Laser radar echo signal identification method and device, electronic equipment and medium

Abstract

The invention is suitable for the technical field of radars, and provides a laser radar echo signal identification method and device, electronic equipment and a medium. The identification method comprises the following steps: determining an actual first threshold pulse width and an actual trailing edge slope value corresponding to an echo waveform; according to a preset slope pulse width correction table, whether the actual back edge slope value is matched with the actual first threshold value pulse width or not is judged, and the preset slope pulse width correction table comprises a plurality of corresponding relations between calibrated back edge slope values and calibrated first threshold value pulse widths; when the actual back edge slope is not matched with the actual first threshold pulse width, identifying the echo waveform as an abnormal waveform; and when the actual back edge slope is matched with the actual first threshold pulse width, identifying the echo waveform as a normal waveform. According to the scheme, the echo waveform recognition precision is improved, hardware cost does not need to be increased, the technical implementation difficulty is low, and the real-time performance is high.

Description

Technical Field

[0001] The present application belongs to the field of radar technology, and in particular relates to a method, device, electronic equipment and medium for identifying a laser radar echo signal. Background Art

[0002] LiDAR is a sensor that measures distance and detects objects based on laser pulses. In recent years, it has been widely used in the fields of autonomous driving, robotics, and environmental perception. However, in the use of LiDAR, problems such as trailing points, echo superposition, and pulse width broadening of trailing points are inevitable, which reduces the quality of LiDAR point clouds and leads to low target recognition accuracy.

[0003] In the prior art, the tailing point can be identified by an algorithm or by reducing the spot divergence angle and the echo pulse width, which can reduce the echo superposition problem caused by the tailing point to a certain extent. However, the use of algorithm recognition is prone to the accidental deletion of valid points, while the method of reducing the spot divergence angle and the echo pulse width requires an increase in hardware cost and is difficult to implement. Therefore, the existing recognition method not only has low recognition accuracy, but also is more complex to implement and has poor real-time performance. Summary of the invention

[0004] The embodiments of the present application provide a method, device, electronic device and medium for recognizing a laser radar echo signal, which can solve the problem that the existing recognition method has not only low recognition accuracy, but also is relatively complex to implement and has poor real-time performance.

[0005] In a first aspect, an embodiment of the present application provides a method for identifying a laser radar echo signal, the identification method comprising:

[0006] Determine an actual first threshold pulse width and an actual trailing edge slope value corresponding to the echo waveform;

[0007] According to a preset slope pulse width correction table, determining whether the actual trailing edge slope value matches the actual first threshold pulse width, wherein the preset slope pulse width correction table includes a correspondence between a plurality of calibrated trailing edge slope values ​​and calibrated first threshold pulse widths;

[0008] When the actual trailing edge slope value does not match the actual first threshold pulse width, the echo waveform is identified as an abnormal waveform;

[0009] When the actual trailing edge slope value matches the actual first threshold pulse width, the echo waveform is identified as a normal waveform.

[0010] In a possible implementation of the first aspect, before judging whether the actual trailing edge slope value matches the actual first threshold pulse width according to the preset slope pulse width correction table, the method further includes:

[0011] Acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to a reflection wave of the laser emitted by the laser radar to the calibration plate according to different laser incident intensities;

[0012] Determine the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold respectively;

[0013] Determine the first threshold pulse width and the trailing edge slope value of each calibration echo according to the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold respectively;

[0014] A preset slope pulse width correction table is generated according to the first threshold pulse width and the trailing edge slope value of each calibration echo.

[0015] Optionally, in another possible implementation manner of the first aspect, the first threshold and the second threshold are voltage thresholds of the echo signal; and determining the first threshold pulse width and the trailing edge slope value of each calibration echo according to the leading edge data and the trailing edge data of each calibration echo at the first threshold and the second threshold, respectively, includes:

[0016] Determine the first threshold pulse width of each calibration echo according to the leading edge data and trailing edge data of each calibration echo at the first threshold;

[0017] The trailing edge slope value of each calibration echo is determined according to the trailing edge data of each calibration echo at the first threshold and the trailing edge data at the second threshold.

[0018] Optionally, in a possible implementation of the first aspect, when the actual trailing edge slope value does not match the actual first threshold pulse width, identifying the echo waveform as an abnormal waveform includes:

[0019] When the difference between the calibrated trailing edge slope value corresponding to the actual first threshold pulse width and the actual trailing edge slope value is greater than the preset threshold, it is determined that the actual trailing edge slope value does not match the actual first threshold pulse width, and the echo waveform is identified as an abnormal waveform.

[0020] Optionally, in another possible implementation of the first aspect, when the actual trailing edge slope value matches the actual first threshold pulse width, identifying the echo waveform as a normal waveform includes:

[0021] When the difference between the calibrated trailing edge slope value corresponding to the actual first threshold pulse width and the actual trailing edge slope value is less than or equal to the preset threshold, it is determined that the actual trailing edge slope value matches the actual first threshold pulse width, and the echo waveform is identified as a normal waveform.

[0022] Optionally, in another possible implementation of the first aspect, the voltage amplitude corresponding to the above-mentioned first threshold is smaller than the voltage amplitude corresponding to the second threshold, and the leading edge data of the calibrated echo at the first threshold refers to the leading edge time data of the calibrated echo at the voltage amplitude corresponding to the first threshold; the trailing edge data of the calibrated echo at the first threshold refers to the trailing edge time data of the calibrated echo at the voltage amplitude corresponding to the first threshold; the leading edge data of the calibrated echo at the second threshold refers to the leading edge time data of the calibrated echo at the voltage amplitude corresponding to the second threshold, and the trailing edge data of the calibrated echo at the second threshold refers to the trailing edge time data of the calibrated echo at the voltage amplitude corresponding to the second threshold; the leading edge time data is ahead of the trailing edge time data.

[0023] Optionally, in a possible implementation manner of the first aspect, when the actual trailing edge slope does not match the actual first threshold pulse width, after identifying the echo waveform as an abnormal waveform, the method further includes:

[0024] Determine leading edge data and trailing edge data and at least one actual peak value of the abnormal waveform at a third threshold;

[0025] Determine the calibrated third threshold pulse width corresponding to the actual peak value according to a preset peak pulse width correction table, wherein the peak pulse width correction table includes a correspondence between a plurality of calibrated peak values ​​and calibrated third threshold pulse widths;

[0026] Determine the calibrated third threshold pulse width as the corrected pulse width corresponding to the actual peak value;

[0027] A corrected waveform corresponding to the abnormal waveform is determined according to the leading edge data and trailing edge data of the abnormal waveform at the third threshold, the actual peak value, and the corrected pulse width corresponding to the actual peak value.

[0028] Optionally, in another possible implementation manner of the first aspect, before determining the calibrated third threshold pulse width corresponding to the actual peak value according to the preset peak pulse width correction table, the method further includes:

[0029] Acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to the reflected wave of the laser generated by the laser radar to the calibration plate according to different laser incident intensities;

[0030] Determine the peak value and the third threshold pulse width of each calibration echo;

[0031] A preset peak pulse width correction table is generated according to the peak values ​​of each calibration echo and the third threshold pulse width.

[0032] Optionally, in another possible implementation of the first aspect, when the actual trailing edge slope value does not match the actual first threshold pulse width, after identifying the echo waveform as an abnormal waveform, the method further includes:

[0033] Eliminate the point cloud data corresponding to abnormal waveforms;

[0034] or,

[0035] The distance is measured according to the time point corresponding to the leading edge data at the second threshold of the abnormal waveform, and the voltage amplitude corresponding to the second threshold is greater than the voltage amplitude corresponding to the first threshold.

[0036] Optionally, in another possible implementation of the first aspect, when the actual trailing edge slope value does not match the actual first threshold pulse width, after identifying the echo waveform as an abnormal waveform, the method further includes:

[0037] According to a preset slope pulse width correction table, determining a calibrated first threshold pulse width corresponding to the actual trailing edge slope value;

[0038] Determine the calibrated first threshold pulse width as the corrected pulse width corresponding to the actual trailing edge slope value;

[0039] A corrected waveform corresponding to the abnormal waveform is determined according to the actual trailing edge slope and the corrected pulse width of the abnormal waveform.

[0040] In a second aspect, an embodiment of the present application provides a laser radar echo waveform recognition device, comprising:

[0041] A first determination module, used to determine an actual first threshold pulse width and an actual trailing edge slope value corresponding to the echo waveform;

[0042] A first judgment module, used to judge whether the actual trailing edge slope value matches the actual first threshold pulse width according to a preset slope pulse width correction table, wherein the preset slope pulse width correction table includes a correspondence between a plurality of calibrated trailing edge slope values ​​and calibrated first threshold pulse widths;

[0043] A first identification module, used for identifying the echo waveform as an abnormal waveform when the actual trailing edge slope value does not match the actual first threshold pulse width;

[0044] The second identification module is used to identify the echo waveform as a normal waveform when the actual trailing edge slope value matches the actual first threshold pulse width.

[0045] In a possible implementation manner of the second aspect, the identification device further includes:

[0046] A first acquisition module is used to acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to a reflection wave of the laser emitted by the laser radar to the calibration plate according to different laser incident intensities;

[0047] A second determination module is used to determine the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold respectively;

[0048] A third determination module is used to determine the first threshold pulse width and trailing edge slope value of each calibration echo according to the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold respectively;

[0049] The first generating module is used to generate a preset slope pulse width correction table according to the first threshold pulse width and the trailing edge slope value of each calibration echo.

[0050] Optionally, in another possible implementation manner of the second aspect, the first threshold and the second threshold are voltage thresholds of the echo signal; and the third determination module includes:

[0051] A first determination unit, used to determine a first threshold pulse width of each calibration echo according to leading edge data and trailing edge data of each calibration echo at a first threshold;

[0052] The second determination unit is used to determine the trailing edge slope value of each calibration echo according to the trailing edge data of each calibration echo at the first threshold and the trailing edge data at the second threshold.

[0053] Optionally, in a possible implementation manner of the second aspect, the first identification module includes:

[0054] The first identification unit is used to determine that the actual trailing edge slope value does not match the actual first threshold pulse width when the difference between the calibrated trailing edge slope value corresponding to the actual first threshold pulse width and the actual trailing edge slope value is greater than a preset threshold, and identify the echo waveform as an abnormal waveform.

[0055] Optionally, in a possible implementation manner of the second aspect, the second identification module includes:

[0056] The second identification unit is used to determine that the actual trailing edge slope value matches the actual first threshold pulse width and identify the echo waveform as a normal waveform when the difference between the calibrated trailing edge slope value corresponding to the actual first threshold pulse width and the actual trailing edge slope value is less than or equal to a preset threshold.

[0057] Optionally, in a possible implementation of the second aspect, the voltage amplitude corresponding to the above-mentioned first threshold is smaller than the voltage amplitude corresponding to the second threshold, and the leading edge data of the calibrated echo at the first threshold refers to the leading edge time data of the calibrated echo at the voltage amplitude corresponding to the first threshold; the trailing edge data of the calibrated echo at the first threshold refers to the trailing edge time data of the calibrated echo at the voltage amplitude corresponding to the first threshold; the leading edge data of the calibrated echo at the second threshold refers to the leading edge time data of the calibrated echo at the voltage amplitude corresponding to the second threshold, and the trailing edge data of the calibrated echo at the second threshold refers to the trailing edge time data of the calibrated echo at the voltage amplitude corresponding to the second threshold; the leading edge time data is ahead of the trailing edge time data.

[0058] Optionally, in another possible implementation manner of the second aspect, the identification device further includes:

[0059] A fourth determination module, used to determine the leading edge data and trailing edge data of the abnormal waveform at a third threshold and at least one actual peak value;

[0060] A fifth determination module, used to determine the calibrated third threshold pulse width corresponding to the actual peak value according to a preset peak pulse width correction table, wherein the peak pulse width correction table includes a correspondence between a plurality of calibrated peak values ​​and the calibrated third threshold pulse width;

[0061] A sixth determination module, used to determine the calibrated third threshold pulse width as a corrected pulse width corresponding to the actual peak value;

[0062] The seventh determination module is used to determine the corrected waveform corresponding to the abnormal waveform according to the leading edge data and trailing edge data of the abnormal waveform at the third threshold, the actual peak value and the corrected pulse width corresponding to the actual peak value.

[0063] Optionally, in a possible implementation manner of the second aspect, the identification device further includes:

[0064] A second acquisition module is used to acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to the reflection wave of the laser generated by the laser radar to the calibration plate according to different laser incident intensities;

[0065] An eighth determination module, used to determine the peak value and the third threshold pulse width of each calibration echo;

[0066] The second generating module is used to generate a preset peak pulse width correction table according to the peak value of each calibration echo and the third threshold pulse width.

[0067] Optionally, in another possible implementation manner of the second aspect, the identification device further includes:

[0068] A rejection module is used to reject point cloud data corresponding to abnormal waveforms;

[0069] or,

[0070] The distance measuring module is used to measure the distance according to the time point corresponding to the leading edge data at the second threshold of the abnormal waveform, and the voltage amplitude corresponding to the second threshold is greater than the voltage amplitude corresponding to the first threshold.

[0071] Optionally, in another possible implementation manner of the second aspect, the identification device further includes:

[0072] A ninth determination module, used to determine a calibrated first threshold pulse width corresponding to the actual trailing edge slope value according to a preset slope pulse width correction table;

[0073] A tenth determination module, used for determining the calibrated first threshold pulse width as a corrected pulse width corresponding to the actual trailing edge slope value;

[0074] The eleventh determination module is used to determine the corrected waveform corresponding to the abnormal waveform according to the actual trailing edge slope and the corrected pulse width of the abnormal waveform.

[0075] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aforementioned laser radar echo waveform recognition method when executing the computer program.

[0076] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, characterized in that when the computer program is executed by a processor, a method for recognizing a laser radar echo waveform as described above is implemented.

[0077] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on an electronic device, enables the electronic device to execute the aforementioned method for recognizing a laser radar echo waveform.

[0078] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0079] Through the preset slope pulse width correction table and the actual first threshold pulse width and actual trailing edge slope value corresponding to the echo waveform, the abnormal echo waveform corresponding to the tailing point, echo superposition and pulse width broadening, etc., where the actual trailing edge slope does not match the actual first threshold pulse width, is identified; and the normal echo waveform where the actual trailing edge slope matches the actual first threshold pulse width is identified. The above scheme not only improves the recognition accuracy of the echo waveform, but also does not require an increase in hardware costs, has a low technical implementation difficulty, and has a high real-time performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] 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.

[0081] Figure 1 It is a flowchart of a method for identifying a laser radar echo signal provided in one embodiment of the present application;

[0082] Figure 2 is a schematic diagram of a normal waveform provided by an embodiment of the present application;

[0083] Figure 3is a schematic diagram of an abnormal waveform provided by an embodiment of the present application;

[0084] Figure 4 is a schematic diagram of another abnormal waveform provided by an embodiment of the present application;

[0085] Figure 5 It is a flowchart of a method for identifying a laser radar echo signal provided by another embodiment of the present application;

[0086] Figure 6 It is a flowchart of a method for identifying a laser radar echo signal provided in yet another embodiment of the present application;

[0087] Figure 7 It is a structural schematic diagram of a laser radar echo signal recognition device provided in one embodiment of the present application;

[0088] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] It should be understood that the size of the serial numbers of the steps in this embodiment 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 embodiment of the present application.

[0096] With the rise of LiDAR, robot manufacturers and car companies have higher and higher requirements for the quality of LiDAR point clouds. In the process of using LiDAR, it is inevitable to encounter problems such as trailing points, echo superposition, and pulse width broadening, which will lead to a decrease in the quality of LiDAR point clouds. These problems may lead to map construction failure, inaccurate target recognition, and even some safety hazards in some cases.

[0097] In the prior art, the tailing point can be identified by an algorithm or by reducing the spot divergence angle and the echo pulse width, which can reduce the echo superposition and pulse width broadening problems caused by the tailing point to a certain extent. However, the use of algorithm recognition is prone to the accidental deletion of valid points, while the method of reducing the spot divergence angle and the echo pulse width requires an increase in hardware cost and is difficult to implement. Therefore, the existing recognition method not only has low recognition accuracy, but also is more complex to implement and has poor real-time performance.

[0098] In order to solve the above problems, the present application provides a method for identifying a laser radar echo signal. The identification method in the present application can identify abnormal echo waveforms corresponding to tailing points, echo superposition, and pulse width broadening, where the actual trailing edge slope does not match the actual first threshold pulse width, through a preset slope pulse width correction table and the actual first threshold pulse width and the actual trailing edge slope value corresponding to the echo waveform; and identify normal echo waveforms where the actual trailing edge slope matches the actual first threshold pulse width. The above scheme not only improves the recognition accuracy of the echo waveform, but also does not require an increase in hardware costs, has a low technical implementation difficulty, and has a high real-time performance.

[0099] The following is a detailed description of the laser radar echo waveform recognition method, device, electronic device, storage medium and computer program provided in the present application with reference to the accompanying drawings.

[0100] Figure 1 A schematic flow chart of a method for identifying a laser radar echo waveform provided in an embodiment of the present application is shown.

[0101] Step 101, determining an actual first threshold pulse width and an actual trailing edge slope value corresponding to an echo waveform.

[0102] It should be noted that the laser radar echo waveform recognition method of the embodiment of the present application can be performed by the laser radar echo waveform recognition device of the embodiment of the present application. The laser radar echo waveform recognition device of the embodiment of the present application can be configured in any electronic device to perform the laser radar echo waveform recognition method of the embodiment of the present application. For example, the laser radar echo waveform recognition device of the embodiment of the present application can be configured in the laser radar to recognize abnormal waveforms in the echo signal obtained by the laser radar, improve the recognition accuracy, and thus improve the quality of the point cloud generated by the laser radar.

[0103] The echo waveform may refer to the time-amplitude waveform of the signal returned after the pulse signal emitted by the laser radar interacts with the target object. The amplitude of the signal may refer to the voltage amplitude, that is, the echo waveform may be used to represent the relationship between the change of voltage over time.

[0104] The actual first threshold pulse width may refer to the difference between the leading edge data and the trailing edge data of the echo waveform at the first threshold, and the first threshold may refer to a preset voltage threshold of the echo waveform.

[0105] The actual trailing edge slope value may refer to a slope value calculated from trailing edge data of the echo waveform at two thresholds, and the actual trailing edge slope value is used to indicate the rate of change of voltage over time.

[0106] In the embodiment of the present application, the process of the laser radar acquiring the echo waveform may be: the laser emitting device emits a laser beam at a predetermined frequency, and these laser beams are irradiated onto the object to be measured and reflected by the surface of the object. As the laser beam is reflected, the formed echo is captured by the receiver of the laser radar. After the receiver captures the echo signal, the analog-to-digital converter (ADC) in the laser radar will sample the received echo signal at a specific frequency, convert the continuous echo signal into a discrete voltage value, and establish a discrete sequence of voltage with respect to time to obtain the echo waveform. After receiving a complete waveform, the time point when the voltage in the echo waveform is equal to the first threshold can be determined according to the first threshold, the minimum time point is taken as the leading edge data at the first threshold, and the maximum time point is taken as the trailing edge data at the first threshold. According to the difference between the leading edge data and the trailing edge data at the first threshold, the actual first threshold pulse width is determined, and then the trailing edge data at the second threshold is obtained, that is, the maximum time point when the voltage in the echo waveform is equal to the second threshold is the trailing edge data at the second threshold, and the actual trailing edge slope value of the echo waveform is determined according to the trailing edge data at the first threshold and the trailing edge data at the second threshold.

[0107] For example, if Figure 2 What is shown is a schematic diagram of a normal waveform provided by an embodiment of the present application; wherein, the horizontal axis is the coordinate axis corresponding to time t, and the vertical axis is the coordinate axis corresponding to voltage. The dotted lines in the figure respectively represent the preset first threshold and the second threshold. The actual first threshold pulse width of the echo waveform is the difference between start1 and stop1, wherein start1 is the leading edge data at the first threshold, start2 is the leading edge data at the second threshold, stop1 is the trailing edge data at the first threshold, and stop2 is the trailing edge data at the second threshold. Therefore, the actual trailing edge slope value is the slope value determined according to the coordinate points of stop1 and stop2.

[0108] For example, if Figure 3 The figure shows a schematic diagram of an abnormal waveform provided by an embodiment of the present application; that is, a schematic diagram of a completely superimposed tailing point waveform. The horizontal axis is the coordinate axis corresponding to time t, and the vertical axis is the coordinate axis corresponding to voltage. The dotted lines in the figure represent the preset first threshold and second threshold, respectively. The actual first threshold pulse width of the echo waveform is the difference between start1 and stop1. Since the abnormal waveform has a longer pulse width than the normal waveform, it will cause the actual trailing edge slope to be unable to match. The corresponding actual trailing edge slope value is the slope value determined according to the coordinate points of stop1 and stop2.

[0109] For example, if Figure 4The figure shows another schematic diagram of an abnormal waveform provided by an embodiment of the present application; that is, a schematic diagram of a double-peak waveform of a trailing point. The horizontal axis is the coordinate axis corresponding to time t, the vertical axis is the coordinate axis corresponding to voltage, and the dotted lines in the figure represent the preset first threshold and second threshold, respectively. The actual first threshold pulse width of the echo waveform is the difference between start1 and stop1. Since the abnormal waveform is a double-peak waveform, the trailing edge data at the second threshold is the data of the waveform corresponding to the first peak, and the actual trailing edge slope is the slope value obtained according to the trailing edge data stop2 of the waveform corresponding to the first peak and the trailing edge data stop2 corresponding to the second peak.

[0110] Step 102, judging whether the actual trailing edge slope value matches the actual first threshold pulse width according to the preset slope pulse width correction table, if so, executing step 104; otherwise, executing step 103.

[0111] The preset slope pulse width correction table includes a plurality of corresponding relationships between calibrated trailing edge slope values ​​and calibrated first threshold pulse widths.

[0112] The calibration trailing edge slope value may refer to the trailing edge slope value of the reflected wave of the laser emitted by the laser radar to the calibration plate according to different laser incident intensities.

[0113] Among them, the calibration first threshold pulse width may refer to the first threshold pulse width of each normal reflected wave returned by the laser emitted by the laser radar to the calibration board according to different laser incident intensities. The normal reflected wave refers to an echo signal without tailing points, echo superposition and pulse width broadening.

[0114] In the embodiment of the present application, since the preset slope pulse width correction table includes the correlation between the trailing edge slope value of the normal reflected wave of the laser emitted by the laser radar to the calibration plate according to different laser incident intensities and the first threshold pulse width, that is, the correlations in the preset slope pulse width correction table are all the correlations between the trailing edge slope value of the normal echo waveform and the first threshold pulse width. Therefore, it is possible to judge whether the echo waveform is an abnormal waveform, that is, an echo waveform corresponding to a tailing point, waveform superposition, and pulse width broadening, based on whether the preset slope pulse width correction table contains the corresponding relationship between the actual trailing edge slope value of the echo signal and the actual first threshold pulse width.

[0115] It should be noted that before the laser radar is put into use, the laser radar can be calibrated by simulating the actual use scenario of the laser radar to generate a preset slope pulse width correction table. That is, in a possible implementation of the embodiment of the present application, before the above step 102, it can also include:

[0116] Acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to a reflection wave of the laser emitted by the laser radar to the calibration plate according to different laser incident intensities;

[0117] Determine the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold respectively;

[0118] Determine the first threshold pulse width and the trailing edge slope value of each calibration echo according to the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold respectively;

[0119] A preset slope pulse width correction table is generated according to the first threshold pulse width and the trailing edge slope value of each calibration echo.

[0120] In the embodiments of the present application, since parameters such as the reflectivity of the object to be measured, the distance between the object to be measured and the laser radar, and the light intensity of the incident laser will affect the pulse width, leading edge value, trailing edge value, trailing edge slope and other parameters of the echo, before the laser radar is put into use, calibration plates of various reflectivities can be used as the object to be measured to calibrate the laser radar, or a calibration plate with a high reflectivity can be used as the object to be measured to calibrate the laser echo, and during the calibration process, the purpose of adjusting the echo pulse width can be achieved by blocking the transmitting or receiving mirror group of the laser radar, or adjusting the output or incident light intensity of the laser, so as to generate a preset slope pulse width correction table while ensuring that there is no tailing point, echo superposition, and pulse width broadening.

[0121] It should be noted that since the trailing edge slope can represent the rate of change of the voltage of the echo waveform over time, the trailing edge slope across two peaks is different from the trailing edge slope across one peak. Therefore, the abnormal waveform and the normal waveform can be distinguished based on the trailing edge slope. If the echo waveform includes two peaks, the trailing edge slope spans two peaks during calculation, such as Figure 4 For stop1 and stop2, the slope of the trailing edge at this time is smaller than that of the normal waveform. Therefore, the slope pulse width correction table in this application can not only identify the echo waveform corresponding to the tailing point, but also identify the echo waveform under pulse width expansion conditions.

[0122] Exemplarily, the specific process of generating a preset slope pulse width correction table can be: within the laser light intensity range that the laser radar can emit, adjust the laser incident intensity of the laser radar, and emit it to the calibration board to obtain the calibration echo reflected by the calibration board, and determine the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold, and determine the first threshold pulse width of each calibration echo according to the leading edge data and trailing edge data at the first threshold, and then determine the trailing edge slope value of each calibration echo according to the trailing edge data at the first threshold and the trailing edge data at the second threshold, and finally generate the preset slope pulse width correction table according to the first threshold pulse width and trailing edge slope value of each calibration echo. It should be noted that during the calibration process, it should be ensured that there are no tailing points, echo superposition, pulse width broadening, etc. in each calibration echo. Therefore, as a possible implementation method, the above-mentioned determination of the first threshold pulse width and trailing edge slope value of each calibration echo according to the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold, respectively, includes:

[0123] Determine the first threshold pulse width of each calibration echo according to the leading edge data and trailing edge data of each calibration echo at the first threshold;

[0124] The trailing edge slope value of each calibration echo is determined according to the trailing edge data of each calibration echo at the first threshold and the trailing edge data at the second threshold.

[0125] The first threshold and the second threshold are voltage thresholds of the echo signal.

[0126] It should be understood that during the calibration process, the incident intensity of the laser incident on the calibration plate can be continuously adjusted; and after all incident intensities of the laser are tested, the reflectivity of the calibration plate can be adjusted, and the above process of emitting lasers with different incident intensities to the calibration plate can be repeated to generate a correspondence between the first threshold pulse width and the trailing edge slope value of the calibration echo under different reflectivities, so that the preset slope pulse width correction table finally generated can include a large number of correspondences between the calibrated first threshold pulse widths and the calibrated trailing edge slope values ​​under various reflectivities and various incident intensities, so that the preset slope pulse width correction table can meet various needs of the laser radar in actual use.

[0127] It should also be understood that the voltage amplitude corresponding to the first threshold is smaller than the voltage amplitude corresponding to the second threshold (eg Figure 2 , Figure 3 and Figure 4), the leading edge data of the calibration echo at the first threshold refers to the leading edge time data of the calibration echo at the voltage amplitude corresponding to the first threshold; the trailing edge data of the calibration echo at the first threshold refers to the trailing edge time data of the calibration echo at the voltage amplitude corresponding to the first threshold; the leading edge data of the calibration echo at the second threshold refers to the leading edge time data of the calibration echo at the voltage amplitude corresponding to the second threshold, and the trailing edge data of the calibration echo at the second threshold refers to the trailing edge time data of the calibration echo at the voltage amplitude corresponding to the second threshold; the leading edge time data is ahead of the trailing edge time data.

[0128] Step 103: When the actual trailing edge slope value does not match the actual first threshold pulse width, the echo waveform is identified as an abnormal waveform.

[0129] Among them, the abnormal waveform may refer to the echo waveform corresponding to the tail point, echo superposition, and pulse width broadening. The abnormal waveform is the shape or feature of the laser radar echo signal that does not conform to the normal expected waveform. The abnormal waveform may be caused by various reasons, which may include the special properties of the target object, changes in environmental conditions, or problems with the sensor itself. For example, the surface of the object being measured is uneven; the laser is reflected back through multiple paths to reach the receiver, resulting in the superposition of multiple echoes to form a complex waveform; there are other objects that block or obstruct the propagation path of the laser beam, resulting in abnormal waveforms in the changes of the echo signal, etc.

[0130] If the preset slope pulse width correction table does not include the correspondence between the actual trailing edge slope and the actual first threshold pulse width, it is determined that the actual trailing edge slope does not match the actual first threshold pulse width, indicating that the echo waveform of the echo signal is an abnormal waveform.

[0131] In a possible implementation, when the actual trailing edge slope does not match the actual first threshold pulse width, identifying the echo waveform as an abnormal waveform includes:

[0132] When the difference between the calibrated trailing edge slope corresponding to the actual first threshold pulse width and the actual trailing edge slope is greater than the preset threshold, it is determined that the actual trailing edge slope does not match the actual first threshold pulse width, and the echo waveform is identified as an abnormal waveform.

[0133] In the embodiment of the present application, if the difference between the calibrated trailing edge slope value corresponding to the actual first threshold pulse width and the corresponding actual trailing edge slope value is greater than the preset threshold, it indicates that the echo waveform is significantly different from the normal waveform characteristics, and can therefore be identified as an abnormal waveform (for example, Figure 3 and Figure 4 abnormal waveform shown).

[0134] In a possible implementation, when the actual trailing edge slope value does not match the actual first threshold pulse width, after identifying the echo waveform as an abnormal waveform, the method further includes:

[0135] According to a preset slope pulse width correction table, determining a calibrated first threshold pulse width corresponding to the actual trailing edge slope value;

[0136] Determine the calibrated first threshold pulse width as the corrected pulse width corresponding to the actual trailing edge slope value;

[0137] A corrected waveform corresponding to the abnormal waveform is determined according to the actual trailing edge slope and the corrected pulse width of the abnormal waveform.

[0138] In the embodiment of the present application, the abnormal waveform can be corrected by restoring the actual first threshold pulse width to the calibrated first threshold pulse width corresponding to the actual trailing edge slope value.

[0139] Step 104: When the actual trailing edge slope value matches the actual first threshold pulse width, the echo waveform is identified as a normal waveform.

[0140] The normal waveform may refer to the shape of the signal returned by the laser radar, which has characteristics consistent with the expected and normal working conditions. For example, the consistent characteristics may be that the actual trailing edge slope matches the actual first threshold pulse width.

[0141] If the preset slope pulse width correction table includes the correspondence between the actual trailing edge slope and the actual first threshold pulse width, then determining that the actual trailing edge slope matches the actual first threshold pulse width indicates that the echo waveform of the echo signal is a normal waveform.

[0142] In a possible implementation, when the actual trailing edge slope matches the actual first threshold pulse width, identifying the echo waveform as a normal waveform includes:

[0143] When the difference between the calibrated trailing edge slope value corresponding to the actual first threshold pulse width and the actual trailing edge slope value is less than or equal to the preset threshold, it is determined that the actual trailing edge slope value matches the actual first threshold pulse width, and the echo waveform is identified as a normal waveform.

[0144] In the embodiment of the present application, if the difference between the calibrated trailing edge slope value corresponding to the actual first threshold pulse width and the corresponding actual trailing edge slope value is less than or equal to the preset threshold, it indicates that the echo waveform has little or no difference from the normal waveform characteristics, and can therefore be identified as a normal waveform (for example Figure 2 Normal waveform shown).

[0145] In the implementation of the present application, through the preset slope pulse width correction table and the actual first threshold pulse width and the actual trailing edge slope value corresponding to the echo waveform, the abnormal echo waveform corresponding to the tailing point, echo superposition and pulse width broadening, etc., where the actual trailing edge slope does not match the actual first threshold pulse width, is identified; and the normal echo waveform where the actual trailing edge slope matches the actual first threshold pulse width is identified. The above scheme not only improves the recognition accuracy of the echo waveform, but also does not require an increase in hardware costs, has a low technical implementation difficulty, and has a high real-time performance.

[0146] Combine the following Figure 5 , the laser radar echo waveform recognition method provided in the embodiment of the present application is further explained.

[0147] Figure 5 A schematic flow chart of a method for identifying a laser radar echo signal provided in another embodiment of the present application is shown.

[0148] like Figure 5 As shown, the laser radar echo signal recognition method includes the following steps:

[0149] Step 501, determining an actual first threshold pulse width and an actual trailing edge slope value corresponding to an echo waveform.

[0150] Step 502: According to a preset slope pulse width correction table, it is determined whether the actual trailing edge slope value matches the actual first threshold pulse width.

[0151] Step 503: When the actual trailing edge slope value does not match the actual first threshold pulse width, the echo waveform is identified as an abnormal waveform.

[0152] The specific implementation process and principle of the above steps 501-503 can be referred to the detailed description of the above embodiment, which will not be repeated here.

[0153] Step 504: Determine the leading edge data and trailing edge data of the abnormal waveform at a third threshold and at least one actual peak value.

[0154] The third threshold value may be the same as the first threshold value or the second threshold value, or may be different from the first threshold value or the second threshold value. It should be noted that the first threshold value is the low threshold value of the echo waveform, the second threshold value is the high threshold value of the echo waveform, and the third threshold value may be any value less than the peak value of the waveform voltage.

[0155] The actual peak value may refer to the voltage amplitude corresponding to the time point at which the maximum value is obtained in the echo waveform.

[0156] In an embodiment of the present application, based on the third threshold, the time point when the voltage in the abnormal waveform is equal to the third threshold can be determined, the minimum time point can be determined as the leading edge data of the abnormal waveform at the third threshold, the maximum time point can be determined as the trailing edge data of the abnormal waveform at the fourth threshold, and finally, the voltage corresponding to the time point when the maximum value is obtained in the abnormal waveform is determined as the actual peak value corresponding to the abnormal waveform.

[0157] Step 505: Determine the calibrated third threshold pulse width corresponding to the actual peak value according to the preset peak pulse width correction table.

[0158] The preset peak pulse width correction table may include a correspondence between a plurality of calibrated peak values ​​and calibrated third threshold pulse widths.

[0159] The calibration peak value may refer to the peak value of the echo corresponding to each laser emitted within the range of the incident intensity of the laser that can be emitted by the laser radar.

[0160] Among them, calibrating the third threshold pulse width may refer to the pulse width at the third threshold of the echo waveform corresponding to each laser emitted by the laser radar within the range of incident intensity of the laser that can be emitted by the laser radar, while ensuring that there is no tailing point, echo superposition, and pulse width broadening.

[0161] In the embodiment of the present application, since the preset peak pulse width correction table can include the correspondence between the peak values ​​of a large number of echoes and the calibrated third threshold pulse width within the range of the incident intensity of the laser that can be emitted by the laser radar when there is no tailing point, echo superposition, or pulse width widening, the correspondence between the calibrated peak value and the calibrated third threshold pulse width contained in the preset peak pulse width correction table is the correspondence between the peak value of the echo and the calibrated third threshold pulse width when there is no abnormal situation such as tailing point, echo superposition, or pulse width widening. Therefore, according to the preset peak pulse width correction table, the calibrated third threshold pulse width corresponding to the actual peak value can be found in the preset peak pulse width correction table.

[0162] In a possible implementation, before determining the calibrated third threshold pulse width corresponding to the actual peak value according to the preset peak pulse width correction table, the method further includes:

[0163] Acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to a reflection wave of the laser emitted by the laser radar to the calibration plate according to different laser incident intensities;

[0164] Determine the peak value and the third threshold pulse width of each calibration echo;

[0165] A preset peak pulse width correction table is generated according to the peak values ​​of each calibration echo and the third threshold pulse width.

[0166] In the embodiment of the present application, the incident intensity of the laser emitted by the laser radar can be adjusted within the laser incident intensity range that the laser radar can emit, and it can be emitted to the calibration board, and then the reflected calibration echo is obtained, and the peak value and the third threshold pulse width of each calibration echo are determined, and the peak value and the third threshold pulse width of each calibration echo are stored as the calibration peak value and the calibration third threshold pulse width in the preset pulse width peak correction table. It should be noted that during the calibration process, the incident intensity of the laser incident on the calibration board can be continuously adjusted; and after all the lasers of all light intensities are tested, the reflectivity of the calibration board can be adjusted, and the above process of emitting lasers of different light intensities to the calibration board is repeated to generate the corresponding relationship between the peak value of the calibration echo and the third threshold pulse width under different reflectivities, so that the preset peak pulse width correction table finally generated can include the corresponding relationship between a large number of calibration peak values ​​and the calibration third threshold pulse width under various reflectivities and various light intensities, so that the preset peak pulse width correction table can meet various needs of the laser radar in actual use.

[0167] Step 506: determine the calibrated third threshold pulse width as the corrected pulse width corresponding to the actual peak value.

[0168] In the embodiment of the present application, since the correspondence between the calibrated peak value and the calibrated third threshold pulse width contained in the preset peak pulse width correction table is the correspondence between the peak value of the echo and the calibrated third threshold pulse width when there is no abnormal situation such as tailing point or echo superposition or pulse width widening. Therefore, the calibrated third threshold pulse width corresponding to the actual peak value is the pulse width corresponding to the normal waveform, and the calibrated third threshold pulse width can be determined as the corrected pulse width corresponding to the actual peak value.

[0169] Step 507 , determining a corrected waveform corresponding to the abnormal waveform according to the leading edge data and trailing edge data of the abnormal waveform at the third threshold, the actual peak value, and the corrected pulse width corresponding to the actual peak value.

[0170] In the embodiment of the present application, after the corrected pulse width corresponding to the actual peak value of the echo waveform is determined, the echo waveform can be corrected according to the corrected pulse width to determine a corrected waveform corresponding to the echo waveform.

[0171] Furthermore, when there is waveform superposition in the echo waveform, the leading edge data at the third threshold corresponding to the echo waveform is the accurate leading edge data of the echo received first, the trailing edge data at the third threshold corresponding to the echo waveform is usually the accurate trailing edge data of the echo received last, and the actual peak value corresponding to the echo waveform is usually the accurate peak value of each received echo. Therefore, in the embodiment of the present application, the specific method of correcting the echo waveform can be determined according to the specific shape of the echo waveform to further improve the accuracy and reliability of the echo waveform correction.

[0172] Since the echoes received by the laser radar at the beginning are usually normal, and the echo waveform becomes abnormal only when other echoes are received again during the process of receiving normal echoes, the leading edge data and the actual peak value of the echo waveform first received by the laser radar at the third threshold are usually accurate. Therefore, when the actual peak value of the echo waveform is 1, the actual peak value is usually the accurate peak value of the echo waveform. Therefore, the echo waveform can be corrected according to the leading edge data of the echo waveform at the third threshold, the actual peak value and the corrected pulse width to generate a corrected waveform corresponding to the echo waveform.

[0173] If the number of actual peaks is 2, it can be determined that the echo waveform is a situation where two echoes are obviously superimposed, and the leading edge data at the third threshold corresponding to the echo waveform is the leading edge data of the echo received first, and the trailing edge data at the third threshold corresponding to the echo waveform is the trailing edge data of the echo received later, and the actual peak received first is the actual peak of the echo received first, and the actual peak received later is the actual peak of the echo received later, so the two corrected pulse widths determined according to the actual peaks are the actual pulse widths of the two echoes. Thus, two normal echoes can be restored respectively according to the leading edge data and the actual trailing edge data at the third threshold, and each actual peak and its corresponding corrected pulse width.

[0174] It should be understood that when there are multiple actual peaks, a method in which the number of actual peaks is 2 may be adopted, which will not be described in detail in this application.

[0175] Combine the following Figure 6 , the laser radar echo waveform recognition method provided in the embodiment of the present application is further explained.

[0176] Figure 6 A schematic flow chart of a method for identifying a laser radar echo signal provided in yet another embodiment of the present application is shown.

[0177] like Figure 6 As shown, the laser radar echo signal recognition method includes the following steps:

[0178] Step 601, determining the actual first threshold pulse width and the actual trailing edge slope value corresponding to the echo waveform.

[0179] Step 602: According to a preset slope pulse width correction table, determine whether the actual trailing edge slope value matches the actual first threshold pulse width.

[0180] Step 603: When the actual trailing edge slope value does not match the actual first threshold pulse width, the echo waveform is identified as an abnormal waveform.

[0181] The specific implementation process and principle of the above steps 601-603 can be referred to the detailed description of the above embodiment, which will not be repeated here.

[0182] Step 604, remove the point cloud data corresponding to the abnormal waveform; or, perform distance measurement according to the time point corresponding to the frontier data at the second threshold of the abnormal waveform.

[0183] In the embodiment of the present application, the accuracy of target recognition can be improved by directly eliminating the point cloud data corresponding to the abnormal waveform. The distance can also be measured at the time point corresponding to the frontier data of the abnormal waveform at the second threshold, that is, the frontier data at the high threshold is used for distance measurement to improve the accuracy of target recognition.

[0184] In this embodiment, by removing the point cloud data corresponding to the identified abnormal waveform or using the frontier data at a high threshold for ranging, the target recognition and ranging accuracy can be improved.

[0185] Corresponding to the method for identifying the laser radar echo signal in the above embodiment, Figure 7 A schematic diagram of the structure of a laser radar echo signal recognition device provided in an embodiment of the present application is shown. For ease of description, only the parts related to the embodiment of the present application are shown.

[0186] See also Figure 7 , the identification device 700 comprises:

[0187] A first determination module 701 is used to determine an actual first threshold pulse width and an actual trailing edge slope value corresponding to an echo waveform;

[0188] A first judgment module 702 is used to judge whether the actual trailing edge slope value matches the actual first threshold pulse width according to a preset slope pulse width correction table, wherein the preset slope pulse width correction table includes a correspondence between a plurality of calibrated trailing edge slope values ​​and calibrated first threshold pulse widths;

[0189] A first identification module 703, used for identifying the echo waveform as an abnormal waveform when the actual trailing edge slope value does not match the actual first threshold pulse width;

[0190] The second identification module 704 is used to identify the echo waveform as a normal waveform when the actual trailing edge slope value matches the actual first threshold pulse width.

[0191] In the embodiment of the present application, the above identification device further includes:

[0192] A first acquisition module is used to acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to the reflection wave of the laser emitted by the laser radar to the calibration plate according to different laser incident intensities;

[0193] A second determination module is used to determine the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold respectively;

[0194] A third determination module is used to determine the first threshold pulse width and trailing edge slope value of each calibration echo according to the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold respectively;

[0195] The first generating module is used to generate a preset slope pulse width correction table according to the first threshold pulse width and the trailing edge slope value of each calibration echo.

[0196] In the embodiment of the present application, the first threshold and the second threshold are voltage thresholds of the echo signal; the third determination module includes:

[0197] A first determination unit, used to determine a first threshold pulse width of each calibration echo according to leading edge data and trailing edge data of each calibration echo at a first threshold;

[0198] The second determination unit is used to determine the trailing edge slope value of each calibration echo according to the trailing edge data of each calibration echo at the first threshold and the trailing edge data at the second threshold.

[0199] In the embodiment of the present application, the first identification module 703 includes:

[0200] The first identification unit is used to determine that the actual trailing edge slope value does not match the actual first threshold pulse width when the difference between the calibrated trailing edge slope value corresponding to the actual first threshold pulse width and the actual trailing edge slope value is greater than a preset threshold, and identify the echo waveform as an abnormal waveform.

[0201] In the embodiment of the present application, the second identification module 704 includes:

[0202] The second identification unit is used to determine that the actual trailing edge slope value matches the actual first threshold pulse width and identify the echo waveform as a normal waveform when the difference between the calibrated trailing edge slope value corresponding to the actual first threshold pulse width and the actual trailing edge slope value is less than or equal to a preset threshold.

[0203] In an embodiment of the present application, the voltage amplitude corresponding to the above-mentioned first threshold is smaller than the voltage amplitude corresponding to the second threshold, and the leading edge data of the calibration echo at the first threshold refers to the leading edge time data of the calibration echo at the voltage amplitude corresponding to the first threshold; the trailing edge data of the calibration echo at the first threshold refers to the trailing edge time data of the calibration echo at the voltage amplitude corresponding to the first threshold; the leading edge data of the calibration echo at the second threshold refers to the leading edge time data of the calibration echo at the voltage amplitude corresponding to the second threshold, and the trailing edge data of the calibration echo at the second threshold refers to the trailing edge time data of the calibration echo at the voltage amplitude corresponding to the second threshold; the leading edge time data is ahead of the trailing edge time data.

[0204] In the embodiment of the present application, the identification device 700 further includes:

[0205] A fourth determination module, used to determine the leading edge data and trailing edge data of the abnormal waveform at a third threshold and at least one actual peak value;

[0206] A fifth determination module, used to determine the calibrated third threshold pulse width corresponding to the actual peak value according to a preset peak pulse width correction table, wherein the peak pulse width correction table includes a correspondence between a plurality of calibrated peak values ​​and the calibrated third threshold pulse width;

[0207] A sixth determination module, used to determine the calibrated third threshold pulse width as a corrected pulse width corresponding to the actual peak value;

[0208] The seventh determination module is used to determine the corrected waveform corresponding to the abnormal waveform according to the leading edge data and trailing edge data of the abnormal waveform at the third threshold, the actual peak value and the corrected pulse width corresponding to the actual peak value.

[0209] In the embodiment of the present application, the identification device 700 further includes:

[0210] A second acquisition module is used to acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to the reflection wave of the laser generated by the laser radar to the calibration plate according to different laser incident intensities;

[0211] An eighth determination module, used to determine the peak value and the third threshold pulse width of each calibration echo;

[0212] The second generating module is used to generate a preset peak pulse width correction table according to the peak value of each calibration echo and the third threshold pulse width.

[0213] In the embodiment of the present application, the identification device 700 further includes:

[0214] A rejection module is used to reject point cloud data corresponding to abnormal waveforms;

[0215] or,

[0216] The distance measuring module is used to measure the distance according to the time point corresponding to the leading edge data at the second threshold of the abnormal waveform, and the voltage amplitude corresponding to the second threshold is greater than the voltage amplitude corresponding to the first threshold.

[0217] In actual use, the laser radar echo signal recognition device provided in the embodiment of the present application can be configured in any electronic device to execute the aforementioned laser radar echo signal recognition method.

[0218] In the embodiment of the present application, the identification device 700 further includes:

[0219] A ninth determination module, used to determine a calibrated first threshold pulse width corresponding to the actual trailing edge slope value according to a preset slope pulse width correction table;

[0220] A tenth determination module, used for determining the calibrated first threshold pulse width as a corrected pulse width corresponding to the actual trailing edge slope value;

[0221] The eleventh determination module is used to determine the corrected waveform corresponding to the abnormal waveform according to the actual trailing edge slope and the corrected pulse width of the abnormal waveform. 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 specifically referred to in the method embodiment section, and will not be repeated here.

[0222] 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.

[0223] See also Figure 8 , shows a schematic diagram of the structure of an electronic device provided by an embodiment of the present application, such as Figure 8 As shown, the electronic device 800 of this embodiment includes: at least one processor 810 ( Figure 8 Only one is shown), a memory 820, and a computer program 821 stored in the memory 820 and executable on the at least one processor 810, wherein the processor 810 implements the steps in the above-mentioned embodiment of the method for identifying the laser radar echo signal when executing the computer program 821.

[0224] It should be noted that the electronic device 800 may refer to a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The electronic device may include, but is not limited to, a processor 810 and a memory 820. Those skilled in the art will understand that Figure 8 This is merely an example of the electronic device 800 and does not constitute a limitation on the electronic device 800 . The electronic device 800 may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0225] The processor 810 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0226] In some embodiments, the memory 820 may be an internal storage unit of the electronic device 800, such as a hard disk or memory of the electronic device 800. In other embodiments, the memory 820 may also be an external storage device of the electronic device 800, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 800. Further, the memory 820 may also include both an internal storage unit of the electronic device 800 and an external storage device. The memory 820 is used to store an operating system, an application program, a boot loader (Boot Loader), data and other programs, such as the program code of the computer program, etc. The memory 820 may also be used to temporarily store data that has been output or is to be output.

[0227] 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.

[0228] 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.

[0229] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device 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.

[0230] 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.

[0231] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0232] If the integrated module / 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, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0233] The present application implements all or part of the processes in the above-mentioned embodiment method, and may also be completed through a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing.

[0234] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for identifying laser radar echo signals, It is characterized in that The identification method comprises: Determine an actual first threshold pulse width and an actual trailing edge slope value corresponding to the echo waveform; According to a preset slope pulse width correction table, determining whether the actual trailing edge slope value matches the actual first threshold pulse width, wherein the preset slope pulse width correction table includes a correspondence between a plurality of calibrated trailing edge slope values ​​and calibrated first threshold pulse widths; When the actual trailing edge slope value does not match the actual first threshold pulse width, identifying the echo waveform as an abnormal waveform; When the actual trailing edge slope value matches the actual first threshold pulse width, the echo waveform is identified as a normal waveform.

2. The identification method according to claim 1, It is characterized in that Before judging whether the actual trailing edge slope value matches the actual first threshold pulse width according to the preset slope pulse width correction table, the method further includes: Acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to a reflection wave of the laser emitted by the laser radar to the calibration plate according to different laser incident intensities; Determine the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold respectively; Determine the first threshold pulse width and the trailing edge slope value of each calibration echo according to the leading edge data and trailing edge data of each calibration echo at the first threshold and the second threshold respectively; The preset slope pulse width correction table is generated according to the first threshold pulse width and trailing edge slope value of each calibration echo.

3. The identification method according to claim 2, It is characterized in that The first threshold and the second threshold are voltage thresholds of the echo signal; determining the first threshold pulse width and the trailing edge slope value of each calibration echo according to the leading edge data and the trailing edge data of each calibration echo at the first threshold and the second threshold, respectively, comprises: Determine a first threshold pulse width of each calibration echo according to leading edge data and trailing edge data of each calibration echo at the first threshold; The trailing edge slope value of each calibration echo is determined according to the trailing edge data of each calibration echo at the first threshold and the trailing edge data at the second threshold.

4. The identification method according to claim 1, It is characterized in that When the actual trailing edge slope does not match the actual first threshold pulse width, identifying the echo waveform as an abnormal waveform includes: When the difference between the calibrated trailing edge slope value corresponding to the actual first threshold pulse width and the actual trailing edge slope value is greater than a preset threshold, it is determined that the actual trailing edge slope value does not match the actual first threshold pulse width, and the echo waveform is identified as an abnormal waveform.

5. The identification method according to claim 1, It is characterized in that When the actual trailing edge slope matches the actual first threshold pulse width, identifying the echo waveform as a normal waveform includes: When the difference between the calibrated trailing edge slope value corresponding to the actual first threshold pulse width and the actual trailing edge slope value is less than or equal to the preset threshold, it is determined that the actual trailing edge slope value matches the actual first threshold pulse width, and the echo waveform is identified as a normal waveform.

6. The identification method according to any one of claims 1 to 5, It is characterized in that The voltage amplitude corresponding to the first threshold is smaller than the voltage amplitude corresponding to the second threshold; the leading edge data of the calibration echo at the first threshold refers to the leading edge time data of the calibration echo at the voltage amplitude corresponding to the first threshold; the trailing edge data of the calibration echo at the first threshold refers to the trailing edge time data of the calibration echo at the voltage amplitude corresponding to the first threshold; the leading edge data of the calibration echo at the second threshold refers to the leading edge time data of the calibration echo at the voltage amplitude corresponding to the second threshold, and the trailing edge data of the calibration echo at the second threshold refers to the trailing edge time data of the calibration echo at the voltage amplitude corresponding to the second threshold; the leading edge time data is ahead of the trailing edge time data.

7. The identification method according to claim 6, It is characterized in that When the actual trailing edge slope does not match the actual first threshold pulse width, after identifying the echo waveform as an abnormal waveform, the method further includes: Determine leading edge data and trailing edge data of the abnormal waveform at a third threshold and at least one actual peak value; Determine the calibrated third threshold pulse width corresponding to the actual peak value according to a preset peak pulse width correction table, wherein the peak pulse width correction table includes a correspondence between a plurality of calibrated peak values ​​and calibrated third threshold pulse widths; Determine the calibrated third threshold pulse width as the corrected pulse width corresponding to the actual peak value; A corrected waveform corresponding to the abnormal waveform is determined according to the leading edge data and trailing edge data of the abnormal waveform at the third threshold, the actual peak value, and the corrected pulse width corresponding to the actual peak value.

8. The identification method according to claim 7, It is characterized in that Before determining the calibrated third threshold pulse width corresponding to the actual peak value according to the preset peak pulse width correction table, the method further includes: Acquire multiple calibration echoes reflected by the calibration plate, wherein the calibration echo refers to a reflection wave of the laser emitted by the laser radar to the calibration plate according to different laser incident intensities; Determining the peak value and the third threshold pulse width of each calibration echo; The preset peak pulse width correction table is generated according to the peak values ​​of each calibration echo and the third threshold pulse width.

9. The identification method according to claim 1, It is characterized in that When the actual trailing edge slope value does not match the actual first threshold pulse width, after identifying the echo waveform as an abnormal waveform, the method further includes: Eliminating the point cloud data corresponding to the abnormal waveform; or, Distance measurement is performed according to a time point corresponding to leading edge data at a second threshold of the abnormal waveform, and a voltage amplitude corresponding to the second threshold is greater than a voltage amplitude corresponding to the first threshold.

10. The identification method according to claim 1, It is characterized in that When the actual trailing edge slope value does not match the actual first threshold pulse width, after identifying the echo waveform as an abnormal waveform, the method further includes: Determine the calibrated first threshold pulse width corresponding to the actual trailing edge slope value according to a preset slope pulse width correction table; Determine the calibrated first threshold pulse width as the corrected pulse width corresponding to the actual trailing edge slope value; A corrected waveform corresponding to the abnormal waveform is determined according to the actual trailing edge slope of the abnormal waveform and the corrected pulse width.

11. A laser radar echo signal recognition device, It is characterized in that The identification device comprises: A first determination module, used to determine an actual first threshold pulse width and an actual trailing edge slope value corresponding to the echo waveform; A first judgment module, used for judging whether the actual trailing edge slope value matches the actual first threshold pulse width according to a preset slope pulse width correction table, wherein the preset slope pulse width correction table includes a correspondence between a plurality of calibrated trailing edge slope values ​​and calibrated first threshold pulse widths; A first identification module, used for identifying the echo waveform as an abnormal waveform when the actual trailing edge slope does not match the actual first threshold pulse width; The second identification module is used to identify the echo waveform as a normal waveform when the actual trailing edge slope matches the actual first threshold pulse width.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the method according to any one of claims 1 to 10 is implemented.

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

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