LiDAR range calculation methods, devices, equipment and storage media

Abstract

This application discloses a lidar distance calculation method, apparatus, device, and storage medium, relating to the field of signal processing technology. The lidar distance calculation method includes: acquiring a laser reflection signal transmitted from a target object; and processing the laser reflection signal and the amplitude of sampling points based on a distance calculation algorithm to obtain the calculated distance of the target object. This application, based on a distance calculation algorithm, samples the reflected lidar signal and processes the amplitude of the sampling points, enabling stable and high-precision distance resolution even when the amplitude of the laser reflection signal varies over a wide range.

Description

Technical Field

[0001] This application relates to the field of signal processing technology, and in particular to lidar range calculation methods, apparatus, devices, and storage media. Background Technology

[0002] In the development of LiDAR technology, ensuring accurate distance measurement of target objects under various signal conditions is crucial. This requirement encompasses applications such as autonomous driving, environmental perception, and industrial measurement, all of which have stringent requirements for distance measurement accuracy and stability.

[0003] Currently, common LiDAR distance calculation methods include the centroid algorithm and the 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 changes in the edge of the signal to measure the distance, especially showing certain advantages when processing signals with high energy and saturation.

[0004] While the centroid algorithm demonstrates high accuracy when processing Gaussian waveforms, it exhibits a significant decrease in accuracy under conditions of high signal energy and saturation. Conversely, edge detection algorithms, although capable of handling signal saturation, are sensitive to signal interference and exhibit inconsistent accuracy when processing Gaussian waveforms. These issues limit the reliability and applicability of current LiDAR range calculation methods in complex environments. Therefore, maintaining high accuracy of LiDAR range calculation methods under different energy states is a pressing problem to be solved. Summary of the Invention

[0005] The purpose of this application is to provide a lidar range calculation method, apparatus, device, and storage medium, aiming to solve the technical problem of maintaining high accuracy of lidar range calculation methods under different energy states.

[0006] To achieve the above objectives, this application proposes a lidar range calculation method, the method comprising:

[0007] Acquire the laser reflection signal transmitted from the target object;

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

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

[0010] Obtain 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 a distance calculation algorithm, the processing of the laser reflection signal and the amplitude of the sampling points yields the calculated distance to the target object, including:

[0013] Read the laser reflection signal;

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

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

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

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

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

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

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

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

[0023] Based on the second target value and the amplitude of the reference sampling point, a second reference value is obtained;

[0024] Update the reference sampling point to the sampling point and destroy the data of the reference sampling point;

[0025] Update the first reference value to the first target value, and destroy the data of the first reference value;

[0026] Update the second reference value to the second target value, and destroy 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 the solution distance.

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

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

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

[0031] The corrected amplitude is obtained 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 magnitude, a second correction value is obtained;

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

[0034] Furthermore, to achieve the above objectives, this application also proposes a lidar range calculation device, the device comprising:

[0035] The acquisition module is used to acquire the laser reflection signal transmitted from the target object;

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

[0037] In addition, to achieve the above objectives, this application also proposes a lidar distance calculation device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the lidar distance calculation method described above.

[0038] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the lidar distance calculation method described above.

[0039] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the lidar distance calculation method described above.

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

[0041] The laser reflection signal from the target object is acquired. Based on the distance calculation algorithm, the laser reflection signal and the amplitude of the sampling points are processed to obtain the calculated distance of the target object. The laser signal reflected by the target object is effectively acquired as the basis for subsequent distance calculation. Based on this basic data, the amplitude data of the laser reflection signal sampling points is acquired. Using the distance calculation algorithm, combined with the processed amplitude data of the sampling points, the accurate calculated distance of the target object is calculated. Attached Figure Description

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

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart illustrating the first embodiment of the lidar distance calculation method of this application.

[0045] Figure 2 This is a flowchart illustrating Embodiment 2 of the lidar distance calculation method of this application;

[0046] Figure 3 A simplified flowchart illustrating the lidar distance calculation method provided in Embodiment 2 of this application;

[0047] Figure 4 This is a schematic diagram of the module structure of the lidar distance calculation device according to an embodiment of this application;

[0048] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the lidar distance calculation method in this application embodiment.

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

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

[0051] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0052] In the development of LiDAR technology, ensuring accurate distance measurement of target objects under various signal conditions is crucial. This requirement encompasses application scenarios such as autonomous driving and environmental perception. Currently, common LiDAR distance calculation 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, is suitable for processing Gaussian waveform signals, and has high accuracy. The edge detection algorithm, on the other hand, relies on detecting changes in the edges of the signal to measure the distance, showing certain advantages when processing signals with high energy and saturation. However, the centroid algorithm experiences a significant drop in accuracy when processing signals under high energy conditions, while the edge detection algorithm is susceptible to signal interference, leading to unstable accuracy. These issues limit the reliability and applicability of current LiDAR distance calculation methods in complex environments.

[0053] The main solution of this application embodiment 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 calculation are improved by processing the amplitude of the sampling point, thereby improving the accuracy of the distance calculation algorithm.

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

[0055] Based on this, the embodiments of this application provide a method for calculating the range of a lidar system, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the lidar distance calculation method of this application.

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

[0057] Step S10: Obtain the laser reflection signal transmitted from the target object;

[0058] It should be noted that the target object refers to the object or target being measured or detected by the lidar system, typically referring to an 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 back from the surface of the target object after the laser beam is emitted. These signals are received and processed to calculate the distance or other relevant information between the target object and the lidar. In this embodiment, the target object is the actual object being measured, and the laser reflection signal refers to the signal reflected back from the surface of that object.

[0059] As can be understood, a lidar system emits a laser beam, which is then projected onto the surface of a target object. Once the laser beam intersects with the target object, it is reflected back by the target surface, forming a reflected signal. These reflected signals contain information about the target object's distance, shape, and surface characteristics. By receiving and analyzing these reflected signals, the lidar system can calculate the precise distance between the target object and the lidar.

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

[0061] The preset sampling frequency refers to the data acquisition rate of the laser reflection signal, i.e., the number of times data is acquired per unit time. The preset total number of sampling points refers to the pre-set total number of data points to be acquired from the laser reflection signal. A laser reflection signal sample is a set of discrete sampled data points extracted from the raw signal received by the lidar 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 period and are used for subsequent signal processing and analysis.

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

[0063] It's important to note that distance calculation algorithms refer to specific algorithms or methods used to calculate the distance between a target object and a lidar system. These algorithms typically process and analyze the characteristics of the laser reflection signal and the amplitude data from sampling points. They usually calculate the distance based on the time difference (TOF) technology, phase difference, or intensity information of the laser reflection signal. The amplitude of a sampling point refers to the signal intensity value obtained by the lidar through discrete sampling of the signal after acquiring the laser reflection signal. These amplitudes reflect the signal strength or energy at each sampling point. The calculated distance refers to the actual distance between the target object and the lidar calculated using a distance calculation algorithm based on the characteristics of the laser reflection signal and the amplitude data from the sampling points. The accuracy and stability of the calculated distance directly affect the performance and reliability of the lidar system in various application scenarios.

[0064] Understandably, the process begins with acquiring the laser reflection signal from the surface of the target object using a LiDAR system. These signals are then discretely sampled, with each sampling point recording the signal intensity or amplitude. Next, a specific distance calculation algorithm is used to calculate the precise distance between the target object and the LiDAR system based on the time difference of signal (TOF technology) or other characteristics. This calculated distance not only reflects the actual position of the target object but also provides crucial spatial information such as distance, height, or contour, and is widely used in autonomous driving, environmental perception, and industrial measurement to ensure the accuracy and safety of system operation.

[0065] This embodiment provides a method for calculating the distance of a lidar system. This application achieves the following steps and effects through technical means: acquiring the laser reflection signal from the target object; processing the laser reflection signal and the amplitude of the sampling points based on the distance calculation algorithm to obtain the calculated distance of the target object. This ensures the effective acquisition of the laser signal reflected by the target object, serving as the basic data for subsequent distance calculation; based on this basic data, the amplitude data of the laser reflection signal sampling points is acquired; and using the distance calculation algorithm, combined with the processed amplitude data of the sampling points, the accurate calculated distance of the target object is calculated and obtained.

[0066] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in Embodiment 1 above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 , Figure 2 This is a flowchart illustrating the second embodiment of the lidar range calculation method of this application. Step S20 of the lidar range calculation method includes steps S21 to S24:

[0067] Step S21: Read the laser reflection signal;

[0068] Understandably, a lidar system acquires electromagnetic wave signals reflected from the surface of a target object. These signals are received by sensors and converted into digital or analog electrical signals, which are then transmitted to a subsequent signal processing unit. The reading process involves converting continuous reflected signals into discrete sampling points, each recording the signal strength or amplitude at a specific moment. The data from these sampling points is used for subsequent distance calculation and analysis to provide precise distance information between the target object and the lidar system, as well as other environmental information.

[0069] Step S22: Based on the sampling points and their corresponding amplitudes, obtain the first target value;

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

[0071] Understandably, in a lidar system, the laser signal reflected from the target object is discretely sampled, with each sampling point recording the signal's intensity or amplitude. Subsequently, through specific signal processing and analysis algorithms, the system calculates the first crucial result based on these sampling points and their corresponding amplitude data. This initial target value, involving distance and intensity calculations, is one of the key inputs in subsequent algorithms or applications, providing accurate target object information—essential data for applications such as distance measurement or environmental perception.

[0072] Step S23: Based on the amplitude of the sampling points, obtain the second target value;

[0073] It should be noted that the second target value refers to the second important result or indicator obtained after processing and analyzing the amplitude of the sampling points, and is usually used in distance calculation or signal analysis. From a data perspective, the second target value is simply the amplitude of the sampling points.

[0074] Understandably, in a lidar system, the process involves discretely sampling the laser signal reflected from the target object and then processing and analyzing the amplitude at each sampling point. Through specific signal processing algorithms, the system can calculate a second target value, which typically represents a more precise calculation of the intensity. This second target value plays a crucial role in subsequent data processing and decision-making, helping the system accurately understand and reflect the properties of the target object and environmental conditions.

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

[0076] It should be noted that the preset upper limit value refers to a pre-set boundary or limit value used for comparison with the second target value. This upper limit value can be set as the maximum energy value of the laser reflection signal in an unsaturated 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 operation or processing performed by the system after comparing the second target value with the preset upper limit value. This operation includes adjusting calculation parameters, correcting data, or further refining the calculated distance based on the comparison result.

[0077] Understandably, in a lidar system, a comparison is made between a pre-set upper limit value and a second target value. The comparison result determines the first pre-defined operation performed by the system when calculating the distance. This operation adjusts the calculation parameters and corrects the data based on the comparison result to ensure an accurate and reliable target distance. This method helps the system handle laser reflection signals in complex environments, ensuring 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 the calculated distance, including: if the second target value is greater than the preset upper limit value, then the calculated 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, then a second preset operation is performed based on the comparison result between the position of the sampling point and the boundary value of the abscissa of the laser reflection signal sample to obtain the calculated distance.

[0079] The boundary value of the abscissa of the laser reflection signal sample refers to the boundary limit of the abscissa value extracted from the laser reflection signal sample. Specifically, it refers to the abscissa value of the last data point in the signal sample, 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, represented as a point on the horizontal axis in a two-dimensional Cartesian coordinate system. The second preset operation is to adjust the calculation parameters and perform data correction based on the comparison result between the position of the sampling point and the boundary value of the abscissa of the laser reflection signal sample, to ensure accurate and reliable target distance is obtained.

[0080] Understandably, this step describes a comparison process where the position of the sampling point is compared to the boundary values ​​of the abscissa of the laser reflection signal sample. The result of this comparison determines the next pre-defined operation, which, based on the position of the sampling point on the abscissa, further determines the method for calculating the distance.

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

[0082] 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, used to further determine the solution distance. Specifically, the corrected amplitude is represented by subtracting the second target value from the amplitude of the sampling point and adding the preset upper limit value. The second corrected value is represented by subtracting the amplitude of the sampling point from the second target value and adding the corrected amplitude. The solution distance is represented by dividing the first target value by the second corrected value.

[0083] Understandably, the process involves several steps. First, by analyzing the amplitude of the sampling points, the second target value, and the preset upper limit, an adjusted correction amplitude is obtained. Next, based on the calculation results of the second target value and the correction amplitude, a second correction value is determined. Finally, the final calculated distance is obtained 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, the amplitude of the acquired data is modified according to the cumulative value of the laser reflection pulse and the preset upper limit, allowing the algorithm to introduce less saturation data and obtain a more accurate calculated distance when the laser reflection pulse energy is high.

[0084] As an example, based on the comparison result between the position of the sampling point and the boundary value of the abscissa of the laser reflection signal sample, a second preset operation is performed to obtain the calculated distance, including: if the abscissa of the sampling point is less than the boundary value of the abscissa of the laser reflection signal sample, then the position after the sampling point is taken as a 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 between the second target value and the preset upper limit value, the first preset operation is performed to obtain the calculated distance.

[0085] Here, the reference sampling point refers to the first point after the sampling point in the laser reflection signal samples, obtained based on a preset sampling frequency. The first reference value and the second reference value refer to two specific values ​​obtained based on the reference sampling point, 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] Understandably, the process involves several steps. First, a reference sampling point is determined by comparing its x-coordinate with the boundary values ​​of the signal samples. Then, a first reference value and a 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 then updated to the first target value, and the data of the first reference value is destroyed. The second reference value is then updated to the first target value, and the data of the second reference value is destroyed. These steps ensure the logical loop of the algorithm, and the algorithm processes the data until the ideal amplitude is obtained. Finally, the first preset operation is performed based on the comparison result between the second target value and the preset upper limit value to obtain the final calculated distance.

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

[0088] Understandably, this step supplements the steps described above. If the x-coordinate of the currently processed sampling point is greater than or equal to the boundary value of the x-coordinate of the laser reflection signal sample, i.e., it exceeds the range of the signal sample, then the distance calculation operation is performed based on the previously calculated first and second target values. This process ensures that even in boundary cases, the previously calculated target values ​​can be correctly used to obtain the final distance calculation result. Specifically, the calculated distance value in this step is the first target value divided by the second target value. Combining these steps, we can conclude that when the second target value is less than or equal to a preset upper limit value, and the sampling point is located at the last point acquired by the laser reflection signal sample, the calculated distance is directly equal to the first target value of the current sampling point divided by the second target value.

[0089] In this embodiment, firstly, the laser signal data reflected from the target object is obtained by reading the laser reflection signal, preparing for subsequent processing and analysis. Secondly, a first target value is obtained based on the sampling points and their corresponding amplitudes. This first target value, which involves distance and intensity calculations, is one of the key inputs in subsequent algorithms or applications, providing accurate target object information. Then, a second target value is calculated using the amplitudes of the sampling points for more accurate distance measurement or signal feature extraction. Finally, based on the comparison between the second target value and a preset upper limit value, a first preset operation is performed to obtain the calculated distance. This operation includes parameter adjustment, data correction, and other measures to ultimately obtain the optimal calculated distance result.

[0090] For example, to help understand the implementation flow of the lidar distance calculation method obtained in this embodiment combined with the above embodiment one, please refer to... Figure 3 , Figure 3 A simplified flowchart of a lidar range calculation method is provided, specifically:

[0091] First, the laser reflection signal is received from the target object. Based on a preset sampling frequency and total number of sampling points, the laser reflection signal is sampled to form a laser reflection signal sample. Then, the laser reflection signal is read, and a distance calculation algorithm is used to process the sampling points and their amplitudes. A first target value is obtained by multiplying the sampling point's coordinates by its corresponding amplitude, and a second target value is obtained based on the sampling point's amplitude. Based on the comparison between the second target value and a preset upper limit, different operation steps are performed: If the second target value exceeds the preset upper limit, corrections are made based on the sampling point's amplitude, the preset upper limit, the second target value, and the first target value to obtain the final calculated distance; if the second target value does not exceed the preset upper limit, the sampling point's coordinates are further evaluated. If the sampling point's coordinates are greater than or equal to the boundary value of the laser reflection signal sample's horizontal coordinate, the final calculated distance is obtained based on the first and second target values; if the sampling point's coordinates are less than the boundary value of the laser reflection signal sample's horizontal coordinate, a point after the sampling point is taken as a reference sampling point. Based on the reference sampling point's coordinates, corresponding amplitude, and the first and second target values, a first reference value and a second reference value are obtained. To ensure the algorithm's loop logic, the reference sampling point is updated to the sampling point, and all information of the reference sampling point is destroyed 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 zero. Finally, based on the updated second target value, the judgment is performed from the beginning, comparing the second target value with the preset upper limit value, and then returning to the previous steps; the calculated distance is only output when the second target value is greater than the preset upper limit value or the x-coordinate of the sampling point reaches the sample boundary.

[0092] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the lidar distance calculation method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0093] This application also provides a lidar range calculation device; please refer to... Figure 4 The lidar range calculation device includes:

[0094] Acquisition module 10 is used to acquire the laser reflection signal transmitted from the target object;

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

[0096] The lidar range calculation device provided in this application, employing the lidar range calculation method in the above embodiments, can solve the technical problem of maintaining high accuracy of the lidar range calculation method under different energy states. Compared with the prior art, the beneficial effects of the lidar range calculation device provided in this application are the same as those of the lidar range calculation method provided in the above embodiments, and other technical features in the lidar range calculation device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0097] In one embodiment, the processing module 20 is further configured 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 the comparison result between the second target value and a preset upper limit value to obtain the calculated distance.

[0098] In one embodiment, the processing module 20 is further configured to: if the second target value is greater than the preset upper limit value, obtain the solution 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 less than or equal to the preset upper limit value, perform a second preset operation based on the comparison result between the position of the sampling point and the boundary value of the abscissa of the laser reflection signal sample to obtain the solution distance.

[0099] In one embodiment, the processing module 20 is further configured to: if the abscissa of the sampling point is less than the boundary value of the abscissa of the laser reflection signal sample, then take the position after the sampling point as a reference sampling point; 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; and perform the first preset operation based on the comparison result of the second target value and the preset upper limit value to obtain the calculated distance.

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

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

[0102] This application provides a lidar distance calculation device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the lidar distance calculation method in the first embodiment described above.

[0103] The following is for reference. Figure 5 The diagram illustrates a structural schematic of a lidar range calculation device suitable for implementing embodiments of this application. The lidar range calculation device in these embodiments may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 5 The lidar distance calculation device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0104] like Figure 5As shown, the lidar range calculation device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the lidar range calculation device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the lidar range calculation device to communicate wirelessly or wiredly with other devices to exchange data. Although lidar range calculation devices with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0105] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0106] The lidar range calculation device provided in this application, employing the lidar range calculation method described in the above embodiments, can solve the technical problem of maintaining high accuracy of the lidar range calculation method under different energy states. Compared with the prior art, the beneficial effects of the lidar range calculation device provided in this application are the same as those of the lidar range calculation method provided in the above embodiments, and other technical features in this lidar range calculation device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0107] It should be understood that the various parts disclosed in this application can be implemented using 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 suitable manner in one or more embodiments or examples.

[0108] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0109] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the lidar distance calculation method in the above embodiments.

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

[0111] The aforementioned computer-readable storage medium may be included in the lidar range calculation device; or it may exist independently and not assembled into the lidar range calculation device.

[0112] The aforementioned computer-readable storage medium carries one or more programs. When the aforementioned one or more programs are executed by the lidar distance calculation device, the lidar distance calculation device: acquires the laser reflection signal transmitted from the target object; and, based on the distance calculation algorithm, processes the laser reflection signal and the amplitude of the sampling point to obtain the calculated distance of the target object.

[0113] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0114] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0115] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0116] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described lidar range calculation method, which can solve the technical problem of maintaining high accuracy of the lidar range calculation 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 lidar range calculation method provided in the above embodiments, and will not be repeated here.

[0117] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the lidar distance calculation method described above.

[0118] The computer program product provided in this application can solve the technical problem of maintaining high accuracy in lidar range calculation methods under different energy states. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the lidar range calculation methods provided in the above embodiments, and will not be repeated here.

[0119] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for calculating the range of a lidar system, characterized in that, The method includes: Acquire the laser reflection signal transmitted from the target object; Based on the distance calculation algorithm, the laser reflection signal and the amplitude of the sampling points are processed to obtain the calculated distance of the target object; The distance calculation algorithm, which processes the laser reflection signal and the amplitude of the sampling points to obtain the calculated distance to the target object, includes: Read the laser reflection signal; The first target value is obtained by multiplying the current sampling point by the amplitude corresponding to the current sampling point and then summing the results. The first target value is obtained by multiplying the horizontal coordinate value of the sampling point by the amplitude corresponding to the sampling point. The amplitude values ​​of the current sampling points are accumulated to obtain a second target value, wherein the second target value is obtained by processing and analyzing the amplitude values ​​of the sampling points; Based on the comparison result between the second target value and the preset upper limit value, the first preset operation is performed to obtain the solution distance; The step of performing a first preset operation based on the comparison result between the second target value and the preset upper limit value to obtain the solution distance includes: If the second target value is greater than the preset upper limit value, then the solution distance is obtained based on the amplitude of the sampling point, the preset upper limit value, the second target value, and the first target value; If the second target value is less than or equal to the preset upper limit value, then 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, the second preset operation is performed to obtain the solution distance. When the second target value is less than or equal to the preset upper limit value and the sampling point 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. The process of obtaining the solution distance based on the amplitude of the sampling point, the preset upper limit value, the second target, and the first target value includes: Based on the amplitude of the sampling point, the second target value, and the preset upper limit value, a corrected amplitude is obtained, wherein the corrected amplitude is obtained by subtracting the second target value from the amplitude of the sampling point and adding the preset upper limit value; Based on the second target value and the correction amplitude, a second correction value is obtained, wherein the second correction value is obtained by subtracting the amplitude of the sampling point from the second target value and adding the correction amplitude; Based on the second correction value and the first target value, the solution distance is obtained, wherein the solution distance is obtained by dividing the first target value by the second correction value.

2. The method as described in claim 1, characterized in that, After acquiring the laser reflection signal from the target object, the process further includes: Obtain 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 as described in claim 1, characterized in that, Based on the comparison result between the position of the sampling point and the boundary value of the abscissa of the laser reflection signal sample, a second preset operation is performed to obtain the calculated distance, including: If the x-coordinate of the sampling point is less than the boundary value of the x-coordinate of the laser reflection signal sample, then the position after the sampling point is taken as the reference sampling point; Based on the first target value, and referring to the sampling points and their corresponding amplitudes, 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; 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; Based on the comparison result between the second target value and the preset upper limit value, the first preset operation is performed to obtain the solution distance.

4. The method as described in claim 1, characterized in that, Based on the comparison result between the position of the sampling point and the boundary value of the abscissa of the laser reflection signal sample, a second preset operation is performed to obtain the calculated distance, including: If the abscissa of the sampling point is greater than or equal to the boundary value of the abscissa of the laser reflection signal sample, then the calculated distance is obtained based on the first target value and the second target value.

5. A lidar range calculation device, characterized in that, The device includes: The acquisition module is used to acquire the laser reflection signal transmitted from the 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 points; The processing module is also used to read the laser reflection signal; The first target value is obtained by multiplying the current sampling point by the amplitude corresponding to the current sampling point and then summing the results. The first target value is obtained by multiplying the horizontal coordinate value of the sampling point by the amplitude corresponding to the sampling point. The amplitude values ​​of the current sampling points are accumulated to obtain a second target value, wherein the second target value is obtained by processing and analyzing the amplitude values ​​of the sampling points; Based on the comparison result between the second target value and the preset upper limit value, the first preset operation is performed to obtain the solution distance; The processing module is further configured to, if the second target value is greater than the preset upper limit value, obtain the solution distance based on the amplitude of the sampling point, the preset upper limit value, the second target value, and the first target value; If the second target value is less than or equal to the preset upper limit value, then 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, the second preset operation is performed to obtain the solution distance. When the second target value is less than or equal to the preset upper limit value and the sampling point 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. The processing module is further configured to obtain a corrected amplitude based on the amplitude of the sampling point, the second target value, and the preset upper limit value, wherein the corrected amplitude is obtained by subtracting the second target value from the amplitude of the sampling point and adding the preset upper limit value; Based on the second target value and the correction amplitude, a second correction value is obtained, wherein the second correction value is obtained by subtracting the amplitude of the sampling point from the second target value and adding the correction amplitude; Based on the second correction value and the first target value, the solution distance is obtained, wherein the solution distance is obtained by dividing the first target value by the second correction value.

6. A lidar range calculation device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the method as claimed in any one of claims 1 to 4.

7. 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, it implements the steps of the lidar distance calculation method as described in any one of claims 1 to 4.

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