Object reflectivity determination method and device, terminal equipment and storage medium

Abstract

The invention is suitable for the technical field of radar systems, and provides a method and device for determining the reflectivity of a target object, terminal equipment and a storage medium, and the method comprises the steps: obtaining a transmission parameter of a detection signal transmitted by a radar and echo data of an echo signal; determining a correction coefficient according to the emission parameter and / or the echo data; the correction coefficient is a coefficient which is related to the transmittance of the transmitted object and is used for correcting the reflectivity of the object; the reflectivity of the object is calculated according to the correction coefficient and the echo data, the correction coefficient which is related to the transmittance of the transmitted object and is used for correcting the reflectivity of the object is determined through the emission parameter and / or the echo data, and then the reflectivity of the object is determined through the correction coefficient and the echo data. The method can effectively reduce the influence of the inconsistency of the transmittance of the transmitted object on the accuracy of the reflectivity calculation result, and improves the accuracy of the reflectivity calculation of the object.

Description

Technical Field

[0001] The present application belongs to the technical field of radar systems, and in particular, relates to a method, apparatus, terminal device and storage medium for determining the reflectivity of an object. Background Art

[0002] Radar systems are often used in autonomous driving, logistics vehicles, robots, public smart transportation and other fields due to their high resolution, high sensitivity, strong anti-interference ability, and not being affected by dark conditions.

[0003] Radar can not only detect the distance of an object, but also detect the reflectivity of the object to achieve target recognition. The reflectivity of the object can be calculated from the reflectivity calibration results and the echo data obtained by detection.

[0004] However, the transmittance of the radar's light window may be inconsistent, which will affect the accuracy of the calculated reflectivity of the object. Summary of the invention

[0005] The embodiments of the present application provide a method, apparatus, terminal device and storage medium for determining the reflectivity of an object, which can improve the calculation accuracy of the reflectivity of an object in a scene with inconsistent transmittance.

[0006] In a first aspect, an embodiment of the present application provides a method for determining the reflectivity of an object, comprising:

[0007] Acquire the transmission parameters of the detection signal transmitted by the radar and the echo data of the echo signal; wherein the echo signal is the signal received by the radar after the object reflects the detection signal;

[0008] Determine a correction coefficient according to the transmission parameters and / or the echo data; the correction coefficient is a coefficient related to the transmittance of the object and used to correct the reflectivity of the object;

[0009] The reflectivity of the object is calculated based on the correction coefficient and the echo data.

[0010] In an implementation of the first aspect, the transmission parameters of the detection signal include a transmission angle of the detection signal, and determining the correction coefficient according to the transmission parameters includes:

[0011] The correction coefficient corresponding to the emission angle is obtained by indexing according to the emission angle of the detection signal.

[0012] In an implementation of the first aspect, determining the correction coefficient according to the echo data includes:

[0013] Determine the distance of the object based on the echo data;

[0014] An index is performed according to the distance of the object to obtain a correction coefficient corresponding to the distance.

[0015] In an implementation of the first aspect, calculating the reflectivity of the object according to the correction coefficient and the echo data includes:

[0016] Calculate the echo energy characteristic value according to the above echo data;

[0017] Correcting the echo energy characteristic value according to the correction coefficient to obtain the corrected echo energy characteristic value;

[0018] The reflectivity of the object is calculated based on the corrected echo energy characteristic value.

[0019] In an implementation of the first aspect, calculating the reflectivity of the object according to the correction coefficient and the echo data includes:

[0020] Calculate the reflectivity of the object based on the above echo data;

[0021] The reflectivity of the object is corrected according to the correction coefficient to obtain a corrected reflectivity.

[0022] In an implementation manner of the first aspect, the emission angle includes a vertical emission angle and / or a horizontal emission angle.

[0023] In an implementation of the first aspect, the transmission parameter includes transmittance distribution data; and determining the correction coefficient according to the transmission parameter and / or the echo data includes:

[0024] Determining the transmittance corresponding to the detection signal according to the transmittance distribution data;

[0025] The correction coefficient is calculated according to the transmittance corresponding to the above detection signal.

[0026] In an implementation of the first aspect, calculating the reflectivity of the object according to the correction coefficient and the echo data includes:

[0027] Correcting the reflectivity calibration result according to the correction coefficient to obtain the corrected reflectivity calibration result;

[0028] The reflectivity of the object is calculated based on the echo data and the corrected reflectivity calibration result.

[0029] In an implementation of the first aspect, calculating the reflectivity of the object according to the correction coefficient and the echo data includes:

[0030] Calculate echo energy characteristic value according to echo data;

[0031] The reflectivity of the object is calculated based on the echo energy characteristic value, the correction coefficient and the reflectivity calibration result.

[0032] In an implementation manner of the first aspect, the method for determining the reflectivity of the object further includes acquiring the transmittance distribution data.

[0033] In an implementation of the first aspect, obtaining the transmittance distribution data includes:

[0034] Obtaining a transmittance curve of a permeate;

[0035] The transmittance corresponding to the emission angle is determined from the transmittance curve according to the emission angle to obtain the transmittance distribution data.

[0036] In a second aspect, an embodiment of the present application provides a device for determining reflectivity of an object, comprising:

[0037] An acquisition unit, used to acquire the transmission parameters of the detection signal transmitted by the radar and the echo data of the echo signal; wherein the echo signal is the signal received by the radar after the object reflects the detection signal;

[0038] a determination unit, configured to determine a correction coefficient according to the transmission parameter and / or the echo data; the correction coefficient being a coefficient related to the transmittance of the object and used to correct the reflectivity of the object;

[0039] A calculation unit is used to calculate the reflectivity of the object according to the correction coefficient and the echo data.

[0040] In a third aspect, an embodiment of the present application provides a terminal device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in the first aspect or any optional method of the first aspect is implemented.

[0041] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect or any optional method of the first aspect is implemented.

[0042] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device executes the method described in the first aspect or any optional method of the first aspect.

[0043] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0044] By determining a correction coefficient related to the transmittance of the object and used to correct the reflectivity of the object through emission parameters and / or echo data, and then using the correction coefficient and echo data to determine the reflectivity of the object, it is possible to effectively reduce the impact of the inconsistency of the transmittance of the object on the accuracy of the reflectivity calculation result, and improve the accuracy of the reflectivity calculation of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0046] Figure 1 It is a schematic diagram of the structure of a laser radar in an embodiment of the present application;

[0047] Figure 2 It is a schematic diagram of an implementation flow of a method for determining the reflectivity of an object provided in an embodiment of the present application;

[0048] Figure 3 A schematic diagram of the implementation flow of S13 in the method for determining the reflectivity of an object provided in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of a reflectivity calibration result correction process in a method for determining an object reflectivity provided in an embodiment of the present application;

[0050] Figure 5 This is another implementation flowchart of S13 in the method for determining the reflectivity of an object provided in an embodiment of the present application;

[0051] Figure 6 A schematic diagram of a reflectivity correction process in a method for determining the reflectivity of an object provided in an embodiment of the present application;

[0052] Figure 7 A schematic diagram of the structure of a device for determining the reflectivity of an object provided in an embodiment of the present application;

[0053] Figure 8 A schematic diagram of the structure of a terminal device provided in an embodiment of the present application;

[0054] Fig. 9 A schematic diagram of the structure of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0056] It should be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0057] It should also be understood that references to "one embodiment" or "some embodiments" etc. described in the specification of the present application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Thus, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in the specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0058] Laser radar is a radar system that emits laser beams to detect the position, speed and other information of the target. In addition to detecting the distance of the object, it can also detect the reflectivity of the object for target identification. The specific working principle of laser radar is to emit a detection signal to the target. After reaching the target, the detection signal will be reflected by the target object, thereby forming an echo signal. The laser radar receives the signal (echo signal) reflected back by the target, and then can determine the relevant information of the target based on the echo signal, such as the target distance, position, height, speed, posture, shape, reflectivity, etc., thereby realizing target detection, target tracking, and target identification. Among them, the reflectivity of an object refers to the percentage of the radiation energy reflected by the object to the total radiation energy of the incident signal. The reflectivity of different objects is different. The reflectivity of an object is mainly determined by factors such as the surface properties of the object, the wavelength of the incident signal, and the angle of incidence.

[0059] In specific applications, according to the distance measurement method, laser radar can be divided into time of flight (ToF) distance measurement, frequency modulated continuous wave (FMCW) distance measurement and triangulation distance measurement. Among them, ToF distance measurement and FMCW distance measurement can realize the detection of targets at a relatively far distance under outdoor sunlight, and are the preferred solutions for vehicle-mounted laser radar. According to the scanning method, laser radar can be divided into mechanical laser radar with overall rotation, semi-solid laser radar with stationary transceiver module, and solid-state laser radar.

[0060] For example, see Figure 1 , Figure 1 FIG. 1 shows a schematic diagram of the structure of a laser radar. Figure 1 As shown, the laser radar 10 generally includes a transmitting module 11, a scanning system 12, a receiving module 13 and a data processing module 14. The transmitting module 11 may include a light source system 111.

[0061] Among them, the light source system 111 is used to generate the laser beam required for detection by the laser radar 10. Specifically, the light source system 111 may include optical devices such as a laser and an emitting lens group. The scanning system 12 is used to scan the laser beam generated by the light source system 111 point by point, so that the laser beam can hit different positions at different times. The scanning system 12 can be a mechanical scanning system, a semi-solid scanning system, or a solid scanning system. The receiving module 13 is used to receive echo signals reflected from different positions of an object at different times, and can perform operations such as photoelectric conversion. The data processing module 14 can process, calculate, and complete three-dimensional image reconstruction of the echo signals received and processed by the receiving module 13 to obtain information such as the distance, spatial angle, speed, and reflectivity of the target.

[0062] When a laser radar calculates the reflectivity of an object, it can usually be calculated based on the echo energy characteristic value. The above echo energy characteristic values ​​include but are not limited to the echo area sampled by the analog to digital converter (ADC), the echo pulse width sampled by the time to digital converter (TDC), and the echo amplitude calculated by the slope after multiple TDC threshold sampling. After determining the above echo energy characteristic value based on the echo signal, the system model can be established by decoupling the entire signal transmission and data processing link, and the reflectivity of the object can be calculated based on this.

[0063] However, the above method is time-consuming, and due to the complexity of the actual scene, the calculated reflectivity result is not accurate when some parameters cannot be accurately obtained.

[0064] In addition to the above method for determining the reflectivity of an object, the reflectivity of an object may also be determined by a reflectivity calibration result. The above method for determining the reflectivity of an object by a reflectivity calibration result may specifically be:

[0065] The echo energy characteristic values ​​of standard reflectivity objects with different reflectivities at different distances are measured, and a mapping relationship between reflectivity and echo energy characteristic values ​​is established, that is, calibration results of reflectivity corresponding to objects with different standard reflectivities are obtained.

[0066] In actual application, the lidar can receive echo signals, calculate the distance of the object and the echo energy characteristic value through the echo signals, and then directly find the corresponding reflectivity based on the calibration results.

[0067] For scanning LiDAR, the scanning optical path of each transmitting module will vary within a certain range of field of view (FOV). The field of view is also called the field of view. The size of the field of view determines the detection range of the radar, that is, the LiDAR can only detect objects within the field of view. The size of the field of view can be determined by the optical instrument of the LiDAR. However, if the reflectivity is calibrated for each emission angle, it will take a lot of time and resources. Therefore, the reflectivity calibration is usually only performed for a fixed emission angle to obtain the reflectivity calibration result. When calculating the reflectivity, different emission angles are calculated using the same calibration result.

[0068] The emissivity calculation for different emission angles is calibrated using the calibration results of the same reflectivity, requiring that the intensity of the echo signal does not change with the angle. Therefore, this method has certain requirements for the optical system of the lidar. For example, the design of the window lens must ensure that the transmittance of the laser beam emitted at different emission angles remains as consistent as possible.

[0069] For laser radar, the surface design of the window lens can better achieve the requirement of keeping the transmittance of laser beams emitted at different emission angles as consistent as possible. However, for vehicle-mounted radar, when the laser radar is installed in the car, it is difficult to keep the transmittance of different positions of the car's windshield and other transmissive objects consistent, especially for the windshield with a large tilt angle. When the radar emission angle is at a large angle with the normal vector of the windshield, the transmittance will be significantly reduced. In this case, the method of using the existing reflectivity calibration results to determine the reflectivity of the object will result in a large difference in the reflectivity measured when the object with the same reflectivity is detected at different emission angles within the radar's field of view. That is, because the transmittance of the vehicle windshield is inconsistent, it will affect the accuracy of the calculation result of the object's reflectivity.

[0070] Based on the above problems, an embodiment of the present application provides a method for determining the reflectivity of an object. A correction coefficient related to the transmittance of the transmitted object and used to correct the reflectivity of the object is determined through emission parameters and / or echo data, and then the correction coefficient and echo data are used to determine the reflectivity of the object. This can effectively reduce the impact of the inconsistency of the transmittance of the transmitted object on the accuracy of the reflectivity calculation results, thereby improving the accuracy of the reflectivity calculation of the object.

[0071] The following is a detailed description of the method for determining the reflectivity of an object provided in the embodiment of the present application:

[0072] See also Figure 2 , Figure 2 FIG. 2 shows an implementation process of a method for determining the reflectivity of an object provided in an embodiment of the present application. Figure 2 As shown, the above method for determining the reflectivity of the object may specifically include S11 to S13.

[0073] It should be noted that the execution subject of the method for determining the reflectivity of an object provided in the embodiment of the present application may be the above-mentioned laser radar 10, specifically the data processing module 14 in the laser radar 10. Of course, the execution subject of the above-mentioned method for determining the reflectivity of an object may also be a terminal device that is connected to the laser radar 10 for communication. The above-mentioned terminal device may be a mobile phone, desktop computer, laptop computer, tablet computer or wearable device, or a cloud server, radar-assisted computer or other device in various application scenarios. This application does not impose specific restrictions on this. The following is an example of the execution subject being the laser radar 10:

[0074] In S11, the transmission parameters of the detection signal transmitted by the radar and the echo data of the echo signal are obtained.

[0075] In a specific application, the echo signal is a signal received by the laser radar after the object reflects the detection signal.

[0076] In a specific application, the transmission parameters of the detection signal transmitted by the above radar include but are not limited to the transmission angle, transmission energy, transmission time, transmittance distribution data of the penetrating object, etc.

[0077] In specific applications, the above-mentioned transparent object refers to the object that the laser beam emitted by the radar needs to penetrate when reaching the object. In different application scenarios, the above-mentioned transparent object can correspond to different objects. For example, in the application scenario of correcting the reflectivity of the laser radar itself, the transparent object can be the window lens of the laser radar; in the application scenario of installing the laser radar inside the vehicle to realize the vehicle-mounted radar function, the above-mentioned transparent object can be the window glass such as the front windshield.

[0078] In specific applications, the laser radar's transmitting module transmits a detection signal according to the transmitting control instruction. Therefore, each time a detection signal is transmitted, the laser radar can record the transmission parameters corresponding to the detection signal. Therefore, the laser radar can determine the corresponding transmission parameters when the transmitting module transmits the detection signal according to the transmitting control instruction. After receiving the echo signal, the laser radar's receiving module will send the echo signal to the data processing module after photoelectric conversion and other processing. Therefore, the laser radar can process the echo signal through the data processing module to obtain the corresponding echo data.

[0079] In S12, a correction coefficient is determined according to the transmission parameters and / or the echo data.

[0080] In a specific application, the correction coefficient is a coefficient related to the transmittance of the object and used to correct the reflectivity of the object.

[0081] In specific applications, a mapping relationship between the correction coefficient and the transmission parameter can be established in advance, and the laser radar can determine the corresponding correction coefficient after obtaining the transmission parameter. Alternatively, a mapping relationship between the correction coefficient and the echo data can be established in advance, and the laser radar can determine the corresponding correction coefficient after obtaining the echo data. Alternatively, a mapping relationship between the correction coefficient, the transmission parameter, and the echo data can be established in advance, and the laser radar can determine the corresponding correction coefficient after obtaining the transmission parameter and the echo data.

[0082] In a specific application, the emission parameters may specifically include an emission angle, and the emission angle may include an emission vertical angle and / or an emission horizontal angle. The echo data may determine the distance of the object.

[0083] In some embodiments of the present application, the correction factor is an array stored in a data processing module, wherein the array may be a three-dimensional array, and the corresponding three dimensions are the horizontal angle of emission, the vertical angle of emission, and the distance of the object. Therefore, the laser radar can determine the correction coefficient based on the three-dimensional data, that is, the laser radar determines the horizontal angle of emission and the vertical angle of emission based on the emission parameters, determines the distance of the object based on the echo data, and then determines the corresponding correction coefficient based on the determined horizontal angle of emission, vertical angle of emission and the distance of the object.

[0084] In order to save resources consumed by calculations and simplify the calculation method, in other embodiments, the above-mentioned array can also be a two-dimensional array, and the corresponding two dimensions are respectively two parameters of the above-mentioned horizontal transmission angle, vertical transmission angle and distance of the object, that is, the two dimensions corresponding to the two-dimensional array can be the horizontal transmission angle and the vertical transmission angle, or the horizontal transmission angle and the distance of the object. In this case, it is considered that the transmittance in the vertical direction is unchanged and no correction is required. It can also be the vertical transmission angle and the distance of the object. In this case, it is considered that the transmittance in the horizontal direction is unchanged and no correction is required.

[0085] Of course, the above array may also be a one-dimensional array, that is, any one parameter of the emission horizontal angle, the emission vertical angle or the distance of the object may be used to map the correction coefficient.

[0086] It should be noted that the above-mentioned transmission parameters may also include other parameters, such as transmission energy values, etc. The above-mentioned echo data may also be used to calculate other parameters, such as echo energy characteristic values. The above is only an example of using the transmission angle and / or object distance to establish an array of correction coefficient mapping for illustration and not limitation.

[0087] In actual application, the mapping relationship between the above correction coefficients and various parameters can be obtained through multiple calculations and tests, thereby obtaining an array of the above correction coefficient mapping. After determining the transmission parameters and / or echo data related to the actual detection process, the correction coefficient to be used can be indexed.

[0088] In some embodiments, when a correction coefficient mapping is established based on the transmission angle of the detection signal, that is, the transmission parameters of the detection signal include the transmission angle of the detection signal, then the above S12 may specifically be: indexing according to the transmission angle of the detection signal to obtain the correction coefficient corresponding to the transmission angle.

[0089] In some embodiments, when establishing a correction coefficient mapping based on the distance of an object, the above S12 may specifically be: after determining the distance of the object based on the above echo parameters, indexing is performed based on the distance of the object to obtain a correction coefficient corresponding to the distance of the object.

[0090] In specific applications, the correction coefficient can be used to correct the echo energy characteristic value, and can also be used to correct the reflectivity calculation result. That is, the correction coefficient can correct the echo energy characteristic value, and then calculate the reflectivity according to the corrected echo energy characteristic value, or it can first calculate the reflectivity using the echo energy characteristic value and then directly correct the reflectivity.

[0091] In some embodiments, the emission parameters may also include transmittance distribution data of the object being transmitted. The laser radar may determine the transmittance corresponding to the detection signal based on the transmittance distribution data, and then calculate the correction coefficient based on the transmittance corresponding to the detection signal.

[0092] In a specific application, the above transmittance distribution data is the transmittance data of the transmitted object corresponding to each detection signal emission angle within the field of view angle of the laser radar.

[0093] In S13, the reflectivity of the object is calculated based on the correction coefficient and the echo data.

[0094] In some embodiments, as introduced in S12, the correction coefficient can be used to correct the echo energy characteristic value. Therefore, after receiving the echo signal and obtaining the echo data, the laser radar can calculate the echo energy characteristic value based on the echo data, and the laser radar will correct the above echo energy characteristic value based on the correction coefficient, and then use the corrected echo energy characteristic value to calculate the emissivity of the object.

[0095] In some embodiments, as introduced in S12, the correction coefficient can also be used to directly correct the reflectivity. Therefore, after receiving the echo signal and obtaining the echo data, the laser radar can calculate the reflectivity of the object based on the echo data, and then use the correction coefficient to directly correct the reflectivity of the object to obtain the corrected reflectivity.

[0096] like Figure 3 As shown, Figure 3 FIG. 2 shows the implementation process of S13 in the method for determining the reflectivity of an object provided in an embodiment of the present application. Figure 3 As shown, in some embodiments, when the correction coefficient is a correction coefficient determined according to transmittance distribution data, the above S13 may specifically include the following steps:

[0097] S131: Correct the reflectivity calibration result according to the correction coefficient to obtain a corrected reflectivity calibration result.

[0098] The reflectivity calibration result may be relevant data obtained after calibration according to an existing reflectivity calibration method.

[0099] The following is an explanation of the reflectivity calibration process:

[0100] The reflectivity calibration process is to establish a mapping between the reflectivity and the distance of the object and the echo energy characteristic value at a specific emission angle, that is:

[0101]

[0102] Wherein, ρ represents reflectivity, D is the distance of the object obtained according to the echo data, A is the echo energy characteristic value related to the echo energy E, which can be expressed as A=g(E), and the echo energy characteristic value may include but is not limited to echo area, echo pulse width, echo amplitude, etc. T0 is the transmittance during calibration, which is a normalized parameter. If the windshield is not placed during calibration, T0=1, otherwise T0 is the transmittance of the windshield at the calibration angle.

[0103] Therefore, the transmittance distribution data of the front windshield can be obtained first, that is, T=h(p).

[0104] Where p is the outgoing vector of the radar laser.

[0105] In specific applications, the above transmittance distribution data can be determined through actual measurement, theoretical calculation or a combination of the two.

[0106] In some embodiments, the above-mentioned transmittance distribution data can be determined by first determining the transmittance curve of the transmitted object through actual measurement, and then determining the transmittance corresponding to the emission angle from the transmittance curve according to the emission angle of the laser radar within the field of view angle range, thereby obtaining the transmittance distribution data within the field of view angle range of the laser radar.

[0107] In a specific application, the above-mentioned transmittance curve can be obtained by placing the laser radar behind the above-mentioned transmissive object, and then controlling the laser radar to emit the above-mentioned laser beam at different emission angles, and then using a detector for detection, so as to obtain relevant data on the transmittance of the transmissive object at different emission angles, thereby fitting the transmittance curve.

[0108] In actual applications, the laser radar is installed inside the vehicle, behind the front windshield. When the laser radar is working, it will scan within the field of view angle, that is, the emission angle of the laser beam is constantly changing. When the emission vector is p1, the corresponding transmittance is T1=h(p1), and the distance D1 to the object and the echo characteristic value A1 are measured at the emission angle corresponding to the emission vector p1. Since the transmittance T1≠T0 at the current emission angle, the reflectivity cannot be directly calculated using the reflectivity calibration result, and the correction coefficient needs to be used for reflectivity correction.

[0109] In specific applications, the echo energy reflected by diffuse reflecting objects can be expressed by the radar equation:

[0110]

[0111] Among them, E tx is the transmission energy of the transmitted detection signal, η tx is the emission efficiency, The air attenuation coefficient, ρ is the reflectivity of the object, η rx is the receiving efficiency, θ i is the incident angle of the laser onto the object.

[0112] Considering only the influence of object distance and transmittance, the above expression of echo energy can be simplified as:

[0113]

[0114] We can further get:

[0115]

[0116] That is, the echo energy of the target at a distance D measured when the transmittance is T1 is different from the echo energy of the target at a distance D measured when the transmittance is T0. The echo energy of the target object with the same reflectivity is the same. Since the echo energy characteristic value A is the correlation function of the echo energy E, the echo energy characteristics measured in the two states are the same, that is:

[0117]

[0118] On the contrary, when the transmittance is T1, the distance is D, and the echo energy characteristic value is A. Its reflectivity is the same as that when the transmittance is T0, the distance is The reflectivity of objects with echo energy characteristic value A is the same, that is:

[0119]

[0120] We can further get:

[0121]

[0122] It can be seen that the reflectivity can be corrected by the transmittance ratio. When the outgoing vector is p1, the distance to the object is D1 and the echo characteristic value is A1. The correction coefficient is obtained based on the transmittance distribution data of the front windshield. When a windshield is installed during calibration, If the windshield is not installed during calibration,

[0123] Therefore, the correction factor can be used to revise the reflectivity revision result. Figure 4 As shown, Figure 4 The horizontal axis represents the distance D of the object, and the vertical axis represents the echo energy characteristic value A. Figure 4L1 is the reflectivity calibration result with reflectivity of ρ1, L2 is the reflectivity calibration result with reflectivity of ρ2, L3 is the corrected reflectivity calibration result with reflectivity of ρ1, and L4 is the corrected reflectivity calibration result with reflectivity of ρ2.

[0124] S132: Calculate the reflectivity of the object according to the echo data and the corrected reflectivity calibration result.

[0125] In a specific application, after obtaining the corrected reflectivity calibration result, the reflectivity of the object can be calculated using the echo data and the corrected reflectivity calibration result, thereby improving the calculation accuracy of the reflectivity.

[0126] like Figure 5 As shown, Figure 5 FIG. 2 shows the implementation process of S13 in the method for determining the reflectivity of an object provided in an embodiment of the present application. Figure 5 As shown, in some embodiments, when the correction coefficient is a correction coefficient determined according to transmittance distribution data, the above S15 may specifically include the following steps:

[0127] S151: Calculate the echo energy characteristic value according to the echo data.

[0128] S152: Calculate the reflectivity of the object according to the echo energy characteristic value, the correction coefficient and the reflectivity calibration result.

[0129] In specific applications, in addition to using the correction coefficient to correct the reflectivity calibration result, the echo energy characteristic value A, the distance D of the object and the correction coefficient k can also be directly substituted into the reflectivity calibration result, that is, the reflectivity of the object can be calculated, that is,

[0130] like Figure 6 As shown, Figure 6 The horizontal axis represents the distance D of the object, and the vertical axis represents the echo energy characteristic value A. Figure 6 Where L1 is the reflectivity calibration result with a reflectivity of ρ1, and L2 is the reflectivity calibration result with a reflectivity of ρ2.

[0131] From the above, it can be seen that a method for determining the reflectivity of an object provided in an embodiment of the present application determines a correction coefficient for correcting the reflectivity of the object that is related to the transmittance of the transmitted object through emission parameters and / or echo data, and then uses the correction coefficient and echo data to determine the reflectivity of the object. This can effectively reduce the impact of the inconsistency of the transmittance of the transmitted object on the accuracy of the reflectivity calculation result, and improve the accuracy of the reflectivity calculation of the object.

[0132] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0133] Based on the method for determining the reflectivity of an object provided in the above embodiment, the embodiment of the present invention further provides an embodiment of a device for determining the reflectivity of an object to implement the above method embodiment.

[0134] See also Figure 7 , Figure 7 1 is a schematic diagram of the structure of a device for determining the reflectivity of an object provided in an embodiment of the present application. In the embodiment of the present application, the device for determining the reflectivity of an object includes units for executing Figure 2 For details, please refer to the steps in the corresponding embodiment. Figure 2 as well as Figure 2 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 7 As shown, the above-mentioned object reflectivity determination device 70 may include an acquisition unit 101, a determination unit 102 and a calculation unit 103, wherein:

[0135] The acquisition unit 101 is used to acquire the transmission parameters of the detection signal transmitted by the radar and the echo data of the echo signal; wherein the echo signal is the signal received by the radar after the object reflects the detection signal;

[0136] The determination unit 102 is used to determine a correction coefficient according to the transmission parameters and / or the echo data; the correction coefficient is a coefficient related to the transmittance of the object and used to correct the reflectivity of the object;

[0137] The calculation unit 103 is used to calculate the reflectivity of the object according to the correction coefficient and the echo data.

[0138] In some implementations, the transmission parameters of the detection signal include a transmission angle of the detection signal, and the determination unit 102 is specifically configured to perform indexing according to the transmission angle of the detection signal to obtain a correction coefficient corresponding to the transmission angle.

[0139] In some implementations, the determination unit 102 is further configured to determine the distance of the object according to the echo data; and to perform indexing according to the distance of the object to obtain a correction coefficient corresponding to the distance.

[0140] In some implementations, the calculation unit 103 may include an eigenvalue calculation unit, an eigenvalue correction unit, and a reflectivity calculation unit.

[0141] The above-mentioned characteristic value calculation unit is used to calculate the echo energy characteristic value according to the echo data.

[0142] The correction unit is used to correct the echo energy characteristic value according to the correction coefficient to obtain the corrected echo energy characteristic value.

[0143] The reflectivity calculation unit is used to calculate the reflectivity of the object according to the corrected echo energy characteristic value.

[0144] In some implementations, the calculation unit 103 may include a reflectivity calculation unit and a reflectivity correction unit.

[0145] The reflectivity calculation unit is used to calculate the reflectivity of the object according to the echo data.

[0146] The reflectivity correction unit is used to correct the reflectivity of the object according to the correction coefficient to obtain the corrected reflectivity.

[0147] In some implementations, the emission parameters include transmittance distribution data, and the determination unit 102 includes a transmittance determination unit and a correction coefficient determination unit.

[0148] The transmittance determination unit is used to determine the transmittance corresponding to the detection signal according to the transmittance distribution data.

[0149] The correction coefficient determination unit is used to calculate the correction coefficient according to the transmittance corresponding to the detection signal.

[0150] In some implementations, the calculation unit 103 includes a calibration result correction unit and a reflectivity calculation unit.

[0151] The calibration result correction unit is used to correct the reflectivity calibration result according to the correction coefficient to obtain a corrected reflectivity calibration result.

[0152] The reflectivity calculation unit is used to calculate the reflectivity of the object according to the echo data and the corrected reflectivity calibration result.

[0153] In some implementations, the calculation unit 103 may be specifically configured to calculate an echo energy characteristic value according to the echo data; and calculate the reflectivity of the object according to the echo energy characteristic value, the correction coefficient and the reflectivity calibration result.

[0154] In some implementations, the acquisition unit 101 may also be used to acquire transmittance distribution data.

[0155] In some implementations, the acquisition unit 101 is specifically used to acquire a transmittance curve of a transmissive object; determine the transmittance corresponding to the emission angle from the transmittance curve according to the emission angle, and obtain transmittance distribution data.

[0156] It should be noted that the information interaction, execution process and other contents between the above-mentioned 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 embodiment part and will not be repeated here.

[0157] Figure 8 FIG. 1 is a schematic diagram of a terminal device provided in another embodiment of the present application. Figure 8 As shown, the terminal device 8 provided in this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80, such as an image segmentation program. When the processor 80 executes the computer program 82, the steps in the above-mentioned method for determining the reflectivity of each object are implemented, such as Figure 2 Alternatively, when the processor 80 executes the computer program 82, the functions of the modules / units in the above terminal device embodiments are realized, for example, Figure 7 The functions of units 101 to 103 are shown.

[0158] Exemplarily, the computer program 82 may be divided into one or more modules / units, which are stored in the memory 81 and executed by the processor 80 to complete the present application. The one or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 82 in the terminal device 8. For example, the computer program 82 may be divided into an acquisition unit, a determination unit, and a calculation unit. For specific functions of each unit, please refer to Figure 7 The relevant descriptions in the corresponding embodiments are not repeated here.

[0159] The terminal device may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will appreciate that Figure 8 It is only an example of the terminal device 8 and does not constitute a limitation of the terminal device 8. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0160] The processor 80 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0161] The memory 81 may be an internal storage unit of the terminal device 8, such as a hard disk or memory of the terminal device 8. The memory 81 may also be an external storage device of the terminal device 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the terminal device 8. The memory 81 is used to store the computer program and other programs and data required by the terminal device. The memory 81 may also be used to temporarily store data that has been output or is to be output.

[0162] The present application also provides a computer-readable storage medium. Fig. 9 , Fig. 9 is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present application, such as Fig. 9 As shown, a computer program 82 is stored in the computer-readable storage medium 90. When the computer program 82 is executed by a processor, the above-mentioned method for determining the reflectivity of an object can be implemented.

[0163] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device implements the method for determining the reflectivity of the object described above.

[0164] 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. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the terminal 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 into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into 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.

[0165] 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.

[0166] 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.

[0167] The embodiments described above 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, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such 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 determining the reflectivity of an object, characterized in that: include: Acquire the transmission parameters of the detection signal transmitted by the radar and the echo data of the echo signal; wherein the echo signal is the signal received by the radar after the object reflects the detection signal; Determine a correction coefficient according to the transmission parameter and / or the echo data; the correction coefficient is a coefficient related to the transmittance of the object and used to correct the reflectivity of the object; The reflectivity of the object is calculated according to the correction coefficient and the echo data.

2. The method for determining the reflectivity of an object according to claim 1, characterized in that: The transmission parameters of the detection signal include the transmission angle of the detection signal, and determining the correction coefficient according to the transmission parameters includes: An index is performed according to the emission angle of the detection signal to obtain a correction coefficient corresponding to the emission angle.

3. The method for determining the reflectivity of an object according to claim 1, characterized in that: Determining a correction coefficient according to the echo data includes: determining a distance of an object based on the echo data; An index is performed according to the distance of the object to obtain a correction coefficient corresponding to the distance.

4. The method for determining the reflectivity of an object according to any one of claims 1 to 3, characterized in that: The calculating the reflectivity of the object according to the correction coefficient and the echo data comprises: Calculate the echo energy characteristic value according to the echo data; Correcting the echo energy characteristic value according to the correction coefficient to obtain the corrected echo energy characteristic value; The reflectivity of the object is calculated according to the corrected echo energy characteristic value.

5. The method for determining the reflectivity of an object according to any one of claims 1 to 3, characterized in that: The calculating the reflectivity of the object according to the correction coefficient and the echo data comprises: Calculating the reflectivity of the object according to the echo data; The reflectivity of the object is corrected according to the correction coefficient to obtain a corrected reflectivity.

6. The method for determining the reflectivity of an object according to claim 2, characterized in that: The emission angle includes an emission vertical angle and / or an emission horizontal angle.

7. The method for determining the reflectivity of an object according to claim 1, characterized in that: The transmission parameters include transmittance distribution data; and determining the correction coefficient according to the transmission parameters and / or the echo data includes: Determining the transmittance corresponding to the detection signal according to the transmittance distribution data; The correction coefficient is calculated according to the transmittance corresponding to the detection signal.

8. The method for determining the reflectivity of an object according to claim 7, characterized in that: The calculating the reflectivity of the object according to the correction coefficient and the echo data comprises: Correcting the reflectivity calibration result according to the correction coefficient to obtain the corrected reflectivity calibration result; The reflectivity of the object is calculated based on the echo data and the corrected reflectivity calibration result.

9. The method for determining the reflectivity of an object according to claim 7, characterized in that: The calculating the reflectivity of the object according to the correction coefficient and the echo data comprises: Calculate echo energy characteristic value according to echo data; The reflectivity of the object is calculated according to the echo energy characteristic value, the correction coefficient and the reflectivity calibration result.

10. The method for determining the reflectivity of an object according to any one of claims 7 to 9, characterized in that: Also includes: The transmittance distribution data is obtained.

11. The method for determining the reflectivity of an object according to claim 10, characterized in that: The obtaining of the transmittance distribution data comprises: Obtaining a transmittance curve of a permeate; The transmittance corresponding to the emission angle is determined from the transmittance curve according to the emission angle to obtain the transmittance distribution data.

12. A device for determining the reflectivity of an object, characterized in that: include: An acquisition unit, used to acquire the transmission parameters of the detection signal transmitted by the radar and the echo data of the echo signal; wherein the echo signal is the signal received by the radar after the object reflects the detection signal; a determination unit, configured to determine a correction coefficient according to the transmission parameter and / or the echo data; the correction coefficient being a coefficient related to the transmittance of the object and used to correct the reflectivity of the object; A calculation unit is used to calculate the reflectivity of the object according to the correction coefficient and the echo data.

13. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the readable instructions of the computer program, the method for determining the reflectivity of an object as claimed in any one of claims 1 to 11 is implemented.

14. A computer-readable storage medium storing a computer program, characterized in that: When the readable instructions of the computer program are executed by a processor, the method for determining the reflectivity of an object as claimed in any one of claims 1 to 11 is implemented.

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