Echo resolving method, echo resolving engine, laser radar and medium

Abstract

The invention belongs to the technical field of radars, and particularly relates to an echo resolving method, an echo resolving engine, a laser radar and a medium, and the method comprises the steps: caching received echo data to a first buffer; detecting effective echo data meeting a preset rule in the echo data based on the first buffer; caching the effective echo data to a second buffer; and based on the second buffer, executing a preset algorithm to calculate and obtain a calculated value of the effective echo data. According to the invention, the effective echo is detected in the first buffer, the effective echo is solved in the second buffer, and the detection process and the operation process are strictly separated, so that some hardware depended by the operation which needs to be executed in the echo detection step originally can be saved. Compared with the echo data, the data after the resolving process is executed based on the second buffer is smaller in occupied space and higher in information density, so that the space required by subsequent storage can be compressed, and the problem that the overhead of storage resources is large is effectively relieved.

Description

Technical Field

[0001] The present application belongs to the field of radar technology, and in particular to an echo resolution method, an echo resolution engine, a laser radar and a medium. Background Art

[0002] Radar echo data processing is an important part of radar technology, which involves the process of extracting useful information from the received radar echo signal. Echo data processing usually includes two main steps: detection and resolution.

[0003] Therefore, how to provide an echo resolution method, echo resolution engine, lidar and medium with low storage resource overhead has become a technical problem that needs to be urgently solved in the industry. Summary of the invention

[0004] The embodiments of the present application provide an echo resolution method, an echo resolution engine, a laser radar and a medium, which can solve the problem of high storage resource overhead.

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

[0006] Buffering the received echo data into a first buffer;

[0007] Detecting valid echo data in the echo data that meets a preset rule based on the first buffer;

[0008] Buffering the valid echo data in a second buffer;

[0009] A preset algorithm is executed based on the effective echo data buffered in the second buffer to obtain a solution value of the effective echo data.

[0010] The above method strictly separates the detection process and the calculation process by performing effective echo detection in the first buffer and directly transferring the effective echo to the second buffer for the calculation step, so that some hardware (for example, two large-capacity memory blocks required for ping-pong storage) that originally need to be performed in the echo detection step (for example, sorting operations) can be omitted. At the same time, the data output after the calculation process is performed based on the effective echo data in the second buffer occupies less space and has higher information density than the original echo data, so that the space required for subsequent storage can be compressed, effectively alleviating the problem of large storage resource overhead in the existing radar architecture.

[0011] The preset rules may be understood as adjustable rules, wherein the preset rules are related to the type of radar, the scanning mode of the radar, the detection requirements, the application scenarios, etc. The preset rules may be, for example, detection and denoising rules.

[0012] In a possible implementation manner of the first aspect, the performing a preset algorithm based on the valid echo data cached in the second buffer to obtain a calculated distance of the valid echo data includes:

[0013] If the valid echo data set cached in the second buffer meets the preset solution condition, at least one distance value is obtained by solution according to the valid echo data as at least a part of the solution value;

[0014] The solution condition is set according to the structure and / or algorithm of the radar corresponding to the echo data.

[0015] The above method defines the solution period of the echo data (for example, frame / block / pixel) based on the solution conditions, and solves the effective echo data on this basis to obtain the distance value data, thereby efficiently realizing the radar function while saving storage resources.

[0016] In a possible implementation manner of the first aspect, the detecting, based on the first buffer, valid echo data in the echo data that meets a preset rule includes:

[0017] Acquire at least one first data in the echo data that is greater than a preset echo threshold;

[0018] If there are N trough points in the at least one first data, the first data is cut into N+1 second data according to the starting point of the first data, the trough point and the end point of the first data;

[0019] If there is no trough point in the at least one first data, determining the first data as the second data;

[0020] Wherein, N is a positive integer, the trough point refers to a minimum point whose difference with two adjacent peak values ​​is greater than a preset trough threshold, and the descriptor in the second data constitutes at least a part of the valid echo data, and the descriptor includes a maximum value and a peak time.

[0021] The above method eliminates background noise through the echo threshold, and on this basis separates multiple valid echoes (i.e., one maximum value corresponds to one valid echo data) in continuous valid data (i.e., data that is continuously greater than the echo threshold) through the trough points, providing a good data foundation for subsequent solution work.

[0022] In a possible implementation manner of the first aspect, the acquiring at least one first data in the echo data that is greater than a preset echo threshold includes:

[0023] Acquire an expected response period in the flight time according to the structure and / or algorithm of the radar corresponding to the echo data;

[0024] At least one of the first data in the echo data within the expected response period and having a value greater than a preset echo threshold is acquired.

[0025] The above method takes into account that the structure and / or algorithm of the radar have some limitations on the distance, size, field of view and other parameters of the target that it can detect, so that within a flight cycle, there are periods when echoes are expected to exist (i.e., expected response periods) and periods when echoes are not expected to exist (i.e., unexpected response periods). This feature can be used to improve the efficiency of the radar, namely:

[0026] The efficiency of radar detection is improved by considering only the echo data within the expected response period for detection.

[0027] In a possible implementation manner of the first aspect, the acquiring at least one first data in the echo data that is greater than a preset echo threshold includes:

[0028] Acquire the expected response period and the unexpected response period in the flight time according to the structure and / or algorithm of the radar corresponding to the echo data;

[0029] The first data greater than a first threshold value in the echo data within the expected response period and the first data greater than a second threshold value in the echo data within the unexpected response period are respectively acquired; wherein the first threshold value and the second threshold value are both data obtained by testing.

[0030] The above method takes into account that the structure and / or algorithm of the radar has some limitations on the distance, size, field of view and other parameters of the target that it can detect, so that within a flight cycle, there are periods when echoes are expected to exist (i.e., expected response periods) and periods when echoes are not expected to exist (i.e., unexpected response periods). This feature can be used to improve the accuracy of the radar, namely:

[0031] By applying different echo thresholds to the echo data within the expected response period and the echo data within the unexpected response period, on the one hand, more accurate detection can be performed on the detection targets corresponding to the expected echo period (usually, the targets within the preset detection range of the radar), and on the other hand, better monitoring of unexpected situations corresponding to the unexpected echo period can be carried out.

[0032] In a possible implementation manner of the first aspect, the acquiring at least one first data in the echo data that is greater than a preset echo threshold includes:

[0033] Cutting the echo data in units of flight time to obtain third data;

[0034] Cut the third data into M segments to obtain M fourth data;

[0035] Obtain a threshold group for each of the fourth data obtained according to the test data; wherein the threshold group includes at least one of a first wave width threshold, a second wave width threshold, a third wave width threshold, a fourth wave width threshold, a first wave height threshold, a second wave height threshold, a third wave height threshold, and a fourth wave height threshold;

[0036] Noise data in any of the fourth data is excluded to obtain fifth data; wherein the noise data includes at least one of the following:

[0037] Data whose wave width is smaller than the first wave width threshold;

[0038] Data with wave height less than the first wave height threshold;

[0039] Data whose wave width is less than the second wave width threshold and whose wave height is greater than the second wave height threshold;

[0040] Data whose wave width is greater than the third wave width threshold and whose wave height is less than the third wave height threshold;

[0041] Data with a wave width greater than the fourth wave width threshold;

[0042] Data with wave height greater than the fourth wave height threshold;

[0043] At least one of the first data that is greater than a preset echo threshold value in the fifth data is acquired.

[0044] The above method takes into account that there may still be some interference echoes in the denoising operation performed based on the echo threshold and the trough threshold (especially in some special scenarios, such interference may have a greater impact on the target detection accuracy). Therefore, a denoising step based on the wave width and wave height is introduced, which can cover various radar application scenarios (by programming the threshold) and achieve better denoising effect.

[0045] In a second aspect, an embodiment of the present application provides an echo solution engine, including:

[0046] A first buffer, used for buffering received echo data;

[0047] A detection module, used for detecting valid echo data in the echo data that meets a preset rule based on the first buffer;

[0048] A second buffer, used for buffering the valid echo data;

[0049] A solving module is used to execute a preset algorithm based on the second buffer to obtain a solved value of the effective echo data.

[0050] In a possible implementation manner of the second aspect, the detection module and the first buffer constitute at least a part of a detection cluster, and the echo resolution engine includes a plurality of the detection clusters;

[0051] The echo resolution engine also includes:

[0052] A power consumption control module, used to control the detection cluster in the running state according to the scanning mode of the radar, and shut down the detection cluster in the non-running state;

[0053] A timing control logic module is used to synchronize pulse signals of frame, block and pixel data obtained according to the plurality of detection clusters.

[0054] In a third aspect, an embodiment of the present application provides a laser radar, comprising the echo resolution engine described in any one of the second aspects above.

[0055] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the echo resolution method described in any one of the first aspects above is implemented.

[0056] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device executes the echo resolution method described in any one of the above-mentioned first aspects.

[0057] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0059] Figure 1 It is a flowchart of the echo solution method provided in the embodiment of the present application;

[0060] Figure 2 is a schematic diagram of echo data provided by an embodiment of the present application;

[0061] Figure 3 It is a schematic diagram of an optional detection scheme;

[0062] Figure 4 It is a schematic diagram of an optional detection solution;

[0063] Figure 5 It is a schematic diagram of trough discrimination provided in an embodiment of the present application;

[0064] Figure 6 It is a schematic diagram of the detection solution provided in the embodiment of the present application;

[0065] Figure 7 It is a schematic diagram of a detection scheme with denoising provided in an embodiment of the present application;

[0066] Figure 8 is a schematic diagram of the structure of the echo solution engine provided in the embodiment of the present application;

[0067] Fig. 9 It is a structural diagram of the detection and solution engine provided in an embodiment of the present application.

[0068] Reference numerals:

[0069] First buffer 801; detection module 802; second buffer 803; solution module 804; terminal device 100; processor 1001; memory 1002; computer program 1003. DETAILED DESCRIPTION

[0070] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0071] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0072] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0073] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0074] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0075] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0076] Radar is a radio technology used to detect, locate, track and identify targets. The working principle of radar is based on the transmission, reception and processing of electromagnetic waves. Radar systems usually include components such as transmitters, antennas, receivers and signal processors.

[0077] The working principle of radar is explained as follows in steps.

[0078] Emitting electromagnetic waves: Radar transmitters generate electromagnetic waves, such as microwaves, millimeter waves, lasers, etc. These beams are emitted by antennas into the surrounding space.

[0079] Target reflection: When the emitted electromagnetic wave hits the target, part of the energy will be reflected by the target surface. The size, shape and material of the target determine the intensity of the reflection.

[0080] Echo reception: The reflected signal is received by the radar's receiver. The receiver amplifies the weak echo signal for subsequent processing.

[0081] Signal processing: The amplified signal undergoes signal processing steps such as filtering, time domain processing, and target detection to extract the target information and display it or use it for other applications.

[0082] Target location and tracking: By analyzing the time delay (to determine the range) and frequency changes (to determine the speed) of the echo, the radar system can determine the position and speed of the target. Doppler / phase-based radar technology can be used to measure the speed of the target.

[0083] In the working process of radar, echo reception and signal processing are very critical steps. Both hardware architecture and software algorithms will have a significant impact on the results of these steps. However, the existing software algorithms and the hardware architecture they rely on have problems such as large storage resource overhead, relatively complex hardware architecture, and low solution efficiency.

[0084] In order to solve at least part of these problems, the present application provides an echo resolution method, such as Figure 1 As shown, including:

[0085] Step 102, buffering the received echo data into a first buffer;

[0086] Step 104, detecting valid echo data in the echo data that meets a preset rule based on the first buffer;

[0087] Step 106, buffering the valid echo data into a second buffer;

[0088] Step 108: Execute a preset algorithm based on the valid echo data buffered in the second buffer to obtain a solution value of the valid echo data.

[0089] Since the working principles of radars are similar, the above problems will be explained below using laser radar as an example. It is worth noting that the same problems and solutions can be applied to other types of radars, such as millimeter wave radars, and therefore, the following description does not constitute a limitation on the scope of protection of this application.

[0090] like Figure 2 As shown in the figure, after sampling and histogram superposition, the amplitude and time relationship of the reflected laser received by the lidar system will be reflected as a number of echoes of varying heights and widths (i.e., echo data). The horizontal axis in the figure corresponds to time, and the vertical axis corresponds to the histogram score (in some cases, it can be understood as the echo signal strength).

[0091] like Figure 3As shown in FIG. 1 , in an optional echo resolution method (referred to as the comparison scheme), invalid data needs to be filtered first, valid data is divided into echoes one by one, and key information of each valid echo is recorded and transmitted, that is, the data is cached into a buffer (referred to as buffer_ram) while detecting the echo, and then according to the judgment conditions of the starting point and the end point, the valid echo is stored in a storage block (referred to as store_ram0) of the ping-pong storage, and the maximum value, peak time and other descriptor information of the echo are recorded at the same time. This process is repeated until all the data of a pixel are detected.

[0092] Then, the recorded descriptor information is sorted, and the corresponding echoes are output in sequence according to the sorting results. During this sorting and output process, the data of another pixel received by the input side is detected and stored in another storage block (recorded as store_ram1) for ping-pong operation.

[0093] Furthermore, if Figure 4 As shown, the echo detection module is followed by a solution module, which is responsible for calculating a distance value according to a certain algorithm based on a segment of echo data output by the detection.

[0094] In this comparison scheme, the echo detection module needs two large store_rams to ping-pong store as much echo data as possible in two pixels, which consumes a lot of ram resources.

[0095] In the signal processing step of radar detection, Ping-Pong Buffering is an optional technique for storing and processing received signal data in consecutive radar scan cycles. This technique ensures that while processing the current scan data, the data from the previous scan begins to be processed at the same time, thus achieving seamless data processing.

[0096] The hardware architecture of ping-pong storage includes:

[0097] Ping-Pong Memory: Ping-Pong memory is a double buffering technology that usually consists of two blocks of memory. When the radar system receives signal data, the new data is stored in one of the blocks of memory (for example, memory block A). At the same time, the processor can access the previous data in the other block of memory (for example, memory block B). At the beginning of the next scanning cycle, the memory block storing the new data will switch so that the new data is stored in the previously processed memory block, and the processor begins to access the data in the new memory block. This alternating storage and access method ensures continuous data processing without losing any information.

[0098] Memory controller: The memory controller is responsible for managing the switching of ping-pong memory. It triggers the switching of memory blocks at the appropriate time to ensure continuous processing of data.

[0099] The purpose of the ping-pong storage matching algorithm is to:

[0100] Continuous data processing: In radar systems, ping-pong storage ensures continuous data processing. While the processor is processing new data in the current cycle, the data from the previous cycle can still be accessed and processed. This seamless switching ensures that the radar system can continuously receive, store and process data.

[0101] Real-time data analysis: Ping-pong memory enables the radar system to analyze previous data while processing current data. This is very important for real-time target detection and tracking, because the processor can analyze previous data to identify and track the target without interrupting the reception of new data.

[0102] Avoiding data loss: Ping-Pong memory technology ensures that no received data is lost, even while it is being processed. This is critical to the accuracy and reliability of the radar system.

[0103] Functionally, these algorithms may include steps such as target detection, parameter estimation, and target tracking. Through ping-pong storage, the radar system can achieve efficient and real-time signal processing, ensuring the performance and reliability of the radar system.

[0104] However, although the radar architecture and algorithm based on ping-pong storage have the above advantages, it is undeniable that due to the existence of two large-capacity memory blocks in the partition of the detection part (as mentioned above, it is the necessary hardware to complete ping-pong storage), the cache of the superimposed detection part and the cache of the solution part, the storage resource overhead under this architecture is relatively large.

[0105] On the other hand, assuming that the size of store_ram is fixed to store only 5 echoes, the sixth detected echo will definitely be discarded or overwrite the previously stored echo, so that all echoes cannot be stored for the solution module.

[0106] In order to solve at least part of these problems, the present embodiment provides a simpler process than the comparison scheme, omitting the two storage blocks store_ram used to perform the ping-pong operation, and moving the original purpose of the ping-pong operation, namely the sorting operation (of course, in some other comparison schemes, it may be used for other calculation operations), to be executed after the solution part is completed (under the existing architecture, the calculation and storage resources of this part are sufficient to complete), so that in step 104, only the detection operation that can be completed by using the first buffer is executed, and in step 106, only the solution operation that can be completed by using the second buffer is executed.

[0107] That is to say, in the comparison scheme, the existence of two larger store_rams is used for sorting output. However, what is overlooked by those skilled in the art is that, from the perspective of the processing flow of the entire system, the sorting logic does not necessarily have to be performed in the echo detection module.

[0108] Therefore, this embodiment adjusts the sorting logic to after the solution. Since the hundreds of beats of data of an echo after the solution are compressed into a single beat of distance value data, there is no need to store the echo in store_ram. Only a few additional registers are needed to store the echo descriptor information.

[0109] At the same time, the two ping-pong store_rams of the detection module are directly removed because they do not need to be sorted, so the storage overhead of the detection module is reduced, and the full echo detection output is converted to a solution.

[0110] The beneficial effects of this embodiment are:

[0111] By performing effective echo detection in the first buffer and directly transferring the effective echo to the second buffer for the effective echo resolution step, the detection process and the calculation process are strictly separated, so that some hardware (for example, two large-capacity memory blocks required for ping-pong storage) that originally need to be performed in the echo detection step (for example, sorting operations) can be omitted. At the same time, the data after the resolution process is performed based on the second buffer occupies less space and has higher information density than the echo data, so that the space required for subsequent storage can be compressed, effectively alleviating the problem of large storage resource overhead in the existing radar architecture.

[0112] In some embodiments, the detection of whether there is valid echo data in the echo data that meets a preset rule based on the first buffer is a process of performing detection in a programmable (logic / code) configuration.

[0113] The preset rules may be understood as adjustable rules, wherein the preset rules are related to the type of radar, the scanning mode of the radar, the detection requirements, the application scenarios, etc. The preset rules may be, for example, detection and denoising rules.

[0114] According to the above embodiment, in yet another embodiment:

[0115] The step of executing a preset algorithm based on the effective echo data cached in the second buffer to obtain a calculated distance of the effective echo data comprises:

[0116] If the valid echo data set cached in the second buffer meets the preset solution condition, at least one distance value is obtained by solution according to the valid echo data as at least a part of the solution value;

[0117] The solution condition is set according to the structure and / or algorithm of the radar corresponding to the echo data.

[0118] The solution conditions are described in more detail below.

[0119] It should be understood that the echo data received by the radar is continuous within a certain period of time, and these continuous echo data include valid echo data, noise data, stray light data, etc.

[0120] For effective echo data, depending on different situations of the target detection object, the effective echo data may be continuous or discrete. This continuity and discreteness correspond to different organizational forms of radar acquisition points. When the radar solves the echo data, isolated effective echo data usually cannot be solved to obtain target detection object data with macroscopic significance (in some cases, it may even be noise points). Therefore, in the more preferred scheme provided in this embodiment, the solution process of the effective echo will be solved in the form of an effective echo set under the premise of meeting the solution conditions. The effective echo set here can be understood as the original echo data corresponding to the radar acquisition point set under a specific organizational form.

[0121] Some typical organizational forms are described below.

[0122] In the Lidar system, frame, cluster, and pixel are the basic units used to describe laser point cloud data. These terms help to understand and process the 3D point cloud data generated by Lidar.

[0123] 1. Frame:

[0124] A LiDAR frame is a collection of all laser points collected by the LiDAR in a scanning cycle. During a scanning cycle, the LiDAR device rotates or adjusts the direction of the laser beam and then records the returned laser point cloud data. This data is organized into a frame, which represents the scene observed by the LiDAR at a specific time.

[0125] 2. Cluster:

[0126] Blocks are groups of consecutive laser points within a frame. Blocks usually represent a group of spatially adjacent laser points that may belong to the same target or part of the scene. Blocks can be formed based on properties such as distance, angle or intensity of the laser points.

[0127] 3. Pixel:

[0128] A pixel usually refers to a single laser point in a block. This term is used to compare laser points to pixels in traditional image processing. In lidar data, each laser point has its coordinates in three-dimensional space (x, y, z) and possible attribute information, such as reflection intensity (intensity) and laser return time (timestamp). Each laser point is regarded as a pixel and constitutes the data of the entire point cloud.

[0129] These concepts can be extended to other types of radars, especially scanning radars. In this extended concept, a frame is the set of all sensing points collected in a scanning cycle, a block is a grouping of continuous sensing points into blocks within a frame, and a pixel refers to a single sensing point in a block.

[0130] In some optional implementations, the sensing point may also be:

[0131] In the field of lidar, a relatively important concept is the field of view FOV.

[0132] The field of view (FOV) of a LiDAR can be measured in two dimensions: vertical and horizontal. In these two dimensions, FOV is usually defined as the range that the LiDAR can detect, which is affected by many factors, including the LiDAR's transmit power, receiving sensitivity, atmospheric conditions, scanning speed, scanning accuracy, scanning method, operating wavelength, aperture size, optical system, etc.

[0133] The FOV under this understanding is closer to the physical limit of LiDAR and cannot be expanded infinitely.

[0134] In actual applications, in some detection scenarios, the entire field of view angle of the above-mentioned physical limit FOV will not be used as the detection range of the lidar. Instead, it will be focused on a relatively smaller target FOV (for example, the field of view angle of the physical limit FOV in the vertical direction is +15 degrees to -15 degrees, and the target FOV may be +5 degrees to -5 degrees. The specific value may be set before leaving the factory according to the type, purpose and other parameters of the radar, or a programmable radar may be provided for users to set according to the usage scenario) to obtain better detection accuracy.

[0135] Generally speaking, target FOV is one of the most important parameters of LiDAR in practical applications, which directly determines the performance and application scope of LiDAR.

[0136] Therefore, in an optional implementation, the aforementioned organizational form can also be defined as data within the target FOV.

[0137] Regardless of the specific form of organization adopted, the data generated by radar will be more conducive to understanding and processing radar data after being organized, especially in applications such as computer vision, autonomous driving and mapping.

[0138] Therefore, this embodiment provides a solution based on a solution condition. In a specific implementation, the solution condition may include one or more specific conditions, which can be used to:

[0139] The distance value (and / or other target data, such as velocity value) of the effective echo is calculated in units of frame, block, pixel or other organizational forms.

[0140] Optionally, in one or more embodiments, the solution condition may also be the detection field of view, and the echo data obtained within the detection field of view may be used as the minimum solution unit of the data.

[0141] For example, as an optional solution condition, the detection field of view can be split according to the scanning direction, that is, the echo data obtained by completing a row of scans or a column of scans is used as the minimum solution unit. Or the echo data obtained by completing a scan within a preset angle range can be used as the minimum solution unit. For example, if the detection field of view FOV in the vertical direction is 15° to -15°, the detection field of view can be divided into three equal parts, and the echo solution is performed every ten degrees of scanning. As an example and not limitation, the solution conditions may include a combination of three specific conditions based on the target FOV, block, and pixel. In this example, as the echoes are returned and detected one after another, when the valid echoes in the second buffer can be organized into a pixel, the solution step will be executed to obtain the target data of the pixel, and then when the pixel-level solution conditions are met, the pixel solution is repeated until the block-level solution conditions are met, at which time the solution step will be additionally executed to obtain the target data of the block (it is worth noting that the valid echo data used to solve the block target data may have been solved once at the pixel level). Similarly, the block-level solution will still be repeated until the target FOV-level solution conditions are met, at which time the target FOV-level solution is performed again.

[0142] Therefore, it can be understood that the solution condition is a condition for determining valid echoes with the same organizational form as one set.

[0143] The beneficial effects of this embodiment are:

[0144] The calculation period of the echo data (for example, frame / block / pixel) is defined based on the calculation conditions, and on this basis, the effective echo data is calculated to obtain the distance value data, thereby efficiently realizing the radar function while saving storage resources.

[0145] According to any of the above embodiments, in yet another embodiment:

[0146] The detecting, based on the first buffer, valid echo data in the echo data that meets a preset rule comprises:

[0147] Acquire at least one first data in the echo data that is greater than a preset echo threshold;

[0148] If there are N trough points in the at least one first data, the first data is cut into N+1 second data according to the starting point of the first data, the trough point and the end point of the first data;

[0149] If there is no trough point in the at least one first data, determining the first data as the second data;

[0150] Wherein, N is a positive integer, the trough point refers to a minimum point whose difference with two adjacent peak values ​​is greater than a preset trough threshold, and the descriptor in the second data constitutes at least a part of the valid echo data, and the descriptor includes a maximum value and a peak time.

[0151] like Figure 5 As shown, in this embodiment, echo detection is based on the setting of two thresholds, one is the echo threshold and the other is the trough threshold. In a simple case, if there is an echo that is always greater than the echo threshold echo_th, the starting point and end point of the echo are naturally determined. However, in some cases, reference Figure 5 The (P, V) point shown in the figure can also become the end point of the previous echo and the starting point of the next echo if certain conditions are met. In this case, the valley threshold valley_th is required for judgment. If the difference between the amplitude of the previous peak value A and (P, V) is greater than valley_th, and the difference between the amplitude of the next peak value B and (P, V) is also greater than valley_th, then the (P, V) point meets the start and end point conditions. In this case, the (P, V) point needs to be used as the boundary to separate Figure 5 The waveform shown is cut into two valid echoes.

[0152] Further, it can be understood that when there are multiple trough points similar to the (P, V) point in an echo that is always greater than echo_th, the method of this embodiment will cut this echo to obtain the number of trough points plus 1 valid echo.

[0153] The beneficial effects of this embodiment are:

[0154] The background noise is eliminated by the echo threshold, and on this basis, multiple valid echoes (i.e., one maximum value corresponds to one valid echo data) in the continuous valid data (i.e., data that is continuously greater than the echo threshold) are separated by the trough points, providing a good data foundation for subsequent solution work.

[0155] Figure 6 The module architecture corresponding to the echo resolution method provided in the above embodiment is shown. It should be understood that the schematic diagram of this module architecture is not a schematic diagram of pure hardware or pure software.

[0156] Specifically, Figure 6 The detection module and solution module shown are both software-hardware combined modules.

[0157] In the detection module, det_logic can be understood as a logic operation unit, which can implement the method provided in step 104 (or can execute the methods provided in steps 102 and 104) when executed, and buf_ram in the detection module can be understood as the hardware structure of the first buffer.

[0158] Similarly, in the solution module, cal_logic can be understood as another logic operation unit, which can implement the method provided in step 108 when executed (or, can execute the methods provided in steps 106 and 108), and buf_ram in the solution module can be understood as the hardware structure of the second cache.

[0159] Further, based on any of the above embodiments, since background noise filtering performed only by echo threshold may not be able to eliminate noise more comprehensively, a plurality of related embodiments on noise removal will be provided below.

[0160] Figure 7 The specific architecture of the detection module in the subsequent embodiments is shown, in which a denoise unit is added, which can be understood as a unit for denoising, and the methods provided in the subsequent embodiments can be implemented when the denoise unit is executed.

[0161] Specifically, the denoise unit can be a logic operation unit or a virtual unit composed of codes running on a processor.

[0162] First, an embodiment of noise removal in the first dimension, that is, the time dimension, is provided. In the time dimension, the present application provides two denoising schemes.

[0163] In the first implementation:

[0164] The acquiring at least one first data in the echo data that is greater than a preset echo threshold comprises:

[0165] Acquire an expected response period in the flight time according to the structure and / or algorithm of the radar corresponding to the echo data;

[0166] At least one of the first data in the echo data within the expected response period and having a value greater than a preset echo threshold is acquired.

[0167] In the second implementation:

[0168] The acquiring at least one first data in the echo data that is greater than a preset echo threshold comprises:

[0169] Acquire the expected response period and the unexpected response period in the flight time according to the structure and / or algorithm of the radar corresponding to the echo data;

[0170] The first data greater than a first threshold value in the echo data within the expected response period and the first data greater than a second threshold value in the echo data within the unexpected response period are respectively acquired; wherein the first threshold value and the second threshold value are both data obtained by testing.

[0171] First, we will define the flight time in the above two solutions. In a narrow sense, the flight time (TOF) refers to the time it takes for the laser pulse in the Lidar to be emitted from the radar and reflected by the target. Lidar uses the flight time to measure the distance between the target and the radar. When the laser pulse is emitted from the Lidar transmitter, it propagates in space, and when it hits the target surface, part of the light energy will be reflected by the target. The Lidar receiver captures the laser pulse reflected by the target and records the flight time.

[0172] Using the speed at which light travels through air (approximately the speed of light, about 300,000 kilometers per second or 300,000 km / s), LiDAR can calculate the distance between a target and the radar using the following formula:

[0173] Distance = (flight time x speed of light) / 2

[0174] Because the laser pulse needs to travel back and forth, the flight time needs to be divided by 2. By measuring the flight time, the lidar can accurately calculate the distance of the target, which is the basis of lidar distance measurement.

[0175] In a broad sense (this is also the definition of flight time in the embodiments of the present application), the detection carriers of other radars (such as the millimeter waves of millimeter wave radars) also have a similar concept of flight time as mentioned above, that is, the time required for the detection carrier to be emitted from the radar, reflected by the target and return to the radar.

[0176] For a specific model of radar, the approximate range of its target detection (for example, the field of view angle in the detection range, the detection distance, etc.) is defined. On this basis, when the echo signal is cut in units of flight time, there will be time periods when echoes may exist (that is, the set of flight times calculated based on the distance corresponding to the approximate range of the target) and time periods when effective echoes should not be generated in theory. These are recorded as expected response time periods and unexpected response time periods, respectively. Noise filtering can be performed on this basis.

[0177] It is worth noting that the expected response period and the unexpected response period may be different for different radars, and may also be different for different scanning angles of the same radar.

[0178] Therefore, based on the concepts of expected response period and unexpected response period, the above two solutions respectively adopt the idea of ​​ignoring the signal of the unexpected response period and the idea of ​​judging the signal of the unexpected response period by using a threshold different from that of the expected response period.

[0179] For setting thresholds for different time periods, the following logic can be used:

[0180] 1. Determine the echo period according to the ranging range;

[0181] 2. Setting the thresholds of the echo period (expected response period) and the period outside the echo period (unexpected response period) as the thresholds for echo and noise respectively;

[0182] 3. Experimentally determine whether the echo period is accurate and the threshold setting is reasonable;

[0183] 4. Determine / adjust threshold.

[0184] Thus, an available threshold value based on experience can be obtained.

[0185] In fact, the thresholds provided in other embodiments of the present application can also be adjusted through similar logic and experimental verification to obtain a usable empirical threshold.

[0186] Furthermore, the concept of approximate target interval can also be understood in a broad sense in the embodiments of the present application. For example, when the radar has preliminarily detected a target object, in order to obtain more detailed information about the target object, the preliminarily detected area (angle, distance) can be enlarged to a specified degree or proportion to obtain a fine detection area, and the echo time period corresponding to the fine detection area is defined as the expected echo time period, so as to obtain more accurate detection results.

[0187] At the specific implementation level, it can be:

[0188] First, n time thresholds csr_time_th0, csr_time_th1, etc. are set to divide the entire flight time into n+1 segments. For unexpected echo periods, all echoes in this time period can be filtered out unconditionally, or echo denoising can be performed in each segment according to the next stage filtering conditions of wave width and wave height. This is the first dimension denoising.

[0189] In summary, the problem solved by this embodiment is:

[0190] The hardware can initially eliminate useless noise data by setting the echo basic threshold echo_th and the peak and valley threshold valley_th. However, based on the detected echo, there are still many interfering echoes in certain specific scenarios. Therefore, an additional programmable denoising step is required.

[0191] The beneficial effects of the first embodiment are:

[0192] Considering that the radar structure and / or algorithm have some limitations on the distance, size, field of view and other parameters of the target it can detect, there are periods of time when echoes are expected to exist (i.e., expected response periods) and periods of time when echoes are not expected to exist (i.e., unexpected response periods) in a flight cycle. This feature can be used to improve the efficiency of the radar, namely:

[0193] The efficiency of radar detection is improved by considering only the echo data within the expected response period for detection.

[0194] The beneficial effects of the second embodiment are:

[0195] Considering that the structure and / or algorithm of the radar have some limitations on the distance, size, field of view and other parameters of the target it can detect, there are periods of time when echoes are expected to exist (i.e., expected response periods) and periods of time when echoes are not expected to exist (i.e., unexpected response periods) in a flight cycle. This feature can be used to improve the accuracy of the radar, namely:

[0196] By applying different echo thresholds to the echo data within the expected response period and the echo data within the unexpected response period, on the one hand, more accurate detection can be performed on the detection targets corresponding to the expected echo period (usually, the targets within the preset detection range of the radar), and on the other hand, better monitoring of unexpected situations corresponding to the unexpected echo period can be carried out.

[0197] The second and third dimensions are provided below, which are noise removal embodiments in the wave width and wave height dimensions. Specifically:

[0198] The acquiring at least one first data in the echo data that is greater than a preset echo threshold comprises:

[0199] Cutting the echo data in units of flight time to obtain third data;

[0200] Cut the third data into M segments to obtain M fourth data;

[0201] Obtain a threshold group for each of the fourth data obtained according to the test data; wherein the threshold group includes at least one of a first wave width threshold, a second wave width threshold, a third wave width threshold, a fourth wave width threshold, a first wave height threshold, a second wave height threshold, a third wave height threshold, and a fourth wave height threshold;

[0202] Noise data in any of the fourth data is excluded to obtain fifth data; wherein the noise data includes at least one of the following:

[0203] Data whose wave width is smaller than the first wave width threshold;

[0204] Data with wave height less than the first wave height threshold;

[0205] Data whose wave width is less than the second wave width threshold and whose wave height is greater than the second wave height threshold;

[0206] Data whose wave width is greater than the third wave width threshold and whose wave height is less than the third wave height threshold;

[0207] Data with a wave width greater than the fourth wave width threshold;

[0208] Data with wave height greater than the fourth wave height threshold;

[0209] At least one of the first data that is greater than a preset echo threshold value in the fifth data is acquired.

[0210] Similarly, in this embodiment, n time thresholds csr_time_th0, csr_time_th1, ... may be set to divide the entire flight time into n+1 segments;

[0211] Then, in each period of time, several sets of wave width and wave height thresholds are set, namely, the first wave width threshold, the second wave width threshold, the third wave width threshold, the fourth wave width threshold, the first wave height threshold, the second wave height threshold, the third wave height threshold and the fourth wave height threshold (respectively denoted as csr_width0, csr_witdh1, csr_width2, csr_width3, csr_peak0, csr_peak1, csr_peak2, csr_peak3).

[0212] It is worth noting that the denoising scheme based on wave height and wave width provided in this embodiment can be combined with the above-mentioned scheme. For example, for the expected echo period and the unexpected echo period, after performing denoising based on the time dimension, the noise removal based on wave width and wave height can be performed again through the scheme of this embodiment; for another example, for the expected echo period and the unexpected echo period, threshold groups with different values ​​can be set.

[0213] The beneficial effects of this embodiment are:

[0214] Considering that there may still be some interference echoes in the denoising operation based on echo threshold and trough threshold (especially in some special scenarios, such interference may have a great impact on the target detection accuracy), a denoising step based on wave width and wave height is introduced, which can cover various radar application scenarios (by programming the threshold) and achieve better denoising effect.

[0215] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0216] Corresponding to the echo resolution method described in the above embodiment, Figure 8 A structural block diagram of an echo resolution engine provided in an embodiment of the present application is shown. For ease of explanation, only the portion related to the embodiment of the present application is shown.

[0217] Reference Figure 8 , the device comprises:

[0218] A first buffer 801, used for buffering received echo data;

[0219] A detection module 802, configured to detect valid echo data in the echo data that meets a preset rule based on the first buffer;

[0220] A second buffer 803, used for buffering the valid echo data;

[0221] The solving module 804 is used to execute a preset algorithm based on the second buffer to obtain a solved value of the effective echo data.

[0222] In an optional embodiment, if Fig. 9 As shown, the detection module 802 and the first buffer 801 constitute a detection cluster (ie Fig. 9 wdu_clusterx in , x is 0, 1, 2 ...), the echo resolution engine includes a plurality of the detection clusters;

[0223] The echo resolution engine also includes:

[0224] Power consumption control module (i.e. Fig. 9 lpm shown), used to control the detection cluster in the operating state according to the scanning mode of the radar, and close the detection cluster in the non-operating state;

[0225] Timing logic module (i.e. Fig. 9 timing_ctrl) is used to synchronize the frame, block and pixel data pulse signals obtained based on the plurality of detection clusters.

[0226] refer to Fig. 9 In the engine provided by this implementation, the top layer mainly includes tinming_ctrl logic (i.e., time control logic), lpm logic (i.e., power consumption control logic) and several wdu_clusters.

[0227] Specifically:

[0228] The timing_ctrl logic is responsible for processing data synchronization pulse signals such as fram_start / block_start / pixel_start / pixel_end. After the first pixel_start arrives, it will pull up the output fram_start, block_start and pixel_start in sequence, and pull up pixel_end after all clusters have processed the data of a complete pixel, and repeat in sequence.

[0229] LPM logic is a low-power control that is responsible for dynamically controlling the number of working clusters according to the scan mode and shutting down inactive clusters to reduce power consumption.

[0230] Wdu_cluster is the smallest processing unit for echo detection of each channel. As many clusters as there are channels receiving data, each cluster contains a wdu_core, a wave_buffer_ram, a wdu_deno and a wdu_out.

[0231] Wdu_core is the detection core module, which is responsible for detecting the input data according to various preset detection conditions, and outputting the descriptors of the echoes that meet the conditions. It outputs as many echoes as it detects. It works based on a state machine internally, and the thresholds of various detection conditions are programmable. One wdu_core or multiple cores are used in a cluster, and one core only detects 11 bits of input data. Wdu_core only outputs echo descriptors, not actual echoes.

[0232] Wave_buffer_ram is the cache buffer of echo data. Input data is directly stored in it. After the detection is completed, the valid echo data is read out according to the storage address information in the descriptor.

[0233] Wdu_deno is an echo denoising module, which uses a three-dimensional programmable denoising method and is mainly responsible for denoising and filtering the echo output by the detection. According to the pre-set denoising rules and programmable condition thresholds, the descriptor information of the detected noise echo is filtered out and the corresponding storage space is released, and the abnormal mark is pulled up at the same time.

[0234] Wdu_out is the echo readout control module, which is mainly responsible for reading the valid echo from buffer_ram according to the valid echo descriptor given by wdu_deno. Due to the uninterrupted data input, efifo and ofifo are needed to store the respective echo queues in adjacent pixels respectively. Finally, according to the set output order, the queue is scheduled and output in amplitude or time order.

[0235] The beneficial effects of this embodiment are:

[0236] The two large store_rams of the detection module are optimized, saving a lot of ram overhead in wdu_cluster. Taking an echo of 200 beats and store_ram storing 5 echoes as an example, a single detection channel alone saves 2 1000x22 ram resources, and 24 channels save 48 1000x22 ram resources.

[0237] At the same time, there is no limit on the maximum number of echoes in a pixel, and there will be no problem of echo loss or coverage.

[0238] In another optional implementation, the solving module 804 includes:

[0239] A solution condition unit, used for determining that the valid echo data set cached in the second buffer meets a preset solution condition, and then obtaining at least one distance value by solution according to the valid echo data as at least a part of the solution value;

[0240] The solution condition is set according to the structure and / or algorithm of the radar corresponding to the echo data.

[0241] In another optional implementation, the detection module 802 includes:

[0242] A first data unit, used to obtain at least one first data in the echo data that is greater than a preset echo threshold;

[0243] a trough cutting unit, configured to determine that there are N trough points in the first data, and then cut the first data into N+1 second data according to the starting point of the first data, the trough point and the end point of the first data;

[0244] a non-trough unit, used for determining that there is no trough point in the first data, and then determining the first data as the second data;

[0245] Wherein, N is a positive integer, the trough point refers to a minimum point whose difference with two adjacent peak values ​​is greater than a preset trough threshold, and the descriptor in the second data constitutes at least a part of the valid echo data, and the descriptor includes a maximum value and a peak time.

[0246] In another optional implementation, the first data unit includes:

[0247] A first time period subunit is used to obtain an expected response time period in the flight time according to the structure and / or algorithm of the radar corresponding to the echo data;

[0248] The unexpected exclusion subunit is used to obtain at least one first data in the echo data within the expected response time period that is greater than a preset echo threshold.

[0249] In another optional implementation, the first data unit includes:

[0250] The second time period subunit acquires the expected response time period and the unexpected response time period in the flight time according to the structure and / or algorithm of the radar corresponding to the echo data;

[0251] A distinguishing filtering subunit is used to respectively obtain the first data greater than a first threshold in the echo data within the expected response time period and the first data greater than a second threshold in the echo data within the unexpected response time period; wherein the first threshold and the second threshold are both empirical data obtained from tests.

[0252] In another optional implementation, the first data unit includes:

[0253] A flight time subunit, used for cutting the echo data into units of flight time to obtain third data;

[0254] a cutting subunit, configured to cut the third data into M segments to obtain M fourth data;

[0255] A threshold group subunit, used to obtain a threshold group of each of the fourth data obtained according to empirical data; wherein the threshold group includes at least one of a first wave width threshold, a second wave width threshold, a third wave width threshold, a fourth wave width threshold, a first wave height threshold, a second wave height threshold, a third wave height threshold and a fourth wave height threshold;

[0256] An exclusion subunit is used to exclude noise data in any of the fourth data to obtain fifth data; wherein the noise data includes at least one of the following:

[0257] Data whose wave width is smaller than the first wave width threshold;

[0258] Data with wave height less than the first wave height threshold;

[0259] Data whose wave width is less than the second wave width threshold and whose wave height is greater than the second wave height threshold;

[0260] Data whose wave width is greater than the third wave width threshold and whose wave height is less than the third wave height threshold;

[0261] Data with a wave width greater than the fourth wave width threshold;

[0262] Data with wave height greater than the fourth wave height threshold;

[0263] The fifth data subunit is used to obtain at least one of the first data in the fifth data that is greater than a preset echo threshold.

[0264] 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 embodiment part and will not be repeated here.

[0265] 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.

[0266] An embodiment of the present application also provides a laser radar, including the echo resolution engine provided in the above embodiment.

[0267] 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.

[0268] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0269] 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 can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), 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.

[0270] 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.

[0271] 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.

[0272] 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.

[0273] 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.

[0274] 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. An echo resolution method, characterized in that: include: Buffering the received echo data into a first buffer; Detecting valid echo data in the echo data that meets a preset rule based on the first buffer; Buffering the valid echo data in a second buffer; A preset algorithm is executed based on the effective echo data buffered in the second buffer to obtain a solution value of the effective echo data.

2. The echo resolution method according to claim 1, characterized in that: The performing of a preset algorithm based on the effective echo data cached in the second buffer to obtain a calculated distance of the effective echo data comprises: If the valid echo data set cached in the second buffer meets a preset solution condition, at least one distance value is obtained by solution according to the valid echo data as at least a part of the solution value; The solution condition is set according to the structure and / or algorithm of the radar corresponding to the echo data.

3. The echo resolution method according to claim 1 or 2, characterized in that: The detecting, based on the first buffer, valid echo data in the echo data that meets a preset rule comprises: Acquire at least one first data in the echo data that is greater than a preset echo threshold; If there are N trough points in the at least one first data, the first data is cut into N+1 second data according to the starting point of the first data, the trough point and the end point of the first data; If there is no trough point in the at least one first data, determining the first data as the second data; Wherein, N is a positive integer, the trough point refers to a minimum point whose difference with two adjacent peak values ​​is greater than a preset trough threshold, and the descriptor in the second data constitutes at least a part of the valid echo data, and the descriptor includes a maximum value and a peak time.

4. The echo resolution method according to claim 3, characterized in that: The acquiring at least one first data in the echo data that is greater than a preset echo threshold comprises: Acquire an expected response period in the flight time according to the structure and / or algorithm of the radar corresponding to the echo data; At least one of the first data in the echo data within the expected response period and having a value greater than a preset echo threshold is acquired.

5. The echo resolution method according to claim 3, characterized in that: The acquiring at least one first data in the echo data that is greater than a preset echo threshold comprises: Acquire the expected response period and the unexpected response period in the flight time according to the structure and / or algorithm of the radar corresponding to the echo data; The first data greater than a first threshold value in the echo data within the expected response period and the first data greater than a second threshold value in the echo data within the unexpected response period are respectively acquired; wherein the first threshold value and the second threshold value are both data obtained by testing.

6. The echo resolution method according to claim 3, characterized in that: The acquiring at least one first data in the echo data that is greater than a preset echo threshold comprises: Cutting the echo data in units of flight time to obtain third data; Cut the third data into M segments to obtain M fourth data; Obtain a threshold group for each of the fourth data obtained according to the test data; wherein the threshold group includes at least one of a first wave width threshold, a second wave width threshold, a third wave width threshold, a fourth wave width threshold, a first wave height threshold, a second wave height threshold, a third wave height threshold, and a fourth wave height threshold; Noise data in any of the fourth data is excluded to obtain fifth data; wherein the noise data includes at least one of the following: Data whose wave width is smaller than the first wave width threshold; Data with wave height less than the first wave height threshold; Data whose wave width is less than the second wave width threshold and whose wave height is greater than the second wave height threshold; Data whose wave width is greater than the third wave width threshold and whose wave height is less than the third wave height threshold; Data with a wave width greater than the fourth wave width threshold; Data with wave height greater than the fourth wave height threshold; At least one of the first data that is greater than a preset echo threshold value in the fifth data is acquired.

7. An echo resolution engine, characterized in that: include: A first buffer, used for buffering received echo data; A detection module, used for detecting valid echo data in the echo data that meets a preset rule based on the first buffer; A second buffer, used for buffering the valid echo data; A solving module is used to execute a preset algorithm based on the second buffer to obtain a solved value of the effective echo data.

8. The echo resolution engine according to claim 7, wherein: The detection module and the first buffer constitute at least a part of a detection cluster, and the echo resolution engine includes a plurality of the detection clusters; The echo resolution engine also includes: A power consumption control module, used to control the detection cluster in the running state according to the scanning mode of the radar, and shut down the detection cluster in the non-running state; A timing control logic module is used to synchronize pulse signals of frame, block and pixel data obtained according to the plurality of detection clusters.

9. A laser radar, characterized in that: Comprising an echo resolution engine as claimed in claim 7 or 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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