0054] It should be noted that the execution subject of the embodiment of the present application can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes a computer as an example to illustrate this embodiment and the following embodiments.

[0055] Based on this, the present application embodiment provides a laser radar distance solution method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the laser radar distance calculation method of the present application.

[0056] In this embodiment, the laser radar distance calculation method includes steps S10 to S20:

[0057] Step S10, obtaining a laser reflection signal from a target object;

[0058] It should be noted that the target object refers to the object or target measured or detected by the laser radar system, usually refers to the entity whose distance or other characteristic information needs to be obtained, such as a vehicle, building, human body or other object. The laser reflection signal refers to the electromagnetic wave signal reflected from the surface of the target object after the laser beam is emitted. These signals are received and processed to calculate the distance between the target object and the laser radar or other related information. In this embodiment, the target object is the actual object to be measured, and the laser reflection signal refers to the signal reflected from the surface of the object.

[0059] It can be understood that a laser beam is emitted by a LiDAR system and irradiated onto the surface of a target object. Once the laser beam intersects the target object, it is reflected back by the target surface to form a reflection signal. These reflection signals contain information about the distance, shape, and surface characteristics of the target object. By receiving and analyzing these reflection signals, the LiDAR system is able to calculate the precise distance between the target object and the LiDAR.

[0060] As an example, after obtaining the laser reflection signal from the target object, it also includes: obtaining a preset sampling frequency and a preset total number of sampling points; based on the preset sampling frequency and the preset total number of sampling points, sampling the laser reflection signal to obtain a laser reflection signal sample.

[0061] The preset sampling frequency refers to the data acquisition rate of the laser reflection signal, that is, the number of times data is collected per unit time. The preset total number of sampling points refers to the total number of data points collected from the laser reflection signal that is preset. The laser reflection signal sample is a set of discrete sampling data points extracted from the original signal received by the laser radar according to the preset sampling frequency and total number of sampling points. These samples represent the amplitude or other characteristics of the laser reflection signal within a specific time, which are used for subsequent signal processing and analysis.

[0062] Step S20, based on the distance calculation algorithm, the laser reflection signal and the sampling point amplitude are processed to obtain the calculated distance of the target object.

[0063] It should be noted that the distance solution algorithm refers to a specific algorithm or method used to calculate the distance between the target object and the laser radar. It is usually processed and analyzed based on the characteristics of the laser reflection signal and the amplitude data of the sampling point. These algorithms usually calculate the distance based on the time difference (TOF technology), phase difference or intensity information of the laser reflection signal. The amplitude of the sampling point refers to the signal intensity value obtained by the laser radar after discrete sampling of the signal after obtaining the laser reflection signal. These amplitudes reflect the intensity or energy of the signal at each sampling point. The solved distance refers to the actual distance between the target object and the laser radar calculated by the distance solution algorithm based on the characteristics of the laser reflection signal and the amplitude data of the sampling point. The accuracy and stability of the solved distance directly affect the effect and reliability of the laser radar system in various application scenarios.

[0064] It is understandable that the laser reflection signal reflected from the surface of the target object is first obtained through the lidar system. These signals are then discretely sampled, and the strength or amplitude of the signal is recorded at each sampling point. Then, a specific distance solution algorithm is used to calculate the precise distance between the target object and the lidar based on the time difference (TOF technology) or other characteristics of the signal. This solved distance not only reflects the actual position of the target object, but also provides important spatial information such as distance, height or contour, which is widely used in fields such as autonomous driving, environmental perception and industrial measurement to ensure the accuracy and safety of system operation.

[0065] This embodiment provides a laser radar distance solution method. This application achieves the following steps and effects through technical means: obtaining the laser reflection signal from the target object; based on the distance solution algorithm, the laser reflection signal and the sampling point amplitude are processed to obtain the solution distance of the target object. Ensure that the laser signal reflected by the target object is effectively obtained as the basic data for subsequent distance solution; based on the basic data of the laser reflection signal, the amplitude data of the laser reflection signal sampling point is obtained, and the distance solution algorithm is used, combined with the amplitude data of the processed sampling point, to calculate and obtain the accurate solution distance of the target object.

[0066] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 2 , Figure 2 This is a flow chart of the second embodiment of the laser radar distance calculation method of the present application. Step S20 of the laser radar distance calculation method includes steps S21 to S24:

[0067] Step S21, reading the laser reflection signal;

[0068] It can be understood that the electromagnetic wave signals reflected from the surface of the target object are obtained by the laser radar system. These signals are received by the sensor and converted into digital or analog electrical signals, and then transmitted to the subsequent signal processing unit. The reading process includes converting the continuous reflection signal into discrete sampling points, each of which records the signal strength or amplitude at a specific moment. The data of these sampling points will be used for subsequent distance calculation and analysis to provide the precise distance between the target object and the laser radar and other environmental information.

[0069] Step S22, obtaining a first target value based on the sampling points and their corresponding amplitudes;

[0070] It should be noted that the sampling point refers to the time point at which the laser reflection signal is discretely sampled in the laser radar system. In the distance solution algorithm of the present application, the sampling point is usually represented as a point on the horizontal coordinate axis in a two-dimensional Cartesian coordinate system. Each sampling point is separated by a certain distance and records the intensity or amplitude of the reflection signal within a specific time. The first target value is the first important result or indicator obtained by processing and analyzing the sampling points and their corresponding amplitudes. In the present application, the first target value is obtained by multiplying the horizontal coordinate value of the sampling point by the amplitude corresponding to the sampling point.

[0071] It is understood that in a lidar system, by discretely sampling the laser signal reflected from the target object, each sampling point records the signal's strength or amplitude. Subsequently, through specific signal processing and analysis algorithms, the system calculates the first important result based on these sampling points and their corresponding amplitude data. This first target value involves the calculation of distance and intensity, and is one of the key inputs in subsequent algorithms or application processes, and is used to provide accurate target object information, such as important data in applications such as distance measurement or environmental perception.

[0072] Step S23, obtaining a second target value based on the amplitude of the sampling point;

[0073] It should be noted that the second target value refers to the second important result or indicator obtained by processing and analyzing the amplitude of the sampling point, which is usually used in the process of distance solution or signal analysis. From the data point of view, the second target value is the amplitude of the sampling point.

[0074] It can be understood that in the lidar system, after discrete sampling of the laser signal reflected from the target object, the amplitude of each sampling point is processed and analyzed. Through a specific signal processing algorithm, the system can calculate a second target value, which usually represents a further accurate calculation result of the intensity. The second target value plays an important role in subsequent data processing and decision-making, helping the system to accurately understand and reflect the properties and environmental conditions of the target object.

[0075] Step S24: Based on the comparison result between the second target value and the preset upper limit value, a first preset operation is performed to obtain a calculated distance.

[0076] It should be noted that the preset upper limit value refers to a limit or limit value set in advance for comparison with the second target value. This upper limit value can be set to the maximum energy value of the laser reflection signal in a non-saturated state, and can be used to determine whether the second target value exceeds a certain set range or standard. The first preset operation refers to the first step of the operation or processing performed by the system after comparing the second target value with the preset upper limit value. This operation includes adjusting the calculation parameters, correcting the data, or further refining the calculated distance according to the comparison results.

[0077] It can be understood that in the laser radar system, the process of comparing the preset upper limit value with the second target value is based on the preset upper limit value set in advance. The result of the comparison determines the first preset operation performed by the system when calculating the solution distance. This operation is to adjust the solution parameters and perform data correction based on the comparison result to ensure an accurate and reliable target distance. This method helps the system process laser reflection signals in complex environments and ensure the accuracy and stability of distance measurement.

[0078] As an example, based on the comparison result between the second target value and the preset upper limit value, a first preset operation is performed to obtain a solved distance, including: if the second target value is greater than the preset upper limit value, based on the amplitude of the sampling point, the preset upper limit value, the second target and the first target value, the solved distance is obtained; if the second target value is less than or equal to the preset upper limit value, based on the comparison result between the position of the sampling point and the boundary value of the horizontal coordinate of the laser reflection signal sample, a second preset operation is performed to obtain the solved distance.

[0079] Among them, the boundary value of the horizontal coordinate of the laser reflection signal sample refers to the boundary limit of the horizontal coordinate value extracted from the laser reflection signal sample. Specifically, it refers to the horizontal coordinate value of the last data point in the signal sample, which is used to determine the boundary range of the data point. Specifically, this is the last point set by the preset total number of sampling points, which is expressed as a point on the horizontal coordinate axis in a two-dimensional Cartesian coordinate system. The second preset operation is to adjust the solution parameters and perform data correction based on the comparison result of the position of the sampling point and the boundary value of the horizontal coordinate of the laser reflection signal sample to ensure an accurate and reliable target distance.

[0080] It is understandable that this step describes a comparison process, in which the position of the sampling point is compared with the horizontal axis boundary value of the laser reflection signal sample. This comparison result determines the second preset operation to be performed next, and further determines the calculation method of the solution distance according to the position of the sampling point on the horizontal axis.

[0081] As an example, based on the amplitude of the sampling point, the preset upper limit value, the second target and the first target value, the solution distance is obtained, including: based on the amplitude of the sampling point, the second target value and the preset upper limit value, a corrected amplitude is obtained; based on the second target value and the corrected amplitude, a second corrected value is obtained; based on the second corrected value and the first target value, the solution distance is obtained.

[0082] Among them, the corrected amplitude refers to the adjusted amplitude calculated based on the amplitude of the sampling point, the second target value and the preset upper limit value. The second corrected value is a value calculated based on the second target value and the corrected amplitude, which is used to further determine the step of solving the distance. Specifically, the data of the corrected amplitude is the amplitude of the sampling point minus the second target value, plus the preset upper limit value. The data of the second corrected value is the second target value minus the amplitude of the sampling point, plus the corrected amplitude. The data of the solved distance is the first target value divided by the second corrected value.

[0083] It can be understood that, first, by analyzing the amplitude of the sampling point, the second target value and the preset upper limit value, an adjusted correction amplitude is obtained; then, based on the calculation results of the second target value and the correction amplitude, the second correction value is determined; finally, the final solution distance is calculated using the relationship between the second correction value and the first target value. These steps ensure the accuracy and stability of distance measurement under different signal conditions. By obtaining the correction amplitude and the second correction value, it is ensured that the amplitude of the collected data can be modified according to the cumulative value of the laser reflection pulse and the preset upper limit value, so that when the energy of the laser reflection pulse is large, the algorithm introduces less saturation data and obtains a more accurate solution distance.

[0084] As an example, based on the comparison result of the position of the sampling point and the boundary value of the horizontal coordinate of the laser reflection signal sample, a second preset operation is performed to obtain the solved distance, including: if the horizontal coordinate of the sampling point is less than the boundary value of the horizontal coordinate of the laser reflection signal sample, the position after the sampling point is taken as the reference sampling point; based on the first target value, the reference sampling point and its corresponding amplitude, a first reference value is obtained; based on the second target value and the amplitude of the reference sampling point, a second reference value is obtained; the reference sampling point is updated to the sampling point, and the data of the reference sampling point is destroyed; the first reference value is updated to the first target value, and the data of the first reference value is destroyed; the second reference value is updated to the second target value, and the data of the second reference value is destroyed; based on the comparison result of the second target value and the preset upper limit value, the first preset operation is performed to obtain the solved distance.

[0085] The reference sampling point refers to the first point after the sampling point in the sampled laser reflection signal read based on the preset sampling frequency. The first reference value and the second reference value refer to two specific values ​​obtained based on the reference sampling point, which are used for further data processing and calculation. Specifically, the first reference value is obtained by multiplying the horizontal coordinate value of the reference sampling point by the amplitude of the reference sampling point and adding the first target value; the second reference value is obtained by adding the amplitude of the reference sampling point to the second target value.

[0086] It can be understood that, first, a reference sampling point is determined by comparing the horizontal coordinate of the sampling point with the boundary value of the signal sample; then, the first reference value and the second reference value are calculated using this reference sampling point and its corresponding amplitude; next, the sampling point is updated to the position of the reference sampling point, and the data of the reference sampling point is destroyed, the first reference value is updated to the first target value, and the data of the first reference value is destroyed; the second reference value is updated to the first target value, and the data of the second reference value is destroyed. These steps can ensure the logical loop of the algorithm, and the ideal amplitude is obtained after algorithm processing; finally, the first preset operation is performed according to the comparison result of the second target value and the preset upper limit value to obtain the final solution distance.

[0087] As an example, based on the comparison result of the position of the sampling point and the boundary value of the horizontal coordinate of the laser reflection signal sample, a second preset operation is performed to obtain the solved distance, including: if the horizontal coordinate of the sampling point is greater than or equal to the boundary value of the horizontal coordinate of the laser reflection signal sample, then based on the first target value and the second target value, the solved distance is obtained.

[0088] It can be understood that this step is a supplement to the above steps. If the horizontal coordinate of the currently processed sampling point is greater than or equal to the horizontal coordinate boundary value of the laser reflection signal sample, that is, it exceeds the range of the signal sample, then the operation of calculating the solution distance is performed according to the calculated first target value and second target value. This process ensures that even in boundary conditions, the previously calculated target value can be correctly used to obtain the final distance solution result. Specifically, the solution distance value of this step is the first target value divided by the second target value. Combining these steps, it can be obtained that when the second target value is less than or equal to the preset upper limit value, and the sampling point position is at the last point collected by the laser reflection signal sample, the solution distance is directly equal to the first target value of the current sampling point divided by the second target value.

[0089] In this embodiment, first, by reading the laser reflection signal, the laser signal data reflected from the target object is obtained, and subsequent processing and analysis are prepared; secondly, based on the sampling points and their corresponding amplitudes, a first target value is obtained, and the first target value is calculated according to the discrete sampling points of the laser reflection signal and the signal amplitude of each sampling point. This first target value involves the calculation of distance and intensity, and is one of the key inputs in the subsequent algorithm or application process, and is used to provide accurate target object information; then, the second target value is calculated by the amplitude of the sampling point, which is used for more accurate distance measurement or signal feature extraction; finally, based on the comparison result of the second target value and the preset upper limit value, the first preset operation is performed to obtain the solution distance, and the second target value is compared with the preset upper limit value, and the first preset operation is performed according to the comparison result. This operation includes parameter adjustment, data correction and other measures, and finally obtains the optimal solution distance result.

[0090] For example, to help understand the implementation process of the laser radar distance calculation method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 3 , Figure 3 A brief flowchart of a laser radar distance solution method is provided, specifically:

[0091] First, a laser reflection signal is received from a target object, and the laser reflection signal is sampled according to a preset sampling frequency and a total number of points to form a laser reflection signal sample. Then, the laser reflection signal is read, and the sampling point and its amplitude are processed using a distance solution algorithm. The first target value is obtained based on the coordinate value of the sampling point multiplied by the amplitude corresponding to the sampling point, and the second target value is obtained based on the amplitude of the sampling point; according to the comparison result of the second target value and the preset upper limit value, different operation steps are performed respectively: if the second target value exceeds the preset upper limit value, the amplitude of the sampling point, the preset upper limit value, the second target value and the first target value are corrected to obtain the final solution distance; if the second target value does not exceed the preset upper limit value, the coordinate value of the sampling point is judged again. If the coordinate value of the sampling point is greater than or equal to the boundary value of the horizontal coordinate of the laser reflection signal sample, the final solution distance is obtained based on the first target value and the second target value; if the coordinate value of the sampling point is less than the boundary value of the horizontal coordinate of the laser reflection signal sample, the point after the sampling point is taken as the reference sampling point, and the first reference value and the second reference value are obtained based on the coordinate value, corresponding amplitude, first target value and second target value of the reference sampling point. To ensure the loop logic of the algorithm, the reference sampling point is updated to the sampling point, and all the information of the reference sampling point is destroyed to clear it to zero. The first and second reference values ​​are updated to the first and second target values, respectively, and the information of the first and second reference values ​​is destroyed to clear it to zero. Finally, based on the updated second target value, the judgment is made from the beginning, the second target value is compared with the preset upper limit value, and then the previous steps are returned to execute; until the second target value is greater than the preset upper limit value, or the horizontal coordinate of the sampling point reaches the sample boundary, the solution distance is output.

[0092] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the laser radar distance solution method of the present application. More forms of simple transformations based on this technical concept are all within the scope of protection of the present application.

[0093] This application also provides a laser radar distance calculation device, please refer to Figure 4 , the laser radar distance solving device comprises:

[0094] An acquisition module 10 is used to acquire a laser reflection signal from a target object;

[0095] The processing module 20 is used to obtain the calculated distance of the target object based on the distance calculation algorithm, the processing of the laser reflection signal and the amplitude of the sampling point.

[0096] The laser radar distance solving device provided by the present application adopts the laser radar distance solving method in the above embodiment, which can solve the technical problem of maintaining the high accuracy of the laser radar distance solving method under different energy states. Compared with the prior art, the beneficial effects of the laser radar distance solving device provided by the present application are the same as the beneficial effects of the laser radar distance solving method provided by the above embodiment, and the other technical features in the laser radar distance solving device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0097] In one embodiment, the processing module 20 is also used to read the laser reflection signal; obtain a first target value based on the sampling point and its corresponding amplitude; obtain a second target value based on the amplitude of the sampling point; and perform a first preset operation based on a comparison result between the second target value and a preset upper limit value to obtain a solution distance.

[0098] In one embodiment, the processing module 20 is further used to obtain the solved distance based on the amplitude of the sampling point, the preset upper limit value, the second target and the first target value if the second target value is greater than the preset upper limit value; if the second target value is less than or equal to the preset upper limit value, perform a second preset operation based on the comparison result of the position of the sampling point and the boundary value of the horizontal coordinate of the laser reflection signal sample to obtain the solved distance.

[0099] In one embodiment, the processing module 20 is further used to take the position after the sampling point as the reference sampling point if the horizontal coordinate of the sampling point is less than the boundary value of the horizontal coordinate of the laser reflection signal sample; obtain a first reference value based on the first target value, the reference sampling point and its corresponding amplitude; obtain a second reference value based on the second target value and the amplitude of the reference sampling point; update the reference sampling point to the sampling point and destroy the data of the reference sampling point; update the first reference value to the first target value and destroy the data of the first reference value; update the second reference value to the second target value and destroy the data of the second reference value; perform the first preset operation based on the comparison result of the second target value and the preset upper limit value to obtain the solved distance.

[0100] In one embodiment, the processing module 20 is further configured to obtain a calculated distance based on the first target value and the second target value if the horizontal coordinate of the sampling point is greater than or equal to a boundary value of the horizontal coordinate of the laser reflection signal sample.

[0101] In one embodiment, the processing module 20 is further used to obtain a corrected amplitude based on the amplitude of the sampling point, the second target value and the preset upper limit value; to obtain a second corrected value based on the second target value and the corrected amplitude; and to obtain a solved distance based on the second corrected value and the first target value.

[0102] The present application provides a laser radar distance solving device, which includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the laser radar distance solving method in the above-mentioned embodiment one.

[0103] Reference below Figure 5 , which shows a schematic diagram of the structure of a laser radar distance solving device suitable for implementing the embodiment of the present application. The laser radar distance solving device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The laser radar distance solving device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0104] like Figure 5As shown, the laser radar distance solving device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the laser radar distance solving device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the laser radar distance solving device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a laser radar distance solving device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0105] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0106] The laser radar distance solving device provided by the present application adopts the laser radar distance solving method in the above embodiment, which can solve the technical problem of maintaining the high precision of the laser radar distance solving method under different energy states. Compared with the prior art, the beneficial effects of the laser radar distance solving device provided by the present application are the same as the beneficial effects of the laser radar distance solving method provided by the above embodiment, and the other technical features in the laser radar distance solving device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0107] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0108] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0109] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the laser radar distance solution method in the above-mentioned embodiment.

[0110] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0111] The above-mentioned computer-readable storage medium may be included in the laser radar distance solving device; or it may exist independently without being assembled into the laser radar distance solving device.

[0112] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the laser radar distance solving device, the laser radar distance solving device: obtains the laser reflection signal transmitted from the target object; based on the distance solving algorithm, the laser reflection signal and the sampling point amplitude are processed to obtain the solved distance of the target object.

[0113] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0114] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0115] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0116] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned laser radar distance solution method, and can solve the technical problem of maintaining high precision of the laser radar distance solution method under different energy states. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the laser radar distance solution method provided in the above-mentioned embodiment, and will not be repeated here.

[0117] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned laser radar distance solution method when executed by a processor.

[0118] The computer program product provided by the present application can solve the technical problem of maintaining high accuracy of the laser radar distance solution method under different energy states. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the laser radar distance solution method provided by the above embodiment, and will not be repeated here.

[0119] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A laser radar distance calculation method, characterized in that: The method comprises: Obtain the laser reflection signal from the target object; Based on the distance calculation algorithm, the laser reflection signal and the sampling point amplitude are processed to obtain the calculated distance of the target object.

2. The method according to claim 1, characterized in that After obtaining the laser reflection signal from the target object, the method further includes: Get the preset sampling frequency and the preset total number of sampling points; Based on the preset sampling frequency and the preset total number of sampling points, the laser reflection signal is sampled to obtain a laser reflection signal sample.

3. The method according to claim 1, characterized in that The distance calculation algorithm based on the laser reflection signal and the sampling point amplitude are processed to obtain the calculated distance of the target object, including: reading the laser reflection signal; Based on the sampling points and their corresponding amplitudes, a first target value is obtained; Based on the amplitude of the sampling point, a second target value is obtained; Based on the comparison result between the second target value and the preset upper limit value, a first preset operation is performed to obtain a calculated distance.

4. The method according to claim 3, characterized in that The step of performing a first preset operation based on a comparison result between the second target value and the preset upper limit value to obtain a calculated distance includes: If the second target value is greater than the preset upper limit value, a solution distance is obtained based on the amplitude of the sampling point, the preset upper limit value, the second target and the first target value; If the second target value is less than or equal to the preset upper limit value, a second preset operation is performed based on the comparison result between the position of the sampling point and the boundary value of the horizontal coordinate of the laser reflection signal sample to obtain the calculated distance.

5. The method according to claim 4, characterized in that The step of performing a second preset operation based on a comparison result between the position of the sampling point and the boundary value of the horizontal coordinate of the laser reflection signal sample to obtain a calculated distance includes: If the horizontal coordinate of the sampling point is less than the boundary value of the horizontal coordinate of the laser reflection signal sample, the position after the sampling point is taken as the reference sampling point; Based on the first target value, reference sampling points and their corresponding amplitudes, a first reference value is obtained; Obtaining a second reference value based on the second target value and the amplitude of the reference sampling point; Updating the reference sampling point to the sampling point, and destroying the data of the reference sampling point; updating the first reference value to the first target value, and destroying data of the first reference value; updating the second reference value to the second target value, and destroying the data of the second reference value; Based on the comparison result between the second target value and the preset upper limit value, the first preset operation is performed to obtain a calculated distance.

6. The method according to claim 4, characterized in that The step of performing a second preset operation based on a comparison result between the position of the sampling point and the boundary value of the horizontal coordinate of the laser reflection signal sample to obtain a calculated distance includes: If the horizontal coordinate of the sampling point is greater than or equal to the boundary value of the horizontal coordinate of the laser reflection signal sample, the calculated distance is obtained based on the first target value and the second target value.

7. The method according to claim 4, characterized in that The step of obtaining the calculated distance based on the amplitude of the sampling point, the preset upper limit value, the second target value, and the first target value includes: Obtaining a corrected amplitude based on the amplitude of the sampling point, the second target value and the preset upper limit value; Based on the second target value and the correction amplitude, obtaining a second correction value; A calculated distance is obtained based on the second correction value and the first target value.

8. A laser radar distance solving device, characterized in that: The device comprises: An acquisition module is used to acquire a laser reflection signal from a target object; The processing module is used to obtain the calculated distance of the target object based on the distance calculation algorithm, the processing of the laser reflection signal and the amplitude of the sampling point.

9. A laser radar distance solving device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the laser radar distance solution method as described in any one of claims 1 to 7 are implemented.

Images