Laser signal transmitting method and device and computer readable storage medium

Abstract

The invention provides a laser signal transmitting method and device and a computer readable storage medium. The method comprises the steps that the transmitting power of a transmitting unit is set according to the measurement range of the transmitting unit of the laser radar and / or the acquired intensity of an echo signal corresponding to the transmitting unit, the transmitting unit at least comprises two gears corresponding to the transmitting power in different measurement ranges, and each gear corresponds to the transmitting power of one intensity; based on the transmitting power, a laser signal is transmitted through the transmitting unit, and the laser signal is used for measuring the target detection object. Based on the scheme, the measurement range and the measurement precision of the laser radar can be improved.

Description

Technical Field

[0001] The present application belongs to the field of laser radar technology, and in particular, relates to a laser signal transmission method, device and 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] However, the waveform of the echo signal may be affected by many factors. If the echo signal is oversaturated or the waveform is too weak, it may be impossible to obtain accurate measurement results. Summary of the invention

[0004] The embodiments of the present application provide a parameter configuration method, device, and computer-readable storage medium, which can improve the detection accuracy of radar.

[0005] In a first aspect, an embodiment of the present application provides a parameter configuration method, including:

[0006] According to the measurement range of the laser radar's transmitting unit and / or the acquired intensity of the echo signal corresponding to the transmitting unit, the transmitting power of the laser radar is set, and the laser radar has at least two transmission power levels corresponding to different measurement ranges, and each level corresponds to a transmission power intensity;

[0007] Based on the transmission power, a laser signal is transmitted through the transmission unit, and the laser signal is used to measure the target detection object.

[0008] Optionally, the method further comprises:

[0009] According to the detection requirements, set the emission order of laser signals corresponding to different emission powers;

[0010] The transmitting unit transmitting the laser signal based on the transmitting power includes:

[0011] The laser signals corresponding to different transmission powers are transmitted by the transmitting unit according to the transmission sequence.

[0012] Optionally, the emission sequence includes:

[0013] Firstly, laser signals corresponding to a plurality of transmission powers of a first gear are transmitted, and then laser signals corresponding to a plurality of transmission powers of a second gear are transmitted, wherein the transmission power of the second gear is greater than the transmission power of the first gear; or

[0014] The laser signal corresponding to the emission power of the first gear and the laser signal corresponding to the emission power of the second gear are emitted alternately.

[0015] Optionally, the method further comprises:

[0016] Performing digital signal processing on the echo signals corresponding to the laser signal of each gear respectively to obtain a plurality of first processed data, wherein the plurality of first processed data correspond to the gears one by one;

[0017] Performing digital signal processing on the echo signals corresponding to the laser signals of all gears to obtain second processed data;

[0018] The plurality of first processed data and the second processed data are solved respectively, and data fusion is performed on the solved results to obtain a measurement result.

[0019] Optionally, the method further comprises:

[0020] According to the detection requirements, multiple processing windows are set, each processing window includes an echo signal corresponding to at least one laser signal;

[0021] Performing digital signal processing on the echo signal corresponding to the laser signal in each window respectively to obtain a plurality of first processed data, wherein the plurality of first processed data corresponds one-to-one to a plurality of processing windows;

[0022] Performing data signal processing on the echo signals corresponding to the laser signals of all windows to obtain second processed data;

[0023] The plurality of first processed data and the second processed data are solved respectively, and data fusion is performed on the solved results to obtain a measurement result.

[0024] Optionally, the method further comprises:

[0025] Determining whether the confidence of the echo signal corresponding to the laser signal in the first window of the multiple processing windows meets the preset requirements;

[0026] If the confidence of the echo signal meets the preset requirement, the emission of the laser signal located after the first window in the emission cycle where the first window is located is canceled.

[0027] Optionally, the determining whether the confidence of the echo signal corresponding to the laser signal in the first window of the multiple processing windows meets a preset requirement includes:

[0028] Whether the confidence of the echo signal meets the preset requirement is judged according to the parameters of the echo signal, wherein the parameters include one or more of the pulse width, amplitude, area, rising edge slope, and falling edge slope of the echo signal.

[0029] Optionally, the method further comprises:

[0030] The transmission power level is set according to detection requirements.

[0031] In a second aspect, an embodiment of the present application provides a parameter configuration device, including:

[0032] A setting module, used to set the transmit power of the laser radar according to the reflectivity of the target detection object located in different measurement ranges, wherein the laser radar has at least two transmission power gears corresponding to different measurement ranges, and each gear corresponds to a transmission power of a certain intensity;

[0033] The transmitting module is used to transmit a laser signal according to the transmitting power, and the laser signal is used to measure the target detection object.

[0034] In a third aspect, an embodiment of the present application provides a laser signal transmitting device, 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.

[0035] 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.

[0036] The beneficial effects brought about by the technical solutions provided by some embodiments of the present application include at least:

[0037] The method provided in the embodiment of the present application can set the transmission power of the transmission unit according to the measurement range of the transmission unit or the echo signal corresponding to the transmission unit that has been obtained, so that the amplitudes of the echo signals reflected from different target detection objects are all within a suitable range, avoiding the oversaturation of the echo signals corresponding to the target detection objects located in a closer range or the target detection objects with higher reflectivity, which makes it impossible to obtain accurate measurement data, thereby improving the measurement range and measurement accuracy of the laser radar. Alternatively, the method provided in the embodiment of the present application can also set the transmission power of the transmission unit according to the measurement range of the transmission unit and the echo signal corresponding to the transmission unit that has been obtained. For example, the transmission power can be set according to the measurement range of the transmission unit, and then the echo signal is obtained, and the transmission power is adjusted according to the strength of the echo signal, thereby further improving the measurement accuracy.

[0038] In a further optional solution, the echo signals can be superimposed according to the transmission power level. Since the power of the laser signals at the same level is the same, the echo signals corresponding to the laser signals at the same level are relatively stable (i.e., the amplitude of the echo signals is concentrated in a relatively small range), so superimposing the echo signals according to each level is beneficial to improving the measurement accuracy. Alternatively, a processing window can be set according to the detection requirements, and the echo signals can be superimposed according to the processing window. Since each processing window is set according to the detection requirements, the laser signals in each window may have the same or similar characteristics, so the echo signals can be superimposed according to each window. In this way, the measurement accuracy can be more effectively improved to avoid sunlight or other interference noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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.

[0040] Figure 1 An exemplary application scenario diagram of the laser signal transmitting method provided in an embodiment of the present application is shown;

[0041] Figure 2 An exemplary waveform of an echo signal in a practical application scenario is shown;

[0042] Figure 3 Another exemplary waveform of an echo signal in a practical application scenario is shown;

[0043] Figure 4 Another exemplary waveform of an echo signal in a practical application scenario is shown;

[0044] Figure 5 A schematic flow chart of a laser signal transmitting method provided in an embodiment of the present application;

[0045] Figure 6 A control diagram of a laser signal emission timing provided in an embodiment of the present application;

[0046] Figure 7 Another control diagram of laser signal emission timing provided in an embodiment of the present application;

[0047] Figure 8 A system architecture diagram provided for an embodiment of the present application;

[0048] Fig. 9A control diagram of another laser signal emission timing provided in an embodiment of the present application;

[0049] Fig.10 A control diagram of another laser signal emission timing provided in an embodiment of the present application;

[0050] Fig.11 Another system architecture diagram provided for an embodiment of the present application;

[0051] Fig.12 A control diagram of another laser signal emission timing provided in an embodiment of the present application;

[0052] Fig.13 Another system architecture diagram provided for an embodiment of the present application;

[0053] Fig.14 A schematic diagram of the structure of a laser signal transmitting device provided in an embodiment of the present application;

[0054] Fig.15 A schematic diagram of the structure of another laser signal emitting device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] 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.

[0056] 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.

[0057] 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.

[0058] The specific operation method in the method embodiment of the present application can also be applied to the device embodiment or the system embodiment.

[0059] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0060] 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.

[0061] 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.

[0062] LiDAR is usually composed of a laser, a receiver, and a control system. The laser converts electrical pulses into light pulses and emits a laser signal. The receiver then converts the light pulses reflected from the target, i.e., the echo signal, back into electrical pulses and sends them to the control system. As mentioned in the background technology, LiDAR obtains relevant information about each object in the target scene by comparing the received echo signal reflected from the target detection object in the target scene with the emitted laser signal and performing appropriate processing. However, the waveform of the echo signal may be affected by many factors, resulting in the inability to obtain measurement results or the measurement results being inaccurate. For example, the waveforms of the echo signals reflected from target detection objects in different positions may be different, some echo signals may be oversaturated, and some echo signals may not have amplitudes that meet the measurement requirements. These situations will affect the final measurement results. The following is combined with Figures 1 to 4 An actual scenario is illustrated below.

[0063] Figure 1 An application scenario diagram of the laser signal transmitting method provided in an embodiment of the present application is exemplified. Figure 1The application scenarios shown may include: laser radar, detection range A, detection range B, and detection range C in the target scene. The detection distances of detection ranges A, B, and C are successively larger. The reflectivity of objects in different detection ranges may be different, resulting in different echo signal intensities.

[0064] For example, Figure 2 FIG. 2 shows a possible waveform of an echo signal reflected from a target detection object within the detection range A. Figure 2 It can be seen that since the detection range A is close and the reflectivity of the target detection object is large, the echo signal may be oversaturated and its rising edge will change suddenly. At this time, the timing of the echo cannot be accurately calculated, that is, there is no suitable edge for ranging detection.

[0065] For example, Figure 3 FIG. 2 shows a possible waveform of an echo signal reflected from a target detection object in detection range B. Figure 3 It can be seen that since the detection range B is of moderate distance and the echo signal is not saturated, the timing of the echo signal can be calculated very accurately using CFD, half-value calculation method, centroid calculation method, etc.

[0066] For example, Figure 4 FIG. 2 shows a possible waveform of an echo signal reflected from a target detection object in detection range C. Figure 4 It can be seen that due to the long distance of the detection range C, the reflectivity of the target detection object is small, the waveform of the echo signal is weak, and its signal amplitude may not reach the detection threshold, and the echo signal cannot be effectively identified.

[0067] In view of this, an embodiment of the present application provides a laser signal transmission method, in which the transmission power of the emitted laser signal can be controlled based on the detection distance range and / or the reflectivity of the target detection object detected in the echo signal, so that the echo signals reflected from different detection distance ranges and / or different target detection objects are all within the appropriate detection range. Figure 5 , the laser signal transmitting method provided in the embodiment of the present application is exemplarily described as follows:

[0068] S510, setting the transmission power of the transmitting unit according to the measurement range of the transmitting unit of the laser radar and / or the strength of the echo signal corresponding to the transmitting unit that has been obtained.

[0069] Exemplarily, before the laser radar transmits the laser signal through the transmitting unit, the transmitting power can be preset. For example, the transmitting power of the transmitting unit can be set according to the measurement range of the transmitting unit and / or the intensity of the echo signal corresponding to the transmitting unit that has been obtained.

[0070] In one example, the laser radar includes a transmitting array, and the transmitting power of one or a group of transmitting units in the transmitting array can be set according to the above scheme.

[0071] It is understood that the transmitting array may include one or more groups of transmitting units, wherein each group of transmitting units may include one or more transmitting units. The number of transmitting units included in each group of transmitting units may be the same or different, and the present application does not limit this. It is understood that the embodiment of the present application does not limit the number of transmitting groups included in the transmitting array. It is understood that the transmission timing of transmitting units in different groups may be the same or different, and the present application does not limit this.

[0072] The specific implementation of setting the transmission power is exemplified below. For convenience, this application takes setting the transmission power of a transmission unit as an example for explanation.

[0073] In one implementation, the transmission power of the transmission unit is set according to the measurement range of the transmission unit. For example, the measurement ranges of different transmission units may be different. If the measurement range of a transmission unit is relatively large, a relatively large transmission power may be set to measure a target detection object at a relatively far range; if the measurement range of a transmission unit is relatively small, a relatively small transmission power may be set to prevent the received echo signal from being oversaturated.

[0074] In one implementation, the transmission power of the transmission unit is set according to the intensity of the echo signal corresponding to the transmission unit. Exemplarily, the intensity of the echo signal can reflect the reflectivity of the target detection object, wherein the target detection object refers to the object to be measured within the measurement range of the laser radar, and the reflectivity of the target detection object refers to the ratio of the energy amplitude of the echo signal reflected by the target detection object to the energy amplitude of the transmission signal corresponding to the echo signal; the acquired echo signal can refer to the echo signal of one or more scanning frames acquired before the echo signal corresponding to the current frame is acquired. For example, if the intensity of the acquired echo signal is relatively large, it means that the reflectivity of the target detection object is large. At this time, a smaller transmission power can be set, so that the signal amplitude of the echo signal can be reduced to prevent the echo signal from being oversaturated; if the intensity of the acquired echo signal is relatively small, it means that the reflectivity of the target detection object is small. At this time, a larger transmission power can be set, so that the signal amplitude of the echo signal can be increased to prevent the echo signal from failing to reach the measurement threshold. From the above, the transmitting power of the transmitting unit can be set according to the strength of the acquired echo signal, which can also be expressed as: the transmitting power of the transmitting unit is set according to the reflectivity of the target detection object.

[0075] In one implementation, the reflectivity is inversely proportional to the measurement range, so the transmit power of the laser radar can also be set according to the measurement range of the target detection object (or the distance between the target detection object and the laser radar). Figure 1 If the target object is far away (such as Figure 1 If the measurement range is C), a larger transmission power can be set.

[0076] In one implementation, the transmission power of the transmission unit is set according to the measurement range of the transmission unit and the acquired strength of the echo signal corresponding to the transmission unit. Exemplarily, the transmission power of the transmission unit can be set by comprehensively considering the measurement range of the transmission unit and the acquired strength of the echo signal, or the transmission power can be first set according to the measurement range of the transmission unit, and then after emitting a laser signal based on the transmission power and acquiring a corresponding echo signal, the transmission power is adjusted according to the acquired strength of the echo signal.

[0077] That is to say, in the method provided in the embodiment of the present application, the transmission power of the laser signal used to measure different target detection objects may be different. In one possible implementation, the transmission power level can be set according to the detection needs, wherein each level corresponds to a transmission power of a certain intensity (or energy amplitude), and the laser radar includes at least two transmission power levels corresponding to different measurement ranges.

[0078] For example, two transmission power levels are set according to detection needs, which are recorded as the first level and the second level, respectively, wherein the transmission power of the first level is less than that of the second level. Specifically, within the first measurement range, the laser radar can transmit a laser signal according to the transmission power of the first level to measure the target detection object within the first measurement range. Since the power of the first level is relatively low, the energy amplitude of the echo signal can be reduced to avoid waveform distortion caused by oversaturation of the echo signal; within the second measurement range, the laser radar can transmit a laser signal according to the transmission power of the second level to measure the target detection object within the second measurement range. Since the power of the second level is relatively high, the energy amplitude of the echo signal can be increased to avoid the situation where the echo signal cannot reach the measurement threshold. Therefore, the measurement range of the laser radar can be improved through the above scheme.

[0079] It is understandable that the above example is described by taking two transmission power gears as an example, but the present application is not limited thereto. That is to say, according to the detection needs (such as the actual data collection needs), three or more transmission power gears can be set. By setting more gears, it is beneficial to improve the measurement accuracy and reflectivity accuracy of the laser radar. For the convenience of explanation, two gears are used as an example in the following description.

[0080] S520, based on the transmission power, transmit a laser signal through the transmission unit.

[0081] Exemplarily, after the transmit power of the laser radar is set according to the reflectivity of the target detection object, a laser signal can be generated by the transmitting unit according to the transmit power to measure the target detection object within different measurement ranges.

[0082] Optionally, in a possible implementation, the emission order of laser signals corresponding to different emission powers can be set according to detection requirements, that is, the emission timing of laser signals corresponding to different emission powers can be controlled according to detection requirements, and then the laser signals are emitted according to the emission order. This is explained below with examples.

[0083] In the first example, a certain transmitting unit in the transmitting array, or a group of transmitting units in the transmitting array, may first transmit laser signals corresponding to multiple transmitting powers of the first gear, and then transmit laser signals corresponding to multiple transmitting powers of the second gear, that is, a low-power laser signal may be transmitted first, and after the low-power laser signal is transmitted, a high-power laser signal may be transmitted. Specifically, Figure 6 The following is an application scenario diagram for this example.

[0084] It is understood that the transmitting array may include one or more groups of transmitting units, wherein each group of transmitting units may include one or more transmitting units. The number of transmitting units included in each group of transmitting units may be the same or different, and the present application does not limit this. It is understood that the embodiment of the present application does not limit the number of transmitting groups included in the transmitting array. It is understood that the transmission timing of transmitting units in different groups may be the same or different, and the present application does not limit this.

[0085] Figure 6The control diagram of the laser signal emission timing within an emission cycle corresponding to a group of emission units is shown. The histogram in the figure represents the laser signal, and the height of the histogram represents the power of the laser signal. In this example, two gears of emission power are set based on detection needs, namely the first gear emission power and the second gear emission power, and the second gear emission power is greater than the first gear emission power. The laser radar first emits the laser signal corresponding to the first gear emission power, and then emits the laser signal corresponding to the second gear emission power.

[0086] It is understood that the number of transmissions for each gear is related to the detection requirements. It is understood that the higher the detection accuracy requirement of the detection range, the more the number of transmissions for the gear is. It is understood that the number of transmissions for the same gear of the transmitting units of the same group can be the same. The transmission gears and the number of transmissions for each gear of the transmitting units of different groups can be different, and this application does not limit this.

[0087] In one possible implementation, Figure 6 The solution shown can be applied to application scenarios where the position of the laser radar is fixed.

[0088] In the second example, laser signals corresponding to the first gear transmission power and laser signals corresponding to the second gear transmission power may be transmitted alternately, that is, one or more laser signals of the first gear may be transmitted first, then one or more laser signals of the second gear may be transmitted, and then one or more laser signals of the first gear may be transmitted, and so on. Specifically, Figure 7 An application scenario diagram of this example is shown.

[0089] Figure 7 The control diagram of the laser signal emission timing in an emission cycle is shown. In this example, two levels of emission power are set based on detection needs, namely the first level emission power and the second level emission power. The laser radar first emits a laser signal according to the first level emission power, then emits two laser signals according to the second level emission power, then emits a laser signal according to the first level emission power, then emits two laser signals according to the second level emission power... It can be understood that Figure 7 The emission timing in the figure is only a specific example. In practical applications, laser signals of different gears can be emitted according to other emission timings according to detection needs.

[0090] In one possible implementation, Figure 7 The solution shown can be applied to the application scenario of laser radar position movement.

[0091] Optionally, after emitting laser signals according to the above scheme, an echo signal corresponding to each laser signal is received, and then the echo signal is processed to obtain a measurement result. This application does not limit the processing method of the echo signal, and some possible implementation methods are exemplified below.

[0092] In a first possible implementation manner (referred to as Solution 1), according to the gear corresponding to the laser signal (ie, the gear corresponding to the transmission power of the laser signal), the echo signal of each gear is superimposed and processed respectively.

[0093] For example, digital signal processing is performed on the echo signals corresponding to the laser signals of each gear to obtain multiple first processed data, and the multiple first processed data correspond to the gears one by one; digital signal processing is performed on the echo signals corresponding to the laser signals of all gears to obtain second processed data; the multiple first processed data and the second processed data are solved respectively, and the solved results are fused to obtain the measurement results.

[0094] Solution 1 can be applied to Figure 6 In the scheme shown: superposition calculation is performed on the first gear, the second gear and the full gear respectively. Superposition calculation on the first gear refers to executing the digital signal processing process together with the echo signal of the laser signal corresponding to the emission power of the first gear, superposition calculation on the second gear refers to executing the digital signal processing process together with the echo signal of the laser signal corresponding to the emission power of the second gear, and superposition calculation on the full gear refers to executing the digital signal processing process together with the echo signal of all laser signals. Further, distance calculation and / or reflectivity calculation can be performed based on the calculation results, and then data fusion is performed on all data to obtain the measurement results.

[0095] Since the power of the laser signals at the same level is the same, the echo signals corresponding to the laser signals at the same level are relatively stable (that is, the amplitudes of the echo signals are concentrated in a relatively small range), so superimposing the echo signals at each level is beneficial to improving the measurement accuracy.

[0096] Similarly, Scheme 1 can also be applied to Figure 7 In the scheme shown, the specific process is similar and will not be repeated here.

[0097] Figure 8 A system architecture diagram for implementing Solution 1 is shown. Figure 8 As shown, the system architecture includes a transmitting unit, a receiving unit and a transceiver timing controller, wherein the transmitting unit is used to transmit laser signals, the receiving unit is used to receive echo signals, and the transceiver timing controller is used to control the transmission timing of laser signals with different transmission powers.

[0098] Specifically, the transmitting unit includes: a controllable transmitting energy device, which is used to set the transmitting power and transmitting control of the laser radar. The controllable transmitting energy device controls the light emitter to transmit laser signals of different gears according to the transmitting timing configured by the transceiver timing controller.

[0099] The receiving unit includes: a receiving sensor, which is used to collect echo signals. According to the receiving and transmitting timing information generated by the receiving and transmitting timing controller, the collected echo signals can be grouped according to the transmission power gear. Assuming that the transmission power includes two gears, the first gear and the second gear, the histogram of the first gear (i.e., the echo signal corresponding to the laser signal of the first gear) is used as the first group, and the first gear superposition calculation is performed by DSP1, and then the distance calculation and reflectivity calculation are performed based on the calculation result; the histogram of the second gear (i.e., the echo signal corresponding to the laser signal of the second gear) is used as the second group, and the second gear superposition calculation is performed by DSP2, and then the distance calculation and energy calculation are performed based on the calculation result; the full-gear histogram (i.e., the echo signal corresponding to the laser signal of all gears) is used as the third group, and the full-gear superposition calculation is performed by DSP3, and then the distance calculation and energy calculation are performed based on the calculation result. The calculation results of the above three groups of signals are data fused to obtain the final measurement result.

[0100] In the second possible implementation (referred to as Scheme 2), multiple processing windows can be set according to the detection requirements, and each processing window includes at least one laser signal. The echo signal corresponding to the laser signal in each processing window is taken as a group of signals, and then can be processed separately based on each group of signals. For example, digital signal processing is performed on the echo signal corresponding to the laser signal in each window to obtain multiple first processing data, and the multiple first processing data correspond to the multiple processing windows one by one; and digital signal processing is performed on the echo signal corresponding to the laser signal in all windows to obtain second processing data. The multiple first processing data and the second processing data are solved separately, and the solution results are data fused to obtain the measurement results.

[0101] Combine the following Fig. 9 and Fig.10 , introduces two ways to set up processing windows. It is understandable that Fig. 9 and Fig.10 So Figure 7 The examples in the description are used as the basis for explanation, but the application is not limited thereto. Fig. 9 and Fig.10 The solution in this paper can also be applied to Figure 6 In the example in .

[0102] Fig. 9 This section introduces the first way to set up the processing window. Fig. 9 In the scheme shown, adjacent laser signals are divided into a processing window. For example, the signal of a transmission cycle is divided into two processing windows: a first window and a second window, wherein the first window includes the 1st to 5th laser signals (i.e., the 1st to 5th histograms), and the second window includes the 6th to 10th laser signals. In this case, the echo signals corresponding to the first window and the second window can be superimposed and calculated respectively, and the echo signals corresponding to all windows can be fully superimposed and calculated, and finally the measurement results are obtained through data solution and data fusion.

[0103] Fig.10 Introduces the second way to set up the processing window. Fig.10 In the scheme shown, laser signals of different time periods can be divided into a processing window according to actual measurement needs, that is, non-adjacent laser signals can be divided into a processing window, for example, the signal of a transmission cycle is divided into two processing windows: a first window and a second window, wherein the first window includes the 1st to 3rd laser signals and the 9th to 10th laser signals, and the second window includes the 4th to 8th laser signals. In this case, the echo signals corresponding to the first window and the second window can be superimposed and calculated respectively, and the echo signals corresponding to all windows can be fully superimposed and calculated, and finally the measurement results are obtained through data solution and data fusion.

[0104] Since each processing window is set according to the detection requirements, the laser signal in each window may correspond to the same or similar requirements and therefore have the same or similar characteristics. Therefore, superimposing the echo signals according to each window can more effectively improve the measurement accuracy and avoid sunlight or other interfering noise.

[0105] Fig.11 A system architecture diagram for implementing Solution 2 is shown. Fig.11 The system shown in Figure 8 The system is similar to that in , and similar units or processing flows will not be described again. Figure 8 The system shown, Fig.11 The system in the embodiment adds multiple window takers. These multiple window takers are connected to the receiving sensor. After the receiving sensor completes the acquisition of the echo signal, the window takers can be configured according to the preset scheme (such as Fig. 9 The corresponding plan or Fig.10 The corresponding solution) sets the processing window, so that the signals in each processing window can be superimposed and processed respectively according to the processing window. It can be understood that Fig.11 The window picker 1 and window picker 2 may be two different window pickers or the same window picker, which is not limited in this application.

[0106] Optionally, based on the above solution 2, it is also possible to determine whether the confidence of the echo signal in each processing window meets the requirements. If the requirements are met, the subsequent signal to be transmitted in the cycle can be cancelled. Fig.12 This implementation is described as an example. Fig.12 In the process of processing the echo signal of the first window (or before the processing starts, or after the processing is completed), it is determined whether the confidence of the echo signal corresponding to the laser signal in the first window meets the preset requirements; if the confidence of the echo signal in the first window meets the preset requirements, the emission of the laser signal located after the first window in the emission cycle where the first window is located is canceled. In this way, not only time can be saved, the frame rate can be improved, but also the power consumption of the whole machine can be saved.

[0107] Optionally, in a possible implementation, if the confidence level of the echo signal of the first window meets a preset requirement, the full-window overlay calculation may be canceled, thereby saving time and reducing power consumption.

[0108] Fig.13 A system architecture diagram for implementing the above confidence judgment process is shown. Fig.13 The system shown in Fig. 9 The system is similar to that in , and similar units or processing flows will not be described again. Fig.11 The system shown, Fig.13 Confidence detection and transceiver timing adjustment processes are added to the system. Take the signal processing process corresponding to the first window as an example: after the echo signal corresponding to the first window is superimposed, echo detection and confidence detection are performed in sequence. If the confidence detection passes, that is, there is an echo signal that meets the confidence requirement in the first window, the transceiver timing is adjusted. Specifically, a control signal can be sent to the transceiver timing controller to instruct the transceiver timing controller to cancel the transmission and reception of the signal in the processing window after the first window in the current transmission cycle. The data processing process in other windows is similar to this and will not be repeated here.

[0109] It can be understood that the embodiments of the present application do not limit the method for judging the confidence of the echo signal. As a possible implementation method, whether the confidence of the echo signal meets the preset requirements can be judged based on the parameters of the echo signal. The parameters include one or more of the following: pulse width, amplitude, area, rising edge slope, and falling edge slope of the echo signal.

[0110] 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.

[0111] Fig.14 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. Fig.14 , the device may specifically include the following modules:

[0112] A setting module 1010 is used to set the transmission power of the transmission unit according to the measurement range of the transmission unit of the laser radar and / or the acquired echo signal corresponding to the transmission unit, wherein the transmission power of the transmission unit corresponding to different measurement ranges includes at least two gears, and each gear corresponds to a transmission power of a certain intensity;

[0113] The transmitting module 1020 is used to transmit a laser signal based on the transmitting power, and the laser signal is used to measure the target detection object.

[0114] Optionally, the setting module 1010 is further used to set the emission order of laser signals corresponding to different emission powers according to detection requirements; the emission module 1020 is specifically used to emit laser signals corresponding to different emission powers according to the emission order.

[0115] Optionally, the device also includes a processing module 1030, which is used to perform digital signal processing on the echo signals corresponding to the laser signals of each gear to obtain multiple first processed data, and the multiple first processed data correspond to the gears one by one; perform digital signal processing on the echo signals corresponding to the laser signals of all gears to obtain second processed data; respectively solve the multiple first processed data and the second processed data, and perform data fusion on the solution results to obtain measurement results.

[0116] Optionally, the setting module 1010 is also used to set multiple processing windows according to detection requirements, each processing window includes at least one laser signal; the processing module 1030 is also used to perform digital signal processing on the echo signals corresponding to the laser signal in each window, respectively, to obtain multiple first processing data, and the multiple first processing data correspond one-to-one to the majority of the processing windows; perform digital signal processing on the echo signals corresponding to the laser signals in all windows to obtain second processing data; solve the multiple first processing data and the second processing data respectively, and perform data fusion on the solution results to obtain measurement results.

[0117] 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.

[0118] 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.

[0119] like Fig.15 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 the at least one processor, and when the processor executes the computer program, the steps in any of the above-mentioned method embodiments are implemented.

[0120] An embodiment of the present application further 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 steps in the above-mentioned method embodiments can be implemented.

[0121] 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.

[0122] 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. 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, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and 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.

[0123] 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.

[0124] 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.

[0125] 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 merely schematic. For example, the division of the 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.

[0126] 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.

[0127] 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 laser signal transmitting method, characterized in that: include: According to the measurement range of the transmitting unit of the laser radar and / or the intensity of the echo signal corresponding to the transmitting unit, the transmitting power of the transmitting unit is set, and the transmitting power of the transmitting unit corresponding to different measurement ranges includes at least two gears, and each gear corresponds to a transmission power of one intensity; Based on the transmission power, a laser signal is transmitted through the transmission unit, and the laser signal is used to measure the target detection object.

2. The method according to claim 1, characterized in that The method further comprises: According to the detection requirements, set the emission order of laser signals corresponding to different emission powers; The transmitting unit transmitting the laser signal based on the transmitting power includes: The laser signals corresponding to different transmission powers are transmitted by the transmitting unit according to the transmission sequence.

3. The method according to claim 2, characterized in that The emission sequence includes: Firstly, laser signals corresponding to a plurality of transmission powers of a first gear are transmitted, and then laser signals corresponding to a plurality of transmission powers of a second gear are transmitted, wherein the transmission power of the second gear is greater than the transmission power of the first gear; or The laser signal corresponding to the emission power of the first gear and the laser signal corresponding to the emission power of the second gear are emitted alternately.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: Performing digital signal processing on the echo signals corresponding to the laser signal of each gear respectively to obtain a plurality of first processed data, wherein the plurality of first processed data correspond to the gears one by one; Performing digital signal processing on the echo signals corresponding to the laser signals of all gears to obtain second processed data; The plurality of first processed data and the second processed data are solved respectively, and data fusion is performed on the solved results to obtain a measurement result.

5. The method according to any one of claims 1 to 3, characterized in that The method further comprises: According to the detection requirements, multiple processing windows are set, each processing window includes an echo signal corresponding to at least one laser signal; Performing digital signal processing on the echo signal corresponding to the laser signal in each window respectively to obtain a plurality of first processed data, wherein the plurality of first processed data corresponds one-to-one to a plurality of processing windows; Performing data signal processing on the echo signals corresponding to the laser signals of all windows to obtain second processed data; The plurality of first processed data and the second processed data are solved respectively, and data fusion is performed on the solved results to obtain a measurement result.

6. The method according to claim 4, characterized in that The method further comprises: Determining whether the confidence of the echo signal corresponding to the laser signal in the first window of the multiple processing windows meets the preset requirements; If the confidence of the echo signal meets the preset requirement, the emission of the laser signal located after the first window in the emission cycle where the first window is located is canceled.

7. The method according to claim 6, characterized in that The determining whether the confidence of the echo signal corresponding to the laser signal in the first window of the multiple processing windows meets the preset requirement includes: Whether the confidence of the echo signal meets the preset requirement is judged according to the parameters of the echo signal, wherein the parameters include one or more of the pulse width, amplitude, area, rising edge slope, and falling edge slope of the echo signal.

8. The method according to any one of claims 1 to 3, characterized in that The method further comprises: The transmission power level is set according to detection requirements.

9. A laser signal emitting device, characterized in that: include: A setting module, used to set the transmit power of the laser radar according to the measurement range of the transmit unit of the laser radar and / or the intensity of the echo signal corresponding to the transmit unit that has been obtained, wherein the transmit power of the laser radar corresponding to different measurement ranges includes at least two gears, and each gear corresponds to a transmit power of one intensity; The transmitting module is used to transmit a laser signal through the transmitting unit based on the transmitting power, and the laser signal is used to measure the target detection object.

10. A laser signal emitting device, characterized in that: include: 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 the method steps according to any one of claims 1 to 8.

11. 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 parameter configuration method according to any one of claims 1 to 8 are implemented.

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