Laser radar scanning method, system and device, electronic equipment and medium

Abstract

The invention discloses a laser radar scanning method, system and device, electronic equipment and a medium, and relates to the technical field of radars. According to the scanning condition, a first control parameter used for controlling the scanning speed of the laser radar is generated, and the type of the first control parameter is an irrational number; according to the scanning condition, second control parameters used for controlling the scanning shape and the definition domain of the laser radar are generated, and the type of the second control parameters is a positive even number; according to the scanning condition, generating a third control parameter for controlling the scanning range of the laser radar; acquiring a current scanning angle of the laser radar; generating a current polar radius value corresponding to the current scanning angle through the first control parameter, the second control parameter and the third control parameter; converting the current polar radius value according to the current scanning angle to obtain a spatial position; and controlling the galvanometer to reflect the laser to a spatial position for scanning. Non-repetitive scanning of the laser radar can be realized, and object identification can be accurately carried out.

Description

Technical Field

[0001] The present application relates to the technical field of radar, and more specifically, to a lidar scanning method, system, device, electronic device and medium. Background Art

[0002] Lidar is an active remote sensing technology that detects the distance, shape and surface characteristics of target objects by emitting laser pulses and measuring their reflected signals. Classified by scanning methods, lidars can be divided into mechanical lidars, solid-state lidars and semi-solid-state radars. Among them, the lidar galvanometer is one of the components of the lidar scanning system, mainly used to control the deflection direction of the laser beam to achieve high-precision and high-speed scanning.

[0003] Several scanning methods or strategies of the lidar galvanometer usually include line scanning, conical scanning and fiber scanning. But these scanning methods have one thing in common, which is repeatability. After the galvanometer scans a certain spatial area according to parallel lines or Z-shaped lines, it will keep repeating the action. If the radar remains stationary, then the scanning position and the number of scanning points are relatively fixed. The areas not covered by the laser will never be scanned, and the scanning pixel points of the same object are fixed, making it impossible to accurately identify the scanned object and causing a certain degree of misjudgment.

[0004] In summary, how to improve the recognition accuracy of lidar is an urgent problem to be solved by those skilled in the art at present. Summary of the Invention

[0005] The purpose of the present application is to provide a lidar scanning method, which can to a certain extent solve the technical problem of how to improve the recognition accuracy of lidar. The present application also provides a lidar scanning system, device, electronic device and computer-readable storage medium.

[0006] To achieve the above object, the present application provides the following technical solutions:

[0007] A lidar scanning method, comprising:

[0008] Obtaining the scanning conditions of the lidar;

[0009] Generating a first control parameter for controlling the scanning speed of the lidar according to the scanning conditions, and the type of the first control parameter is an irrational number;

[0010] Generating a second control parameter for controlling the scanning shape and domain of definition of the lidar according to the scanning conditions, and the type of the second control parameter is a positive even number;

[0011] Generating a third control parameter for controlling the scanning range of the lidar according to the scanning conditions;

[0012] Obtain the current scanning angle of the lidar;

[0013] Generate a current radial distance value corresponding to the current scanning angle according to the first control parameter, the second control parameter, and the third control parameter;

[0014] Convert the current radial distance value according to the current scanning angle to obtain a spatial position;

[0015] Control the galvanometer to reflect the laser to the spatial position for scanning.

[0016] In an exemplary embodiment, the generating a current radial distance value corresponding to the current scanning angle according to the first control parameter, the second control parameter, and the third control parameter includes:

[0017] Generate a current radial distance value corresponding to the current scanning angle according to the first control parameter, the second control parameter, and the third control parameter according to the radial distance value generation formula;

[0018] Wherein, the radial distance value generation formula includes:

[0019] ;

[0020] Wherein, represents the radial distance value; represents the first control parameter; represents the second control parameter; represents the third control parameter; represents the scanning angle; represents the cosine function.

[0021] In an exemplary embodiment, the converting the current radial distance value according to the current scanning angle to obtain a spatial position includes:

[0022] Convert the current radial distance value according to the current scanning angle to obtain a spatial position according to the spatial position generation formula;

[0023] The spatial position generation formula includes:

[0024] ; ;

[0025] Wherein, represents the abscissa value in the spatial position; represents the ordinate value in the spatial position; represents the sine function.

[0026] In an exemplary embodiment, the obtaining the current scanning angle of the lidar includes:

[0027] Generate a trigonometric function frequency value according to the first control parameter;

[0028] Determine the working clock for generating the trigonometric function;

[0029] Determine the number of bits of the lookup table input address;

[0030] Generate a phase increment value of the scanning angle according to the trigonometric function frequency value, the working clock, and the number of bits of the lookup table input address;

[0031] Obtain the scanning angle at the previous moment;

[0032] Generate the sum of the scanning angle at the previous moment and the phase increment value, and use the sum value as the current scanning angle of the lidar.

[0033] In an exemplary embodiment, the generating a phase increment value of the scanning angle according to the trigonometric function frequency value, the working clock, and the number of bits of the lookup table input address includes:

[0034] Generate a phase increment value of the scanning angle according to the trigonometric function frequency value, the working clock, and the number of bits of the lookup table input address through a phase increment value generation formula;

[0035] The phase increment value generation formula includes:

[0036] ;

[0037] Wherein, represents the phase increment value; represents the trigonometric function frequency value; represents the working clock; represents the number of bits of the lookup table input address.

[0038] A lidar scanning system, comprising:

[0039] A scanning condition acquisition module, configured to acquire the scanning condition of the lidar;

[0040] A first control parameter generation module, configured to generate a first control parameter for controlling the scanning speed of the lidar according to the scanning condition, and the type of the first control parameter is an irrational number;

[0041] A second control parameter generation module, configured to generate a second control parameter for controlling the scanning shape and domain of the lidar according to the scanning condition, and the type of the second control parameter is a positive even number;

[0042] A third control parameter generation module, configured to generate a third control parameter for controlling the scanning range of the lidar according to the scanning condition;

[0043] A current scanning angle acquisition module, configured to acquire the current scanning angle of the lidar;

[0044] A current polar radius value generation module, configured to generate a current polar radius value corresponding to the current scanning angle through the first control parameter, the second control parameter, and the third control parameter;

[0045] A spatial position conversion module, configured to convert the current polar radius value according to the current scanning angle to obtain a spatial position;

[0046] A galvanometer control module, configured to control the galvanometer to reflect the laser to the spatial position for scanning.

[0047] A lidar scanning device, comprising an FPGA, a first digital-to-analog converter, a second digital-to-analog converter, and a microelectromechanical system;

[0048] The FPGA is configured to generate a current polar radius value corresponding to the current scanning angle of the lidar through the first control parameter, the second control parameter, and the third control parameter; convert the current polar radius value according to the current scanning angle to obtain a spatial position;

[0049] The first digital-to-analog converter and the second digital-to-analog converter are configured to analogize the spatial position;

[0050] The microelectromechanical system is configured to control the galvanometer to reflect the laser to the analogized spatial position for scanning;

[0051] Wherein, the first control parameter includes a parameter for controlling the scanning speed of the lidar generated according to the scanning condition of the lidar, and the type of the first control parameter is an irrational number; the second control parameter includes a parameter for controlling the scanning shape and domain of definition of the lidar generated according to the scanning condition, and the type of the second control parameter is a positive even number; the third control parameter includes a parameter for controlling the scanning range of the lidar generated according to the scanning condition.

[0052] In an exemplary embodiment, the FPGA includes:

[0053] A first direct digital frequency synthesis device, configured to generate and ;

[0054] A second direct digital frequency synthesis device, configured to generate ;

[0055] A first multiplier connected to the first direct digital frequency synthesizer device and the second direct digital frequency synthesizer device for generating ;

[0056] A second multiplier connected to the first direct digital frequency synthesizer device and the second direct digital frequency synthesizer device for generating ;

[0057] Wherein, ; represents the polar radius value; represents the first control parameter; represents the second control parameter; represents the third control parameter; represents the scanning angle; represents the cosine function; represents the abscissa value in the spatial position; represents the ordinate value in the spatial position; represents the sine function.

[0058] An electronic device, comprising:

[0059] A memory for storing a computer program;

[0060] A processor for implementing the steps of any of the above lidar scanning methods when executing the computer program.

[0061] A computer-readable storage medium storing a computer program, the computer program implementing the steps of any of the above lidar scanning methods when executed by a processor.

[0062] A lidar scanning method provided by the present application obtains the scanning conditions of the lidar; according to the scanning conditions, a first control parameter for controlling the scanning speed of the lidar is generated, and the type of the first control parameter is an irrational number; according to the scanning conditions, a second control parameter for controlling the scanning shape and domain of the lidar is generated, and the type of the second control parameter is a positive even number; according to the scanning conditions, a third control parameter for controlling the scanning range of the lidar is generated; the current scanning angle of the lidar is obtained; through the first control parameter, the second control parameter, and the third control parameter, a current polar radius value corresponding to the current scanning angle is generated; the current polar radius value is converted according to the current scanning angle to obtain a spatial position; the galvanometer is controlled to reflect the laser to the spatial position for scanning. The present application can generate the first control parameter, the second control parameter, and the third control parameter according to the scanning conditions of the lidar. Since the first control parameter is an irrational number for controlling the scanning speed of the lidar and the second control parameter is a positive even number for controlling the scanning shape and domain of the lidar, a current polar radius value that changes with the scanning angle and is non-periodic in type can be generated through the first control parameter, the second control parameter, and the third control parameter. Then, through conversion, a non-repetitive spatial position can be obtained. Therefore, if the galvanometer is controlled to reflect the laser to the spatial position for scanning, non-repetitive scanning of the lidar can be achieved, making the scanning position and the number of scanning points no longer fixed, so that the scanned object can be accurately identified. A lidar scanning system, device, electronic device, and computer-readable storage medium provided by the present application also solve the corresponding technical problems. Description of the Drawings

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0064] Figure 1 It is a flowchart of a lidar scanning method provided by an embodiment of the present application;

[0065] Figure 2 It is a schematic structural diagram of a lidar scanning system provided by an embodiment of the present application;

[0066] Figure 3 It is a schematic structural diagram of a lidar scanning device provided by an embodiment of the present application;

[0067] Figure 4 It is a simulation diagram of the scanning trajectory of a vehicle-mounted lidar;

[0068] Figure 5Schematic diagram of a structure of an electronic device provided by an embodiment of the present application;

[0069] Figure 6 Another schematic diagram of a structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0070] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0071] Please refer to Figure 1 , Figure 1 Flowchart of a lidar scanning method provided by an embodiment of the present application.

[0072] A lidar scanning method provided by an embodiment of the present application may include the following steps:

[0073] Step S101: Obtain the scanning conditions of the lidar.

[0074] In practical applications, the scanning conditions of the lidar can be obtained first. The scanning conditions of the lidar can be determined according to the application scenarios of the lidar. For example, the scanning conditions may include scanning frequency, scanning radius, scanning intensity, etc. The present application does not make specific limitations here.

[0075] Step S102: Generate a first control parameter for controlling the scanning speed of the lidar according to the scanning conditions, and the type of the first control parameter is an irrational number.

[0076] Step S103: Generate a second control parameter for controlling the scanning shape and domain of the lidar according to the scanning conditions, and the type of the second control parameter is a positive even number.

[0077] Step S104: Generate a third control parameter for controlling the scanning range of the lidar according to the scanning conditions.

[0078] In practical applications, after obtaining the scanning conditions of the lidar, a first control parameter for controlling the scanning speed of the lidar can be generated according to the scanning conditions, and the type of the first control parameter is an irrational number; a second control parameter for controlling the scanning shape and domain of the lidar is generated according to the scanning conditions, and the type of the second control parameter is a positive even number; a third control parameter for controlling the scanning range of the lidar is generated according to the scanning conditions, so as to generate non-periodic lidar scanning control data according to the irrational number, the positive even number and the third control parameter.

[0079] Step S105: Obtain the current scanning angle of the lidar.

[0080] Step S106: Generate a current radial distance value corresponding to the current scanning angle through a first control parameter, a second control parameter, and a third control parameter.

[0081] Step S107: Convert the current radial distance value according to the current scanning angle to obtain a spatial position.

[0082] Step S108: Control the galvanometer to reflect the laser to the spatial position for scanning.

[0083] In practical applications, considering that the scanning of the lidar is affected by the scanning angle, the current scanning angle of the lidar can be obtained, and with the help of the first control parameter, the second control parameter, and the third control parameter, the current scanning angle is converted into a current radial distance value of a non-periodic type. Furthermore, the current radial distance value can be converted according to the current scanning angle to obtain a spatial position of a non-periodic type. Finally, the galvanometer is controlled to reflect the laser to the spatial position for scanning. In this way, as time progresses and the current scanning angle changes continuously, non-periodic spatial positions can be continuously generated to control the lidar for non-periodic scanning.

[0084] In an exemplary embodiment, in the process of generating a current radial distance value corresponding to the current scanning angle through a first control parameter, a second control parameter, and a third control parameter, the current radial distance value corresponding to the current scanning angle can be generated according to the radial distance value generation formula through the first control parameter, the second control parameter, and the third control parameter; wherein, the radial distance value generation formula includes:

[0085] ;

[0086] Wherein, represents the radial distance value; represents the first control parameter; represents the second control parameter; represents the third control parameter; represents the scanning angle; represents the cosine function. In this way, when the scanning angle is the current scanning angle, what the radial distance value generation formula outputs is the current radial distance value.

[0087] It should be noted that the radial distance value generation formula is a non-periodic function. When plotting points over time in a rectangular coordinate system, the points plotted on the coordinate system will gradually fill the entire area; and The larger it is, the larger the range of the abscissa / ordinate in the rectangular coordinate system. Since lidar scanning is equivalent to projecting coordinates into space in the form of light, it is equivalent to the MEMS (Micro-Electro-Mechanical System) device scanning at larger angles left and right and up and down. Combined with cosine, it is the cosine function, which is used to control the speed. In the radar, it is to control the scanning speed. Selecting an irrational number is to ensure the non-periodic characteristic of the scanning. It also ensures that the polar radius value generation formula is a non-periodic function, that is, to ensure the non-periodicity of the radar scanning. The reason for choosing a positive even number here is to facilitate the implementation of the polar radius value generation formula while ensuring the non-periodicity of the radar scanning.

[0088] In an exemplary embodiment, when converting the current polar radius value according to the current scanning angle to obtain the spatial position, the spatial position can be obtained by converting the current polar radius value according to the current scanning angle through the spatial position generation formula; the spatial position generation formula includes:

[0089] ; ;

[0090] Among them, represents the abscissa value in the spatial position; represents the ordinate value in the spatial position; represents the sine function.

[0091] In an exemplary embodiment, when obtaining the current scanning angle of the lidar, the trigonometric function frequency value can be generated according to the first control parameter. For example, the ratio of 2pi to the first control parameter can be used as the trigonometric function frequency value; determine the working clock for generating the trigonometric function; determine the number of bits of the lookup table input address; generate the phase increment value of the scanning angle according to the trigonometric function frequency value, the working clock and the number of bits of the lookup table input address; obtain the scanning angle of the previous moment; generate the sum value of the scanning angle of the previous moment and the phase increment value, and use the sum value as the current scanning angle of the lidar. In this way, since the trigonometric function frequency value is non-periodic, the phase increment value of the scanning angle can be generated only according to the trigonometric function frequency value, the working clock and the number of bits of the lookup table input address, and the generated phase increment value is non-periodic. If the sum value of the scanning angle of the previous moment and the phase increment value is used as the current scanning angle of the lidar, it can ensure that the current scanning angle changes non-periodically, and further ensure that the generated spatial position changes non-periodically, so as to control the lidar to perform non-periodic scanning.

[0092] In a specific application scenario, during the process of generating the phase increment value of the scanning angle based on the trigonometric function frequency value, the working clock, and the number of bits of the lookup table input address, the phase increment value of the scanning angle can be generated through the phase increment value generation formula according to the trigonometric function frequency value, the working clock, and the number of bits of the lookup table input address. The phase increment value generation formula can be determined according to the working principle of the DDS (Direct Digital Synthesis) IP in the FPGA (Field Programmable Gate Array). For example, it can be:

[0093] ;

[0094] Among them, represents the phase increment value; represents the trigonometric function frequency value; represents the working clock; represents the number of bits of the lookup table input address, which can be set to a fixed value as needed. It should be noted that the accuracy of the phase increment value generation formula depends on , the larger this value is, the higher the accuracy. Theoretically, it is infinitely close to the theoretical trigonometric function value. The required can be determined according to the scanning accuracy of the lidar.

[0095] A lidar scanning method provided by this application includes obtaining the scanning conditions of the lidar; generating a first control parameter for controlling the scanning speed of the lidar according to the scanning conditions, where the type of the first control parameter is an irrational number; generating a second control parameter for controlling the scanning shape and domain of the lidar according to the scanning conditions, where the type of the second control parameter is a positive even number; generating a third control parameter for controlling the scanning range of the lidar according to the scanning conditions; obtaining the current scanning angle of the lidar; generating a current radial distance value corresponding to the current scanning angle through the first control parameter, the second control parameter, and the third control parameter; converting the current radial distance value according to the current scanning angle to obtain a spatial position; and controlling the galvanometer to reflect the laser to the spatial position for scanning. This application can generate the first control parameter, the second control parameter, and the third control parameter according to the scanning conditions of the lidar. Since the first control parameter is an irrational number for controlling the scanning speed of the lidar and the second control parameter is a positive even number for controlling the scanning shape and domain of the lidar, a current radial distance value that changes with the scanning angle and is of a non-periodic type can be generated through the first control parameter, the second control parameter, and the third control parameter. Then, through conversion, a non-repetitive spatial position can be obtained. Therefore, if the galvanometer is controlled to reflect the laser to the spatial position for scanning, non-repetitive scanning of the lidar can be achieved, making the scanning position and the number of scanning points no longer fixed, so that the scanned object can be accurately identified.

[0096] Please refer to Figure 2 , Figure 2Schematic structural diagram of a lidar scanning system provided by an embodiment of the present application.

[0097] A lidar scanning system provided by an embodiment of the present application may include:

[0098] A scanning condition acquisition module 101 for acquiring the scanning conditions of the lidar;

[0099] A first control parameter generation module 102 for generating a first control parameter for controlling the scanning speed of the lidar according to the scanning conditions, and the type of the first control parameter is an irrational number;

[0100] A second control parameter generation module 103 for generating a second control parameter for controlling the scanning shape and domain of the lidar according to the scanning conditions, and the type of the second control parameter is a positive even number;

[0101] A third control parameter generation module 104 for generating a third control parameter for controlling the scanning range of the lidar according to the scanning conditions;

[0102] A current scanning angle acquisition module 105 for acquiring the current scanning angle of the lidar;

[0103] A current polar radius value generation module 106 for generating a current polar radius value corresponding to the current scanning angle through the first control parameter, the second control parameter, and the third control parameter;

[0104] A spatial position conversion module 107 for converting the current polar radius value according to the current scanning angle to obtain a spatial position;

[0105] A galvanometer control module 108 for controlling the galvanometer to reflect the laser to the spatial position for scanning.

[0106] In a lidar scanning system provided by an embodiment of the present application, the current polar radius value generation module may include:

[0107] A current polar radius value generation unit for generating a current polar radius value corresponding to the current scanning angle through the first control parameter, the second control parameter, and the third control parameter according to the polar radius value generation formula;

[0108] Among them, the polar radius value generation formula includes:

[0109] ;

[0110] Among them, represents the polar radius value; represents the first control parameter; represents the second control parameter; represents the third control parameter; represents the scanning angle; represents the cosine function.

[0111] A lidar scanning system provided by an embodiment of the present application, the spatial position conversion module may include:

[0112] A spatial position conversion unit, configured to convert the current polar radius value according to the current scanning angle through a spatial position generation formula to obtain a spatial position;

[0113] The spatial position generation formula includes:

[0114] ; ;

[0115] Wherein, represents the abscissa value in the spatial position; represents the ordinate value in the spatial position; represents the sine function.

[0116] A lidar scanning system provided by an embodiment of the present application, the current scanning angle acquisition module may include:

[0117] A frequency value generation unit, configured to generate a trigonometric function frequency value according to a first control parameter;

[0118] A working clock determination unit, configured to determine the working clock for generating the trigonometric function;

[0119] A digit determination unit, configured to determine the number of digits of the lookup table input address;

[0120] A phase increment value generation unit, configured to generate a phase increment value of the scanning angle according to the trigonometric function frequency value, the working clock, and the number of digits of the lookup table input address;

[0121] A previous scanning angle acquisition unit, configured to acquire the previous scanning angle;

[0122] A current scanning angle generation unit, configured to generate a sum value of the previous scanning angle and the phase increment value, and use the sum value as the current scanning angle of the lidar.

[0123] A lidar scanning system provided by an embodiment of the present application, the phase increment value generation unit may be configured to: generate a phase increment value of the scanning angle according to the trigonometric function frequency value, the working clock, and the number of digits of the lookup table input address through a phase increment value generation formula;

[0124] The phase increment value generation formula includes:

[0125] ;

[0126] Wherein, represents the phase increment value; Represents the trigonometric function frequency value; Represents the working clock; Represents the number of bits of the lookup table input address.

[0127] Please refer to Figure 3 , Figure 3 , which is a schematic structural diagram of a lidar scanning device provided by an embodiment of the present application. Among them, DDS0 represents the first direct digital frequency synthesizer device, and DDS1 represents the second direct digital frequency synthesizer device; DAC0 represents the first digital-to-analog converter, and DAC1 represents the second digital-to-analog converter.

[0128] A lidar scanning device provided by an embodiment of the present application may include an FPGA, a first digital-to-analog converter (DAC), a second digital-to-analog converter, and a microelectromechanical system;

[0129] The FPGA is used to generate the current radial distance value corresponding to the current scanning angle of the lidar through the first control parameter, the second control parameter, and the third control parameter; convert the current radial distance value according to the current scanning angle to obtain the spatial position;

[0130] The first digital-to-analog converter and the second digital-to-analog converter are used to analogize the spatial position;

[0131] The microelectromechanical system is used to control the galvanometer to reflect the laser to the analogized spatial position for scanning;

[0132] Among them, the first control parameter includes a parameter for controlling the scanning speed of the lidar generated according to the scanning conditions of the lidar, and the type of the first control parameter is an irrational number; the second control parameter includes a parameter for controlling the scanning shape and domain of the lidar generated according to the scanning conditions, and the type of the second control parameter is a positive even number; the third control parameter includes a parameter for controlling the scanning range of the lidar generated according to the scanning conditions.

[0133] In an exemplary embodiment, the FPGA may include:

[0134] The first direct digital frequency synthesizer device is used to generate and ;

[0135] The second direct digital frequency synthesizer device is used to generate ;

[0136] The first multiplier connected to the first direct digital frequency synthesizer device and the second direct digital frequency synthesizer device is used to generate ;

[0137] The second multiplier connected to the first direct digital frequency synthesizer device and the second direct digital frequency synthesizer device is used to generate ;

[0138] Wherein, ; represents the polar radius value; represents the first control parameter; represents the second control parameter; represents the third control parameter; represents the scanning angle; represents the cosine function; represents the abscissa value in the spatial position; represents the ordinate value in the spatial position; represents the sine function. At this time, the first digital-to-analog converter and the second digital-to-analog converter can respectively to and perform analog conversion.

[0139] In an exemplary embodiment, the direct digital frequency synthesis device in the FPGA can be used to: generate a trigonometric function frequency value according to the first control parameter; determine the working clock for generating the trigonometric function; determine the number of bits of the lookup table input address; generate a phase increment value of the scanning angle according to the trigonometric function frequency value, the working clock, and the number of bits of the lookup table input address; obtain the scanning angle of the previous moment; generate the sum value of the scanning angle of the previous moment and the phase increment value, and use the sum value as the current scanning angle of the lidar.

[0140] In an exemplary embodiment, the direct digital frequency synthesis device in the FPGA can be used to: generate a phase increment value of the scanning angle according to the trigonometric function frequency value, the working clock, and the number of bits of the lookup table input address through the phase increment value generation formula;

[0141] The phase increment value generation formula includes:

[0142] ;

[0143] Wherein, represents the phase increment value; represents the trigonometric function frequency value; represents the working clock; represents the number of bits of the lookup table input address.

[0144] To facilitate understanding of the lidar scanning scheme provided in this application, the scanning process of the vehicle-mounted lidar will now be described. Currently, most vehicle-mounted lidars use rotational scanning or oscillating scanning. These scanning methods are relatively mature and have low costs. However, due to the fixed scanning angle in these repetitive scans, the ability to capture details at a long distance is weak. In addition, the repeated coverage of the scanned area results in a high data redundancy rate, and the fixed scanning path is vulnerable to malicious laser interference. After applying the solution of this application, the scanning process of the vehicle-mounted lidar can be as follows:

[0145] Obtain the scanning conditions of the vehicle-mounted lidar;

[0146] Generate a first control parameter for controlling the scanning speed of the vehicle-mounted lidar according to the scanning conditions, and the type of the first control parameter is an irrational number;

[0147] Generate a second control parameter for controlling the scanning shape and domain of the vehicle-mounted lidar according to the scanning conditions, and the type of the second control parameter is a positive even number;

[0148] Generate a third control parameter for controlling the scanning range of the vehicle-mounted lidar according to the scanning conditions;

[0149] Generate a trigonometric function frequency value according to the first control parameter;

[0150] Determine the working clock for generating the trigonometric function;

[0151] Determine the number of bits of the lookup table input address;

[0152] Generate a phase increment value of the scanning angle according to the trigonometric function frequency value, the working clock, and the number of bits of the lookup table input address;

[0153] Obtain the scanning angle at the previous moment;

[0154] Generate the sum of the scanning angle at the previous moment and the phase increment value, and use the sum value as the current scanning angle of the vehicle-mounted lidar;

[0155] Generate a current polar radius value corresponding to the current scanning angle through the first control parameter, the second control parameter, and the third control parameter;

[0156] Convert the current polar radius value according to the current scanning angle to obtain the spatial position;

[0157] Control the galvanometer to reflect the laser to the spatial position for scanning.

[0158] Use Matlab to simulate its motion trajectory as Figure 4 shown. It can be seen from Figure 4 that this application realizes non-repetitive scanning of the vehicle-mounted lidar. With the accumulation of time, the number of target pixels or point clouds increases significantly, improving the ability of long-distance target detection and recognition and enhancing the performance of the lidar in autonomous driving.

[0159] This application also provides an electronic device and a computer-readable storage medium, both of which have the corresponding effects of the lidar scanning method provided in the embodiments of this application. Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of an electronic device provided in the embodiments of this application.

[0160] An electronic device provided by an embodiment of the present application includes a memory 201 and a processor 202. A computer program is stored in the memory 201. When the processor 202 executes the computer program, the steps of the lidar scanning method described in any of the above embodiments are implemented.

[0161] Please refer to Figure 6 , another electronic device provided by an embodiment of the present application may further include: an input port 203 connected to the processor 202, configured to transmit an externally input command to the processor 202; a display unit 204 connected to the processor 202, configured to display the processing result of the processor 202 to the outside; a communication module 205 connected to the processor 202, configured to implement communication between the electronic device and the outside. The display unit 204 may be a display panel, a lidar scanning display, etc.; the communication methods adopted by the communication module 205 include but are not limited to Mobile High-Definition Link (MHL), Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI), wireless connections: Wireless Fidelity (WiFi), Bluetooth communication technology, low-power Bluetooth communication technology, and communication technology based on IEEE802.11s.

[0162] A computer-readable storage medium provided by an embodiment of the present application stores a computer program. When the computer program is executed by a processor, the steps of the lidar scanning method described in any of the above embodiments are implemented.

[0163] The computer-readable storage medium involved in the present application includes Random Access Memory (RAM), memory, Read-Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROM (Compact Disc Read-Only Memory), or any other form of storage medium well-known in the technical field.

[0164] For the description of the relevant parts in a lidar scanning system, device, electronic device, and computer-readable storage medium provided by an embodiment of the present application, please refer to the detailed description of the corresponding parts in a lidar scanning method provided by an embodiment of the present application, which will not be elaborated here. In addition, the parts of the above technical solutions provided by the embodiments of the present application that are consistent with the implementation principles of the corresponding technical solutions in the prior art are not described in detail to avoid excessive elaboration.

[0165] It should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0166] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A laser radar scanning method, characterized in that: include: Obtain the scanning conditions of the laser radar; According to the scanning condition, generating a first control parameter for controlling the scanning speed of the laser radar, wherein the type of the first control parameter is an irrational number; According to the scanning condition, generating a second control parameter for controlling the scanning shape and definition domain of the laser radar, wherein the type of the second control parameter is a positive even number; generating a third control parameter for controlling the scanning range of the laser radar according to the scanning condition; Obtaining the current scanning angle of the laser radar; Generate a current polar diameter value corresponding to a current scanning angle by using the first control parameter, the second control parameter and the third control parameter; The current polar diameter value is converted according to the current scanning angle to obtain the spatial position; The galvanometer is controlled to reflect the laser to the spatial position for scanning.

2. The method according to claim 1, characterized in that The step of generating a current polar diameter value corresponding to a current scanning angle by using the first control parameter, the second control parameter and the third control parameter comprises: According to the polar diameter value generation formula, the current polar diameter value corresponding to the current scanning angle is generated by using the first control parameter, the second control parameter and the third control parameter; Wherein, the polar diameter value generation formula includes: ； in, Indicates the polar diameter value; represents the first control parameter; represents the second control parameter; represents the third control parameter; Indicates the scanning angle; Represents the cosine function.

3. The method according to claim 2, characterized in that The converting of the current polar diameter value according to the current scanning angle to obtain the spatial position includes: The spatial position is obtained by converting the current polar value according to the current scanning angle through the spatial position generation formula; The spatial position generation formula includes: ； ； in, Represents the horizontal coordinate value in the spatial position; Indicates the vertical coordinate value in the spatial position; Represents the sine function.

4. The method according to claim 3, characterized in that The obtaining of the current scanning angle of the laser radar comprises: generating a trigonometric function frequency value according to the first control parameter; Determine the working clock for generating trigonometric functions; Determine the number of bits of the input address of the lookup table; Generate a phase increment value of a scanning angle according to the trigonometric function frequency value, the working clock and the number of bits of the input address of the lookup table; Get the scanning angle at the last moment; Generate a sum of the scanning angle at the previous moment and the phase increment value, and use the sum as the current scanning angle of the laser radar.

5. The method according to claim 4, characterized in that The step of generating a phase increment value of a scanning angle according to the trigonometric function frequency value, the working clock, and the number of bits of the input address of the lookup table comprises: Generate a phase increment value of a scanning angle according to the trigonometric function frequency value, the working clock and the number of bits of the input address of the lookup table by using a phase increment value generation formula; The phase increment value generation formula includes: ； in, represents the phase increment value; represents the trigonometric function frequency value; represents the working clock; Indicates the number of bits of the input address of the lookup table.

6. A laser radar scanning system, characterized in that: include: A scanning condition acquisition module is used to obtain the scanning conditions of the laser radar; A first control parameter generating module, used for generating a first control parameter for controlling the scanning speed of the laser radar according to the scanning condition, wherein the type of the first control parameter is an irrational number; A second control parameter generating module, used for generating a second control parameter for controlling a scanning shape and a definition domain of the laser radar according to the scanning condition, wherein the type of the second control parameter is a positive even number; A third control parameter generating module, used to generate a third control parameter for controlling the scanning range of the laser radar according to the scanning condition; A current scanning angle acquisition module, used to acquire the current scanning angle of the laser radar; A current polar diameter value generating module, used to generate a current polar diameter value corresponding to a current scanning angle according to the first control parameter, the second control parameter and the third control parameter; The spatial position conversion module is used to convert the current polar diameter value according to the current scanning angle to obtain the spatial position; The galvanometer control module is used to control the galvanometer to reflect the laser to the spatial position for scanning.

7. A laser radar scanning device, characterized in that: comprising an FPGA, a first digital-to-analog converter, a second digital-to-analog converter and a micro-electromechanical system; The FPGA is used to generate a current polar diameter value corresponding to a current scanning angle of the laser radar through a first control parameter, a second control parameter, and a third control parameter; convert the current polar diameter value according to the current scanning angle to obtain a spatial position; The first digital-to-analog converter and the second digital-to-analog converter are used to simulate the spatial position; The micro-electromechanical system is used to control the galvanometer to reflect the laser to the simulated spatial position for scanning; Among them, the first control parameter includes parameters generated according to the scanning conditions of the laser radar for controlling the scanning speed of the laser radar, and the type of the first control parameter is an irrational number; the second control parameter includes parameters generated according to the scanning conditions for controlling the scanning shape and domain of the laser radar, and the type of the second control parameter is a positive even number; the third control parameter includes parameters generated according to the scanning conditions for controlling the scanning range of the laser radar.

8. The device according to claim 7, characterized in that The FPGA includes: The first direct digital frequency synthesis device to generate and ; The second direct digital frequency synthesis device is used to generate ; A first multiplier connected to the first direct digital frequency synthesis device and the second direct digital frequency synthesis device is used to generate ; A second multiplier connected to the first direct digital frequency synthesis device and the second direct digital frequency synthesis device is used to generate ; in, ; Indicates the polar diameter value; represents the first control parameter; represents the second control parameter; represents the third control parameter; Indicates the scanning angle; represents the cosine function; Represents the horizontal coordinate value in the spatial position; Indicates the vertical coordinate value in the spatial position; Represents the sine function.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, used to implement the steps of the laser radar scanning method as described in any one of claims 1 to 5 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the laser radar scanning method according to any one of claims 1 to 5.

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