Laser radar signal processing method and device, equipment and storage medium

Abstract

The invention discloses a laser radar signal processing method and device, equipment and a storage medium, and relates to the technical field of signal processing, and the method comprises the steps: obtaining a return light collection waveform signal of a laser radar, and determining a reflection condition; processing the return light acquisition waveform signal by adopting a corresponding signal processing method according to the reflection condition and obtaining a signal processing result; and obtaining the detection time of the laser radar according to the signal processing result so as to complete the processing of the laser radar signal. According to the invention, the detection precision of the laser radar under different reflection conditions can be improved.

Description

Technical Field

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

[0002] The return light signal of the laser radar and its acquisition waveform will produce errors and changes due to different reflection conditions. Under normal reflection conditions, the reflected return light energy is relatively weak, and the sampling data waveform of the return light signal fails to reach full deviation. During the fixed-point detection process, the collected return light waveforms overlap. Under strong reflection conditions, the return light energy increases sharply, the return light receiving signal is saturated and distorted, and the center of mass point shifts. The rising edge of the return light signal is steep and will not deform with signal distortion, which can correctly characterize the time phase of the return light signal. However, the system clock is affected by factors such as ambient temperature and circuit design, which will produce jitter at the level of 100ps, which will be derived from the acquisition waveform of the return light signal, resulting in an increase in the jitter amplitude of the rising edge of the return light waveform. At the same time, considering the transmission delay and jitter of related devices on the return light waveform, the rising edge jitter of the sampling waveform of the return light signal will increase.

[0003] These factors will cause errors in the time phase of the return signal, which will in turn lead to a decrease in the detection accuracy of the lidar. Summary of the invention

[0004] The main purpose of this application is to provide a laser radar signal processing method, device, equipment and storage medium, aiming to solve the technical problem of how to improve the detection accuracy of laser radar under different reflection conditions.

[0005] To achieve the above objectives, the present application proposes a laser radar signal processing method, the method comprising:

[0006] Obtain the laser radar return light collection waveform signal and determine the reflection condition;

[0007] According to the reflection condition, a corresponding signal processing method is used to process the return light collection waveform signal and obtain a signal processing result;

[0008] The detection time of the laser radar is obtained according to the signal processing result to complete the processing of the laser radar signal.

[0009] In one embodiment, the step of using a corresponding signal processing method according to the reflection condition to process the return light collection waveform signal and obtain a signal processing result includes:

[0010] When the reflection condition is a strong reflection condition, edge restoration and median compensation processing is performed on the return light collection waveform signal to obtain a signal processing result;

[0011] When the reflection condition is a normal reflection condition, the centroid restoration process is performed on the return light collection waveform signal to obtain the signal processing result.

[0012] In one embodiment, when the reflection condition is a strong reflection condition, the step of performing edge restoration median compensation processing on the return light collection waveform signal and obtaining a signal processing result includes:

[0013] When the reflection condition is a strong reflection condition, the sampling data of the rising edge of the return light collection waveform signal is processed by a training function fitting method to regenerate an edge signal;

[0014] Based on the sampling data, an intermediate threshold is obtained, and a linear function is used to process a preset number of sampling points of the edge signal adjacent to the intermediate threshold to obtain an edge detection time quantity;

[0015] Performing compensation processing on the edge detection time to obtain edge signal detection time;

[0016] The edge signal detection time is used as a signal processing result.

[0017] In one embodiment, when the reflection condition is a strong reflection condition, the step of performing edge restoration median compensation processing on the return light collection waveform signal and obtaining a signal processing result includes:

[0018] When the reflection condition is a strong reflection condition, the sampling data of the rising edge of the return light collection waveform signal is processed by a training function fitting method to regenerate an edge signal;

[0019] Based on the sampling data, an intermediate threshold is obtained, and a linear function is used to process a preset number of sampling points of the edge signal adjacent to the intermediate threshold to obtain an edge detection time quantity;

[0020] Performing compensation processing on the edge detection time to obtain edge signal detection time;

[0021] The edge signal detection time is used as a signal processing result.

[0022] In one embodiment, the step of acquiring the return light collection waveform signal of the laser radar and determining the reflection condition includes:

[0023] Obtain the return light collection waveform signal of the laser radar;

[0024] When the return light collection waveform signal reaches full deviation of the sampling value and a clipping phenomenon occurs, determining that the reflection condition is a strong reflection condition;

[0025] When the return light collection waveform signal does not reach the full deviation of the sampling value, it is determined that the reflection condition is a normal reflection condition.

[0026] In one embodiment, the step of acquiring the return light collection waveform signal of the laser radar includes:

[0027] Obtain the return light signal received by the laser radar;

[0028] The return light signal is sampled to obtain a return light collection waveform signal.

[0029] In one embodiment, the step of obtaining the detection time of the laser radar according to the signal processing result to complete the signal processing of the laser radar includes:

[0030] Processing the signal processing result;

[0031] The detection time of the laser radar is obtained to complete the processing of the laser radar signal.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a laser radar signal processing device, the laser radar signal processing device comprising:

[0033] A signal acquisition module is used to acquire the return light collection waveform signal of the laser radar and determine the reflection condition;

[0034] A signal processing module, used to process the return light collection waveform signal using a corresponding signal processing method according to the reflection condition and obtain a signal processing result;

[0035] The positioning analysis module is used to obtain the detection time of the laser radar according to the signal processing result to complete the processing of the laser radar signal.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a laser radar signal processing 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 signal processing method described above.

[0037] 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 lidar signal processing method described above are implemented.

[0038] One or more technical solutions proposed in this application have at least the following technical effects:

[0039] The present application adopts a signal processing method that integrates the edge detection of the reflected echo signal and the centroid detection of the reflected echo restoration, which solves the technical problem that under different reflection conditions, the detection accuracy of the laser radar is reduced due to the overlapping of the echo waveforms, the influence of factors such as ambient temperature and circuit design on the system clock, and the transmission delay and jitter of related components. Compared with the existing technology, the technical effect of improving the detection accuracy of the laser radar under different reflection conditions is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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.

[0041] 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.

[0042] Figure 1 A schematic diagram of a flow chart provided for Embodiment 1 of the laser radar signal processing method of the present application;

[0043] Figure 2 A schematic diagram of a flow chart provided for Embodiment 2 of the laser radar signal processing method of the present application;

[0044] Figure 3 A schematic diagram of a process flow provided for Embodiment 3 of the laser radar signal processing method of the present application;

[0045] Figure 4 This is a schematic diagram of a waveform signal of light return acquisition under strong reflection conditions in an embodiment of a laser radar signal processing method of the present application;

[0046] Figure 5 This is a schematic diagram of a waveform signal of return light acquisition under normal reflection conditions in an embodiment of a laser radar signal processing method of the present application;

[0047] Figure 6 A schematic diagram of a flow chart provided for Embodiment 4 of the laser radar signal processing method of the present application;

[0048] Figure 7 This is a schematic diagram of the module structure of the laser radar signal processing device according to an embodiment of the present application;

[0049] Figure 8 This is a schematic diagram of the device structure of the hardware operating environment involved in the laser radar signal processing method of the embodiment of the present application.

[0050] 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

[0051] 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.

[0052] 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.

[0053] The main solution of the embodiment of the present application is: to obtain the return light collection waveform signal of the laser radar and determine the reflection condition; to process the return light collection waveform signal using the corresponding signal processing method according to the reflection condition and obtain the signal processing result; to obtain the detection time of the laser radar according to the signal processing result to complete the processing of the laser radar signal.

[0054] In this embodiment, for ease of description, the following description is made using a signal processor disposed inside the laser radar as the execution entity.

[0055] In the existing technology, under different reflection conditions, the return light waveforms overlap, the system clock is affected by factors such as ambient temperature and circuit design, as well as the transmission delay and jitter of related components, which leads to a decrease in the detection accuracy of the lidar.

[0056] The present application provides a solution that achieves the technical effect of improving the detection accuracy of laser radar under different reflection conditions.

[0057] It can be seen from the above embodiments that the present application adopts a technical means of adopting corresponding signal processing methods according to different reflection conditions, thereby overcoming the technical problem that the laser radar detection accuracy is reduced due to the inability to restore the center of mass under different reflection conditions, the system clock is affected by factors such as ambient temperature and circuit design, and the transmission delay and jitter of related components, thereby achieving the technical effect of improving the detection accuracy of the laser radar under different reflection conditions.

[0058] It should be noted that the execution subject of this embodiment may 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 the signal processor set inside the laser radar as an example to illustrate this embodiment and the following embodiments.

[0059] Based on this, the present application embodiment provides a laser radar signal processing method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the laser radar signal processing method of the present application.

[0060] In this embodiment, the laser radar signal processing method includes steps S10 to S30:

[0061] Step S10, obtaining the return light collection waveform signal of the laser radar and determining the reflection condition.

[0062] It should be noted that the laser radar is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of the target. The light return collection waveform signal is the signal obtained after the laser radar collects the light return signal. The reflection condition is the environmental condition obtained based on the state of the light return collection waveform signal, and includes strong reflection conditions and normal reflection conditions.

[0063] Step S20: Process the return light collection waveform signal using a corresponding signal processing method according to the reflection condition and obtain a signal processing result.

[0064] Different signal processing methods are used under different reflection conditions, namely edge restoration, median compensation processing and centroid restoration processing, and the signal processing results are obtained.

[0065] Step S30, obtaining the detection time of the laser radar according to the signal processing result to complete the processing of the laser radar signal.

[0066] It should be noted that the detection time of the laser radar can be used for the laser radar to obtain positioning information, thereby completing the processing of the laser radar signal.

[0067] This embodiment provides a laser radar signal processing method, which adopts a technical means of adopting corresponding signal processing methods according to different reflection conditions, to overcome the technical problems that under different reflection conditions, the center of mass cannot be restored, the system clock is affected by factors such as ambient temperature and circuit design, and the transmission delay and jitter of related components, which lead to a decrease in the detection accuracy of the laser radar, thereby achieving the technical effect of improving the detection accuracy of the laser radar under different reflection conditions.

[0068] 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 be referred to the above introduction, and will not be repeated in the following. Figure 2 , step S20 includes steps S201 to S202:

[0069] Step S201, when the reflection condition is a strong reflection condition, edge restoration and median compensation processing is performed on the return light collection waveform signal to obtain a signal processing result.

[0070] It should be noted that the strong reflection condition is a reflection condition in which the return light energy of the laser radar is sharply enhanced, the return light receiving signal is saturated and distorted, and the center of mass point is shifted.

[0071] Under strong reflection conditions, the rising edge of the return light signal is steep. Due to the sampling rate limitation, the edge of the return light acquisition waveform signal after high-speed ADC sampling will be distorted, and errors will be introduced in the edge detection process. In addition, the timing error of the whole system will cause jitter of the rising edge of the return light signal waveform. The rising edge of the sampling signal is restored and median compensation is used to obtain the signal processing result.

[0072] In a feasible implementation, step S201 may include steps A11 to A14:

[0073] Step A11, when the reflection condition is a strong reflection condition, the sampling data of the rising edge of the return light collection waveform signal is processed by a training function fitting method to regenerate an edge signal.

[0074] According to the sampling data of the rising edge, the edge signal is obtained by using the training function fitting method. The specific processing process is as follows:

[0075] S=F(xn)

[0076] It should be noted that S is the sampling waveform data regenerated after fitting, F(xn) is the fitting function, and Xn is the original sampling data.

[0077] Step A12, obtaining an intermediate threshold based on the sampled data, and using a linear function to process a preset number of sampling points of the edge signal adjacent to the intermediate threshold to obtain an edge detection time quantity.

[0078] Take 50% of the full-scale range of the sampled data as the intermediate threshold S0, take the two sampling points (Xn, tn) and (X(n+1), t(n+1)) adjacent to the rising edge and the intermediate threshold S0, and then use the linear function to calculate the edge detection time t0. The specific processing process is as follows:

[0079] t0=(S0-Xn)*(t(n+1)-tn) / (X(n+1)-Xn)+tn

[0080] Step A13, compensating the edge detection time to obtain the edge signal detection time. Considering the edge jitter factor, t0 is compensated once, and the specific processing process is as follows:

[0081] T0=t0+tΔ

[0082] It should be noted that T0 is the detection time of the rising edge signal, and tΔ is the compensation amount of the rising edge signal detection.

[0083] Step A14, taking the edge signal detection time as the signal processing result.

[0084] The edge signal detection time T0 is taken as the signal processing result.

[0085] By restoring the rising edge of the sampling waveform of the return light signal and detecting and calculating the median compensation of the rising edge, the technical problem of distortion and jitter of the rising edge of the return light signal waveform and affecting the detection accuracy under strong reflection conditions due to sampling rate limitations and sampling errors of the entire system is solved.

[0086] Step S202, when the reflection condition is a normal reflection condition, performing centroid restoration processing on the return light collection waveform signal and obtaining the signal processing result.

[0087] It should be noted that the conventional reflection condition is that the reflected light energy of the laser radar is relatively weak, and the sampling data waveform of the return light signal fails to reach the full-skew reflection condition.

[0088] In the process of fixed-point detection, the waveforms of the collected return light signals overlap and the centroid positions are consistent. The centroid of the waveform of the return light signal is restored to obtain the signal processing result.

[0089] In a feasible implementation, step S202 may include steps A21 to A23:

[0090] Step A21, when the reflection condition is a normal reflection condition, integrating the return light collection waveform signal to obtain the centroid of the return light collection waveform signal.

[0091] According to the sampling waveform of the return light signal, the centroid of the return light is obtained by integral calculation. The specific processing process is as follows:

[0092] T0=f(xn) / T

[0093] It should be noted that T0 is the detection time of the echo signal, f(xn) is the integrated value of the echo signal, and T is the time and value of the echo signal on the time axis.

[0094] Step A22, obtaining the echo signal detection time according to the projection of the centroid on the time axis.

[0095] According to the projection of the centroid on the time axis, the time data corresponding to the projection on the time axis is obtained, and the echo signal detection time is obtained.

[0096] Step A23, taking the echo signal detection time as the signal processing result.

[0097] The echo signal detection time T0 is taken as the signal processing result.

[0098] By restoring the centroid of the reflected echo for detection, the technical problem of being unable to accurately obtain the centroid of the reflected light waveform under conventional reflection conditions is solved.

[0099] This embodiment provides a laser radar signal processing method, which adopts a signal processing method that combines the edge detection of the reflected echo signal with the centroid detection of the reflected echo restoration, to overcome the technical problem that under strong reflection conditions, the rising edge of the return signal waveform is distorted and jittered due to the sampling rate limitation and the sampling error of the whole system, and the centroid of the return waveform cannot be accurately obtained under conventional reflection conditions, which leads to a decrease in the detection accuracy of the laser radar, thereby achieving the technical effect of improving the detection accuracy of the laser radar under different reflection conditions.

[0100] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , step S10 includes steps S101 to S103:

[0101] Step S101, obtaining the return light collection waveform signal of the laser radar.

[0102] The signal acquisition module of the laser radar signal processing device is used to obtain the return light collection waveform signal obtained after laser radar processing.

[0103] In a feasible implementation, step S101 may include steps A01 to A02:

[0104] Step A01, obtaining a light return signal received by a laser radar;

[0105] It should be noted that the return light signal is a laser signal emitted by the laser radar and reflected back to the laser radar from the positioning target point.

[0106] Step A02, sampling the return light signal to obtain a return light collection waveform signal;

[0107] The light return signal is sampled by a high-speed analog-to-digital converter and converted into a digital signal for subsequent signal processing. The obtained sampling signal is the light return acquisition waveform signal.

[0108] By sampling the return light signal of the lidar, the technical problem that the return light signal has a large amount of data and is difficult to process directly is solved.

[0109] Step S102, when the return light collection waveform signal reaches full deviation of the sampling value and a clipping phenomenon occurs, determining that the reflection condition is a strong reflection condition.

[0110] When the return light acquisition waveform signal reaches full sampling value and clipping occurs, it can be determined that the reflection condition at this time is a strong reflection condition. Figure 4 , where the horizontal axis represents time in nanoseconds (ns) and the vertical axis represents signal amplitude in millivolts (mV).

[0111] Step S103, when the return light collection waveform signal does not reach the full deviation of the sampling value, determining that the reflection condition is a normal reflection condition.

[0112] When the return light acquisition waveform signal does not reach the full deviation of the sampling value, it can be determined that the reflection condition at this time is a normal reflection condition, see Figure 5 , where the horizontal axis represents time in nanoseconds (ns) and the vertical axis represents signal amplitude in millivolts (mV).

[0113] This embodiment provides a laser radar signal processing method, which adopts a method of judging the reflection condition according to the state of the return light collection waveform signal, overcoming the technical problem that the received signal changes significantly in different environments and it is impossible to distinguish the reflection state and adopt a suitable signal processing method, thereby achieving the technical effect of improving the efficiency of processing the return light collection waveform signal.

[0114] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above description, and will not be described in detail later. Figure 6 , step S30 includes steps S301 to S302:

[0115] Step S301, processing the signal processing result.

[0116] The signal processing results, namely the edge signal detection time and the echo signal detection time, are obtained by using corresponding signal processing methods according to different reflection conditions.

[0117] Step S302, obtaining the detection time of the laser radar to complete the processing of the laser radar signal.

[0118] The detection time of the laser radar is obtained, and the detection time can be used to accurately locate the target point and obtain the positioning information, that is, the processing of the laser radar signal is completed.

[0119] This embodiment provides a laser radar signal processing method, which adopts a method of processing the signal processing results to obtain target positioning information, overcomes the technical problem that the laser radar detection time is not accurate enough and thus causes large errors in the target positioning information, and achieves the technical effect of improving the laser radar detection accuracy.

[0120] 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 signal processing method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0121] This application also provides a laser radar signal processing device, please refer to Figure 7, the laser radar signal processing device comprises:

[0122] The signal acquisition module 10 is used to acquire the return light collection waveform signal of the laser radar and determine the reflection condition;

[0123] A signal processing module 20, configured to process the return light collection waveform signal using a corresponding signal processing method according to the reflection condition and obtain a signal processing result;

[0124] The positioning analysis module 30 is used to obtain the detection time of the laser radar according to the signal processing result to complete the processing of the laser radar signal.

[0125] The laser radar signal processing device provided by the present application adopts the laser radar signal processing method in the above embodiment, which can solve the technical problem of how to improve the detection accuracy of the laser radar under different reflection conditions. Compared with the prior art, the beneficial effects of the laser radar signal processing device provided by the present application are the same as the beneficial effects of the laser radar signal processing method provided by the above embodiment, and the other technical features in the laser radar signal processing device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0126] The present application provides a laser radar signal processing 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 so that the at least one processor can execute the laser radar signal processing method in the above-mentioned embodiment one.

[0127] Reference below Figure 8 , which shows a schematic diagram of the structure of a laser radar signal processing device suitable for implementing the embodiment of the present application. The laser radar signal processing 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 8 The laser radar signal processing 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.

[0128] like Figure 8As shown, the laser radar signal processing 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 signal processing 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. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the laser radar signal processing device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a laser radar signal processing 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 can be implemented or provided instead.

[0129] 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.

[0130] The laser radar signal processing device provided by the present application adopts the laser radar signal processing method in the above embodiment, which can solve the technical problem of how to improve the detection accuracy of the laser radar under different reflection conditions. Compared with the prior art, the beneficial effects of the laser radar signal processing device provided by the present application are the same as the beneficial effects of the laser radar signal processing method provided by the above embodiment, and the other technical features in the laser radar signal processing device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0131] 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.

[0132] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the 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.

[0133] 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 signal processing method in the above-mentioned embodiment.

[0134] 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.

[0135] The above-mentioned computer-readable storage medium may be included in the laser radar signal processing device; or it may exist independently without being assembled into the laser radar signal processing device.

[0136] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the laser radar signal processing device, the laser radar signal processing device: obtains the return light collection waveform signal of the laser radar and determines the reflection condition; uses the corresponding signal processing method to process the return light collection waveform signal according to the reflection condition and obtains the signal processing result; obtains the detection time of the laser radar according to the signal processing result to complete the processing of the laser radar signal.

[0137] 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).

[0138] 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.

[0139] 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.

[0140] 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 signal processing method, and can solve the technical problem of how to improve the detection accuracy of the laser radar under different reflection conditions. 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 signal processing method provided in the above-mentioned embodiment, and will not be repeated here.

Claims

1. A laser radar signal processing method, characterized in that: The method comprises: Obtain the laser radar return light collection waveform signal and determine the reflection condition; According to the reflection condition, a corresponding signal processing method is used to process the return light collection waveform signal and obtain a signal processing result; The detection time of the laser radar is obtained according to the signal processing result to complete the processing of the laser radar signal.

2. The method according to claim 1, characterized in that The step of using a corresponding signal processing method according to the reflection condition to process the return light collection waveform signal and obtain a signal processing result includes: When the reflection condition is a strong reflection condition, edge restoration and median compensation processing is performed on the return light collection waveform signal to obtain a signal processing result; When the reflection condition is a normal reflection condition, the centroid restoration process is performed on the return light collection waveform signal to obtain the signal processing result.

3. The method according to claim 2, characterized in that The step of performing edge restoration median compensation processing on the return light collection waveform signal and obtaining a signal processing result when the reflection condition is a strong reflection condition comprises: When the reflection condition is a strong reflection condition, the sampling data of the rising edge of the return light collection waveform signal is processed by a training function fitting method to regenerate an edge signal; Based on the sampling data, an intermediate threshold is obtained, and a linear function is used to process a preset number of sampling points of the edge signal adjacent to the intermediate threshold to obtain an edge detection time quantity; Performing compensation processing on the edge detection time to obtain edge signal detection time; The edge signal detection time is used as a signal processing result.

4. The method according to claim 2, characterized in that The step of performing centroid restoration processing on the return light collection waveform signal and obtaining a signal processing result when the reflection condition is a conventional reflection condition comprises: When the reflection condition is a normal reflection condition, performing integration processing on the return light collection waveform signal to obtain the centroid of the return light collection waveform signal; Obtaining the echo signal detection time according to the projection of the centroid on the time axis; The echo signal detection time is used as the signal processing result.

5. The method according to claim 1, characterized in that The step of acquiring the return light collection waveform signal of the laser radar and determining the reflection condition includes: Obtain the return light collection waveform signal of the laser radar; When the return light collection waveform signal reaches full deviation of the sampling value and a clipping phenomenon occurs, determining that the reflection condition is a strong reflection condition; When the return light collection waveform signal does not reach the full deviation of the sampling value, it is determined that the reflection condition is a normal reflection condition.

6. The method according to claim 5, characterized in that The step of obtaining the return light collection waveform signal of the laser radar includes: Obtain the return light signal received by the laser radar; The return light signal is sampled to obtain a return light collection waveform signal.

7. The method according to any one of claims 1 to 6, characterized in that The step of obtaining the detection time of the laser radar according to the signal processing result to complete the signal processing of the laser radar includes: Processing the signal processing result; The detection time of the laser radar is obtained to complete the processing of the laser radar signal.

8. A laser radar signal processing device, characterized in that: The device comprises: A signal acquisition module is used to acquire the return light collection waveform signal of the laser radar and determine the reflection condition; A signal processing module, used to process the return light collection waveform signal using a corresponding signal processing method according to the reflection condition and obtain a signal processing result; The positioning analysis module is used to obtain the detection time of the laser radar according to the signal processing result to complete the processing of the laser radar signal.

9. A laser radar signal processing 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 laser radar signal processing 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 signal processing method as described in any one of claims 1 to 7 are implemented.

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