Laser signal emission method, apparatus and computer-readable storage medium

Abstract

This application provides a laser signal emission method, apparatus, and computer-readable storage medium. The method includes: setting the emission power of the emission unit based on the measurement range of the emission unit of the lidar and / or the intensity of the echo signal corresponding to the emission unit, wherein the emission unit has at least two emission power levels corresponding to different measurement ranges, each level corresponding to a different emission power intensity; and emitting a laser signal through the emission unit based on the emission power, the laser signal being used to measure the target object. This scheme can improve the measurement range and accuracy of the lidar.

Description

Technical Field

[0001] This application belongs to the field of lidar technology, and in particular relates to a laser signal emission method, device and computer-readable storage medium. Background Technology

[0002] A lidar system is a radar system that uses laser signals to detect the position, velocity, and other characteristics of objects within a target scene. Its working principle involves emitting a laser signal (detection signal) towards the target object within the scene, then comparing the received echo signal reflected back from the target object with the emitted laser signal. After appropriate processing, relevant information about the target object can be obtained, such as its distance, azimuth, altitude, velocity, attitude, and even shape. This allows for the detection, tracking, and identification of objects within the target scene.

[0003] However, the waveform of the echo signal can be affected by many factors. Oversaturation or a weak waveform of the echo signal may result in inaccurate measurement results. Summary of the Invention

[0004] This application provides a parameter configuration method, apparatus, and computer-readable storage medium that can improve the detection accuracy of radar.

[0005] In a first aspect, embodiments of this application provide a parameter configuration method, including:

[0006] The emission power of the lidar is set according to the measurement range of the lidar's emission unit and / or the intensity of the echo signal corresponding to the emission unit. The lidar has at least two emission power levels corresponding to different measurement ranges, and each level corresponds to a certain intensity of emission power.

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

[0008] Optionally, the method further includes:

[0009] Based on the detection requirements, the emission sequence of laser signals corresponding to different emission powers is set;

[0010] The process of emitting a laser signal through the emitting unit based on the emitting power includes:

[0011] The transmitting unit transmits laser signals with different transmission powers in the specified transmission sequence.

[0012] Optionally, the launch sequence includes:

[0013] First, laser signals corresponding to multiple emission power levels at the first power level are emitted, then laser signals corresponding to multiple emission power levels at the second power level are emitted, where the emission power of the second power level is greater than that of the first power level; or,

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

[0015] Optionally, the method further includes:

[0016] The echo signal corresponding to the laser signal of each gear level is digitally processed to obtain multiple first processed data, and the multiple first processed data correspond one-to-one with the gear level.

[0017] The echo signals corresponding to the laser signals at all speeds are digitally processed to obtain the second processed data;

[0018] The multiple first processed data and the second processed data are respectively calculated, and the calculation results are fused to obtain the measurement results.

[0019] Optionally, the method further includes:

[0020] Based on the detection requirements, multiple processing windows are set up, and each processing window includes at least one echo signal corresponding to a laser signal.

[0021] 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 one-to-one with multiple processing windows;

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

[0023] The multiple first processed data and the second processed data are respectively calculated, and the calculation results are fused to obtain the measurement results.

[0024] Optionally, the method further includes:

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

[0026] If the confidence level of the echo signal meets the preset requirement, the transmission of laser signals located after the first window in the transmission cycle of the first window is cancelled.

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

[0028] The confidence level of the echo signal is determined based on the parameters of the echo signal. The parameters include one or more of the pulse width, amplitude, area, rising slope, and falling slope of the echo signal.

[0029] Optionally, the method further includes:

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

[0031] Secondly, embodiments of this application provide a parameter configuration device, including:

[0032] The setting module is used to set the emission power of the lidar according to the reflectivity of the target object located in different measurement ranges. The lidar has at least two emission power levels corresponding to different measurement ranges, and each level corresponds to a certain intensity of emission power.

[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] Thirdly, embodiments of this application provide a laser signal emitting device, including: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and executed as described in any one of the first aspects.

[0035] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method as described in any of the preceding claims.

[0036] The beneficial effects of the technical solutions provided in some embodiments of this application include at least the following:

[0037] The method provided in this application embodiment can set the transmission power of the transmitting unit according to the measurement range of the transmitting unit or the acquired echo signal corresponding to the transmitting unit, so that the amplitude of the echo signal reflected back from different target objects is within a suitable range. This avoids oversaturation of the echo signal corresponding to target objects located at close range or target objects with high reflectivity, which could lead to the inability to obtain accurate measurement data, thereby improving the measurement range and accuracy of the lidar. Alternatively, the method provided in this application embodiment can also set the transmission power of the transmitting unit according to the measurement range of the transmitting unit and the acquired echo signal corresponding to the transmitting unit. For example, the transmission power can be set according to the measurement range of the transmitting unit, then the echo signal can be acquired, and the transmission power can be adjusted according to the intensity of the echo signal, thereby further improving the measurement accuracy.

[0038] In a further alternative approach, the echo signals can be superimposed according to the emission power levels. Since laser signals at the same power level have the same power, the echo signals corresponding to the same power level are relatively stable (i.e., the amplitude of the echo signal is concentrated within a relatively small range). Therefore, superimposing the echo signals according to each power level helps improve measurement accuracy. Alternatively, processing windows can be set according to the detection requirements, and the echo signals can be superimposed according to the processing windows. Since each processing window is set according to the detection requirements, the laser signals within each window may have the same or similar characteristics. Therefore, superimposing the echo signals according to each window can more effectively improve measurement accuracy and avoid sunlight or other interference noise. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This paper illustrates an exemplary application scenario of the laser signal emission method provided in an embodiment of this application.

[0041] Figure 2 An exemplary waveform of the echo signal in a real-world application scenario is shown;

[0042] Figure 3 This illustrates another exemplary waveform of the echo signal in a real-world application scenario;

[0043] Figure 4 This illustrates another exemplary waveform of the echo signal in a real-world application scenario;

[0044] Figure 5 A schematic flowchart illustrating a laser signal emission method provided in an embodiment of this application;

[0045] Figure 6 A control diagram for laser signal emission timing provided in an embodiment of this application;

[0046] Figure 7 Another control diagram for laser signal emission timing provided in this application embodiment;

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

[0048] Figure 9Another control diagram for laser signal emission timing provided in the embodiments of this application;

[0049] Figure 10 Another control diagram for laser signal emission timing provided in the embodiments of this application;

[0050] Figure 11 Another system architecture diagram provided for embodiments of this application;

[0051] Figure 12 Another control diagram for laser signal emission timing provided in the embodiments of this application;

[0052] Figure 13 Another system architecture diagram provided in the embodiments of this application;

[0053] Figure 14 This is a schematic diagram of the structure of a laser signal emitting device provided in an embodiment of this application;

[0054] Figure 15 This is a schematic diagram of another laser signal emitting device provided in an embodiment of this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] The terms "first," "second," "third," "fourth," and other various terminology (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0057] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Furthermore, in the description of the embodiments of this application, "plural" or "multiple" refers to two or more than two.

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

[0059] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0060] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0061] It is understood that the various numerical designations used in this application are merely for descriptive convenience and are not intended to limit the scope of this application. The order of the process numbers does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

[0062] LiDAR typically consists 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 back from the target—the echo signal—back into electrical pulses and sends them to the control system. As mentioned in the background section, LiDAR obtains relevant information about objects in the target scene by comparing the received echo signals reflected from the target object with the emitted laser signal and performing appropriate processing. However, the waveform of the echo signal can be affected by many factors, leading to the inability to obtain measurement results or inaccurate results. For example, the waveforms of echo signals reflected from target objects at different locations may vary; some echo signals may be oversaturated, and the amplitude of some echo signals may not meet the measurement requirements. These factors all affect the final measurement results. The following section will discuss... Figures 1 to 4 An example of a real-world scenario will be provided.

[0063] Figure 1 An example illustration shows an application scenario of the laser signal emission method provided in this application. Figure 1The application scenarios shown can include: lidar, and detection ranges A, B, and C within a target scene. The detection distances at detection ranges A, B, and C increase sequentially. Objects within different detection ranges may have different reflectivities, resulting in varying echo signal intensities.

[0064] For example, Figure 2 This diagram illustrates a possible waveform of the echo signal reflected back from a target object within a detection range A. From... Figure 2 As can be seen, because the detection range A is relatively close and the reflectivity of the target object is relatively high, the echo signal may be oversaturated and its rising edge will change abruptly. At this time, it is impossible to accurately calculate the timing of the echo, that is, there is no suitable edge as a distance for detection.

[0065] For example, Figure 3 This diagram illustrates one possible waveform of the echo signal reflected back from a target object within a detection range B. From... Figure 3 As can be seen, since the detection range B is moderate 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, and other methods.

[0066] For example, Figure 4 This diagram illustrates a possible waveform of the echo signal reflected back from a target object within a detection range C. From... Figure 4 As can be seen, due to the long detection range C, the reflectivity of the target object is small, the waveform of the echo signal is weak, and its signal amplitude may not reach the detection threshold, making it impossible to effectively identify the echo signal.

[0067] In view of this, embodiments of this application provide a laser signal emission method. In this method, the emission power of the emitted laser signal can be controlled based on the detection distance range and / or the reflectivity of the target object detected in the echo signal, so that the echo signals reflected back from different detection distance ranges and / or different target objects are all within a suitable detection range. The following is in conjunction with... Figure 5 The laser signal emission method provided in the embodiments of this application is illustrated by way of example:

[0068] S510 sets the transmission power of the transmitting unit based on the measurement range of the transmitting unit of the lidar and / or the intensity of the echo signal corresponding to the acquired transmitting unit.

[0069] For example, the transmission power of a lidar unit can be preset before transmitting a laser signal through the transmitting unit. For instance, the transmission 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 acquired.

[0070] In one example, the lidar includes a transmitting array, the transmission 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 transmission array may include one or more groups of transmission units, and each group of transmission units may include one or more transmission units. The number of transmission units included in each group of transmission units may be the same or different, and this application does not impose a limitation. It is understood that the embodiments of this application do not impose a unique limitation on the number of transmission groups included in the transmission array. It is also understood that the transmission timing of different groups of transmission units may be the same or different, and this application does not impose a unique limitation.

[0072] The following is an exemplary description of how to set the transmission power. For convenience, this application uses the setting of the transmission power of a single transmitting unit as an example.

[0073] In one implementation, the transmission power of the transmitting unit is set according to its measurement range. For example, different transmitting units may have different measurement ranges. If a transmitting unit has a large measurement range, a larger transmission power can be set to measure targets at a greater distance; if a transmitting unit has a small measurement range, a smaller transmission power can be set to prevent oversaturation of the received echo signal.

[0074] In one implementation, the transmission power of the transmitting unit is set based on the intensity of the acquired echo signal corresponding to the transmitting unit. For example, the intensity of the echo signal can reflect the reflectivity of the target object, where the target object refers to the object to be measured within the measurement range of the lidar. The reflectivity of the target object refers to the ratio of the energy amplitude of the echo signal reflected by the target object to the energy amplitude of the corresponding transmitted signal. The acquired echo signal can refer to the echo signals of one or more scan frames acquired before acquiring the echo signal corresponding to the current frame. Specifically, for example, if the intensity of the acquired echo signal is relatively high, it indicates that the reflectivity of the target object is high. In this case, a lower transmission power can be set to reduce the signal amplitude of the echo signal and prevent oversaturation. If the intensity of the acquired echo signal is relatively low, it indicates that the reflectivity of the target object is low. In this case, a higher transmission power can be set to increase the signal amplitude of the echo signal and prevent the echo signal from failing to reach the measurement threshold. Therefore, the transmission power of the transmitting unit can be set according to the intensity of the acquired echo signal, or it can be expressed as: the transmission power of the transmitting unit can be set according to the reflectivity of the target object.

[0075] In one implementation, reflectivity is inversely proportional to the measurement range; therefore, the LiDAR's emission power can also be set based on the measurement range of the target object (or the distance between the target object and the LiDAR). For example, when the target object is relatively close to the measurement range (e.g., ... Figure 1 If the measurement range is A, a smaller transmission power can be set; when the target object is located at a relatively far distance (e.g., the measurement range is A), a smaller transmission power can be set; Figure 1 If the measurement range (C) is within the range, a larger transmission power can be set.

[0076] In one implementation, the transmission power of the transmitting unit is set based on the measurement range of the transmitting unit and the intensity of the acquired echo signal corresponding to the transmitting unit. For example, the transmission power can be set by comprehensively considering both the measurement range of the transmitting unit and the intensity of the acquired echo signal. Alternatively, the transmission power can be set first based on the measurement range of the transmitting unit, and then, after emitting a laser signal based on this transmission power and acquiring the corresponding echo signal, the transmission power can be adjusted based on the intensity of the acquired echo signal.

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

[0078] For example, two emission power levels can be set according to detection needs, denoted as the first level and the second level, where the emission power of the first level is less than that of the second level. Specifically, within the first measurement range, the lidar can emit laser signals at the first level emission power to measure the target object within the first measurement range. Because the power of the first level is lower, the energy amplitude of the echo signal can be reduced, avoiding waveform distortion caused by oversaturation of the echo signal. Within the second measurement range, the lidar can emit laser signals at the second level emission power to measure the target object within the second measurement range. Because the power of the second level is higher, the energy amplitude of the echo signal can be increased, preventing the echo signal from failing to reach the measurement threshold. Therefore, the above scheme can improve the measurement range of the lidar.

[0079] It is understood that the above example uses two transmission power levels as an illustration, but this application is not limited to this. That is to say, depending on the detection needs (e.g., actual data collection needs), three or more transmission power levels can be set. Setting more levels is beneficial to improving the measurement accuracy and reflectivity accuracy of the lidar. For the sake of simplicity, the following explanation will use two power levels as an example.

[0080] The S520 emits laser signals through an emitting unit based on its transmission power.

[0081] For example, after setting the emission power of the lidar according to the reflectivity of the target object, the emission unit can generate a laser signal according to the emission power to measure the target object within different measurement ranges.

[0082] Alternatively, in one possible implementation, the emission sequence of laser signals corresponding to different emission powers can be set according to the detection requirements. That is, the emission timing of laser signals corresponding to different emission powers can be controlled according to the detection requirements, and then the laser signals are emitted according to this emission sequence. The following is an explanation with reference to an example.

[0083] In the first example, for a specific transmitting unit in the transmitting array, or a group of transmitting units in the transmitting array, laser signals corresponding to multiple transmission powers at the first power level can be emitted first, followed by laser signals corresponding to multiple transmission powers at the second power level. In other words, low-power laser signals can be emitted first, and after the low-power laser signals have been emitted, high-power laser signals can be emitted. Specifically, Figure 6 This is a diagram illustrating one application scenario of this example.

[0084] It is understood that the transmission array may include one or more groups of transmission units, and each group of transmission units may include one or more transmission units. The number of transmission units included in each group of transmission units may be the same or different, and this application does not impose a limitation. It is understood that the embodiments of this application do not impose a unique limitation on the number of transmission groups included in the transmission array. It is also understood that the transmission timing of different groups of transmission units may be the same or different, and this application does not impose a unique limitation.

[0085] Figure 6This diagram illustrates the control sequence of laser signal emission within one emission cycle for a set of transmitting units. The histogram represents the laser signal, and its height indicates the laser signal power. In this example, two emission power levels are set based on detection requirements: a first power level and a second power level, with the second power level being greater than the first. The lidar first emits the laser signal corresponding to the first power level, followed by the laser signal corresponding to the second power level.

[0086] It is understood that the number of transmissions at each level is related to the detection requirements. It is also understood that the higher the required detection accuracy for a given detection range, the more transmissions are required at that level. Furthermore, it is understood that the number of transmissions at the same level can be the same for transmission units within the same group. The transmission levels and the number of transmissions at each level can differ between different groups of transmission units; this application does not impose any restrictions on this.

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

[0088] In the second example, laser signals corresponding to the first power level and the second power level can be emitted alternately. That is, one or more first-power level laser signals can be emitted first, followed by one or more second-power level laser signals, then another one or more first-power level laser signals, and so on. Specifically, Figure 7 A diagram illustrating one application scenario of this example is shown.

[0089] Figure 7 A control diagram showing the laser signal emission timing within an emission cycle is presented. In this example, two emission power levels are set based on detection needs: a first emission power level and a second emission power level. The lidar first emits one laser signal at the first emission power level, then emits two laser signals at the second emission power level, then emits one laser signal at the first emission power level, then emits two laser signals at the second emission power level, and so on. It is understandable that... Figure 7 The transmission timing shown is just one specific example. In practical applications, laser signals of different levels can be transmitted according to other transmission timings as needed for detection.

[0090] In one possible implementation, Figure 7 The proposed solution can be applied to scenarios where the location of a lidar sensor is moved.

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

[0092] In the first possible implementation (denoted as Scheme 1), the echo signals of each laser signal are superimposed according to the laser signal level (i.e., the laser signal emission power level).

[0093] For example, digital signal processing is performed on the echo signal corresponding to the laser signal at each gear level to obtain multiple first processed data, which correspond one-to-one with the gear level; digital signal processing is performed on the echo signal corresponding to the laser signal at all gear levels to obtain second processed data; the multiple first processed data and the second processed data are respectively calculated, and the calculation results are fused to obtain the measurement result.

[0094] Option 1 can be applied Figure 6 In the illustrated scheme: superposition calculations are performed on the first power level, the second power level, and all power levels respectively. Superposition calculation on the first power level refers to performing digital signal processing on the echo signals of the laser signals corresponding to the first power level together. Superposition calculation on the second power level refers to performing digital signal processing on the echo signals of the laser signals corresponding to the second power level together. Superposition calculation on all power levels refers to performing digital signal processing on the echo signals of all laser signals together. Furthermore, distance and / or reflectivity can be calculated based on the calculation results, and then all data can be fused to obtain the measurement results.

[0095] Since laser signals of the same power level have the same power, the echo signals corresponding to the same power level are relatively stable (i.e., the amplitude of the echo signals is concentrated in a relatively small range). Therefore, superimposing and calculating the echo signals according to each power level is beneficial to improving measurement accuracy.

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

[0097] Figure 8 A system architecture diagram for implementing Scheme 1 is shown. For example... Figure 8 As shown, the system architecture includes a transmitting unit, a receiving unit, and a transceiver timing controller. 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 at different power levels.

[0098] Specifically, the transmitting unit includes a controllable transmitting energy device, which is used to set the transmitting power of the lidar and control the transmission. Based on the transmission timing configured by the transceiver timing controller, the controllable transmitting energy device controls the emitter to transmit laser signals of different power levels according to the transmission timing.

[0099] The receiving unit includes a receiving sensor for acquiring echo signals. Based on the transceiver timing information generated by the transceiver timing controller, the acquired echo signals can be grouped according to their transmission power levels. Assuming each transmission power level includes a first level and a second level, the histogram of the first level (i.e., the echo signal corresponding to the laser signal at the first level) is used as the first group. This group is then used by DSP1 for first-level superposition calculation, followed by distance and reflectivity calculation based on the results. The histogram of the second level (i.e., the echo signal corresponding to the laser signal at the second level) is used as the second group. This group is then used by DSP2 for second-level superposition calculation, followed by distance and energy calculation based on the results. The histogram of all levels (i.e., the echo signals corresponding to laser signals at all levels) is used as the third group. This group is then used by DSP3 for full-level superposition calculation, followed by distance and energy calculation based on the results. By fusing the calculation results of these three groups of signals, the final measurement result can be obtained.

[0100] In the second possible implementation (denoted as Scheme 2), multiple processing windows can be set according to the detection requirements, each processing window including at least one laser signal. The echo signals corresponding to the laser signals in each processing window are treated as a set of signals, and then processing can be performed on each set of signals separately. For example, digital signal processing can be performed on the echo signals corresponding to the laser signals in each window to obtain multiple first processed data, which correspond one-to-one with the multiple processing windows; and data signal processing can be performed on the echo signals corresponding to the laser signals in all windows to obtain second processed data. The multiple first processed data and the second processed data are respectively calculated, and the calculation results are fused to obtain the measurement result.

[0101] The following is combined with Figure 9 and Figure 10 This section introduces two methods for setting up window processing. It's understandable that... Figure 9 and Figure 10 Therefore Figure 7 The examples provided are for illustrative purposes only, but this application is not limited thereto. Figure 9 and Figure 10 The solution can also be applied to Figure 6 In the example.

[0102] Figure 9 The first method for setting up the processing window is introduced. Figure 9 In the illustrated scheme, adjacent laser signals are divided into processing windows. For example, the signal of one emission cycle is divided into two processing windows: a first window and a second window. 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 and second windows can be superimposed separately, and the echo signals corresponding to all windows can be fully superimposed. Finally, the measurement result is obtained through data processing and data fusion.

[0103] Figure 10 The second method for setting up the processing window is introduced. Figure 10 In the illustrated scheme, laser signals from different time periods can be divided into processing windows according to actual measurement needs. That is, non-adjacent laser signals can be grouped into a single processing window. For example, the signal from one emission cycle can be divided into two processing windows: a first window and a second window. The first window includes laser signals 1 to 3 and 9 to 10, while the second window includes laser signals 4 to 8. In this case, the echo signals corresponding to the first and second windows can be superimposed separately, and a full superposition calculation can be performed on the echo signals corresponding to all windows. Finally, the measurement result is obtained through data processing and data fusion.

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

[0105] Figure 11 A system architecture diagram for implementing Scheme 2 is shown. Figure 11 The system shown is Figure 8 The system is similar to that described above; similar units or processing flows will not be repeated. Compared to... Figure 8 The system shown, Figure 11 The system incorporates multiple window capture units. These units are connected to a receiving sensor. After the receiving sensor completes the acquisition of the echo signal, the window capture units can select the signal according to a preset scheme (e.g., ...). Figure 9 The corresponding solution or Figure 10 The corresponding solution sets up processing windows, allowing signals in each processing window to be superimposed and processed separately. This is understandable. Figure 11 The window capture device 1 and window capture device 2 can be two different window capture devices or the same window capture device; this application does not limit this.

[0106] Optionally, based on the above scheme two, it is also possible to determine whether the confidence level of the echo signal within each processing window meets the requirements. If the requirements are met, subsequent signals to be transmitted within that cycle can be cancelled. The following section combines... Figure 12 This implementation method is illustrated by example. Figure 12 Taking the nth measurement cycle as an example, multiple processing windows are set within this measurement cycle, and the first window is one of these processing windows. During the processing of the echo signal of the first window (or before processing begins or after processing ends), it is determined whether the confidence level of the echo signal corresponding to the laser signal in the first window meets the preset requirements. If the confidence level of the echo signal in the first window meets the preset requirements, the transmission of the laser signal located after the first window in the transmission cycle is canceled. In this way, not only can time be saved and the frame rate improved, but the power consumption of the entire device can also be saved.

[0107] Optionally, in one possible implementation, if the confidence level of the echo signal in the first window meets the preset requirements, the full-window superposition calculation can be cancelled, thereby saving time and reducing power consumption.

[0108] Figure 13 A system architecture diagram is shown for implementing the confidence level determination process described above. Figure 13 The system shown is Figure 9 The system is similar to that described above; similar units or processing flows will not be repeated. Compared to... Figure 11 The system shown, Figure 13 The system incorporates confidence detection and transmit / receive timing adjustment procedures. Taking the signal processing flow corresponding to the first window as an example: after superimposing the echo signal corresponding to the first window, echo detection and confidence detection are performed sequentially. If the confidence detection passes, meaning there is an echo signal within the first window that meets the confidence requirement, then transmit / receive timing adjustment is performed. Specifically, a control signal can be sent to the transmit / receive timing controller to instruct it to cancel the transmission and reception of signals in processing windows following the first window within the current transmission cycle. The data processing flow in other windows is similar and will not be elaborated here.

[0109] It is understood that the embodiments of this application do not limit the method of determining the confidence level of the echo signal. As a possible implementation, the confidence level of the echo signal can be determined based on the parameters of the echo signal. These parameters include one or more of the following: the pulse width, amplitude, area, rising edge slope, and falling edge slope of the echo signal.

[0110] Corresponding to the methods given in the above method embodiments, this application also provides a corresponding apparatus, which includes a module for executing the corresponding methods in the above method embodiments. This module can be software, hardware, or a combination of software and hardware. It is understood that the technical features described in the above method embodiments are also applicable to the following apparatus embodiments. Therefore, details not described in detail can be found in the above method embodiments, and for brevity, will not be repeated here.

[0111] Figure 14 A structural block diagram of the apparatus 1000 provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown. (Refer to...) Figure 14 The device may specifically include the following modules:

[0112] The setting module 1010 is used to set the transmission power of the transmitting unit according to the measurement range of the transmitting unit of the lidar and / or the echo signal corresponding to the transmitting unit that has been acquired. The transmitting unit has at least two levels of transmission power corresponding to different measurement ranges, and each level corresponds to a transmission power of one 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 object.

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

[0115] Optionally, the device further includes a processing module 1030, which is used to perform digital signal processing on the echo signal corresponding to the laser signal of each gear level to obtain multiple first processed data, wherein the multiple first processed data correspond one-to-one with the gear level; perform digital signal processing on the echo signal corresponding to the laser signal of all gear levels to obtain second processed data; perform calculations on the multiple first processed data and the second processed data respectively, and perform data fusion on the calculation results to obtain the measurement result.

[0116] Optionally, the setting module 1010 is further configured to set multiple processing windows according to the detection requirements, each processing window including at least one laser signal; the processing module 1030 is further configured to perform digital signal processing on the echo signal corresponding to the laser signal in each window to obtain multiple first processing data, the multiple first processing data corresponding one-to-one with the multiple processing windows; perform data signal processing on the echo signal corresponding to the laser signal in all windows to obtain second processing data; perform calculations on the multiple first processing data and the second processing data respectively, and perform data fusion on the calculation results to obtain the measurement result.

[0117] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method and system embodiments section, and they will not be repeated here.

[0118] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to 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 embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0119] like Figure 15 As shown, this application embodiment also provides an apparatus 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. When the processor executes the computer program, it implements the steps in any of the above method embodiments.

[0120] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0121] This application provides a computer program product that, when run on an electronic device, enables a mobile terminal to execute the steps described in the above-described method embodiments.

[0122] If the integrated unit is implemented as 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, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographic device / electronic device, a recording medium, a computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0123] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0124] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0125] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0126] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0127] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A laser signal transmission method, characterized in that, include: Based on the measurement range of the LiDAR's transmitting unit and / or the intensity of the echo signal corresponding to the transmitting unit, the transmitting power of the transmitting unit is set. The transmitting unit has at least two levels of transmitting power corresponding to different measurement ranges, and each level corresponds to a transmission power intensity. Based on the emission power, a laser signal is emitted through the emission unit, and the laser signal is used to measure the target object being detected; The method further includes: The echo signal corresponding to the laser signal of each gear level is digitally processed to obtain multiple first processed data, and the multiple first processed data correspond one-to-one with the gear level. The echo signals corresponding to the laser signals at all speeds are digitally processed to obtain the second processed data; The multiple first processed data and the second processed data are respectively calculated, and the calculation results are fused to obtain the measurement results.

2. The method according to claim 1, characterized in that, The method further includes: Based on the detection requirements, the emission sequence of laser signals corresponding to different emission powers is set; The process of emitting a laser signal through the emitting unit based on the emitting power includes: The transmitting unit transmits laser signals with different transmission powers in the specified transmission sequence.

3. The method according to claim 2, characterized in that, The launch sequence includes: First, laser signals corresponding to multiple emission power levels at the first power level are emitted, then laser signals corresponding to multiple emission power levels at the second power level are emitted, where the emission power of the second power level is greater than that of the first power level; or, The laser signal corresponding to the first power level and the laser signal corresponding to the second power level are emitted alternately.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Based on the detection requirements, multiple processing windows are set up, and each processing window includes at least one echo signal corresponding to a laser signal. 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 one-to-one with multiple processing windows; Data signal processing is performed on the echo signals corresponding to the laser signals of all windows to obtain the second processed data; The multiple first processed data and the second processed data are respectively calculated, and the calculation results are fused to obtain the measurement results.

5. The method according to claim 4, characterized in that, The method further includes: Determine whether the confidence level of the echo signal corresponding to the laser signal in the first window of the plurality of processing windows meets the preset requirements; If the confidence level of the echo signal meets the preset requirement, the transmission of laser signals located after the first window in the transmission cycle of the first window is cancelled.

6. The method according to claim 5, characterized in that, The step of determining whether the confidence level of the echo signal corresponding to the laser signal in the first window of the plurality of processing windows meets the preset requirements includes: The confidence level of the echo signal is determined based on the parameters of the echo signal. The parameters include one or more of the pulse width, amplitude, area, rising slope, and falling slope of the echo signal.

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

8. A laser signal emitting device, characterized in that, include: The setting module is used to set the emission power of the lidar according to the measurement range of the emission unit of the lidar and / or the intensity of the echo signal corresponding to the emission unit. The lidar has at least two emission power levels corresponding to different measurement ranges, and each level corresponds to a certain intensity of emission power. A 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 object being detected; The laser signal emitting device further includes: The processing module is used to perform digital signal processing on the echo signal corresponding to the laser signal of each gear level to obtain multiple first processing data, wherein each of the multiple first processing data corresponds to one gear level; to perform digital signal processing on the echo signal corresponding to the laser signal of all gear levels to obtain second processing data; to perform calculations on the multiple first processing data and the second processing data respectively, and to perform data fusion on the calculation results to obtain the measurement result.

9. A laser signal emitting device, characterized in that, include: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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