Measurement method and measurement device of target object and computer readable storage medium

Abstract

The invention provides a target object measuring method and device and a computer readable storage medium. According to the method, measurement parameters corresponding to scanning blocks are set according to echo signals of the scanning blocks in a historical frame in a laser radar scanning array, then laser pulses are emitted through the scanning blocks according to the measurement parameters so as to measure a target object in the current frame, and the target object can be measured by flexibly configuring the measurement parameters corresponding to the scanning blocks. And the measurement requirements in different scenes can be met.

Description

Technical Field

[0001] The present application belongs to the field of laser radar technology, and in particular, relates to a method for measuring a target object, a measuring device, and a computer-readable storage medium. Background Art

[0002] LiDAR is a radar system that emits laser signals to detect the position, speed and other characteristic quantities of each object in the target scene. Its working principle is to emit laser signals (detection signals) to the target detection objects in the target scene, and then compare the received echo signals reflected from the target detection objects with the emitted laser signals. After appropriate processing, relevant information of the target detection objects can be obtained, such as the distance, direction, height, speed, attitude, and even shape parameters between the laser radar, so as to realize the detection, tracking and identification of each object in the target scene.

[0003] With the development of technology, LiDAR has begun to be used in various scenarios, for example, it can be used on high-speed cars, slow logistics vehicles, fixed robots, etc. However, current LiDAR may not meet the measurement needs in different scenarios. Summary of the invention

[0004] The embodiments of the present application provide a target object measurement method, a measurement device, and a computer-readable storage medium, which can meet measurement requirements in different scenarios.

[0005] In a first aspect, the present invention provides a method for measuring a target object, including:

[0006] According to the echo signal of the i-th scanning block of the scanning array of the laser radar in the historical frame, setting the measurement parameter of the i-th scanning block, wherein i is a positive integer greater than or equal to 1, and the historical frame includes one or more scanning frames;

[0007] According to the set measurement parameters of the i-th scanning block, a laser pulse is emitted through the i-th scanning block, wherein the laser pulse is used to measure the target object in the current frame, the scanning time corresponding to the historical frame is before the scanning time corresponding to the current frame, and the scanning time corresponding to the last scanning frame scanned in the historical frame is adjacent to the scanning time corresponding to the current frame.

[0008] Optionally, setting the measurement parameters of the i-th scanning block according to the echo signal of the i-th scanning block of the scanning array of the laser radar in the historical frame includes:

[0009] The measurement distance of the i-th scanning block is set according to the signal strength of the echo signal.

[0010] Optionally, setting the measurement parameters of the i-th scanning block according to the echo signal of the i-th scanning block of the scanning array of the laser radar in the historical frame includes:

[0011] According to the point cloud corresponding to the echo signal, the scanning superposition times of the i-th scanning block are set, and the scanning superposition times indicate the number of times the i-th scanning block emits the laser pulse corresponding to the current frame.

[0012] Optionally, the step of setting the measurement parameters of the i-th scanning block according to the echo signal of the i-th scanning block of the scanning array of the laser radar in the historical frame further includes:

[0013] The transmission power of the i-th scanning block is set according to the measurement distance of the i-th scanning block.

[0014] Optionally, the method further comprises:

[0015] According to the emission power of the i-th scanning block, the charging time of the laser pulse of the i-th scanning block is configured.

[0016] Optionally, the method further comprises:

[0017] The charging time is stored, and the charging time corresponds to the i-th scanning block.

[0018] Optionally, the method further comprises:

[0019] The scanning mode of the laser radar is set, and the scanning mode indicates the way in which the laser radar scans through the scanning array.

[0020] Optionally, the method further comprises:

[0021] A scanning matrix of the laser radar is set, wherein the scanning matrix indicates the number of vertical scanning blocks and the number of horizontal scanning blocks in the scanning array.

[0022] Optionally, the method further comprises:

[0023] According to the row selection truth table of the laser radar hardware circuit, setting a mapping value for controlling a drive signal of each scanning block in the scanning array;

[0024] The emitting laser pulses through the i-th scanning block comprises:

[0025] According to the mapping value of the driving signal of the i-th scanning block in the scanning array, a laser pulse is emitted through the i-th scanning block.

[0026] In a second aspect, an embodiment of the present application provides a device for measuring a target object, comprising:

[0027] A parameter setting module, used to set the measurement parameters of the i-th scanning block of the scanning array of the laser radar according to the echo signal of the i-th scanning block in the historical frame, wherein i is a positive integer greater than or equal to 1, and the historical frame includes one or more scanning frames;

[0028] A laser emission module is used to emit a laser pulse through the i-th scanning block according to the measurement parameters set for the i-th scanning block, wherein the laser pulse is used to measure the target object in the current frame, the scanning time corresponding to the historical frame is before the scanning time corresponding to the current frame, and the scanning time corresponding to the last scanning frame scanned in the historical frame is adjacent to the scanning time corresponding to the current frame.

[0029] In a third aspect, an embodiment of the present application provides a measuring device for a target object, comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing a method as described in any one of the first aspects.

[0030] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement any of the methods described above.

[0031] The beneficial effects brought about by the technical solutions provided by some embodiments of the present application include at least:

[0032] Based on the above scheme, the subsequent measurement parameters can be adjusted according to the echo signal obtained in the historical frame, so that the laser radar can adapt to the measurement requirements in different scenarios, expanding the application scenarios of the laser radar. For example, the laser radar may be switched in different scenarios during use, and the measurement requirements in different scenarios are different. If fixed measurement parameters are used, the obtained measurement results may not meet the measurement requirements in the corresponding scenarios. For example, if a higher transmission power is used for a closer object, the obtained echo signal may be oversaturated and cannot meet the measurement requirements. Based on this, in the scheme provided in the embodiment of the present application, the measurement parameters of the current frame can be set according to the echo signal of the historical frame. Specifically, it can be judged whether the measurement result of the historical frame meets the measurement requirements according to the echo signal of the historical frame. For example, if the echo signal of the historical frame is oversaturated, or the echo signal strength is too low, or the accuracy of the point cloud data corresponding to the echo signal is too low, etc., it can be considered that the measurement result of the historical frame does not meet the measurement requirements in the current scene, and then the measurement parameters of the current frame can be adjusted based on this so that the measurement result of the current frame can meet the measurement requirements. For example, if the signal strength of the echo signal of the historical frame is lower than the preset threshold, the measurement distance and transmission power corresponding to the current frame can be increased. Through the above scheme, the measurement parameters of the current frame can be adjusted in time when the measurement result of the historical frame does not meet the measurement requirements, so that the laser radar can use the measurement requirements in different scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0034] Figure 1 A schematic structural diagram of a scanning matrix provided in an embodiment of the present application is shown;

[0035] Figure 2 A schematic flow chart of a method for measuring a target object provided in an embodiment of the present invention;

[0036] Figure 3 A schematic diagram of a distance measurement method of a laser radar provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of another distance measurement method of a laser radar provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of adaptive selection of a measurement distance provided in an embodiment of the present application;

[0039] Figure 6 A schematic diagram of a programmable drive timing provided by an embodiment of the present application;

[0040] Figure 7 A schematic diagram of an adaptive power control solution provided in an embodiment of the present application;

[0041] Figure 8 A schematic diagram of the structure of a target object measurement device provided in an embodiment of the present application;

[0042] Fig. 9 A schematic diagram of the structure of another target object measurement device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] The terms "first", "second", "third", "fourth" and various other terminology labels (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0045] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "plurality" or "multiple" means two or more than two.

[0046] The specific operation method in the method embodiment of the present application can also be applied to the device embodiment or the system embodiment.

[0047] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0048] In the various embodiments of the present application, unless otherwise specified or provided for in any logical conflict, the terms and / or descriptions between the different embodiments are consistent and may be referenced to each other, and the technical features in the different embodiments may be combined to form new embodiments according to their inherent logical relationships.

[0049] It is understood that the various numbers involved in this application are only used for the convenience of description and are not used to limit the scope of this application. The order of execution of each process should be determined by its function and internal logic.

[0050] LiDAR is a radar system that emits laser pulse signals to detect the position, speed and other characteristic quantities of each object in the target scene. As an example, the LiDAR involved in the embodiment of the present application is composed of an array scanning device (or array transmitting device) and an array receiving device, which can simultaneously obtain point cloud data from multiple angles. Figure 1 The structure of a scanning array of a laser radar involved in this application is exemplified. Figure 1 As shown, the scanning array (also called the transmitting array) of the laser radar is composed of multiple scanning blocks (also called transmitting units). 0 to 11 in the figure are used to represent the column number of the scanning block, and A to H are used to represent the row number of the scanning block. Any scanning block in the scanning array can be represented by the row number and column number. When the laser radar is working, each scanning block is controlled separately, turned on in time, and scanned according to a certain driving sequence to finally complete a frame of point cloud. The receiving array of the laser radar is similar in structure to the scanning array. In one scenario, the number of scanning blocks can be set to be the same as the number of receiving blocks, that is, one scanning block corresponds to one receiving block. In another scenario, it can also be designed in a way that one scanning block corresponds to multiple receiving blocks, or multiple scanning blocks correspond to one receiving block, which is not limited in this application.

[0051] As mentioned in the background technology, LiDAR has begun to be used in various scenarios. However, the measurement requirements in different scenarios may be different. How to make LiDAR applicable to different scenarios and meet the measurement requirements in different scenarios is a problem that needs to be considered at present.

[0052] Based on this, the present application provides a method for measuring a target object, in which the measurement parameters of the scanning block are set according to the echo signal of the historical frame, and the measurement is performed in the current frame according to the measurement parameters. In other words, the solution of the present application can flexibly configure the measurement parameters of the current frame according to the measurement information obtained in the historical frame, which is conducive to meeting different measurement requirements in different scenarios. Figure 2 The method 100 shown is a detailed description of the parameter configuration method provided by the present application.

[0053] like Figure 2 As shown, the method 100 includes the following steps:

[0054] S110, setting measurement parameters of the ith scanning block according to the echo signal of the ith scanning block of the scanning array of the laser radar in the historical frame.

[0055] Exemplarily, the measurement parameters of the scanning blocks in the multiple scanning blocks are set according to the echo signals of each scanning block in the historical frame. The echo signal here refers to the detection information received by the receiving block corresponding to the i-th scanning block in the historical frame. For example, assuming that the scanning time corresponding to the historical frame is the first scanning time, the i-th scanning block emits a laser pulse (detection signal) to the target object in the target scene at the first scanning time, and the pulse signal reflected from the target object received by the receiving block corresponding to the i-th scanning block is the echo signal of the i-th scanning block in the historical frame.

[0056] Take the i-th scanning block among the multiple scanning blocks as an example: the measurement parameters of the i-th scanning block are set according to the echo signal of the i-th scanning block in the historical frame, wherein i is a positive integer greater than or equal to 1, the historical frame includes one or more scanning frames, the measurement parameters are used to emit laser pulses to measure the target object in the current frame, the scanning time of the historical frame is before the scanning time corresponding to the current frame, and the scanning time corresponding to the last scanning frame scanned in the historical frame is adjacent to the scanning time corresponding to the current frame. If the historical frame includes only one scanning frame, the last scanning frame scanned in the historical frame refers to the historical frame itself; if the historical frame includes multiple scanning frames, the last scanning frame scanned in the historical frame refers to the scanning frame with the last scanning time among the multiple scanning frames. The scanning time corresponding to the last scanning frame scanned in the historical frame is adjacent to the scanning time of the current frame, which means that after the scanning process corresponding to the historical frame is completed, the scanning process corresponding to the current frame is then executed.

[0057] The measurement parameters of the i-th scanning block include but are not limited to the transmission power, transmission frequency, transmission time of the i-th scanning block and the number of superpositions of the echo signals of the receiving block corresponding to the i-th scanning block.

[0058] In the solution provided in S110, the measurement parameters of the next one or more frames (corresponding to the above-mentioned current frame) are determined according to the detection information (corresponding to the echo signals of the above-mentioned historical frames) of the previous one or more frames (corresponding to the above-mentioned historical frames). The specific implementation method is exemplified below with reference to examples.

[0059] In a possible implementation, the measurement parameter includes the transmission power. For example, step S110 may include: according to the signal strength of the echo signal of the i-th scanning block in the historical frame, setting the transmission power of the i-th scanning block. In this way, the corresponding transmission power can be configured for n (n is a positive integer greater than or equal to i) scanning blocks in the scanning matrix, as shown in Table 1. Based on the example in Table 1, the transmission power corresponding to different scanning blocks can be set by configuring the values ​​of Csr_tof_0, Csr_tof_1, ..., Csr_tof_n, wherein Csr_tof_0 represents the transmission power of the 0th scanning block in each row of the scanning array, Csr_tof_1 represents the transmission power of the 1st scanning block in each row of the scanning array, ..., Csr_tof_n represents the transmission power of the nth scanning block in each row of the scanning array. Wherein, Csr_tof represents the transmission power of the scanning block.

[0060] Table 1

[0061] name Description Csr_tof_0 Transmit power of the 0th scan block in each row Csr_tof_1 Transmit power of the first scan block in each row …… …… Csr_tof_n Transmit power of the nth scan block in each row

[0062] Based on the above scheme, the transmission power of the scanning block can be adjusted to meet the measurement requirements of the measurement distance in different scenarios. It can be understood that the detection field of view corresponding to the scanning array can be divided into multiple areas. Each area corresponds to multiple scanning modules. The detection field of view includes a horizontal detection field of view and a vertical detection field of view. Figure 3 and Figure 4 Here are two examples of scenarios: Figure 3 and Figure 4 The central angle of the sector in represents the horizontal field of view corresponding to the scanning block. In one example, the detection area around the vehicle body can be divided according to the horizontal field of view of 0° to 360°; the radius of the sector can represent the measurement distance of the scanning block corresponding to the field of view. Figure 3 As shown, during vehicle driving, for the scanning blocks used in the forward direction (such as the scanning blocks corresponding to the field of view area of ​​60° to 120° in the horizontal field of view), a relatively long measurement distance can be set as needed, so that decisions can be made earlier in the state of high-speed driving, and for the scanning blocks of the edge field of view (such as the scanning blocks corresponding to the field of view areas of 20° to 60° and 120° to 160° in the horizontal field of view), it is only necessary to cover both sides of the road, and the measurement distance can be reduced relative to the middle field of view. Figure 4As shown, for the scanning blocks used laterally (such as the scanning blocks corresponding to the field of view area of ​​240° to 300° in the horizontal field of view), the distance measurement length of the field of view on both sides is required to be longer, so that objects farther forward and backward can be detected, which is convenient for better detection capabilities in the scenes of lane changes and turns. For the scanning blocks in the middle field of view (such as the scanning blocks corresponding to the field of view areas of 160° to 240°, 300° to 360°, and 0° to 20° in the horizontal field of view), it is only necessary to cover both sides of the road, and the distance measurement distance can be reduced relative to the field of view on both sides. Among them, it can be understood that the scanning blocks in the scanning array can be grouped according to the fixed position of the radar and the corresponding detection field of view requirements. For example, it includes a forward scanning module (a scanning module corresponding to the central detection field of view), an edge scanning module, etc.

[0063] When the scene in which the laser radar is applied changes, and the scene after the change has different requirements for the measurement distance, the laser radar can also adjust the transmission power of the scanning block in time according to the detection information obtained in the historical frame. It can be understood that the longer the measurement distance corresponding to the scanning block, the greater the transmission power of the scanning block. The closer the measurement distance corresponding to the scanning block, the smaller the transmission power of the scanning block. For example, if the scene in which the current radar is applied is a highway scene, the forward detection distance needs to be farther, and the transmission power of the scanning block corresponding to the forward detection range can be controlled to increase. It can be understood that if the scene in which the current radar is applied is a crossroads scene, the forward detection distance needs to be reduced, and the transmission power of the scanning block corresponding to the forward detection range can be controlled to decrease. Among them, it can be understood that the scene can also be confirmed according to the density of obstacles. For example, when the forward obstacle density is large, the detection distance of the forward detection range needs to be reduced, and the transmission power of the scanning block corresponding to the forward detection range should be reduced accordingly. When the forward obstacle density is small, the detection distance of the forward detection range needs to be increased, and the transmission power of the scanning block corresponding to the forward detection range should be increased accordingly.

[0064] For example, in Figure 3 Based on the scheme shown, the vehicle position has moved, the density of the corresponding obstacles has changed, and the detection distance requirement corresponding to the forward scanning block has changed. According to this situation, the measurement distance of the forward scanning module can be reduced, thereby saving power consumption and achieving better detection.

[0065] It is understood that, as an optional implementation, when the different detection areas correspond to multiple scanning blocks, each scanning block can further complete the fine adjustment of the transmission power of the scanning block corresponding to the current frame according to the intensity of the echo signal received by the receiving block corresponding to the scanning block in the historical frame. For example, when it is detected that the obstacle density corresponding to the radar is relatively small, the transmission power of the multiple forward scanning blocks is increased. When the receiving blocks corresponding to some of the scanning blocks in the multiple forward scanning blocks are saturated, the transmission power of the scanning blocks corresponding to the saturated receiving blocks is reduced, so that the measurement result of the current frame meets the measurement requirements, so as to further improve the detection performance of the radar.

[0066] In a possible implementation, the measurement parameters include the emission frequency of the scanning block (or the measurement parameters include the number of superpositions of the receiving block corresponding to the scanning block). For example, step S110 may specifically include: according to the point cloud corresponding to the echo signal of the i-th scanning block in the historical frame, setting the emission frequency of the i-th scanning block or the number of scanning superpositions of the receiving block corresponding to the i-th scanning block. The emission frequency of the scanning block refers to the number of times the i-th scanning block emits laser pulses corresponding to the current frame. The emission frequency of the scanning block may be equal to the number of scanning superpositions of the receiving block corresponding to the scanning block. Optionally, the emission frequency of the scanning block may not be equal to the number of superpositions of the receiving block corresponding to the scanning block. The need to improve detection performance can be achieved by adjusting one of them. For example, the measurement accuracy can be improved by increasing the number of superpositions of the echo signal corresponding to the scanning block. In this way, according to the detection requirements of the scanning blocks corresponding to different detection fields of view, it is possible to configure the corresponding transmission frequency for n (n is a positive integer greater than or equal to i) scanning blocks in the scanning matrix by programming, or to configure the corresponding superposition times for the receiving blocks corresponding to n (n is a positive integer greater than or equal to i) scanning blocks in the scanning matrix by programming. As shown in Table 2. Based on the example in Table 2, the scanning superposition times corresponding to different scanning blocks can be set by configuring the values ​​of Csr_cycle_0, Csr_cycle_1, ..., Csr_cycle_n, wherein Csr_cycle_0 represents the scanning superposition times of the 0th scanning block in each row of the scanning array, Csr_cycle_1 represents the scanning superposition times of the 1st scanning block in each row of the scanning array, ..., Csr_cycle_n represents the scanning superposition times of the nth scanning block in each row of the scanning array. Among them, it can be understood that Csr_cycle can represent the superposition times of the scanning block.

[0067] Table 2

[0068] name Description Csr_cycle_0 The number of scan overlays for the 0th scan block in each row Csr_cycle_1 The number of scan overlaps for the first scan block in each row …… …… Csr_cycle_n The number of scan overlays for the nth scan block in each row

[0069] Based on the above scheme, the laser radar can adapt to the requirements of measurement accuracy in different scenarios. Specifically, the point cloud data corresponding to the echo signal of the i-th scanning block in the historical frame is obtained, and it is determined whether the accuracy of the point cloud data meets the detection requirements. For example, the corresponding thresholds can be configured for different scenes in advance according to the detection requirements. The laser radar can identify the current scene according to the echo signal of the i-th scanning block in the historical frame and obtain the threshold under the corresponding scene. When the accuracy of the point cloud data corresponding to the echo signal of the i-th scanning block in the historical frame is higher than the threshold, it is determined that the accuracy of the point cloud data meets the detection requirements. At this time, the number of scanning superpositions can be reduced (or the number of scanning superpositions remains unchanged). When the accuracy of the point cloud data corresponding to the echo signal of the i-th scanning block in the historical frame is lower than the threshold, it is determined that the accuracy of the point cloud data does not meet the detection requirements. At this time, the number of scanning superpositions can be increased. That is, if the accuracy of the point cloud data is high, the number of scanning superpositions is reduced, thereby reducing resource consumption and reducing data volume; if the accuracy of the point cloud data is low, the number of scanning superpositions is increased, thereby improving the measurement accuracy of the laser radar.

[0070] It is understandable that the parameters shown in Table 1 and Table 2 can be configured synchronously. Figure 5 As shown, the parameters in the current frame are adaptively adjusted according to the measurement parameters of the scanning block in the historical frame. For example, the transmission power of the 0th scanning block in each row and the number of superpositions of the echo signal corresponding to the scanning block, the measurement distance of the 1st scanning block in each row and the number of superpositions of the echo signal corresponding to the scanning block... the measurement distance of the nth scanning block in each row and the number of superpositions of the receiving unit corresponding to the scanning block are configured. When scanning the ith scanning block, the measurement distance corresponding to the ith scanning block and the number of superpositions of the receiving unit corresponding to the scanning block are selected by the multiplexer Mux, so that the measurement distance and the scanning superposition times of the scanning block can be adaptively adjusted according to the needs in different scenarios, thereby improving the measurement performance of the lidar.

[0071] In a possible implementation, the measurement parameter includes the transmission power. For example, step S110 may specifically include: according to the measurement distance, setting the transmission power of the laser pulse emitted by the i-th scanning block. That is, after determining the measurement distance according to the echo signal of the i-th scanning block in the historical frame, the corresponding transmission power may be adaptively adjusted according to the measurement distance.

[0072] Based on the above solution, the laser radar can adapt to the requirements of transmission power in different scenarios.

[0073] Further optionally, the charging time of the laser pulse of the i-th scanning block can be configured according to the emission power. The emission power of the laser pulse can be adjusted by controlling the charging time. Exemplarily, for a high-level valid signal, its charging time represents the time when the signal is at a high level, and for a low-level valid signal, its charging time represents the time when the signal is at a low level.

[0074] Specifically, Figure 6 As shown, ref represents the reference signal, S1, S2 and S3 are laser pulse signals emitted by different scanning blocks, respectively. Taking the S1 signal as an example, the S1 signal is a high-level valid signal. Relative to the time of the level jump of the reference signal ref, the S1 signal starts to charge (i.e., starts to pull up the signal) after a t1 driving time. The charging time t4 is determined based on the emission power of the corresponding scanning block, and the charging time t4 is the time when the S1 signal is in a high-level state. Taking the S2 signal as an example, the S2 signal is a high-level valid signal. Relative to the time of the level jump of the reference signal ref, the S2 signal starts to charge (i.e., starts to pull up the signal) after a t2 driving time. The charging time t5 is determined based on the emission power of the corresponding scanning block, and the charging time t5 is the time when the S2 signal is in a high-level state. Taking the S3 signal as an example, the S3 signal is a low-level valid signal. Relative to the time of the level jump of the reference signal ref, the S3 signal starts to charge (i.e., starts to pull up the signal) after a t3 driving time. The charging time t6 is determined based on the transmission power of the corresponding scanning block. The charging time t6 is the time when the S3 signal is in a low-level state.

[0075] It can be understood that the above t1, t2, t3 are used to indicate the emission time of different signals, that is, the driving timing of the signal can be configured by configuring t1, t2, t3. For example, as shown in Table 3, the driving timing of the pulse signal of n scanning blocks can be configured in this way.

[0076] Table 3

[0077] name Description Csr_tx_t1 Tx drive time 1 Csr_tx_t2 Tx drive time 2 Csr_tx_t3 Tx drive time 3 …… …… Csr_tx_tN Tx driving time N

[0078] Optionally, the charging time of the i-th scanning block may be stored, and the charging time corresponds to the i-th scanning block. Exemplarily, the charging time of the laser pulse of each scanning block is configured by the above method, and then the charging time corresponding to each scanning block is pre-stored in the table, so that the scanning blocks of the scanning array can accurately control the transmission power of the signal during subsequent use. Specifically, Figure 7As shown, taking the pre-stored charging time t5 as an example, first, through a register Csr_power_level_sel, the total transmission power is divided into multiple gears according to the measurement distance, and different gears correspond to different measurement distances. For example, the measurement distance of 0-20 meters is divided into the first gear, the measurement distance of 20-80 meters is divided into the second gear, and the measurement distance of 80-100 meters is divided into the third gear. The measurement distance (or transmission power) can be divided into different gears according to actual needs, and the division method is not specifically limited here. By dividing the measured distance into three gears, three large segments of table entries are corresponding in the table, namely, the 0th table segment, the 1st table segment and the 2nd table segment. There are 36×12 address spaces in each segment of the table. Each address space stores the t5 values ​​of the left and right blocks, respectively, l_t5 and r_t5. In each segment of the table entry, the l_t5 value and r_t5 value are stored in sequence according to the position of the scan block from the 1st row and the 1st column 1_1 to the 36th row and the 12th column 12_36. At this time, the charging time of each scan block in the scan array has been pre-stored in t5_table, as shown in the following example. Figure 7 shown.

[0079] During the scanning process, when the i-th scanning block is scanned, the unique corresponding charging time can be read according to the gear position of the measurement distance corresponding to the i-th scanning block and the row and column address of the scanning block. Based on the charging time, the signal of the i-th scanning block is controlled in the high level / low level field of view, thereby achieving the purpose of accurately controlling the transmission power.

[0080] Optionally, the measurement method of the present application may also include: setting a scanning mode of the laser radar, wherein the scanning mode is a method in which the laser radar scans through a scanning array. As an example, the scanning mode is divided into one or more of the following according to the number of scanning blocks and the time corresponding to a frame scan (or the scanning rate corresponding to completing a frame scan): 2 scanning blocks scan simultaneously, 3 scanning blocks scan simultaneously, 4 scanning blocks scan simultaneously, 6 scanning blocks scan simultaneously... It can be understood that the more scanning blocks there are, the shorter the time required to complete a frame scan, and the more scanning blocks are scanned in parallel. Conversely, the fewer scanning blocks there are, the longer the time required to complete a frame scan, and the fewer scanning blocks are scanned in parallel. Multiple (such as 2, or 3, or 4, or 6...) scanning blocks scan simultaneously means that multiple scanning blocks are scanned in response to one emission, or that multiple scanning blocks emit laser pulses in response to one emission in a frame. Among them, it can be understood that the scanning blocks can be divided according to the detection field of view, that is, the detection field of view of the laser radar can be divided into multiple detection fields of view, such as the first detection field of view, the second detection field of view, the third detection field of view..., and the specific scanning mode can be to scan the first detection field of view simultaneously and the second detection field of view simultaneously...; as another example, the scanning mode can be divided into one or more of the following according to the rows and columns of the scanning block: row scanning, column scanning, mixed row and column scanning..., as another example, multiple adjacent scanning blocks in the scanning array can also be scanned simultaneously according to different scanning patterns. In actual application scenarios, different scanning modes can be selected according to detection requirements. For example, in scenarios where the scanning speed of the detection field of view is relatively high, the scanning mode of the laser radar can be configured to scan a maximum of scanning blocks simultaneously. For example, 6 scanning blocks can be scanned simultaneously. The scanning mode of the laser radar can be configured in a programmatic manner, as shown in Table 4. Based on the example in Table 4, the scan mode can be set by configuring the value of Csr_scan_mode. For example, when the value of Csr_scan_mode is 0, it means that the scan mode is three scan blocks scanning at the same time, when the value of Csr_scan_mode is 1, it means that the scan mode is two scan blocks scanning at the same time, and when the value of Csr_scan_mode is 2, it means that the scan mode is four scan blocks scanning at the same time.

[0081] Table 4

[0082]

[0083] Among them, as an optional implementation method, the parallel transmission mode of a part of the scanning array with the transmission mode determined can also be adjusted according to whether the intensity of the echo signal in the part of the historical frame is saturated. For example, according to the number of scanning modules of the scanning array and the time required for one frame scanning, the scanning mode is determined to be line scanning, that is, each transmission corresponds to a row of scanning blocks for scanning. However, for some rows where strong echo signals appeared in the previous frame, the behavior of the strong echo signals is adjusted to be scanned by two or three adjacent scanning blocks, that is, the number of concurrent scanning blocks in the part of the area is reduced, so that the measurement result of the current frame meets the measurement requirements, so as to further improve the detection performance of the radar.

[0084] Optionally, the measurement method of the present application may further include: setting a scanning matrix of the laser radar, the scanning matrix indicating the number of vertical scanning blocks and the number of horizontal scanning blocks in the scanning array. In some embodiments, the scanning matrix indicates the number of columns and rows of the scanning array. Figure 1 For example, Figure 1 The number of vertical scanning blocks and the number of horizontal scanning blocks indicated by the scanning matrix in are 12 and 8 respectively. The size of the scanning matrix can be configured programmatically, as shown in Table 5.

[0085] Table 5

[0086] name Description Csr_vscan_num Number of vertical scanning blocks Csr_hscan_num Horizontal scan blocks

[0087] It is understandable that in actual applications, a larger scanning array can scan a larger field of view, so the scanning time is longer, while a smaller scanning array can scan a smaller field of view, so the scanning time is shorter. The size of the scanning matrix can be configured according to actual needs, which is conducive to improving scanning efficiency. For scenes with a small field of view, using a smaller scanning array is conducive to reducing the resources required for scanning.

[0088] Optionally, the number of pixels (pixels) of the receiving block in the receiving array may also be configured accordingly. Specifically, the number of vertical pixels and the number of horizontal pixels of the receiving block may be configured in a programming manner, as shown in Table 6.

[0089] Table 6

[0090] name Description Csr_pov Number of vertical images in a receiving block Csr_poh Number of horizontal images in a received block

[0091] In a possible implementation, the pixel resolution of the total receiving array can be obtained by performing associated adaptive calculations based on the number of rows and columns of the scanning array and the scanning method of the laser radar. The specific method is not limited in this application.

[0092] Optionally, the measurement method of the present application may further include: setting a mapping value of a driving signal for controlling the laser radar according to a row selection truth table of a laser radar hardware circuit.

[0093] Exemplarily, assuming that the chip drive signal needs to obtain the corresponding value in the row selection drive signal truth table, as shown in Table 7, A1-A10 in the first column HS MUX on the left represents the row number where the drive signal is located, and the next five columns represent the values ​​corresponding to the five signals MUX_EN2-MUX_A_S0 in each row. For example, the value corresponding to MUX_EN2 in row A7 is 0 in Table 7.

[0094] Table 7

[0095]

[0096]

[0097] Corresponding to the above truth table, there is a corresponding driving signal mapping value, which corresponds to the truth table and is used to control different driving signals. However, in actual applications, the requirements for different hardware are different, so the corresponding truth tables are also different. Therefore, using a fixed mapping value is not suitable for all hardware, which is not conducive to hardware adjustment.

[0098] In the solution provided in the embodiment of the present application, the corresponding mapping value can be automatically adjusted according to the truth table of the hardware circuit, that is, through the programmable mapping value, it can adapt to different hardware circuits, which is conducive to the subsequent adjustment of the hardware. Specifically, the programmable mapping value can be configured in the manner shown in Table 8, where Csr_block_line_ctl_0~Csr_block_line_ctl_n respectively control the mapping value corresponding to the true value of the hardware in one row, and the mapping value of each row is implemented using a register that can be read and written by the MCU.

[0099] Table 8

[0100] Name Describe Csr_bline0_ctl The row selection control mapping value of the 0th Block row Csr_bline1_ctl The row selection control mapping value of the first block row Csr_bline2_ctl The row selection control mapping value of the 2nd Block row Csr_bline3_ctl The row selection control mapping value of the 3rd block line …… ……

[0101] S120 , based on the measurement parameters, emitting a laser pulse through the i-th scanning block.

[0102] Exemplarily, after the measurement parameters of the i-th scanning block are determined by the above scheme, a laser pulse is emitted by the i-th scanning block according to the set measurement parameters, wherein the laser pulse is used to measure the target object in the current frame.

[0103] Based on the above scheme, subsequent measurement parameters can be adjusted according to the echo signals obtained in the historical frames, so that the lidar can adapt to the measurement needs in different scenarios and expand the application scenarios of the lidar.

[0104] Furthermore, some measurement parameters can be configured based on detection requirements or hardware parameters, making the lidar scanning more flexible and better able to adapt to different scenarios or hardware requirements.

[0105] Corresponding to the methods given in the above-mentioned method embodiments, the embodiments of the present application also provide corresponding devices, which include modules for executing the corresponding methods in the above-mentioned method embodiments. The module can be software, hardware, or a combination of software and hardware. It can be understood that the technical features described in the above-mentioned method embodiments are also applicable to the following device embodiments. Therefore, the contents not described in detail can be referred to the above method embodiments, and for the sake of brevity, they will not be repeated here.

[0106] Figure 8 1 shows a structural block diagram of the device 1000 provided in an embodiment of the present application. For the sake of convenience, only the parts related to the embodiment of the present application are shown. Figure 8 , the device may specifically include the following modules:

[0107] A parameter setting module 1010 is used to set the measurement parameters of the i-th scanning block according to the echo signal of the i-th scanning block of the laser radar in the historical frame, wherein i is a positive integer greater than or equal to 1, and the historical frame includes one or more scanning frames;

[0108] The laser emission module 1020 is used to emit a laser pulse through the i-th scanning block according to the measurement parameters set for the i-th scanning block, wherein the laser pulse is used to measure the target object in the current frame, the scanning time corresponding to the historical frame is before the scanning time corresponding to the current frame, and the scanning time corresponding to the last scanning frame scanned in the historical frame is adjacent to the scanning time corresponding to the current frame.

[0109] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method and system embodiment section and will not be repeated here.

[0110] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0111] like Fig. 9 As shown, an embodiment of the present application also provides a device 1100, which includes: at least one processor 1110, a memory 1120, and a computer program 1121 stored in the memory and executable on at least one processor, and when the processor executes the computer program, the steps in any of the above-mentioned method embodiments are implemented.

[0112] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0113] An embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, a mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0114] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0115] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0116] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0117] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0118] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0119] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for measuring a target object, characterized in that: include: According to the echo signal of the i-th scanning block of the scanning array of the laser radar in the historical frame, setting the measurement parameter of the i-th scanning block, wherein i is a positive integer greater than or equal to 1, and the historical frame includes one or more scanning frames; According to the set measurement parameters of the i-th scanning block, a laser pulse is emitted through the i-th scanning block, wherein the laser pulse is used to measure the target object in the current frame, the scanning time corresponding to the historical frame is before the scanning time corresponding to the current frame, and the scanning time corresponding to the last scanning frame scanned in the historical frame is adjacent to the scanning time corresponding to the current frame.

2. The method according to claim 1, characterized in that The step of setting the measurement parameters of the i-th scanning block according to the echo signal of the i-th scanning block of the scanning array of the laser radar in the historical frame includes: The measurement distance of the i-th scanning block is set according to the signal strength of the echo signal.

3. The method according to claim 1 or 2, characterized in that: The step of setting the measurement parameters of the i-th scanning block according to the echo signal of the i-th scanning block of the scanning array of the laser radar in the historical frame includes: According to the point cloud corresponding to the echo signal, the scanning superposition times of the i-th scanning block are set, and the scanning superposition times indicate the number of times the i-th scanning block emits the laser pulse corresponding to the current frame.

4. The method according to claim 2, characterized in that: The step of setting the measurement parameters of the i-th scanning block according to the echo signal of the i-th scanning block of the scanning array of the laser radar in the historical frame also includes: The transmission power of the i-th scanning block is set according to the measurement distance of the i-th scanning block.

5. The method according to claim 4, characterized in that The method further comprises: According to the emission power of the i-th scanning block, the charging time of the laser pulse of the i-th scanning block is configured.

6. The method according to claim 1, characterized in that The method further comprises: The scanning mode of the laser radar is set, and the scanning mode indicates the way in which the laser radar scans through the scanning array.

7. The method according to claim 1, characterized in that The method further comprises: A scanning matrix of the laser radar is set, wherein the scanning matrix indicates the number of vertical scanning blocks and the number of horizontal scanning blocks in the scanning array.

8. The method according to claim 1, characterized in that The method further comprises: According to the row selection truth table of the laser radar hardware circuit, setting a mapping value for controlling a drive signal of each scanning block in the scanning array; The emitting laser pulses through the i-th scanning block comprises: According to the mapping value of the driving signal of the i-th scanning block in the scanning array, a laser pulse is emitted through the i-th scanning block.

9. A target object measuring device, characterized in that: include: A parameter setting module, used to set the measurement parameters of the i-th scanning block of the scanning array of the laser radar according to the echo signal of the i-th scanning block in the historical frame, wherein i is a positive integer greater than or equal to 1, and the historical frame includes one or more scanning frames; A laser emission module is used to emit a laser pulse through the i-th scanning block according to the measurement parameters set for the i-th scanning block, wherein the laser pulse is used to measure the target object in the current frame, the scanning time of the historical frame is before the scanning time of the current frame, and the scanning time of the last scanning frame scanned in the historical frame is adjacent to the scanning time of the current frame.

10. A computer-readable storage medium storing a computer program, characterized in that When the computer program is executed by a processor, the steps of the measurement method according to any one of claims 1 to 8 are implemented.

Images