Laser radar detection system and method and radar equipment

Abstract

The invention provides a laser radar detection system and method and radar equipment, and the system comprises a signal triggering module which is used for triggering a laser transmitting signal to a signal conversion module based on a preset light-emitting frequency and a preset field angle scanning sequence; the signal conversion module is used for converting the laser emission signal to obtain a laser pulse signal; the transmitting module is used for shaping the laser pulse signal and transmitting the laser pulse signal into a preset field angle range; the receiving module is used for receiving the pulse echo signal and performing shaping processing on the pulse echo signal to obtain target object information; and the data processing module is used for performing point cloud processing on the target object information by adopting a preset processing algorithm to obtain scene point cloud data. The technical problems that a laser radar is high in cost, poor in reliability, large in size and not prone to perception fusion are effectively solved, the reliability of the laser radar is effectively improved, and the use cost of the laser radar is effectively reduced.

Description

Technical Field

[0001] The present application belongs to the field of laser radar technology, and specifically relates to a laser radar detection system, method and radar equipment. Background Art

[0002] With the development of the new four modernizations of automobiles, the level of intelligent driving functions of automobiles is getting higher and higher. LiDAR, with its advantages of high-precision detection and high-density point cloud output, has become one of the indispensable sensors for high-level autonomous driving. To achieve high-level autonomous driving, the industry's more recognized method is to use multiple sensors for fusion perception. In the same field of view, multiple sensors are used for detection coverage. On the one hand, low-level data fusion perception is achieved to improve detection accuracy and reduce missed alarm rate and false alarm rate. On the other hand, heterogeneous perception backup and safety redundancy can be achieved.

[0003] Based on the above requirements, the traditional practice of OEMs is to place a multi-beam mechanical laser radar on the roof, and combine it with other sensors on the car to achieve L3 and above autonomous driving functions. However, multi-line mechanical laser radars are expensive, and the increase in costs will be passed on to consumers. In addition, placing it on the roof will cause a large detection blind spot around the car body, resulting in performance waste. In addition, the reliability of mechanical laser radars has been criticized.

[0004] Some other common practices use one or more hybrid solid-state laser radars, which are arranged around the vehicle body to achieve L2+ autonomous driving functions. However, the price of hybrid solid-state laser radars is still relatively high, especially the configuration of multiple laser radars will have a greater impact on the cost of the whole vehicle. If there are fewer hybrid solid-state laser radars, there is a possibility that redundant coverage of detection cannot be achieved due to the small field of view of the hybrid solid-state laser radar; the size of the hybrid solid-state laser radar is also relatively large. Summary of the invention

[0005] In response to the above technical problems, the present application proposes a laser radar detection system, method and radar equipment, which aim to improve the reliability of laser radar detection of scene objects and avoid driving hazards caused by the existence of detection blind spots. It solves the technical problems of high cost, large size and inability to achieve redundant coverage of hybrid solid-state laser radar and multi-beam mechanical laser radar.

[0006] Specifically, the present application proposes a laser radar detection system, comprising:

[0007] The signal trigger module is used to trigger the laser emission signal to the signal conversion module based on the preset light emission frequency and field angle scanning sequence.

[0008] The signal conversion module is used to convert the laser emission signal to obtain a laser pulse signal.

[0009] The transmitting module is used to perform shaping processing on the laser pulse signal and transmit it within a preset field of view angle range.

[0010] The receiving module is used to receive the pulse echo signal and perform shaping processing on the pulse echo signal to obtain target object information.

[0011] And, a data processing module is used to perform point cloud processing on the target object information using a preset processing algorithm to obtain scene point cloud data.

[0012] In the above technical solution, the triggering and conversion processing of the laser emission signal by the signal trigger module and the signal conversion module ensures the reliability of the laser radar, improves the integration of scene detection and reduces the configuration cost of the laser radar. By shaping the laser pulse signal by the emission module and emitting it within the preset field of view angle range, narrower or wider laser pulses can be achieved, ensuring the accuracy of the laser radar. The laser emission signal is converted into a laser pulse signal by the signal conversion module to ensure the correctness and consistency of the laser signal, and effectively avoid measurement deviations caused by instability or errors in the laser signal. By shaping the pulse echo signal and performing point cloud processing by a preset processing algorithm, the integrity of the pulse echo signal and the accuracy of the scene point cloud data are ensured.

[0013] As an implementation manner, the laser radar detection system also includes a control processing module; the control processing module at least includes a configuration module and a control module.

[0014] The configuration module is used to initialize the configuration of the signal trigger module, signal conversion module, transmission module, receiving module and data processing module. The control module is used to control the working status of the signal trigger module and signal conversion module in real time.

[0015] The configuration module is used to initialize the configuration of each module in the system, thereby avoiding system failure or performance degradation caused by configuration errors, and improving the stability and reliability of the system. The control module can flexibly control the signal trigger module and the signal conversion module, so that the system can adjust the signal transmission and reception strategy in real time according to actual needs, improving the detection accuracy and efficiency. This makes the system more flexible and adaptable.

[0016] Furthermore, the control processing module also includes a monitoring module.

[0017] The monitoring module is used to monitor the working status of each module in real time. If any module is in an abnormal state, an abnormal feedback signal is sent to the control module so that the control module can take corresponding abnormal processing operations.

[0018] The monitoring module monitors the working status of each module in real time, so that faults in the system can be discovered in time and corresponding abnormal processing can be taken, avoiding the impact of fault expansion on system performance and ensuring the efficient operation of the laser radar system. Through real-time monitoring and abnormal feedback, the stability and reliability of the system are improved.

[0019] Furthermore, the laser radar detection system also includes a communication interface module, which is connected to a vehicle-mounted domain controller via a connector to transmit the scene point cloud data to the vehicle-mounted domain controller.

[0020] The scene point cloud data is transmitted to the vehicle-mounted domain controller through the communication interface module, so that the scene point cloud data collected by the laser radar can be transmitted to the vehicle-mounted domain controller in a timely and stable manner, ensuring that the scene point cloud data transmission will not be delayed or lost, and ensuring the integrity of the scene point cloud data. The communication interface module ensures that the data transmission between the laser radar and the vehicle-mounted domain controller is not interfered by the outside world, ensures that the scene point cloud data can still be efficiently transmitted in complex environments, and ensures the reliability and stability of the laser radar system.

[0021] Based on the same inventive concept, the present application also proposes a method for a laser radar detection system, the method comprising:

[0022] The laser emission signal is triggered by the signal trigger module based on the preset light emission frequency and the preset field of view angle scanning sequence.

[0023] The laser emission signal is converted and processed by a signal conversion module to obtain a laser pulse signal.

[0024] The laser pulse signal is shaped and processed by the transmitting module and transmitted within a preset field of view angle range.

[0025] The pulse echo signal is received by the receiving module and the pulse echo signal is shaped to obtain target object information.

[0026] The data processing module uses a preset data processing algorithm to perform point cloud processing on the target object information to obtain scene point cloud data.

[0027] Furthermore, after the laser emission signal is converted and processed by the signal conversion module to obtain a laser pulse signal, the method further includes:

[0028] The signal trigger module is corrected based on the laser pulse signal.

[0029] By correcting the signal trigger module, it can be ensured that the signal trigger module accurately triggers the laser emission signal. The pulse echo signal collected by the laser radar may have a certain time delay or difference. By correcting the signal trigger module, it is possible to dynamically adjust and compensate for the error caused by the delay and difference. The stability and consistency of the laser radar detection system are improved, and the reliability of the detection results is ensured.

[0030] Furthermore, the receiving module receives the pulse echo signal and performs shaping processing on the pulse echo signal to obtain target information, including:

[0031] The pulse echo signal is converted into a digital signal based on the time sequence of the received pulse echo signal; and the digital signal is echo-processed based on a preset signal processing algorithm to obtain target object information.

[0032] By converting the pulse echo signal into a digital signal, the details of the pulse echo signal can be retained through precise digital processing, making the characteristics of the echo signal clearer and effectively avoiding noise interference in pulse signal processing. Performing echo processing based on the digital signal can improve the efficiency of signal processing.

[0033] Furthermore, the data processing module uses a preset data processing algorithm to perform point cloud processing on the target object information to obtain scene point cloud data, including:

[0034] The target object information is packaged and processed, and a preset data processing algorithm is used to fuse the packaged target object information to obtain the scene point cloud data.

[0035] By packaging the target information, it is possible to ensure high bandwidth while reducing data transmission delays and ensuring the real-time perception of target information. By fusing the packaged target information, the transmission stability of the target information in complex environments is ensured, avoiding data loss or errors. The fusion process improves the ability to perceive the surrounding environment. After data fusion, more complete and accurate target information can be obtained, providing a more accurate decision-making basis for the driving assistance system, reducing misoperation or misjudgment caused by inaccurate data, and thus improving the safety of vehicle driving.

[0036] Based on the same inventive concept, the present application also proposes a radar device, which is equipped with a laser radar detection system, and executes the laser radar detection method when the radar device is used to collect environmental data.

[0037] Based on the same inventive concept, the present application also proposes a vehicle, which is equipped with a plurality of the radar devices described above, so as to implement the laser radar detection method according to the radar devices to detect object target data within a preset measurement range centered on the vehicle.

[0038] Compared with the prior art, this application has at least the following beneficial effects:

[0039] The technical content proposed in this application effectively solves the technical problems of high cost, large size and inability to achieve redundant coverage of hybrid solid-state laser radar and multi-beam mechanical laser radar. The triggering and conversion processing of the laser emission signal by the signal trigger module and the signal conversion module ensures the reliability of the laser radar, improves the integration of scene detection and reduces the configuration cost of the laser radar. By shaping the laser pulse signal by the emission module and emitting it within the preset field of view angle range, narrower or wider laser pulses can be achieved, ensuring the accuracy of the laser radar. The laser emission signal is converted into a laser pulse signal by the signal conversion module to ensure the correctness and consistency of the laser signal, and effectively avoid measurement deviations caused by instability or errors of the laser signal. By shaping the pulse echo signal and performing point cloud processing by a preset processing algorithm, the integrity of the pulse echo signal and the accuracy of the scene point cloud data are ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of a laser radar detection system shown in an embodiment of the present application.

[0041] Figure 2 It is a flow chart of the laser radar detection method shown in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] Embodiment 1:

[0045] Please refer to Figure 1 The laser radar detection system mainly includes: a signal trigger module, a signal conversion module, a transmitting module, a receiving module and a data processing module.

[0046] The signal trigger module is used to trigger the laser emission signal to the signal conversion module based on the preset light-emitting frequency and field angle scanning sequence. The signal trigger module can be a photodetector, using a SPAD (Single-Photon Avalanche Diode) array and a module with integrated SOC (System on Chip) functions. Those skilled in the art can set different preset light-emitting frequencies to trigger the laser according to actual needs. For example, the preset light-emitting frequency can be 100kHZ.

[0047] The signal conversion module is used to convert the laser emission signal to obtain a laser pulse signal. The signal conversion module can be mainly a semiconductor laser, through which the laser emission signal is converted from an electrical signal to a laser pulse signal. The semiconductor laser can mainly be composed of a VCSEL (Vertical Cavity Surface Emitting Laser) array and a multi-channel drive integrated component.

[0048] The transmitting module is used to shape the laser pulse signal and transmit it within a preset field of view angle range. The main component of the transmitting module may be a lens group, which may include at least a collimating lens, an aspherical lens, and a diffuser. Different field of view angle ranges and light intensity distribution effects are achieved through the coordination between the lenses. Those skilled in the art may select other lenses according to actual conditions, and are not limited thereto.

[0049] The receiving module is used to receive the pulse echo signal and perform shaping processing on the pulse echo signal to obtain target information. The main component of the receiving module can be a lens group, which can at least include an aspherical mirror, a filter, etc., and through the cooperation between the lenses, light intensity convergence and noise source shielding are achieved. Those skilled in the art can select other lenses according to actual conditions, and are not limited to this.

[0050] And, a data processing module is used to perform point cloud processing on the target information using a preset processing algorithm to obtain scene point cloud data. The data processing module mainly performs point cloud processing through the TDC (Time-Digital Converter) and DSP (Digital Signal Processor) contained in the SOC to obtain the scene point cloud data. The preset data processing algorithm can be crosstalk elimination, high anti-expansion elimination, noise elimination, and coordinate system conversion. Technicians in this field can select other data processing algorithms according to actual conditions, and are not limited to this.

[0051] That is, the laser radar detection system proposed in the present application can trigger the laser emission signal to the semiconductor laser composed of the VCSEL array and the multi-channel driver integrated components according to the preset light emission frequency and field of view angle scanning sequence through the photoelectric detector of the SPAD array integrated SOC, convert the laser emission signal into a laser pulse signal through the semiconductor laser, shape the laser pulse signal through the transmitting lens group and emit it within the set field of view angle range, return the laser pulse echo after the emitted laser pulse contacts the target object, receive the pulse echo signal through the receiving lens group and shape the pulse echo signal to obtain the target object information, perform point cloud processing on the target object information using the TDC and DSP contained in the SOC, and obtain the scene point cloud data.

[0052] In some embodiments, the laser radar detection system further includes a control processing module; the control processing module at least includes a configuration module and a control module;

[0053] Among them, the configuration module is used to initialize the configuration of the signal trigger module, signal conversion module, transmission module, receiving module and data processing module; the control module is used to control the working status of the signal trigger module and signal conversion module in real time.

[0054] The control processing module can be mainly composed of MCU (Micro Controller Unit), Memory, and Clock components; the pre-programmed software programs, such as basic software, information security monitoring software, functional safety monitoring software, etc., can be burned through the MCU, and the signal trigger module, signal conversion module, transmitting module, receiving module, and data processing module can be initialized and configured through the basic software burned by the MCU. For example, the MCU can configure the register parameters in the signal trigger module and the register parameters in the signal conversion module.

[0055] Optionally, the control processing module also includes a monitoring module.

[0056] The monitoring module is used to monitor the working status of each module in real time. If any module is in an abnormal state, an abnormal feedback signal is sent to the control module so that the control module can take corresponding abnormal processing operations.

[0057] The monitoring module can mainly use the MCU in the control processing module to monitor each module of the system. For example, the temperature, voltage, working status of each module in the system, working status of the software program, etc. can be monitored in real time by the MCU. When an abnormality occurs, the abnormal feedback signal is sent to the control module, and the corresponding abnormal processing operation is taken by the control module. For example, when there is a problem with the voltage of the signal conversion module, the abnormal feedback information is sent to the control module through the MCU, and the control module shuts down the working status of the signal conversion module and stops supplying voltage to the signal conversion module.

[0058] Optionally, the laser radar detection system also includes a communication interface module, which is connected to a vehicle-mounted domain controller via a connector to transmit the scene point cloud data to the vehicle-mounted domain controller.

[0059] The communication receiving module can use a GMSL (Gigabit Multimedia Serial Link) serializer and connector to perform information exchange with the vehicle-mounted domain controller. Those skilled in the art can select other serializers or connectors for information exchange according to actual conditions, and are not limited thereto.

[0060] Embodiment 2:

[0061] Please refer to Figure 2 The present application also proposes a method for using the laser radar detection system described in Example 1, and the method mainly includes steps S1 to S5.

[0062] Wherein, the step S1 includes: triggering the laser emission signal through a signal trigger module based on a preset light emission frequency and a preset field of view angle scanning sequence. The signal trigger module can mainly be a photoelectric detector composed of a SPAD array module with an integrated SOC function. The preset light emission frequency is a laser trigger frequency preset by the system. Those skilled in the art can preset different light emission frequencies according to actual conditions.

[0063] Step S2 includes: converting the laser emission signal through a signal conversion module to obtain a laser pulse signal. The signal conversion module can be a semiconductor laser composed of a VCSEL array and a multi-channel drive integrated component, and the laser emission signal is converted from an electrical signal to a laser pulse signal through the semiconductor laser.

[0064] Step S3 includes: shaping the laser pulse signal through a transmitting module and transmitting it within a preset field of view angle range. The main component of the transmitting module may be a lens group, and the lens group may achieve different fields of view and light intensity distribution effects through the cooperation of a variety of lenses, such as a collimator, an aspheric lens, a diffuser, etc., and those skilled in the art may select other lenses for cooperation according to actual conditions, and the present invention is not limited thereto.

[0065] Step S4 includes: receiving the pulse echo signal through the receiving module and shaping the pulse echo signal to obtain target information. The laser pulse signal is emitted within the field of view angle range through the transmitting module. After the emitted laser pulse signal contacts the target, the laser pulse echo signal can be reflected back based on the reflectivity characteristics of the target surface, and is received by the receiving module and then gathered and transmitted to the data processing module.

[0066] Step S5 includes: performing point cloud processing on the target information by using a preset data processing algorithm through a data processing module to obtain scene point cloud data. The data processing module can mainly package the pulse echo signal, and transmit the packaged data to the vehicle domain controller for fusion processing to obtain scene point cloud data. The preset data processing algorithm can be crosstalk elimination, high anti-expansion elimination, noise elimination, and coordinate system conversion. Those skilled in the art can select other data processing algorithms according to actual conditions, and are not limited to this.

[0067] Optionally, after converting the laser emission signal through the signal conversion module to obtain a laser pulse signal, the method further includes: correcting the signal trigger module based on the laser pulse signal.

[0068] After the laser emission signal is converted and processed by the signal conversion module, the signal trigger module can be calibrated according to the laser pulse signal obtained by the conversion. For example, the signal trigger module takes SPAD SOC as an example, and the signal conversion module takes VSCEL as an example. When the laser pulse signal is emitted by the VSCEL, the laser pulse signal can be fed back to the SPAD SOC for automatic calibration.

[0069] Optionally, the receiving module receives the pulse echo signal and performs shaping processing on the pulse echo signal to obtain target object information, including:

[0070] The pulse-echo signals are converted into digital signals based on a temporal sequence of the received pulse-echo signals.

[0071] The digital signal is echo processed based on a preset signal processing algorithm to obtain target object information.

[0072] Among them, the pulse echo signal can be converted into a digital signal according to the time sequence of the received pulse echo signal by TDC, for example, the pulse echo signal can be converted into a digital histogram. Echo processing can be performed based on the digital histogram by DSP, and the preset signal processing algorithm can be a peak finding algorithm, an ultra-precision calculation algorithm, a walking error elimination and a de-distortion processing algorithm, etc. The technicians in this field can select other signal processing algorithms according to actual conditions, and are not limited to this. The target information obtained may at least include the distance value of the target. After acquiring the target information, the target information can be transmitted to the serializer through the communication interface module, for example, the target information can be transmitted to the serializer through the MIPI CIS2 (MIPI Camera Interface 2, MIPI Camera Interface 2) communication interface.

[0073] Optionally, performing point cloud processing on the target object information by using a preset data processing algorithm through a data processing module to obtain scene point cloud data includes:

[0074] The target object information is packaged and processed, and a preset data processing algorithm is used to fuse the packaged target object information to obtain the scene point cloud data.

[0075] Among them, the target information data can be packaged into a GMSL signal, and the GMSL signal is transmitted to the vehicle domain controller through the communication interface module. After the vehicle domain controller receives the GMSL signal, the target information is processed into a point cloud through a preset data processing algorithm. The preset data processing algorithm can be crosstalk elimination, high anti-expansion elimination, noise elimination, and coordinate system conversion. The technicians in this field can select other data processing algorithms according to the actual situation, and are not limited to this. The final point cloud data is used for perception fusion and ADAS (Advanced Driver Assistance System) function realization.

[0076] Embodiment three:

[0077] The present application also proposes a radar device, which is equipped with a laser radar detection system. When the radar device is used to collect environmental data, the laser radar detection method described in Example 2 is executed.

[0078] The radar device may be composed of a window cover, a transmitting optical system, a receiving optical system, a semiconductor laser, a photoelectric detector, a control processor, a communication interface, a connector, and a power supply. In the radar device, the transmitting optical system and the receiving optical system are mainly protected by the window cover, the laser emission signal is triggered to the semiconductor laser by the photoelectric detector, the laser emission signal is converted from an electrical signal to a laser pulse by the semiconductor laser, the laser pulse is shaped and emitted within the field of view by the transmitting optical system, after the laser pulse contacts the target object, the laser pulse echo is reflected back based on the reflection characteristics of the target object surface, the laser pulse echo is received and shaped by the receiving optical system, and then the laser pulse echo is converted into an electrical signal by the optical detector, the laser pulse echo signal of the electrical signal is packaged and processed by the communication interface and the connector and transmitted to the vehicle-mounted domain controller, and the point cloud data is processed by the domain controller to obtain scene point cloud data for sensing scene information.

[0079] Embodiment 4:

[0080] The present application also proposes a vehicle, which is equipped with multiple radar devices described in Example 3, so as to implement the laser radar detection method described in Example 2 according to the radar devices, so as to detect object target data within a preset measurement range centered on the vehicle.

[0081] The vehicle is equipped with a plurality of radar devices, and the configuration position of the radar devices can be a satellite arrangement. For example, four laser radars can be used, and the four laser radars are installed in the front windshield, the front left and right fenders, and the rear windshield of the vehicle respectively. The laser radar installed in the front windshield detects the detection range in front, the laser radar installed in the front left and right fenders detects the detection range on the left and right of the vehicle, and the laser radar installed in the rear windshield of the vehicle detects the detection range in the rear, thereby achieving range detection covering the entire vehicle 360 ​​degrees, avoiding safety accidents caused by the existence of detection blind spots. Those skilled in the art can select different laser radar installation positions, installation quantities, and installation methods according to actual conditions, and are not limited to this.

[0082] In summary, the present application ensures the reliability of the laser radar by triggering and converting the laser emission signal through the signal trigger module and the signal conversion module, improves the integration of scene detection and reduces the configuration cost of the laser radar. By shaping the laser pulse signal through the emission module and emitting it within the preset field of view angle range, narrower or wider laser pulses can be achieved, ensuring the accuracy of the laser radar. The laser emission signal is converted into a laser pulse signal through the signal conversion module to ensure the correctness and consistency of the laser signal, and effectively avoid measurement deviations caused by instability or errors in the laser signal. By shaping the pulse echo signal and performing point cloud processing through a preset processing algorithm, the integrity of the pulse echo signal and the accuracy of the scene point cloud data are ensured.

[0083] In several embodiments provided in the present application, it is understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.

[0084] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling an electronic device to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0085] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A laser radar detection system, characterized in that: include: A signal trigger module, used to trigger the laser emission signal to the signal conversion module based on the preset light emission frequency and field angle scanning sequence; A signal conversion module, used for converting the laser emission signal to obtain a laser pulse signal; A transmitting module, used for shaping the laser pulse signal and transmitting it within a preset field of view angle range; A receiving module, used for receiving a pulse echo signal and performing shaping processing on the pulse echo signal to obtain target object information; And, a data processing module is used to perform point cloud processing on the target object information using a preset processing algorithm to obtain scene point cloud data.

2. The laser radar detection system according to claim 1, characterized in that: The laser radar detection system also includes a control processing module; the control processing module at least includes a configuration module and a control module; Wherein, the configuration module is used to initialize the configuration of the signal trigger module, signal conversion module, transmission module, receiving module and data processing module; The control module is used to control the working states of the signal trigger module and the signal conversion module in real time.

3. The laser radar detection system according to claim 2, characterized in that: The control processing module also includes a monitoring module; The monitoring module is used to monitor the working status of each module in real time. If any module is in an abnormal state, an abnormal feedback signal is sent to the control module so that the control module can take corresponding abnormal processing operations.

4. The laser radar detection system according to claim 1, characterized in that: The laser radar detection system also includes a communication interface module, which is connected to a vehicle-mounted domain controller via a connector to transmit the scene point cloud data to the vehicle-mounted domain controller.

5. A method based on the laser radar detection system according to any one of claims 1 to 4, characterized in that: The method comprises: triggering a laser emission signal through a signal triggering module based on a preset light emission frequency and a preset field of view angle scanning sequence; The laser emission signal is converted and processed by a signal conversion module to obtain a laser pulse signal; The laser pulse signal is shaped and transmitted to a preset field of view angle range through a transmitting module; The pulse echo signal is received by the receiving module and the pulse echo signal is shaped to obtain target object information; the target object information is processed by the data processing module using a preset data processing algorithm to obtain scene point cloud data.

6. The method of the laser radar detection system according to claim 5, characterized in that: After the laser emission signal is converted and processed by the signal conversion module to obtain a laser pulse signal, the method further includes: The signal trigger module is corrected based on the laser pulse signal.

7. The method of the laser radar detection system according to claim 5, characterized in that: The receiving module receives the pulse echo signal and performs shaping processing on the pulse echo signal to obtain target information, including: converting the pulse echo signal into a digital signal based on the time sequence of the received pulse echo signal; The digital signal is echo processed based on a preset signal processing algorithm to obtain target object information.

8. The method of the laser radar detection system according to claim 5, characterized in that: The step of performing point cloud processing on the target object information by using a preset data processing algorithm through a data processing module to obtain scene point cloud data includes: The target object information is packaged and processed, and a preset data processing algorithm is used to fuse the packaged target object information to obtain the scene point cloud data.

9. A radar device, characterized in that: The radar device is equipped with a laser radar detection system, and when the radar device is used to collect environmental data, the laser radar detection method as described in any one of claims 5-8 is executed.

10. A vehicle, characterized in that: The vehicle is configured with a plurality of radar devices as described in claim 9, so as to implement the laser radar detection method as described in any one of claims 5 to 8 according to the radar devices, so as to detect object target data within a preset measurement range centered on the vehicle.

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