Echo signal processing method and device, laser radar system and readable storage medium

Abstract

The invention discloses an echo signal processing method and device, a laser radar system and a readable storage medium, and belongs to the technical field of laser radars. The method comprises the following steps: acquiring amplitude data and receiving time data of a to-be-processed echo signal; based on the amplitude data and the receiving time data of the to-be-processed echo signal, determining a ranging value, an amplitude pulse width characteristic and an echo signal characteristic of the to-be-processed echo signal; comparing the ranging value and the amplitude pulse width characteristic with a non-target judgment threshold to obtain a first comparison result, and judging whether the echo signal to be processed is a non-target echo signal based on the first comparison result; under the condition that the to-be-processed echo signal is a non-target echo signal, determining an abnormal type of the to-be-processed echo signal according to the echo signal characteristics; and processing the to-be-processed echo signal based on the abnormal type of the to-be-processed echo signal. According to the method, the accuracy of point cloud display can be improved.

Description

Technical Field

[0001] This application belongs to the technical field of lidar, and particularly relates to a method and device for processing echo signals, a lidar system, and a readable storage medium. Background Art

[0002] A lidar system is a radar system that detects the position, speed, and other characteristics of a target by emitting laser beams. Its working principle is to emit a detection signal (laser beam) to the target, and then receive the signal (echo) reflected from the target. The characteristic information of the target can be obtained through the echo, and a point cloud is generated.

[0003] In the point cloud, there may be non-target points caused by equipment anomalies or external environmental factors. The non-target points are generated by non-target echoes. The existing echo processing methods have a low detection rate for non-target echoes, and generally use the method of directly deleting non-target echoes, resulting in more noise points or point cloud holes in the corresponding point cloud, making the point cloud display inaccurate. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a method and device for processing echo signals, a lidar system, and a readable storage medium, which can solve the problem that the point cloud output by the existing lidar system is inaccurate.

[0005] In a first aspect, the embodiments of this application provide a method for processing echo signals, the method comprising:

[0006] Obtain the amplitude data and reception time data of the echo signal to be processed;

[0007] Based on the amplitude data and reception time data of the echo signal to be processed, determine the ranging value, amplitude pulse width characteristic, and echo signal characteristic of the echo signal to be processed;

[0008] Compare the ranging value and the amplitude pulse width characteristic with a non-target judgment threshold to obtain a first comparison result, and determine whether the echo signal to be processed is a non-target echo signal based on the first comparison result;

[0009] In the case where the echo signal to be processed is a non-target echo signal, determine the abnormal type of the echo signal to be processed according to the echo signal characteristic, and the abnormal type includes a correctable echo signal and an uncorrectable echo signal;

[0010] Process the echo signal to be processed based on the abnormal type of the echo signal to be processed.

[0011] In a second aspect, the embodiments of this application provide an echo signal processing device, the device comprising:

[0012] An acquisition module, configured to acquire amplitude data and reception time data of an echo signal to be processed;

[0013] A determination module, configured to determine a ranging value, an amplitude pulse width characteristic, and an echo signal characteristic of the echo signal to be processed based on the amplitude data and the reception time data of the echo signal to be processed;

[0014] A first comparison module, configured to compare the ranging value and the amplitude pulse width characteristic with a non-target judgment threshold to obtain a first comparison result, and determine whether the echo signal to be processed is a non-target echo signal based on the first comparison result;

[0015] A second comparison module, configured to determine an abnormal type of the echo signal to be processed according to the echo signal characteristic when the echo signal to be processed is a non-target echo signal, where the abnormal type includes a corrigible echo signal and an incorrigible echo signal;

[0016] A processing module, configured to process the echo signal to be processed based on the abnormal type of the echo signal to be processed.

[0017] In a third aspect, an embodiment of the present application provides a lidar system, where the lidar system includes a processor and a memory, the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the echo signal processing method described in the first aspect are implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a readable storage medium, where a program or instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of the echo signal processing method described in the first aspect are implemented.

[0019] In the embodiment of the present application, a ranging value, a judgment parameter, an amplitude pulse width characteristic, and an echo signal characteristic of an echo signal to be processed are determined according to the amplitude data and the pulse width reception time data of the echo signal to be processed, and the ranging value, the amplitude pulse width characteristic judgment parameter, and a non-target judgment threshold are compared to determine whether the echo signal to be processed is a non-target echo signal; when the echo signal to be processed is a non-target echo signal, further judgment is performed according to the amplitude pulse width characteristic echo signal characteristic of the echo signal to be processed to determine the abnormal type of the echo signal to be processed. Finally, different processing methods are adopted for different abnormal types, so as to exclude non-target points corresponding to non-target echo signals in the point cloud generated by the lidar system, and improve the accuracy of point cloud display. Description of the Drawings

[0020] Figure 1 It is a schematic composition diagram of the lidar system provided by the embodiment of the present application;

[0021] Figure 2a An example of the distribution of laser emission points when the lidar system provided by the embodiment of the present application performs field of view scanning;

[0022] Figure 2b An example of the receiving field of view of the lidar system provided by the embodiment of the present application;

[0023] Figure 2c An example of the structure of the optical receiver of the lidar system provided by the embodiment of the present application;

[0024] Figure 2d An example of the corresponding relationship between the laser emission points and the receiving field of view of the lidar system provided by the embodiment of the present application;

[0025] Figure 3 A schematic flow chart of the echo signal processing method provided by the embodiment of the present application;

[0026] Figure 4 One of the schematic diagrams of the waveform diagram provided by the embodiment of the present application;

[0027] Figure 5 An abnormal point cloud map provided by the embodiment of the present application;

[0028] Figure 6 Two of the schematic diagrams of the waveform diagram provided by the embodiment of the present application;

[0029] Figure 7 One of the schematic diagrams of the abnormal waveform diagram provided by the embodiment of the present application;

[0030] Figure 8 For Figure 7 A schematic diagram of the scene corresponding to the abnormal waveform diagram shown;

[0031] Figure 9 Two of the schematic diagrams of the abnormal waveform diagram provided by the embodiment of the present application;

[0032] Figure 10 Three of the schematic diagrams of the abnormal waveform diagram provided by the embodiment of the present application;

[0033] Figure 11 Four of the schematic diagrams of the abnormal waveform diagram provided by the embodiment of the present application;

[0034] Figure 12 Five of the schematic diagrams of the abnormal waveform diagram provided by the embodiment of the present application;

[0035] Figure 13 For Figure 5 The point cloud map after the abnormal point cloud map shown has undergone the echo signal processing method of the embodiment of the present application;

[0036] Figure 14Schematic structural diagram of the echo signal processing device provided by the embodiment of the present application;

[0037] Figure 15 Schematic structural diagram of the lidar system provided by the embodiment of the present application. Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present application will be clearly described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0039] The terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally means an "or" relationship between the associated objects before and after.

[0040] Next, with reference to the accompanying drawings, the echo signal processing method provided by the embodiment of the present application will be described in detail through specific embodiments and their application scenarios.

[0041] The echo signal processing method of the embodiment of the present application can be applied to a lidar system.

[0042] Figure 1An exemplary lidar system 100 is shown. The lidar system 100 may include a light emitter 101, a light receiver 106, and a controller 108. The light emitter 101 includes a light source 102 and a scanner 104. The light source 102 emits an emission beam for scanning a target object 120. The light source 102 may be a laser, such as a solid-state laser (such as an edge-emitting laser (EEL), a vertical-cavity surface-emitting laser (VCSEL), or an external-cavity semiconductor laser (ECDL)), a laser diode, or a fiber laser. The light source 102 may also include an LED. The light source 102 may emit different forms of light beams, including pulsed light, continuous light (CW), and quasi-continuous light. The operating wavelength of the light source may be 650 nm to 1150 nm, 800 nm to 1000 nm, 850 nm to 950 nm, or 1300 nm to 1600 nm. In one or more embodiments, the light source 102 may further include an optical component optically coupled to the light source 102 for collimating or focusing the light beam emitted by the light source 102. In one or more embodiments, the light source 102 includes at least one fiber laser. Each emission beam emitted by the light source 102 may be continuous light for a certain period of time or one or more light pulse widths.

[0043] The scanner 104 is used to deflect the direction of the emission beam from the light source 102 to scan the target object 120, achieving a wider emission field of view or scanning field of view. The scanner 104 may be any number of optical mirrors driven by any number of drivers. For example, the scanner 104 may include a plane mirror, a prism, a mechanical galvanometer, a polarization grating, an optical phased array (OPA), or a microelectromechanical system (MEMS) galvanometer. For a MEMS galvanometer, the reflective mirror rotates or translates in one or two dimensions under electrostatic / piezoelectric / electromagnetic drive. Under the drive of the driver, the scanner 104 guides the light beam from the light source to various positions within the field of view to achieve scanning of the target object 120 within the field of view.

[0044] After the light beam is reflected from the target object 120, a part of the reflected light returns to the lidar system 100 and is received by the light receiver 106. The light receiver 106 receives and detects a part of the reflected light from the target object 120 and generates a corresponding electrical signal. The light receiver may include a receiving unit and an associated receiving circuit. Each receiving circuit may be used to process the output electrical signal of the corresponding receiving unit. The receiving unit includes various forms of photodetectors or one-dimensional or two-dimensional arrays of photodetectors. Correspondingly, the receiving circuit may be an array of one circuit or multiple circuits. The photodetector measures the power, phase, or time characteristics of the reflected light and generates a corresponding current output. The photodetector may be an avalanche diode (APD), a single-photon avalanche diode (SPAD), a PN-type photodiode, or a PIN-type photodiode.

[0045] The controller 108 is communicatively coupled to one or more of the light source 102, the scanner 104, and the light receiver 106. The controller 108 can control whether and when the light source 102 emits a light beam. The controller 108 can control the scanner 104 to scan the light beam to a specific position. The controller 108 can process and analyze the electrical signals output by the light receiver to ultimately determine characteristics such as the position and speed of the target object 120. The controller 108 can include an integrated circuit (IC), an application-specific integrated circuit (ASIC), a microchip, a microcontroller, a central processing unit, a graphics processing unit (GPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), or other circuits suitable for executing instructions or implementing logical operations. The instructions executed by the controller 108 can be pre-loaded into an integrated or separate memory (not shown). The memory can store configuration data or commands for the light source 102, the scanner 104, or the light receiver 106. The memory can also store the electrical signals output by the light receiver 106 or the analysis results based on the output electrical signals. For example, the memory can store the relevant information of the stray light signals detected during the calibration period for use during subsequent working periods. The memory can include random access memory (RAM), read-only memory (ROM), hard disks, optical discs, magnetic disks, flash memory, or other volatile or non-volatile memories, etc. The controller 108 can include a single or multiple processing circuits. In the case of multiple processing circuits, each processing circuit can have the same or different configurations and interact or cooperate with each other electrically, magnetically, optically, acoustically, mechanically, etc.

[0046] In one or more embodiments, the lidar system 100 may further include a transmitting lens 110. The transmitting lens 110 can be used to expand the light beam emitted by the light source 102 and deflected by the scanner 104. The transmitting lens 110 can include a diffractive optical element (DOE) for shaping, separating, or diffusing the light beam. The transmitting lens 110 can exist alone or be integrated into other components (such as the scanner 104 or the light source 102). The position of the transmitting lens 110 in the emission optical path from the light source to the target object is not limited to Figure 1 as shown, but can be changed to other positions. For example, the transmitting lens can be arranged between the light source 102 and the scanner 104, so that the light beam emitted by the light source 102 is first expanded by the transmitting lens and then deflected by the scanner.

[0047] In one or more embodiments, the lidar system 100 may further include a receiving lens 112 and a diaphragm 113. The receiving lens 112 is located in front of the optical receiver 106 on the receiving path of the emitted light from the target object 120 to the optical receiver 106. The receiving lens 112 may include an imaging system lens such that the focus of the reflected light beam is in front of, behind, or exactly on the detection surface of the photodetector or photodetector array. In some cases, instead of existing as a separate component, the receiving lens 112 may also be integrated into the optical receiver 106. The diaphragm 113 is used to limit the angle of the incident light incident on the optical receiver 106 and block stray light, etc.

[0048] In one or more embodiments, the lidar system 100 may further include a housing 114 for encapsulating one or more of the foregoing components therein for protection. In some embodiments, the housing 114 is made of an opaque material, and a transparent region or window 116 may be provided on the housing 114 to allow the emitted light beam or the reflected light beam to pass through. In other embodiments, the housing 114 itself is made of a transparent material, thereby allowing the emitted light beam or the reflected light beam to pass through from any position.

[0049] In some embodiments, the lidar system 100 may include a coaxial optical transceiver system. The coaxial optical transceiver system means that the emission path from the light source 102 to the target object 120 at least partially overlaps with the reception path from the target object 120 to the optical receiver 106. For example, different from Figure 1 that shown, the reflected light beam may reach the optical receiver 106 after passing through the scanner 104 in the reverse direction. For the coaxial optical transceiver system, not only does the emission angle of the emitted light beam change with the deflection of the scanner, but the reception angle of the light that can be received by the optical receiver also synchronously changes with the deflection of the scanner, that is, the reception field of view always remains equivalent to the scanning range of the emitted light beam.

[0050] In other embodiments, the lidar system 100 may include a non - coaxial optical transceiver system. The non - coaxial optical transceiver system means that the emission path from the light source 102 to the target object 120 and the reception path from the target object 120 to the optical receiver 106 do not overlap. For example, as Figure 1 shown, the reflected light beam does not reach the optical receiver 106 through the scanner 104 again. For the non - coaxial optical transceiver system, although the emission angle of the emitted light beam changes with the deflection of the scanner, the total reception field of view of the optical receiver is fixed and does not change with the deflection of the scanner.

[0051] A lidar system can control a scanner to direct a transmitted beam according to a predetermined scanning pattern. Usually, when the scanner scans, it presents a closed scanning pattern in space and repeats the scan periodically. Common scanning patterns include row-column raster, Lissajous figure, spiral figure, etc. Figure 2a An example of a lidar system's laser point cloud map when scanning according to a row-column raster scanning pattern is shown. Each pixel point 204 in the point cloud map represents the position where the scanner directs the transmitted beam into the transmitted field of view (or scanning field of view). The collection of all pixel points 204 constitutes the transmitted field of view 202 of the lidar system. Depending on the different predetermined scanning patterns, the transmitted field of view 202 can have various different shapes, not limited to Figure 2a the rectangular shape shown. Each pixel point 204 can be associated with one or more transmitted beams or one or more measurements.

[0052] Figure 2b An example of the received field of view distribution of a lidar system including a non-coaxial optical transceiver system is shown. In this example, the optical receiver of the lidar system consists of multiple receiving sub-modules, and each receiving sub-module includes one or more receiving units and their corresponding receiving circuits. Each receiving sub-module can receive reflected light within a relatively small range. For example, Figure 2b each rectangle 208 in represents the range of reflected light that a corresponding receiving sub-module of the lidar system can receive, which is also called the received field of view of the corresponding receiving sub-module. The collection of the received fields of view of all receiving sub-modules constitutes the total received field of view 206 of the optical receiver.

[0053] Figure 2c Shows in order to provide Figure 2b A schematic diagram of the composition of the optical receiver of a lidar system with a received field of view. The optical receiver includes one or more receiving units 210 and one or more corresponding receiving circuits 214. The receiving unit 210 is connected to the corresponding receiving circuit 214 through an electrical connection member 212. For example, Figure 2b the received field of view 208 in corresponds to Figure 2c the receiving sub-module composed of the receiving unit 216 and the corresponding receiving circuit 218 in.

[0054] Figure 2d Shows a lidar system having Figure 2a a scanned laser point cloud and Figure 2b an example of the correspondence between laser emission and the received field of view when the lidar system with a received field of view is operating normally. When operating normally, with the deflection of the scanner, the transmitted beam is directed to different positions in the transmitted field of view, and the controller instructs the receiving sub-module in the optical receiver corresponding to the received field of view at that position to turn on to receive the reflected beam and complete the measurement. For example, pixel 218 can correspond to Figure 2aThe pixel 204 therein, and the received field of view 220 can correspond to Figure 2b the received field of view 208 therein. When the lidar system generates a transmitted beam pointing at the pixel point 218, it is necessary to turn on the receiving sub-module corresponding to the received field of view 220, that is, the Figure 2c receiving sub-module including the receiving unit 216 and the receiving circuit 218 therein can be turned on. The receiving sub-modules in the optical receiver other than the receiving sub-module corresponding to the received field of view 220 can be turned off or put into sleep mode.

[0055] It should be recognized that Figures 2a to 2d the shown transmitted field of view, received field of view and the corresponding distribution of receiving sub-modules are merely illustrative. The lidar system according to the present disclosure can have different scanning patterns, transmitted field of view, received field of view distribution, shapes, numbers and distributions of receiving sub-modules, and the corresponding relationship between the transmitted field of view and the received field of view.

[0056] As Figure 3 shown, the echo signal processing method of the embodiment of the present application includes the following steps:

[0057] Step 301, obtaining the amplitude data and reception time data of the echo signal to be processed,

[0058] wherein, the reception time data is used to represent the time when the signal is received, with the unit of nanosecond (ns), and the amplitude data is used to describe the intensity of the received signal, represented by Vol. An echo signal includes a plurality of amplitude data and reception time data, and the number of amplitude data is the same as that of the reception time data and they are in one-to-one correspondence.

[0059] After the lidar system emits a beam, the beam is reflected by a target object (the object to be measured), and the lidar system receives a reflected light signal for characterizing the target object. The reflected light signal includes a plurality of echo signals to be processed. According to the plurality of echo signals to be processed, a point cloud can be output, and each point in the point cloud corresponds to an echo signal to be processed.

[0060] Step 302, based on the amplitude data and reception time data of the echo signal to be processed, determining the ranging value, amplitude pulse width characteristic and echo signal characteristic of the echo signal to be processed,

[0061] According to the amplitude data and reception time data of the echo signal to be processed, a waveform diagram as Figure 4 shown can be formed. The waveform diagram can reflect the amplitude pulse width characteristic of the corresponding echo signal to be processed, wherein the reception time data is the abscissa and the amplitude data is the ordinate.

[0062] The ranging value is also determined by the amplitude data and reception time data, and the ranging value is used to represent the distance between the lidar system and the object to be measured.

[0063] Step 303: Compare the ranging value and the amplitude pulse width characteristic with the non-target judgment threshold to obtain a first comparison result, and based on the first comparison result, judge whether the echo signal to be processed is a non-target echo signal.

[0064] By comparing the ranging value and the amplitude pulse width characteristic with a preset non-target judgment threshold, it is possible to judge whether the echo signal to be processed is a non-target echo signal or a target echo signal according to the obtained first comparison result. Among them, the non-target echo signal is a signal irrelevant to the object to be measured, such as rain, fog, and dust in the air. As shown in the point cloud diagram, the boxed part is the point corresponding to the typical non-target echo signal. If there are too many non-target echo signals, there will be too many non-target points in the point cloud diagram, making it impossible to accurately display the characteristics of the object to be measured. It can be understood that the target echo signal is the signal reflected by the object to be measured that can represent the characteristics of the object to be measured. Figure 5 As shown in the point cloud diagram, the boxed part is the point corresponding to the typical non-target echo signal. If there are too many non-target echo signals, there will be too many non-target points in the point cloud diagram, making it impossible to accurately display the characteristics of the object to be measured. It can be understood that the target echo signal is the signal reflected by the object to be measured that can represent the characteristics of the object to be measured.

[0065] Step 304: When the echo signal to be processed is a non-target echo signal, determine the abnormal type of the echo signal to be processed according to the echo signal characteristic. The abnormal type includes a correctable echo signal and an uncorrectable echo signal.

[0066] After determining that the echo signal to be processed is a non-target echo signal according to the ranging value and the amplitude pulse width characteristic, if the echo signal to be processed is not processed, the non-target points formed by the echo signal to be processed on the point cloud will affect the accuracy of the point cloud.

[0067] For the echo signal to be processed that is a non-target echo signal, further judge its abnormal type according to the echo signal characteristic of the echo signal to be processed. Specifically, the echo signal characteristic of the echo signal to be processed can be compared with the preset echo signal characteristic representing the normal signal obtained through multiple detections.

[0068] Step 305: Process the echo signal to be processed based on the abnormal type of the echo signal to be processed.

[0069] When the abnormal type of the echo signal to be processed is a correctable echo signal, correct the ranging value of the echo signal to be processed, and generate a point cloud diagram of the lidar system according to the corrected ranging value of the echo signal to be processed.

[0070] When the abnormal type of the echo signal to be processed is an uncorrectable echo signal, directly delete the echo signal to be processed. The point cloud diagram of the lidar system generated subsequently does not include the points corresponding to the echo signal to be processed, avoiding the interference of incorrect echo signals on the point cloud diagram and improving the accuracy of point cloud display.

[0071] In the echo signal processing method according to the embodiment of the present application, the ranging value, the amplitude pulse width characteristic, and the echo signal characteristic of the echo signal to be processed are determined according to the amplitude data and the reception time data of the echo signal to be processed, and the ranging value and the amplitude pulse width characteristic are compared with the non-target judgment threshold to determine whether the echo signal to be processed is a non-target echo signal; in the case where the echo signal to be processed is a non-target echo signal, further judgment is made according to the echo signal characteristic of the echo signal to be processed to determine the abnormal type of the echo signal to be processed. Finally, different processing methods are adopted for different abnormal types, so as to exclude the non-target points corresponding to the non-target echo signals in the point cloud generated by the lidar system, and improve the accuracy of point cloud display.

[0072] Optionally, the amplitude pulse width characteristic includes a pulse width and a maximum amplitude, and the non-target judgment threshold includes a ranging threshold, a pulse width threshold, and an amplitude threshold;

[0073] Judging whether the echo signal to be processed is a non-target echo signal based on the first comparison result includes:

[0074] In the case where the ranging value is less than the ranging threshold, the pulse width is greater than the pulse width threshold, and the maximum amplitude is less than the amplitude threshold, the echo signal to be processed is determined as a non-target echo signal.

[0075] In this embodiment, the pulse width can be the full width at half maximum (FWHM), and the pulse width threshold can be the FWHM threshold.

[0076] Among the non-target judgment thresholds, the ranging threshold corresponds to the ranging value, the FWHM threshold corresponds to the FWHM, and the amplitude threshold corresponds to the maximum amplitude. The specific values of the non-target judgment thresholds can be adjusted manually.

[0077] The ranging value can be obtained by using the centroid method for ranging. Please refer to Figure 4 and the following formula:

[0078]

[0079] Rgcdd-isg

[0080] where i represents the coordinate of any sampling point in the echo signal to be processed, x[i] represents the sampling value corresponding to the sampling point, i cd represents the position calculated by the centroid method, n1 and n2 respectively represent the upper and lower bounds of the interval of the waveform of the echo signal to be processed, is g represents the position of the ranging start reference flag, and R g represents the ranging value.

[0081] The following is combined withFigure 6 and the following formula to illustrate the determination process of FWHM:

[0082] For the leading edge of the echo signal to be processed, i.e., the rising edge, there must be:

[0083]

[0084] where x[n b represents the maximum amplitude point less than or equal to 0.5V in the leading edge, then the next point x[n max +1] must be greater than 0.5V b . Similarly, for the trailing edge of the echo signal to be processed, i.e., the falling edge, there must be: max . Respectively, the interpolation method is used to calculate the moments of the leading and trailing edges at half the pulse width of the signal, and the latter is subtracted from the former to obtain the FWHM.

[0085]

[0086] The maximum amplitude is the maximum value of the amplitudes in the amplitude data of the echo signal to be processed.

[0087] In one embodiment, the ranging threshold can be 1.5m, the FWHM threshold can be determined according to the FWHM of the standard echo signal corresponding to the maximum amplitude, and the amplitude threshold can be 190. When the ranging value R

[0088] is less than 1.5m, (FWHM - FWHM threshold) is less than 0.8ns, and the maximum amplitude is less than 190, the echo signal to be processed is confirmed as a non-target echo signal. g Under the condition that the ranging value R is less than 1.5m, (FWHM - FWHM threshold) is less than 0.8ns, and the maximum amplitude is less than 190, the echo signal to be processed is confirmed as a non-target echo signal.

[0089] The method of this embodiment can accurately determine whether the echo signal to be processed is a non-target echo signal through a quantitative comparative analysis method.

[0090] Optionally, in the case that the echo signal to be processed is a non-target echo signal, according to the echo signal characteristics, determining the abnormal type of the echo signal to be processed includes:

[0091] In the case that there is an abnormal inflection point in the echo signal to be processed, obtaining the first slope and the second slope of the echo signal to be processed, where the amplitudes of the first n points before the abnormal inflection point decrease in sequence, the amplitudes of the next m points after the abnormal inflection point increase in sequence, the first slope is the maximum descending slope determined according to the first n points before the abnormal inflection point, and the second slope is the maximum ascending slope determined according to the next m points after the abnormal inflection point;

[0092] When the first slope is greater than the first preset slope and the second slope is greater than the second preset slope, the echo signal to be processed is determined as a corrigible echo signal.

[0093] In Figure 8 the situation shown, part of the beam emitted by the lidar system may irradiate on an object a, and another part may cover another object b. When the distance between the two objects a and b is too small, the arrival times of the echo signals reflected from the two objects at the lidar system will be very close. Therefore, the echo signals overlap, and the echo is abnormally broadened, thus forming an abnormal waveform diagram as Figure 7 shown.

[0094] To determine whether the abnormal waveform diagram as Figure 7 shown appears, the method is as follows:

[0095] Traverse the sampling points in the echo signal. When there is a point where the amplitudes of the n points before it decrease sequentially from front to back, and the amplitudes of the m points after it increase sequentially from front to back, this point is recorded as an abnormal inflection point.

[0096] Among the n points before the abnormal inflection point, a slope can be obtained between any two adjacent points, and the largest one is recorded as the first slope. Among the m points after the abnormal inflection point, a slope can be obtained between any two adjacent points, and the largest one is recorded as the second slope.

[0097] When the first slope is greater than the first preset slope and the second slope is greater than the second preset slope, the echo signal to be processed is determined as a corrigible echo signal. It should be noted that the values of the first preset slope and the second preset slope can be adjusted manually.

[0098] In this embodiment, through quantitative analysis, the abnormal type of the echo signal to be processed can be accurately judged.

[0099] Optionally, when the echo signal to be processed is a non-target echo signal, determining the abnormal type of the echo signal to be processed according to the echo signal characteristics includes:

[0100] Obtain the first reception time and the second reception time of the echo signal to be processed. The first reception time is the reception time corresponding to the first target point, and the first target point is the first point in the echo signal to be processed whose amplitude is less than or equal to the preset amplitude. The second reception time is the reception time corresponding to the point with the largest amplitude in the echo signal to be processed;

[0101] In the case where the second reception time is greater than the first reception time and the difference between the second reception time and the first reception time is less than the preset reception time, the echo signal to be processed is determined as an irreparable echo signal.

[0102] As Figure 9 shown in the abnormal waveform diagram, it is generally caused by circuit crosstalk and interference between APD channels. The method for determining whether the abnormal type of the echo signal to be processed is Figure 9 the abnormal type shown is as follows:

[0103] Obtain the first point in the echo signal to be processed whose corresponding amplitude is less than the preset amplitude. The preset amplitude is generally 1. This first point is denoted as the first target point, and the reception time corresponding to the first target point is denoted as the first reception time N1. Denote the reception time of the point with the largest amplitude in the echo signal to be processed as the second reception time T1. When N1 is less than T1 and T1 - N1 is less than the preset reception time, it indicates that the echo signal to be processed is Figure 9 the abnormal signal shown, and the echo signal to be processed is determined as an irreparable echo signal.

[0104] In this embodiment, through quantitative analysis, the abnormal type of the echo signal to be processed can be accurately judged.

[0105] Optionally, when the echo signal to be processed is a non-target echo signal, determining the abnormal type of the echo signal to be processed according to the echo signal characteristics includes:

[0106] Obtain the emission pulse width and sampling rate of the lidar system;

[0107] Based on the emission pulse width and the sampling rate, determine the rising edge sampling range and the falling edge sampling range;

[0108] In the case where the reception time of the rising edge sampling point in the echo signal to be processed is greater than the rising edge sampling reception time range, the echo signal to be processed is determined as an irreparable echo signal;

[0109] In the case where the reception time of the falling edge sampling point in the echo signal to be processed is greater than the falling edge sampling reception time range, the echo signal to be processed is determined as a reparable echo signal.

[0110] As Figure 10 and Figure 11 shown in the abnormal waveform diagrams, they are all echo signals of the type of abnormal broadening of the rising edge. Such echoes generally have interference superimposed on the leading edge of the effective echo and cannot accurately measure the distance. Figure 12It is an echo with an abnormal widened falling edge. Such echoes are generally caused by circuit crosstalk or gain characteristics. Although the centroid method cannot be used for ranging, the leading-edge ranging method can be used for ranging and can be corrected. The method for determining whether the abnormal type of the echo signal to be processed is Figure 10 、 11 、the abnormal types shown in Figure 12 are as follows:

[0111] Obtain the emission pulse width of the lidar system and the circuit design sampling rate. When the hardware parameters of the lidar system are fixed, there is a reasonable range value for the sampling points of the signal, that is, the rising-edge sampling time range and the falling-edge sampling time range. Taking a 4ns pulse width pulse and a 1GHz sampling rate as an example, the reasonable range value of the rising-edge sampling points of a general signal is 3-5. When the reception time of the rising-edge sampling point is greater than 5, an abnormality occurs in the rising edge, and the echo signal to be processed is determined as an uncorrectable echo signal.

[0112] Similarly, taking a 4ns pulse width pulse and a 1GHz sampling rate as an example, the reasonable range value of the falling-edge sampling points of a general signal is 4-7. When the reception time of the falling-edge sampling point is greater than 7, an abnormality occurs in the falling edge, and the echo signal to be processed is determined as a correctable echo signal.

[0113] In this embodiment, through quantitative analysis, the abnormal type of the echo signal to be processed can be accurately judged.

[0114] Optionally, processing the echo signal to be processed based on the abnormal type of the echo signal to be processed includes:

[0115] When the echo signal to be processed is an uncorrectable echo signal and the echo signal to be processed is a single echo signal, delete the echo signal to be processed;

[0116] When the echo signal to be processed is an uncorrectable echo signal and the echo signal to be processed is a multi-echo signal, obtain the echo signal characteristics of the alternative signal in the echo signal to be processed, and judge the abnormal type of the alternative signal. When the alternative signal is an uncorrectable echo signal, delete the echo signal to be processed. When the alternative signal is a correctable echo signal, correct the echo signal to be processed, where the alternative signal is any of the remaining echo signals except the echo signal with the highest intensity among the multiple echo signals of the echo signal to be processed.

[0117] In this embodiment, when the echo signal to be processed is an uncorrectable echo signal and the echo signal to be processed is a single echo signal, directly delete the echo signal to be processed, and there will be no points corresponding to the echo signal to be processed on the point cloud of the lidar system.

[0118] In the case where the echo signal to be processed is an uncorrectable echo signal and the echo signal to be processed is a multi-echo signal, the echo signal to be processed needs to be further processed. It should be noted that a multi-echo signal means that an echo signal to be processed is composed of multiple echo signals. Therefore, there is a possibility that a correctable echo signal exists among the multiple echo signals, and further analysis is required. Specifically, according to the order of the multiple echo signals from strong to weak, the amplitude-pulse width characteristics of the multiple echo signals are analyzed in turn to determine the abnormal type of the multiple echo signals. If there is a correctable echo signal among the multiple echo signals, it is corrected to obtain the ranging value of the processed echo signal after correction, which is normally displayed in the point cloud. If not, the echo signal to be processed is deleted, and no point corresponding to the echo signal to be processed will appear on the point cloud of the lidar system.

[0119] In this embodiment, the alternative signal may be any remaining echo signal such as the second-strongest echo, the first echo, the last echo, etc., and is not limited in this embodiment.

[0120] In the method of the embodiment of the present application, the situation where the correctable echo signal in the multi-echo signal is not displayed on the point cloud map can be avoided, and the accuracy of the point cloud display is further improved.

[0121] Optionally, the processing of the echo signal to be processed based on the abnormal type of the echo signal to be processed includes:

[0122] In the case where the echo signal to be processed is a correctable echo signal, ranging correction is performed on the echo signal to be processed to obtain the ranging value of the processed echo signal after correction.

[0123] It should be noted that in this embodiment, during the process of performing ranging correction, the data of the echo signal to be processed itself will not be changed. Instead, other ranging methods are used to correct the ranging value, and then it is displayed on the point cloud map according to the corrected ranging value.

[0124] In this embodiment, the ranging value is usually obtained by using the centroid method for ranging. When performing ranging correction on the echo signal to be processed, the ranging value of the processed echo signal to be processed can be obtained by using the leading-edge method for ranging.

[0125] Optionally, after obtaining the ranging value of the processed echo signal to be processed, the method further includes:

[0126] Obtain the signal gain, channel characteristics, and intensity characteristics of the echo signal to be processed;

[0127] In the case where the signal gain, channel characteristics, and intensity characteristics meet the first preset condition, delete the corrected echo signal.

[0128] In this embodiment, for the case where the echo signal to be processed is a correctable echo signal, the signal gain agc, channel feature apd, and intensity characteristic of the echo signal to be processed are obtained. Among them, the signal gain is automatically switched according to the signal intensity, where agc = 1 represents high gain and agc = 0 represents low gain. For a lidar system with non-coaxial transceiver, MEMS scanning, and APD array reception, the strongest channel of the APD will change at different distances. To ensure ranging using the strongest channel and improve the detection rate and ranging accuracy, the system is designed to switch channels at different distances, and a near / far channel table is selected to achieve ranging with the strongest channel for each point. apd = 1 represents the long-distance channel table, and apd = 0 represents the short-distance channel table.

[0129] The first preset condition includes:

[0130] A high gain appears at a short-distance point, and the gain of this point is abnormal.

[0131] When the gain is normal, the long-distance channel table is used for a short-distance point, and the channel information of this point is abnormal.

[0132] When the gain is normal and the channel information is normal, a point with an intensity characteristic less than the preset intensity characteristic appears within 1 meter, and the intensity characteristic of this point is abnormal.

[0133] Delete the echo signal to be processed that meets the first preset condition, and there is no corresponding point on the point cloud map of the lidar system.

[0134] In this embodiment, by further combining the signal gain, channel feature, and intensity characteristic to determine whether the echo signal to be processed is abnormal, the accuracy of the point cloud is further improved.

[0135] Optionally, after comparing the ranging value and the amplitude pulse width characteristic with the non-target judgment threshold to obtain a first comparison result and determining whether the echo signal to be processed is a non-target echo signal based on the first comparison result, the method further includes:

[0136] When the echo signal to be processed is a target echo signal, obtain the signal gain, channel feature, and intensity characteristic of the echo signal to be processed;

[0137] When the signal gain, channel feature, and intensity characteristic meet the second preset condition, delete the echo signal to be processed.

[0138] In this embodiment, for the target echo signal, it is still possible to determine whether the target echo signal is abnormal according to the signal gain, channel feature, and intensity characteristic, and abnormal signals in the target echo signal can be eliminated, further improving the accuracy of the point cloud.

[0139] Among them, the second preset condition may be consistent with the first preset condition. Of course, the second preset condition can also be appropriately adjusted according to the characteristics of the lidar.

[0140] After the correction and deletion of the echo signal to be processed, the obtained point cloud map is as Figure 13 shown.

[0141] An embodiment of the present application further provides an echo signal processing device, which is applied to a lidar system and can be used to execute the method as Figure 3 shown. As Figure 14 shown, the echo signal processing device 1400 includes:

[0142] An acquisition module 1401, configured to acquire amplitude data and reception time data of the echo signal to be processed;

[0143] A determination module 1402, configured to determine a ranging value, an amplitude pulse width characteristic, and an echo signal characteristic of the echo signal to be processed based on the amplitude data and reception time data of the echo signal to be processed;

[0144] A first comparison module 1403, configured to compare the ranging value and the amplitude pulse width characteristic with a non-target judgment threshold to obtain a first comparison result, and determine whether the echo signal to be processed is a non-target echo signal based on the first comparison result;

[0145] A second comparison module 1404, configured to determine an abnormal type of the echo signal to be processed according to the echo signal characteristic when the echo signal to be processed is a non-target echo signal, where the abnormal type includes a correctable echo signal and an uncorrectable echo signal;

[0146] A processing module 1405, configured to process the echo signal to be processed based on the abnormal type of the echo signal to be processed.

[0147] Optionally, the amplitude pulse width characteristic includes a pulse width and a maximum amplitude, and the non-target judgment threshold includes a ranging threshold, a pulse width threshold, and an amplitude threshold;

[0148] The first comparison module 1403 is further configured to determine the echo signal to be processed as a non-target echo signal when the ranging value is less than the ranging threshold, the pulse width is greater than the pulse width threshold, and the maximum amplitude is less than the amplitude threshold.

[0149] Optionally, the second comparison module 1404 is further configured to:

[0150] In the case where the echo signal to be processed has abnormal inflection points, obtain the first slope and the second slope of the echo signal to be processed, where the amplitudes of the first n points before the abnormal inflection point decrease successively, the amplitudes of the next m points after the abnormal inflection point increase successively, the first slope is the maximum descending slope determined according to the first n points before the abnormal inflection point, and the second slope is the maximum ascending slope determined according to the next m points after the abnormal inflection point;

[0151] In the case where the first slope is greater than the first preset slope and the second slope is greater than the second preset slope, determine the echo signal to be processed as a corrigible echo signal.

[0152] Optionally, the second comparison module 1404 is further configured to:

[0153] Obtain the first reception time and the second reception time of the echo signal to be processed, where the first reception time is the reception time corresponding to the first target point, the first target point is the first point in the echo signal to be processed whose amplitude is less than or equal to the preset amplitude, and the second reception time is the reception time corresponding to the point with the maximum amplitude in the echo signal to be processed;

[0154] In the case where the second reception time is greater than the first reception time and the difference between the second reception time and the first reception time is less than the preset reception time, determine the echo signal to be processed as an incorrigible echo signal.

[0155] Optionally, the second comparison module 1404 is further configured to:

[0156] Obtain the emission pulse width and the sampling rate of the lidar system;

[0157] Based on the emission pulse width and the sampling rate, determine the rising edge sampling range and the falling edge sampling range;

[0158] In the case where the reception time of the rising edge sampling point in the echo signal to be processed is greater than the rising edge sampling time range, determine the echo signal to be processed as an incorrigible echo signal;

[0159] In the case where the reception time of the falling edge sampling point in the echo signal to be processed is greater than the falling edge sampling time range, determine the echo signal to be processed as a corrigible echo signal.

[0160] Optionally, the processing module 1405 is further configured to:

[0161] In the case where the echo signal to be processed is an incorrigible echo signal and the echo signal to be processed is a single echo signal, delete the echo signal to be processed;

[0162] When the echo signal to be processed is an irreparable echo signal and the echo signal to be processed is a multi-echo signal, obtain the echo signal characteristics of the alternative signal in the echo signal to be processed, and determine the abnormal type of the alternative signal. When the alternative signal is an irreparable echo signal, delete the echo signal to be processed. When the alternative signal is a reparable echo signal, correct the echo signal to be processed, where the alternative signal is any one of the remaining echo signals in the multiple echo signals of the echo signal to be processed except the echo signal with the highest intensity.

[0163] Optionally, the processing module 1405 is further configured to:

[0164] When the echo signal to be processed is a reparable echo signal, perform ranging correction on the echo signal to be processed to obtain the corrected ranging value of the echo signal to be processed.

[0165] Optionally, the processing module 1405 is further configured to:

[0166] Obtain the signal gain, channel characteristics, and intensity characteristics of the echo signal to be processed;

[0167] When the signal gain, channel characteristics, and intensity characteristics meet the first preset condition, delete the corrected echo signal.

[0168] Optionally, the apparatus 1400 is further configured to:

[0169] When the echo signal to be processed is a target echo signal, obtain the signal gain, channel characteristics, and intensity characteristics of the echo signal to be processed;

[0170] When the signal gain, channel characteristics, and intensity characteristics meet the second preset condition, delete the echo signal to be processed.

[0171] It should be noted that the echo signal processing apparatus 1400 provided in the embodiments of the present application can implement all the technical processes of the echo signal processing method shown in Figure 3 the embodiments and achieve the same technical effects. To avoid repetition, details are not described herein again.

[0172] The echo signal processing device in the embodiments of the present application may be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal or other devices other than terminals. Exemplarily, the electronic device may be a mobile phone, a tablet computer, a laptop computer, a handheld computer, an in-vehicle electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. The non-mobile electronic device may also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiments of the present application do not make specific limitations.

[0173] Optionally, as Figure 15 shown, the embodiments of the present application further provide a lidar system 1500, including a processor 1501 and a memory 1502. A program or instruction that can run on the processor 1501 is stored on the memory 1502. When the program or instruction is executed by the processor 1501, each step of the above method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be elaborated here.

[0174] The embodiments of the present application further provide a readable storage medium. A program or instruction is stored on the readable storage medium. When the program or instruction is executed by a processor, each process of the above method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be elaborated here.

[0175] Wherein, the processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disc, etc.

[0176] It should be noted that, in this document, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such 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 existence of additional identical elements in the process, method, article or device comprising that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, the features described with reference to certain examples may be combined in other examples.

[0177] From the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present application.

[0178] The above are only the specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all such changes or substitutions should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for processing echo signals, applied to a lidar system, characterized in that, The echo signal processing method includes: Obtaining the amplitude data and reception time data of the echo signal to be processed; Based on the amplitude data and reception time data of the echo signal to be processed, determining the ranging value, amplitude pulse width characteristic, and echo signal characteristic of the echo signal to be processed; Comparing the ranging value and the amplitude pulse width characteristic with non-target judgment thresholds to obtain a first comparison result, and judging whether the echo signal to be processed is a non-target echo signal based on the first comparison result; When the echo signal to be processed is a non-target echo signal, determining the abnormal type of the echo signal to be processed according to the echo signal characteristic, where the abnormal type includes a correctable echo signal and an uncorrectable echo signal; Processing the echo signal to be processed based on the abnormal type of the echo signal to be processed.

2. The method according to claim 1, wherein The amplitude pulse width characteristic includes the pulse width and the maximum amplitude, and the non-target judgment thresholds include a ranging threshold, a pulse width threshold, and an amplitude threshold; The judging whether the echo signal to be processed is a non-target echo signal based on the first comparison result includes: When the ranging value is less than the ranging threshold, the pulse width is greater than the pulse width threshold, and the maximum amplitude is less than the amplitude threshold, determining the echo signal to be processed as a non-target echo signal.

3. The method according to claim 2, wherein The determining the abnormal type of the echo signal to be processed according to the echo signal characteristic when the echo signal to be processed is a non-target echo signal includes: When there is an abnormal inflection point in the echo signal to be processed, obtaining the first slope and the second slope of the echo signal to be processed, where the amplitudes of the first n points before the abnormal inflection point decrease in sequence, the amplitudes of the last m points after the abnormal inflection point increase in sequence, the first slope is the maximum decreasing slope determined according to the first n points before the abnormal inflection point, and the second slope is the maximum increasing slope determined according to the last m points after the abnormal inflection point; When the first slope is greater than the first preset slope and the second slope is greater than the second preset slope, determining the echo signal to be processed as a correctable echo signal.

4. The method according to claim 2, wherein The determining the abnormal type of the echo signal to be processed according to the echo signal characteristic when the echo signal to be processed is a non-target echo signal includes: Obtaining the first reception time and the second reception time of the echo signal to be processed, where the first reception time is the reception time corresponding to the first target point, the first target point is the first point in the echo signal to be processed whose amplitude is less than or equal to the preset amplitude, and the second reception time is the reception time corresponding to the point with the maximum amplitude in the echo signal to be processed; When the second reception time is greater than the first reception time, and the difference between the second reception time and the first reception time is less than the preset time, determining the echo signal to be processed as an uncorrectable echo signal.

5. The method according to claim 2, characterized in that, The determining the abnormal type of the echo signal to be processed according to the echo signal characteristic when the echo signal to be processed is a non-target echo signal includes: Obtaining the emission pulse width and sampling rate of the lidar system; Determine the rising-edge sampling range and the falling-edge sampling range based on the emission pulse width and the sampling rate; When the reception time of the rising-edge sampling point in the to-be-processed echo signal is greater than the rising-edge sampling time range, determine the to-be-processed echo signal as an uncorrectable echo signal; When the reception time of the falling-edge sampling point in the to-be-processed echo signal is greater than the falling-edge sampling time range, determine the to-be-processed echo signal as a correctable echo signal.

6. The method according to any one of claims 1 to 5, characterized in that, The processing of the to-be-processed echo signal based on the abnormal type of the to-be-processed echo signal includes: When the to-be-processed echo signal is an uncorrectable echo signal and the to-be-processed echo signal is a single echo signal, delete the to-be-processed echo signal; When the to-be-processed echo signal is an uncorrectable echo signal and the to-be-processed echo signal is a multi-echo signal, obtain the echo signal characteristics of the alternative signal in the to-be-processed echo signal, and judge the abnormal type of the alternative signal. When the alternative signal is an uncorrectable echo signal, delete the to-be-processed echo signal. When the alternative signal is a correctable echo signal, correct the to-be-processed echo signal, where the alternative signal is any one of the remaining echo signals except the echo signal with the highest intensity among the multiple echo signals of the to-be-processed echo signal.

7. The method according to any one of claims 1 to 5, characterized in that The processing of the to-be-processed echo signal based on the abnormal type of the to-be-processed echo signal includes: When the to-be-processed echo signal is a correctable echo signal, perform ranging correction on the to-be-processed echo signal to obtain the corrected ranging value of the to-be-processed echo signal.

8. The method according to claim 7, wherein After obtaining the corrected ranging value of the to-be-processed echo signal, the method further includes: Obtain the signal gain, channel characteristics, and intensity characteristics of the to-be-processed echo signal; When the signal gain, channel characteristics, and intensity characteristics meet the first preset condition, delete the corrected echo signal.

9. The method according to any one of claims 1 to 5, characterized in that After comparing the ranging value and the amplitude pulse width characteristic with the non-target judgment threshold to obtain a first comparison result, and judging whether the to-be-processed echo signal is a non-target echo signal based on the first comparison result, the method further includes: When the to-be-processed echo signal is a target echo signal, obtain the signal gain, channel characteristics, and intensity characteristics of the to-be-processed echo signal; When the signal gain, channel characteristics, and intensity characteristics meet the second preset condition, delete the to-be-processed echo signal.

10. A echo signal processing device, applied to a lidar system, characterized in that, The device includes: An acquisition module, configured to acquire amplitude data and reception time data of a to-be-processed echo signal; A determination module, configured to determine the ranging value, amplitude pulse width characteristic, and echo signal characteristic of the to-be-processed echo signal based on the amplitude data and reception time data of the to-be-processed echo signal; A first comparison module, configured to compare the ranging value and the amplitude pulse width characteristic with a non-target judgment threshold to obtain a first comparison result, and judge whether the to-be-processed echo signal is a non-target echo signal based on the first comparison result; A second comparison module, configured to determine an abnormal type of the echo signal to be processed according to the echo signal feature when the echo signal to be processed is a non-target echo signal, where the abnormal type includes a corrigible echo signal and an incorrigible echo signal; A processing module, configured to process the echo signal to be processed based on the abnormal type of the echo signal to be processed.

11. A lidar system, characterized in that, The lidar system includes a processor and a memory, where the memory stores a program or instruction that can run on the processor, and when the program or instruction is executed by the processor, the steps of the echo signal processing method according to any one of claims 1 to 9 are implemented.

12. A readable storage medium, characterized in that, A program or instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of the echo signal processing method according to any one of claims 1 to 9 are implemented.

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