Sensing processing system, intelligent driving strategy generation method and related equipment

Abstract

The present application relates to the technical field of vehicle control, in particular to a sensing processing system, a method for generating an intelligent driving strategy, and a related device, the sensing processing system comprising: a processing device (101); the processing device (101) is configured to receive initial information and perform information processing on the initial information to obtain point cloud information of a detection object; wherein the initial information is original data acquired when a sensing device (102) monitors the detection object. The embodiment of the invention provides a sensing processing system which is used for optimizing a sensing system required by intelligent driving.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a sensor processing system, a method for generating an intelligent driving strategy, and related equipment. Background Art

[0002] The sensor system of an autonomous vehicle generally includes four types of radar: Lidar, millimeter-wave radar, ultrasonic radar, and infrared radar. Among them, Lidar and millimeter-wave radar are basic and necessary on-board sensor devices.

[0003] LiDAR systems consist of two components: a front-end data sensing structure and a back-end data processing structure. The core processor in the front-end data sensing structure is expensive and accounts for a significant portion of the LiDAR cost. If the LiDAR fails, the entire system must be replaced, which is very costly.

[0004] In addition, the core processor of the front-end data sensing structure processes the original data and then transmits it to the back-end data processing structure. This is not only a waste of computing power, but also a loss of information dimension. Summary of the Invention

[0005] The embodiments of the present application provide a sensor processing system, a method for generating an intelligent driving strategy, and related equipment to optimize the sensor system required for intelligent driving.

[0006] In order to achieve the above-mentioned purpose, in a first aspect, the present application provides a sensor processing system (100), which includes: a processing device (101); the processing device (101) is configured to receive initial information and perform information processing on the initial information to obtain point cloud information of the detection object; wherein the initial information is the original data obtained by the sensor device (102) monitoring the detection object.

[0007] In some embodiments, the processing device (101) is further configured to generate an intelligent driving strategy based on the point cloud information.

[0008] In some embodiments, the processing device (101) includes: a point cloud processing module (111) configured to obtain the initial information and obtain the point cloud information of the detected object based on the initial information.

[0009] In some embodiments, the processing device (101) further includes: a data processing module (121), connected to the point cloud processing module (111), and configured to generate the intelligent driving strategy based on the point cloud information.

[0010] In some embodiments, the processing device (101) processes the initial information based on a preset algorithm to obtain the point cloud information.

[0011] In some embodiments, the preset algorithm includes at least one of a high-reflectivity expansion suppression algorithm, a ghost filtering algorithm, a dirt detection algorithm, and a rain / fog / dust filtering algorithm.

[0012] In some embodiments, the sensing device (102) is configured to monitor and obtain the initial information of the detection object and send the initial information to the processing device (101).

[0013] In some embodiments, the sensing device (102) includes a sensing module and a receiving and processing module (122); the sensing module generates a laser signal based on the control timing issued by the receiving and processing module (122); the receiving and processing module (122) obtains the initial information based on the received laser signal and transmits the initial information to the processing device (101).

[0014] In some embodiments, the receiving and processing module (122) includes a sensing control unit connected to the sensing module and configured to issue the control timing to the sensing module.

[0015] In some embodiments, the receiving and processing module (122) includes a data processing unit configured to receive the laser signal, convert the laser signal into a backhaul electrical signal, and preprocess the backhaul electrical signal to obtain the initial information.

[0016] In some embodiments, the receiving and processing module (122) includes a data sending unit (124) connected to the data processing unit and configured to obtain the initial information and transmit the initial information to the processing device (101).

[0017] In some embodiments, the control timing includes a first control signal, and the sensing module includes a transmitting component (201), and the transmitting component (201) is configured to emit a laser signal based on the first control signal.

[0018] In some embodiments, the transmitting component (201) includes a laser emitter (303), and the laser emitter (303) includes one of an edge-emitting laser and a vertical-cavity surface-emitting laser.

[0019] In some embodiments, the data processing unit includes a time-to-digital conversion histogram accumulation unit (313) configured to measure the backhaul electrical signal between the emission time and the reception time of the laser signal and record the measurement result in a relative interval of the histogram.

[0020] In some embodiments, the time digital conversion histogram accumulation unit (313) is driven based on the first control signal.

[0021] In some embodiments, the transmitting component (201) further includes: a driving unit (301) connected to the laser emitter (303) and configured to perform digital-to-analog conversion and amplification on the first control signal.

[0022] In some embodiments, the transmitting component (201) further includes: a switching unit connected to the laser emitter (303) and configured to control the switching operation of the laser emitter (113).

[0023] In some embodiments, the switching unit includes: a gallium nitride switching tube (302) with one end connected to the driving unit (301) and the other end connected to the laser emitter (303).

[0024] In some embodiments, the sensing module further includes: a lens assembly (202) configured to collimate, shape, and diverge the laser signal emitted by the transmitting component (201) and converge the received laser signal.

[0025] In some embodiments, the lens assembly (202) includes: a transmitting lens module (304) configured to collimate and shape the laser signal emitted by the transmitting component (201); a rotating mirror (305) configured to direct the laser signal adjusted by the transmitting lens module (304) to different directions and reflect the back-propagating laser signal to the receiving lens module (306); and the receiving lens module (306) configured to converge the received laser signal.

[0026] In some embodiments, the sensing module further includes: a scanning component (203) configured to perform one-dimensional scanning on the laser signal to obtain part of the initial information and transmit the initial information back to the receiving and processing module (122).

[0027] In some embodiments, the scanning component (203) includes: a scanning motor (308) and a grating disk (309); the scanning motor (308) is connected to the grating disk (309) and a scanning rotating mirror, and the scanning motor (308) is configured to drive the scanning rotating mirror and the grating disk (309) to rotate.

[0028] In some embodiments, the scanning component (203) includes: an optical encoder (310) connected to the grating disk (309) and configured to obtain a square wave signal based on the rotation angle of the grating disk (309).

[0029] In some embodiments, the control timing includes a second control signal, and the sensing control unit is connected to the scanning motor (308) and configured to control the rotation speed and direction of the scanning motor (308) based on the second control signal.

[0030] In some embodiments, the data processing unit includes an angle reading unit (316) connected to the optical encoder (310) and configured to obtain the initial information based on the square wave signal.

[0031] In some embodiments, the sensing control unit is further configured to adjust the second control signal based on the initial information to perform feedback control on the scanning motor (308).

[0032] In some embodiments, the scanning assembly (203) further includes a power amplification unit (307) connected to the scanning motor (308) and the sensing control unit and configured to amplify and shape the second control signal.

[0033] In some embodiments, the lens assembly (202) includes a rotating mirror (305), and the relative position between the rotating mirror (305) and the grating code disk (309) is fixedly set.

[0034] In some embodiments, the data processing unit is further configured to obtain the rotation angle of the grating code disk (309) based on the optical encoder (310) to obtain the angle of the rotating mirror (305).

[0035] In some embodiments, the receiving and processing module (122) outputs the control timing based on the frame start signal.

[0036] In some embodiments, the lens assembly (202) includes a rotating mirror (305), and the frame start signal is obtained based on the position of the rotating mirror (305) and the start angle of the frame.

[0037] In some embodiments, the data processing unit includes a sensing array configured to receive the laser signal and generate the feedback electrical signal based on the laser signal.

[0038] In some embodiments, the sensing array includes a single photon avalanche diode array (318) configured to obtain a conversion electrical signal based on the laser signal, and the conversion electrical signal is used to obtain the initial information.

[0039] In some embodiments, the data processing unit includes a front-end analog circuit (312) configured to preprocess and amplify the feedback electrical signal.

[0040] In some embodiments, the data processing unit includes a high-precision clock sampling unit (319), which is configured to digitally process the emission time and reception time of the laser signal.

[0041] In some embodiments, the data processing unit includes a finite impulse response filter (320), which is configured to perform interference filtering on the backhaul electrical signal.

[0042] In some embodiments, the data processing unit includes a peak detection unit (314), which is configured to obtain the return time and intensity of the laser signal based on the peak of the backhaul electrical signal.

[0043] In some embodiments, the receiving and processing module (122) is set based on the SPAD SoC chip.

[0044] In some embodiments, the data sending unit (124) transmits the initial information to the processing device (101) after packing it according to a preset data format.

[0045] In some embodiments, the data sending unit (124) encodes and serializes the distance information, intensity information, and angle information of the laser signal to obtain the initial information.

[0046] The second aspect of the present application provides a method for generating an intelligent driving strategy, which is applied to the sensing and processing system provided in the above embodiments, and includes: obtaining the initial information obtained by monitoring and detecting an object; performing information processing on the initial information to obtain the point cloud information of the detected object.

[0047] In some embodiments, the method for generating an intelligent driving strategy further includes: obtaining an intelligent driving strategy based on the point cloud information corresponding to multiple target objects.

[0048] In some embodiments, the performing information processing on the initial information to obtain the point cloud information of the detected object includes: obtaining the point cloud information based on a preset algorithm.

[0049] In some embodiments, the preset algorithm includes at least one of a high-reflection expansion suppression algorithm, a ghost filtering algorithm, a dirt detection algorithm, and a rain / fog / dust filtering algorithm.

[0050] The third aspect of the present application provides a computer-readable storage medium, which stores instructions that are suitable for being loaded by a processor to execute the method for generating an intelligent driving strategy provided in the second aspect above.

[0051] The fourth aspect of the present application provides a computer program product, including computer programs / instructions, which, when executed by a processor, implement the method for generating an intelligent driving strategy provided in the second aspect above.

[0052] The fifth aspect of the present application provides a controller, which includes a processor and a memory. The processor is connected to the memory. The memory is used to store computer programs, and the processor is used to execute the computer programs to implement the method for generating an intelligent driving strategy provided in the second aspect above.

[0053] The sixth aspect of the present application provides a vehicle, which includes the sensing and processing system provided in the first aspect above, or includes the computer-readable storage medium provided in the third aspect above, or includes the computer program product provided in the fourth aspect above, or includes the controller provided in the fifth aspect above.

[0054] In the sensing and processing system provided by the embodiments of the present application, the point cloud processing function of the sensing device is transferred to the processing device, so that the sensing device only needs to complete signal acquisition, and the data processing process is executed by the processing device at the back end. The product standardization degree is further improved, the scenario algorithm can be flexibly customized according to application requirements, and the environmental adaptability is stronger.

[0055] At the same time, since the sensing device no longer needs to perform complex calculations, the sensing device is freed from the dependence on high-complexity proprietary chips, reducing the cost of the system. When the product is damaged, only the sensing device without a core processor needs to be replaced, improving the practicality of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0057] Figure 1 It is a schematic structural diagram of a lidar system with a discrete architecture;

[0058] Figure 2 It is a schematic structural diagram of the sensing and processing system provided by the embodiments of the present application;

[0059] Figure 3 It is a schematic structural diagram of the sensing and processing system with a sensing device provided by the embodiments of the present application;

[0060] Figure 4 It is a schematic structural diagram of the sensing and processing system under the specific sensing device structure provided by the embodiments of the present application;

[0061] Figure 5 Structural schematic diagram of the data packaging format provided by the embodiment of the present application;

[0062] Figure 6 Provided by the embodiment of the present application Figure 4 Schematic diagram of the working timing of the sensing processing system corresponding to the example;

[0063] Figure 7 Structural schematic diagram of the rotating mirror and grating code disk provided by the embodiment of the present application;

[0064] Figure 8 Provided by the embodiment of the present application Figure 4 Schematic diagram of the working process of the sensing processing system corresponding to the example. Specific implementation manners

[0065] 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. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present application.

[0066] In the description of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0067] In the present application, the term "exemplary" is used to mean "serving as an example, illustration, or description". Any embodiment described as "exemplary" in the present application is not necessarily to be construed as more preferred or more advantageous than other embodiments. In order for any person skilled in the art to implement and use the present application, the following description is given. In the following description, details are set forth for purposes of explanation. It should be understood that those skilled in the art can recognize that the present application can be implemented without these specific details. In other instances, well-known structures and processes are not elaborated in detail to avoid unnecessary details from obscuring the description of the present application. Therefore, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features claimed in the present application.

[0068] Meanwhile, this application uses specific terms to describe the embodiments of this application. For example, "an embodiment", "one embodiment", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that the "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more at different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application can be appropriately combined.

[0069] Similarly, it should be noted that, in order to simplify the presentation of this application disclosure and thus help the understanding of one or more application embodiments, in the foregoing description of the embodiments of this application, sometimes multiple features are grouped into one embodiment, drawing, or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this application are more than those mentioned in the claims. In fact, the features of the embodiments are fewer than all the features of the single embodiments disclosed above.

[0070] In some embodiments, numbers are used to describe components and the quantity of attributes. It should be understood that such numbers used for the description of embodiments are, in some examples, modified by the modifiers "about", "approximately", or "substantially". Unless otherwise stated, "about", "approximately", or "substantially" indicate that the numbers are allowed to have a variation of ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, and this approximate value can change according to the characteristics required by individual embodiments. In some embodiments, the numerical parameters should consider the specified significant digits and adopt the method of retaining the general number of digits. Although the numerical ranges and parameters used to confirm the breadth of the scope in some embodiments of this application are approximate values, in specific embodiments, the setting of such numerical values is as precise as possible within the feasible range.

[0071] For each patent, patent application, patent application publication, and other materials cited in this application, such as articles, books, specifications, publications, documents, etc., their entire contents are hereby incorporated into this application by reference, except for the application history documents that are inconsistent with or conflict with the content of this application, and also except for the documents that limit the broadest scope of the claims of this application (currently or subsequently attached to this application). It should be noted that if there are inconsistencies or conflicts between the descriptions, definitions, and / or uses of terms in the attached materials of this application and the example content of this application, the descriptions, definitions, and / or uses of terms in this application shall prevail.

[0072] Reference Figure 1 , Figure 1It is a schematic structural diagram of a lidar system with a discrete architecture. The lidar system 1 includes a front-end data sensing structure and a rear-end data processing structure. Among them, the front-end data sensing structure is the lidar sensor 2, and the rear-end data processing structure is the information processing system 3.

[0073] In some embodiments, the lidar sensor 2 includes a transmitting module 23, an optical system 22, a scanning module 21, a receiving module 24, and a core processor 25. The information processing system 3 includes a domain control SoC (System on a Chip) 31.

[0074] For the lidar system 1, the transmitting module 23, the optical system 22, the scanning module 21, and the receiving module 24 cooperate together to transmit and receive laser signals to complete the perception of the target.

[0075] In an example, the receiving module 24 is mainly composed of an APD (avalanche photodiode), a SiPM (silicon photomultiplier), a TIA (transimpedance amplifier), an AMP (operational amplifier), and an ADC (analog-to-digital converter) to complete the processes of photoelectric conversion, signal amplification, and analog-to-digital conversion.

[0076] The core processor 25 calculates as the brain of the lidar, undertaking functions such as system logic control, ranging calculation, point cloud data processing, packet transmission, and complex scene algorithm processing to obtain the point cloud information of the targets in the detection area of the lidar system 1. The core processor 25 is generally composed of a high-computing-power field programmable gate array (FPGA, which can be attached with an ARM core processor or an independent MCU) or an application-specific integrated circuit (ASIC) chip.

[0077] After the point cloud information obtained and processed by the lidar sensor 2 is transmitted to the domain control SoC 31, the domain control SoC 31 performs data fusion on the point cloud information obtained by the lidar sensor 2 and other sensors, and makes intelligent driving decisions based on the fusion information, enabling the lidar system 1 to achieve the precise measurement and perception functions of the targets in the detection area and improving the application experience of the intelligent driving system.

[0078] However, for the lidar system 1 with a discrete component architecture, the structural complexity is high and the integration level is low, which means that a relatively large space needs to be reserved inside the lidar system 1 to accommodate each module, and it is difficult to further reduce the volume.

[0079] In addition, the lidar system 1 includes a core processor 25 with high computing power. The core processor 25 with high computing power is expensive and accounts for a large proportion of the total cost of the lidar system 1. When the lidar system 1 is damaged, the cost of replacing the entire lidar system 1 is relatively high. At the same time, the core processor 25 inside the lidar system 1 processes the original data and then transmits it to the domain control SoC 31, which may cause waste of computing power and may also result in loss of information dimensions.

[0080] This embodiment provides a sensing and processing system to optimize the sensing system required for intelligent driving.

[0081] In some embodiments, the sensing and processing system includes a processing device; the processing device is configured to receive initial information and perform information processing on the initial information to obtain point cloud information of a detection object; wherein, the initial information is the original data obtained by a sensing device monitoring the detection object.

[0082] Reference Figure 2 , Figure 2 is a schematic structural diagram of the sensing and processing system provided in this embodiment. The sensing and processing system 100 provided in this embodiment includes a processing device 101. The processing device 101 is configured to receive initial information, where the initial information is the original data obtained by a sensing device detecting a detection object. The processing device 101 is also configured to perform information processing on the initial information to obtain point cloud information of the detection object.

[0083] Among them, the detection object is the target object of the sensing device corresponding to the sensing and processing system 100 in the detection area. For example, if the sensing and processing system 100 is set on a vehicle, the detection objects are environmental objects such as the road conditions and obstacles around the current vehicle.

[0084] The initial information is the original data obtained by the sensing device monitoring the detection object. For example, if the sensing device is a lidar, the initial information is the original data such as the laser emission time, laser reception time, laser intensity, and laser reception angle; if the sensing device is an image sensor, the initial information is the image data obtained by monitoring the detection object.

[0085] The point cloud information is obtained based on the processing of the initial information. In one example, the point cloud information includes a data set of points in space and can represent a three-dimensional shape or object. Among them, the position of each point in the point cloud information is described by a set of Cartesian coordinates, and some points may contain color information (R, G, B) or intensity information, etc.

[0086] For the sensing and processing system 100 provided in this embodiment, the point cloud processing function of the sensing device is transferred to the processing device, so that the sensing device only needs to complete signal acquisition, and the data processing process is executed by the processing device at the back end. The product standardization degree is further improved, and the scenario algorithm can be flexibly customized according to application requirements, with stronger environmental adaptability.

[0087] At the same time, since the sensing device no longer needs to perform complex calculations, the sensing device is freed from the dependence on high-complexity proprietary chips, reducing the system cost. When the product is damaged, only the sensing device without a core processor needs to be replaced, improving the practicality of the product.

[0088] In some embodiments, the processing device 101 is further configured to generate an intelligent driving strategy based on the point cloud information. Combining the above description, the data processing of the processing device 101 includes two processes. One is to generate point cloud information based on the initial information, and the other is to generate an intelligent driving strategy based on the point cloud information corresponding to at least one sensing device.

[0089] In one example, the processing device 101 includes a domain control SoC, and the domain control SoC also integrates a point cloud processing function. At this time, the domain control SoC calculates and obtains the point cloud information based on the initial information uploaded by the sensing device, and generates an intelligent driving strategy according to the point cloud information.

[0090] Reference Figure 3 , Figure 3 is a schematic structural diagram of the sensing and processing system with a sensing device provided in this embodiment. In some embodiments, the sensing and processing system 100 further includes a sensing device 102, and the sensing device 102 is configured to detect and obtain the initial information of the detection object, and transmit the initial information to the processing device 101.

[0091] It should be noted that in the subsequent description of the embodiments, the sensing and processing system 100 provided in this embodiment is described with the sensing device being a lidar, which does not constitute a limitation to this embodiment. In specific applications, the sensing device can be any type of sensor, and the solution where the sensing device transmits the original data to the back end for data processing belongs to the protection scope of this application.

[0092] For the lidar system configured based on the sensing and processing system 100 provided in this embodiment, the lidar does not need data processing, and the data processing process is transferred to the back-end processing device 101 for execution, reducing the system power consumption of the lidar, generating less heat, and further improving the working stability and reliability.

[0093] In some embodiments, the processing device 101 includes a point cloud processing module 111, and the point cloud processing module 111 is configured to obtain the initial information and obtain the point cloud information of the detection object based on the initial information.

[0094] In some embodiments, the processing device 101 further includes a data processing module 121. The data processing module 121 is connected to the point cloud processing module 111 and is configured to generate an intelligent driving strategy based on the point cloud information.

[0095] In some embodiments, the processing device 101 processes the initial information based on a preset algorithm to obtain point cloud information.

[0096] In some embodiments, the preset algorithm includes at least one of a high-reflection expansion suppression algorithm, a ghost filtering algorithm, a dirt detection algorithm, and a rain / fog / dust filtering algorithm.

[0097] In one example, the processing device 101 includes a domain control SoC. The point cloud processing module 111 is integrated inside the domain control SoC and is connected to the sensing device 102. The point cloud processing module 111 is responsible for receiving initial data such as echo data and angle data transmitted by the lidar and carrying out point cloud algorithm processing work in complex scenarios. Among them, the point cloud algorithm may include high-reflection expansion suppression, ghost filtering, dirt detection, and rain / fog / dust filtering algorithms, etc.

[0098] Reference Figure 4 , Figure 4 is a schematic structural diagram of the sensing processing system under the specific sensing device structure provided in this embodiment. The sensing processing system 100 will be described below by way of Figure 4 exemplary illustration.

[0099] In some embodiments, the sensing device 102 includes a sensing module and a receiving and processing module 122. The sensing module generates a laser signal based on the control timing issued by the receiving and processing module 122; the receiving and processing module 122 obtains the initial information based on the received laser signal and transmits the initial information to the processing device 101 for the processing device 101 to perform point cloud calculation based on the initial information to obtain point cloud information.

[0100] In some embodiments, the receiving and processing module 122 includes a sensing control unit connected to the sensing module. The sensing control unit is configured to issue control timing to the sensing module.

[0101] In some embodiments, the receiving and processing module 122 includes a data processing unit configured to receive the laser signal, convert the laser signal into a backhaul electrical signal, and preprocess the backhaul electrical signal to obtain the initial information.

[0102] In some embodiments, the receiving and processing module 122 includes a data sending unit 124 connected to the data processing unit. The data sending unit 124 is configured to obtain the initial information and transmit the initial information to the processing device 101.

[0103] In some embodiments, the control timing includes a first control signal, and the sensing module includes a transmitting component 201 configured to emit a laser signal based on the first control signal.

[0104] In some embodiments, the transmitting component 201 includes a laser emitter 303, and the laser emitter 303 includes one of an edge-emitting laser and a vertical-cavity surface-emitting laser.

[0105] Specifically, the laser emitter 303 can convert an electrical signal into a laser signal and is one of the core components of the lidar system. Its design and technical choices directly affect the performance of the lidar, such as ranging accuracy, resolution, detection range, and system cost.

[0106] In some embodiments, the laser emitter 303 can be an edge-emitting laser (EEL) or a vertical-cavity surface-emitting laser (VCSEL) to generate and emit near-infrared laser pulses (laser signals).

[0107] In some embodiments, the data processing unit includes a time-to-digital converter (TDC) histogram accumulation unit 313 configured to measure the returned electrical signal between the emission time and the reception time of the laser signal and record the measurement result in a relative bin of the histogram.

[0108] The TDC histogram accumulation unit 313 can measure the time between the emission time and the reception time and record each measurement result in the corresponding time bin of the histogram. By statistically counting the number of events in different time bins, the distribution of the time intervals can be obtained.

[0109] In some embodiments, the time-to-digital conversion histogram accumulation unit 313 is based on the first control signal.

[0110] In some embodiments, the transmitting component 201 further includes a driving unit 301 connected to the laser emitter 303 and configured to perform digital-to-analog conversion and amplification of the first control signal.

[0111] Among them, the driving unit 301 is composed of a dedicated driving circuit to perform digital-to-analog conversion and amplification on the first control signal issued by the receiving and processing module 122 to meet the voltage requirements for the laser emitter 303 to emit infrared laser pulses.

[0112] In some embodiments, the transmitting assembly 201 further includes a switching unit, which is connected to the laser emitter 303 and configured to control the switching operation of the laser emitter 303.

[0113] In some embodiments, the switching unit includes a gallium nitride (GaN) switching transistor 302. One end of the GaN switching transistor 302 is connected to the driving unit 301, and the other end is connected to the laser emitter 303.

[0114] The GaN switching transistor 302 is a semiconductor device with low on-resistance and low switching losses, capable of operating at high frequencies to control the switching operation of the laser emitter 303, enabling the laser emitter 303 to generate high-repetition-rate narrow-pulse laser pulses.

[0115] In some embodiments, the sensing module further includes a lens assembly 202, which collimates, shapes, and diverges the laser signal emitted by the transmitting assembly 201 and converges the received laser signal.

[0116] In one example, the lens assembly 202 is configured based on an optical system.

[0117] In some embodiments, the lens assembly 202 includes a transmitting lens module 304, a rotating mirror 305, and a receiving lens module 306. Among them, the transmitting lens module 304 is configured to collimate and shape the laser signal emitted by the transmitting assembly 201; the rotating mirror 305 is configured to direct the laser signal adjusted by the transmitting lens module 304 to different directions and reflect the back-propagating laser signal to the receiving lens module 306; the receiving lens module 306 is configured to converge the received laser signal.

[0118] The transmitting lens module 304 mainly collimates and shapes the laser emitted by the transmitting assembly 201 to make it collimated into parallel laser pulses; the rotating mirror 305 usually consists of a set of reflecting mirrors, and its function is to direct the laser pulses from the transmitting lens module 304 to different directions, thereby scanning the entire field of view, and then reflecting the back-propagating laser signal to the receiving lens module 306; the receiving lens module 306 mainly converges the laser reflected by the target to focus it on the receiving and processing module 122.

[0119] In some embodiments, the lens assembly 202 should ensure that the transmitting optical path and the receiving optical path always remain parallel.

[0120] In some embodiments, the transmitting lens module 304 and the receiving lens module 306 include one or more groups of lenses and one or more groups of reflecting mirrors for collimating or focusing the transmitted or received light beams.

[0121] In some embodiments, the transmitting lens module may further include a beam splitter, a polarizer, etc.

[0122] In some embodiments, the receiving lens module 306 should further include a narrowband filter, which can also be a narrowband filter with a grating, to filter out the reflection signals of other beams except for the laser pulses of a preset wavelength, and enhance the contrast of the reflection signals of the laser pulses among all signals.

[0123] In some embodiments, the sensing module further includes a scanning component 203, which is configured to perform one-dimensional scanning on the laser signal to obtain some initial information and transmit the initial information back to the receiving and processing module 122. It should be noted that the initial information obtained by the scanning component 203 is the angular information of the laser signal.

[0124] In one example, the scanning component is configured based on a scanning system.

[0125] In some embodiments, the scanning component 203 includes a scanning motor 308 and a grating disk 309; the scanning motor 308 is connected to the grating disk 309 and a scanning mirror, and the scanning motor 308 is configured to drive the grating disk 309 and the scanning mirror to rotate.

[0126] In some embodiments, the scanning mirror can be the mirror 305 in the lens assembly 202.

[0127] In some embodiments, the scanning component 203 includes an optical encoder 310, and the grating disk 309 is connected to the optical encoder 310. The grating disk 309 is configured to obtain a square wave signal based on the rotation angle of the grating disk 309, and the square wave signal represents the received angular information of the laser signal.

[0128] Specifically, the scanning component 203 uses a scanning mirror. The scanning motor 308 is the core component for realizing the laser beam scanning. It is physically connected to the scanning mirror and the grating disk 309 through a mechanical structure to be responsible for driving the scanning mirror and the grating disk 309 to move, so that the laser beam can cover the required field of view. The grating disk 309 consists of a disk with a precision grating, and a series of evenly spaced bright and dark stripes are engraved on the grating. Cooperating with the optical encoder 310, it can provide high-resolution position and angle data and is widely used as a feedback device for the scanning motor 308 in a lidar system (LiDAR).

[0129] In some embodiments, the control timing includes a second control signal. The sensing control unit is connected to the scanning motor 308 and is configured to control the rotation speed and direction of the scanning motor 308 based on the second control signal.

[0130] In some embodiments, the sensing control unit includes a transmission control unit 311 and a scanning control unit 315. Among them, the scanning control unit 315 controls the scanning motor 308 based on a second control signal, and the transmission control unit 311 controls the laser emitter 303 based on a first control signal.

[0131] In one example, if the sensing module includes a transmission component 201, the sensing control unit includes a transmission control unit 311, and the transmission control unit 311 is configured to provide a first control signal to the transmission component 201. In another example, if the sensing module includes a scanning component 203, the sensing control unit includes a scanning control unit 315, and the scanning control unit 315 is configured to provide a second control signal to the scanning component 203. In yet another example, if the sensing module includes a transmission component 201 and a scanning component 203, the sensing control unit includes a transmission control unit 311 and a scanning control unit 315.

[0132] In some embodiments, the data processing unit includes an angle reading unit 316, which is connected to the photoelectric encoder 310, and the angle reading unit 316 is configured to obtain initial information based on a square wave signal.

[0133] In some embodiments, the sensing control unit is further configured to adjust the second control signal based on the initial information to perform feedback control on the scanning motor 308.

[0134] Specifically, the scanning control unit 315 generates a control timing sequence (second control signal) according to the requirements preset by the system, and controls the rotation speed and direction of the scanning motor 308 based on the second control signal; during the adjustment process of the scanning motor 308, the angle reading unit 316 obtains initial information in real time based on the photoelectric encoder 310, and adjusts the second control signal in real time based on the initial information to achieve feedback control of the scanning motor 308.

[0135] In some embodiments, the scanning component 203 further includes a power amplification unit 307. The power amplification unit 307 is connected to the scanning motor 308 and the sensing control unit, and the power amplification unit 307 is configured to amplify and shape the second control signal.

[0136] The power amplification unit 307 can amplify and shape the second control signal generated by the scanning control unit 315 to meet the high-power requirements of the scanning motor 308.

[0137] In some embodiments, the relative position of the rotating mirror 305 and the grating code disk 309 is fixedly set.

[0138] In some embodiments, the data processing unit is further configured to obtain the rotation angle of the grating code disk 309 based on the photoelectric encoder 310 to obtain the angle of the rotating mirror 305.

[0139] In some embodiments, the receiving and processing module 122 outputs a control timing based on the frame start signal. Specifically, the laser radar has a certain frame rate and horizontal field of view, so the frame start signal can be used to control the laser signal to operate within a limited angle range to avoid energy waste.

[0140] In some embodiments, the frame start signal is obtained based on the position of the rotating mirror 305 and the angle of revelation of the frame.

[0141] As previously mentioned, the correspondence between the grating code disk 309 and the rotating mirror 305 is fixed. The position of the rotating mirror 305 is determined by the angle of the grating code disk 309. Whether the position of the rotating mirror 305 matches the frame start angle determines whether a frame start signal is triggered. If the angle of the rotating mirror 305 read is close to the frame start angle, the frame start signal is synchronously triggered, thereby triggering the control sequence to drive the sensing control unit.

[0142] refer to Figure 6 , Figure 6 Provided for this embodiment Figure 4 Schematic diagram of the working timing of the sensor processing system 100 corresponding to the example.

[0143] Specifically, F_SYNC represents the synchronization signal of the frame period, and the rising edge of the synchronization signal of the frame period is the frame start signal. n distance measurements (Slot) need to be completed in each frame period; S_SYNC represents the measurement synchronization signal, that is, the control timing; TRG_I represents the laser emission timing control signal, which can set the pulse period (T), pulse width and number (C) according to application requirements, that is, the first control signal; Fin_fig represents the measurement completion flag signal, and is used to control the angle reading unit 316 to obtain angle data; Angle represents the square wave signal converted by the grating code disk 309 read by the photoelectric encoder 310, which can be used for angle representation; MIPI_OUT represents the time when the data sending unit 124 transmits the initial information to the processing device 101.

[0144] refer to Figure 7 , Figure 7Schematic diagram of the rotating mirror and grating code disk provided in this embodiment. Assume that the code disk angles angle 0, angle 1, angle 2, and angle 3 are the frame start angles. Then, the code disk rotates driven by the motor. After the angle reading unit 316 reads angle 0, angle 1, angle 2, and angle 3, it triggers the synchronization signal F_SYNC of the frame period through the scan control unit 315 to start the measurement of the next frame period. F_SYNC being at a high level indicates that during the measurement of the frame period, and F_SYNC being at a low level indicates that the frame measurement has ended. Secondly, during the time when F_SYNC is at a high level, n distance measurements (Slot) are started. S_SYNC being at a high level indicates that during the measurement, TRG_I can be generated according to application requirements, and S_SYNC being at a low level indicates that the measurement has ended, and TRG_I should not appear at this time. Fin_fig represents the flag signal indicating the completion of the Slot measurement. At this time, the angle data of each measurement (Slot) can be collected, or the angle acquisition time can be set according to requirements. Finally, the data sending unit 124 packs and transmits the histogram information and angle data together, and its time should be later than the flag signal Fin_fig indicating the completion of the measurement.

[0145] In some embodiments, the data processing unit includes a sensing array for receiving a laser signal and generating a return electrical signal based on the laser signal.

[0146] In some embodiments, the sensing array includes a single-photon avalanche diode (SPAD) array 318. The SPAD array 318 is used to receive the laser signal and generate a return electrical signal based on the laser signal.

[0147] Specifically, the laser signal passes through the emission lens module 304 and the rotating mirror 305 and then irradiates the target surface in the detection area. The light signal reflected by the target passes through the rotating mirror 305 and the receiving lens module 306 and then converges on the SPAD array 318. The SPAD array 318 converts the light signal into an electrical signal to obtain the return electrical signal.

[0148] In some embodiments, the data processing unit includes a front-end analog circuit 312, and the front-end analog circuit 312 is configured to preprocess and amplify the return electrical signal.

[0149] In some embodiments, the data processing unit includes a high-precision clock sampling unit 319, and the high-precision clock sampling unit 319 is configured to digitally process the emission time and reception time of the laser signal.

[0150] In some embodiments, the data processing unit includes a finite impulse response filter 320 , which is configured to perform interference filtering on the returned electrical signal.

[0151] In some embodiments, the data processing unit includes a peak detection unit 314 , which is configured to obtain the return time and intensity of the laser signal based on the peak value of the returned electrical signal.

[0152] In one example, refer to Figure 4 The emission control unit 311 enters the working state according to the frame synchronization signal of the scanning control unit 315, provides a first control signal to the emission component 201 to generate a laser pulse, and synchronizes the laser emission time signal to the high-precision clock sampling unit 319 and the TDC histogram accumulation unit 313 for time measurement; the SPAD array 318 is composed of multiple single-photon avalanche diode (SPAD) units, which can detect single photons and have extremely high sensitivity and time resolution. The front-end analog circuit 312 is responsible for preprocessing and amplifying the photon signal detected by the SPAD, and amplifying the weak electrical pulse signal output by the SPAD to a processable amplitude; the high-precision clock sampling unit 319 digitizes the amplified analog signal, TDC is used for high-precision time measurement, and the TDC histogram accumulation unit 313 performs statistics and analysis on these measurement results, which can provide detailed time distribution information. The finite impulse response (FIR) filter 320 is a digital filter whose output is a finite weighted sum of the input signal. It is characterized by a stable frequency response and linear phase characteristics, which can improve signal quality and reduce noise and interference. The peak detection unit 314 is used to detect and extract signal peaks from the processed radar echo signal. The two work together to enable the radar system to more accurately detect and identify targets.

[0153] Specifically, the receiving and processing module 122 integrates the functions of distance measurement and partial filtering, which simplifies the amount of data output by the radar front end while retaining the original data as much as possible, avoiding the loss of information dimensions and facilitating data standardization.

[0154] In some embodiments, the receiving processing module 122 is configured based on a SPAD SoC chip.

[0155] This embodiment uses an integrated SPAD SOC chip to replace most of the previous discrete components of photodetector → signal amplification → analog-to-digital conversion → digital signal processing. The core key components have been greatly optimized / simplified, which improves the integration of the system and is conducive to the lightweight design of the product.

[0156] In some embodiments, since the SPAD has the sensitivity of single-photon detection and is very vulnerable to interference, the high-precision clock sampling unit 319 and the TDC histogram accumulation unit 313 adopt the technical route of TCSPC (time-correlated technology), which can reduce the noise and interference in the system to improve the measurement accuracy and data reliability.

[0157] In addition, with the highly integrated SPAD SoC chip as the main body, the overall system design is highly reconstructed, effectively utilizing the powerful computing resources of the vehicle-mounted domain controller. The system logic control function and the point cloud information processing function in the original high-computing power core processor are divided and transferred, making the lidar system design more platformized and standardized. This not only reduces the cost of the lidar system, but also can flexibly customize the point cloud processing algorithm according to the application scenario, with stronger environmental adaptability. And the output of the original data can avoid information loss caused by front-end processing, and can further improve the quality of data perception.

[0158] In some embodiments, the initial information includes at least one of distance information and angle information, where the distance information is obtained based on the SPAD array 318, and the angle information is obtained based on the scanning component 203.

[0159] In one example, the lens assembly 202 converges the returned laser signal to the SPAD array 318, and the reception processing module 122 obtains the distance information based on the control timing of the control unit and the laser signal received by the SPAD array 318.

[0160] In one example, the reception processing module 122 obtains the angle information of the laser signal based on the scanning component 203. If the sensing module includes the scanning component 203, the reception processing module 122 correspondingly includes an angle reading unit 316, and the angle reading unit 316 is connected to the optoelectronic encoder 310 to read the square wave signal recorded on the grating code disk 309 through the optoelectronic encoder 310.

[0161] In some embodiments, the initial information obtained based on the data processing unit further includes intensity information.

[0162] In some embodiments, the data sending unit 124 transmits the initial information to the processing device 101 after packing it according to a preset data format.

[0163] In some embodiments, the data sending unit 124 encodes and serializes the distance signal, intensity information, and angle information of the laser signal to obtain the initial information.

[0164] In one example, the data sending unit 124 can pack the distance information, intensity information, and angle information. This embodiment also provides a data format, refer to Figure 5, Figure 5 This is a schematic diagram of the data packaging format provided in this embodiment. Specifically, the initial information mainly includes three types of information: angle information, distance information, and intensity information, which together form an n×m two-dimensional array. Because the distance and echo intensity measurements of multiple SPAD pixels can be completed simultaneously at the same angle, these pixels can be combined into a row. Different rows represent different horizontal scanning angles, and different columns represent different pixel units ranging from 1 to m.

[0165] Combined with the above Figure 4 For a description of the sensor processing system 100, see Figure 8 , Figure 8 Provided for this embodiment Figure 4 Schematic diagram of the workflow of the sensor processing system 100 corresponding to the example.

[0166] Step 1: Power on the system.

[0167] The sensor processing system 100 is powered on and started to enter a working state.

[0168] Step 2: The scanning control unit generates a motor drive signal according to the preset requirements of the system, controls the speed and direction of the motor, and adjusts the drive signal according to the feedback signal.

[0169] The scanning control unit 315 integrated in the receiving and processing module 122 is started first, and generates a second control signal corresponding to the scanning motor 308 according to system requirements to control the speed and direction of the scanning motor 308; during this process, the driving signal also needs to be adjusted according to the read angle feedback information to make the motor rotation more stable.

[0170] Specifically, the scanning control unit 315 generates and controls the timing (second control signal) according to the preset requirements of the system, and controls the speed and direction of the scanning motor 308 based on the second control signal; during the adjustment process of the scanning motor 308, the angle reading unit 316 obtains initial information in real time based on the photoelectric encoder 310, and adjusts the second control signal in real time based on the initial information to achieve feedback control of the scanning motor 308.

[0171] Step 3: The power amplifier unit amplifies and shapes the driving signal to meet the high power requirement of the driving motor.

[0172] Specifically, the power amplifying unit 307 amplifies and shapes the driving signal generated by the scanning control unit 315 to meet the high power requirement of the driving motor.

[0173] Step 4: The scanning motor drives the rotating mirror and the grating code disk to rotate.

[0174] Specifically, the scanning motor 308 is physically connected to the rotating mirror 305 and the grating code disk 309, and can drive the rotating mirror 305 and the grating code disk 309 to rotate, thereby scanning the target in the detection area; at the same time, the positional relationship between the rotating mirror 305 and the grating code disk 309 is determined, that is, the angular range of the grating code disk 309 corresponding to each mirror surface can be determined.

[0175] Step 5: The photoelectric encoder converts the rotation angle on the grating code disk into a continuous square wave signal through photoelectric conversion.

[0176] Specifically, the photoelectric encoder 310 converts the rotation angle on the grating code disk 309 into a continuous square wave signal through photoelectric conversion.

[0177] Step 6: The angle reading unit reads the angle, and at the same time, the rotation speed of the motor can be calculated according to the read angle, and then the motor is feedback-controlled.

[0178] Specifically, the angle reading unit 316 reads the angle of the rotating mirror 305 according to the square wave signal, and improves the resolution of the photoelectric encoder 310 through the interpolation subdivision technology; at the same time, the rotation speed of the motor can be calculated according to the read angle, and then the scanning motor 308 is feedback-controlled.

[0179] Step 7: Determine the position of the rotating mirror through the code disk angle.

[0180] Specifically, the lidar has a certain frame rate and horizontal field of view angle, so the laser pulse can be controlled to work within a limited angle range through the frame start signal to avoid energy waste. Specifically in this embodiment, the corresponding relationship between the rotating mirror 305 and the grating code disk 309 is fixed, and the position (the start angle of the frame) of the rotating mirror 305 can be determined through the angle of the grating code disk 309. If the read angle value of the rotating mirror 305 is close to the start angle of the frame, a first control signal is sent to the emission control unit 311.

[0181] Step 8: The emission timing control unit generates a first control signal according to the frame start signal and synchronously sends a timing signal for TDC measurement.

[0182] The emission control unit 311 generates a first control signal that meets the system requirements for frequency, pulse width, and number according to the frame start signal, and synchronously sends a timing signal for TDC measurement.

[0183] Step 9: The emission module generates a laser pulse that meets the preset parameter conditions according to the first control signal.

[0184] Specifically, the drive unit 301, the gallium nitride switch tube 302, and the laser emitter 303 of the emission component 201 cooperate with each other to generate a laser signal that meets the preset parameter conditions according to the first control signal, and convert the electrical signal into an optical signal.

[0185] Step 10: Obtain the emission signal of the laser pulse, convert the optical signal into an electrical signal, and the SPAD preprocesses and amplifies the detected photon signal.

[0186] Specifically, the laser pulse irradiates the target surface in the detection area after passing through the emission lens module 304 and the rotating mirror 305; the optical signal reflected by the target is focused on the SPAD array 318 after passing through the rotating mirror 305 and the receiving lens module 306, converting the optical signal into an electrical signal, and the front-end analog circuit 312 preprocesses and amplifies the photon signal detected by the SPAD array 318.

[0187] Step 11: High-precision clock sampling processing + TDC processing.

[0188] Specifically, the high-precision clock sampling unit 319 can ensure the digital processing of the emission and reception times of the laser pulse. The TDC histogram accumulation unit 313 can measure the time between the emission moment and the reception moment and record each measurement result in the corresponding time interval (bin) of the histogram. By statistically counting the number of events in different time intervals, the distribution of the time interval can be obtained.

[0189] Step 12: FIR filtering processing + peak detection processing.

[0190] Specifically, the FIR filter 320 can effectively remove the interference of ambient light noise and electronic noise through weighted summation, improving the signal-to-noise ratio of the signal; the peak detection unit 314 can quickly and accurately find the peak of the received signal, thereby determining the return time (i.e., distance) and intensity of the laser pulse.

[0191] Step 13: The data sending unit sends the initial information to the processing device.

[0192] Specifically, the data sending unit 124 encodes and serializes the distance information, intensity information, and angle information, and sends them to the processing device 101 through the bus to improve the efficiency and reliability of data transmission.

[0193] Step 14: The processing device is responsible for the post-processing of the point cloud in complex scenarios.

[0194] Specifically, the processing device 101 is responsible for the post-processing of the point cloud in complex scenarios to obtain the point cloud information based on the initial information.

[0195] For the sensing and processing system 100 provided in this embodiment, the point cloud processing function of the sensing device is transferred to the processing device, so that the sensing device only needs to complete signal acquisition, and the data processing process is executed by the processing device at the back end. The product standardization degree is further improved, the scenario algorithm can be flexibly customized according to application requirements, and the environmental adaptability is stronger.

[0196] At the same time, since the sensing device no longer needs to perform complex calculations, the sensing device is freed from the dependence on high-complexity proprietary chips, reducing the cost of the system. When the product is damaged, only the sensing device without a core processor needs to be replaced, improving the practicality of the product.

[0197] Another embodiment of this application further provides a method for generating an intelligent driving strategy, which is applied to the sensing and processing system provided in the above embodiment, and includes: obtaining initial information obtained by monitoring and detecting an object; performing information processing on the initial information to obtain point cloud information of the detected object.

[0198] Specifically, referring to Figure 2 , the sensing and processing system 100 provided in this embodiment includes a processing device 101, and the processing device 101 is configured to receive initial information, where the initial information is the original data detected by the sensing device to detect the object, and the processing device 101 is further configured to perform information processing on the initial information to obtain point cloud information of the detected object.

[0199] In some embodiments, the method for generating an intelligent driving strategy further includes: obtaining an intelligent driving strategy based on the point cloud information corresponding to multiple target objects.

[0200] Specifically, after the processing device 101 generates point cloud information based on the initial information, it is further used to generate an intelligent driving strategy according to the point cloud information.

[0201] In one example, the processing device 101 is implemented based on a domain control SoC. At this time, the domain control SoC also includes a point cloud processing function to calculate and obtain point cloud information based on the initial information uploaded by the sensing device.

[0202] In some embodiments, performing information processing on the initial information to obtain point cloud information of the detected object includes: obtaining point cloud information based on a preset algorithm.

[0203] In some embodiments, the preset algorithm includes at least one of a high-reflection expansion suppression, ghost filtering, dirt detection, and rain / fog / dust filtering algorithm.

[0204] Specifically, the point cloud processing module 111 is integrated inside the processing device 101 and connected to the sensing device 102. It is responsible for receiving initial information such as echoes and angles transmitted by the lidar and carrying out point cloud algorithm processing work in complex scenarios. The point cloud algorithms may include algorithms such as high-reflectivity expansion suppression, ghost filtering, dirt detection, and rain / fog / dust filtering algorithms.

[0205] Another embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores instructions, and the instructions are suitable for being loaded by a processor to execute the method for generating an intelligent driving strategy provided in the above embodiment.

[0206] Another embodiment of the present application further provides a computer program product, including a computer program / instructions. When the computer program / instructions are executed by a processor, the method for generating an intelligent driving strategy provided in the above embodiment is implemented.

[0207] Another embodiment of the present application further provides a controller. The controller includes a processor and a memory. The processor is connected to the memory. The memory is used to store a computer program, and the processor is used to execute the computer program to implement the method for generating an intelligent driving strategy provided in the above embodiment.

[0208] Another embodiment of the present application further provides a vehicle, including the sensing and processing system provided in the above embodiment, or including the computer-readable storage medium provided in the above embodiment, or including the computer program product provided in the above embodiment, or including the controller provided in the above embodiment.

[0209] Among them, the independent claim of this vehicle has all the beneficial effects of the above minimum protection subject matter, which will not be elaborated herein. This vehicle may be a fuel vehicle, a plug-in hybrid vehicle, a new energy vehicle, etc., and the present application does not make specific limitations on this.

[0210] In the above embodiments, the descriptions of each embodiment have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the detailed descriptions of other embodiments above, which will not be elaborated herein.

[0211] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only an example and does not constitute a limitation to the present application. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to the present application. Such modifications, improvements, and corrections are proposed in the present application, so such modifications, improvements, and corrections still belong to the spirit and scope of the exemplary embodiments of the present application.

[0212] The above has introduced in detail a sensing processing system, a method for generating an intelligent driving strategy and related devices provided by an embodiment of the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A sensing and processing system (100), characterized in that, Including: A processing device (101); The processing device (101) is configured to receive initial information and perform information processing on the initial information to obtain point cloud information of a detection object; Wherein, the initial information is the raw data obtained by a sensing device (102) monitoring the detection object.

2. The sensing and processing system (100) according to claim 1, wherein The processing device (101) is further configured to generate an intelligent driving strategy based on the point cloud information.

3. The sensing and processing system (100) according to claim 2, wherein The processing device (101) includes: a point cloud processing module (111), configured to obtain the initial information and obtain the point cloud information of the detection object based on the initial information.

4. The sensing and processing system (100) according to claim 3, characterized in that, The processing device (101) further includes: a data processing module (121), connected to the point cloud processing module (111), configured to generate the intelligent driving strategy based on the point cloud information.

5. The sensing and processing system (100) according to claim 1, wherein The processing device (101) performs information processing on the initial information based on a preset algorithm to obtain the point cloud information.

6. The sensing and processing system (100) according to claim 5, characterized in that The preset algorithm includes at least one of a high-reflectivity expansion suppression algorithm, a ghost filtering algorithm, a dirt detection algorithm, and a rain / fog / dust filtering algorithm.

7. The sensing and processing system (100) according to claim 1, wherein, The sensing device (102) is configured to monitor and obtain the initial information of the detection object and send the initial information to the processing device (101).

8. The sensing and processing system (100) according to claim 7, wherein The sensing device (102) includes: a sensing module and a receiving and processing module (122); The sensing module generates a laser signal based on a control timing sequence issued by the receiving and processing module (122); The receiving and processing module (122) obtains the initial information based on the received laser signal and transfers the initial information to the processing device (101).

9. The sensing and processing system (100) according to claim 8, wherein The receiving and processing module (122) includes: a sensing control unit, connected to the sensing module, configured to issue the control timing sequence to the sensing module.

10. The sensing and processing system (100) according to claim 9, characterized in that, The receiving and processing module (122) includes: a data processing unit, configured to receive the laser signal, convert the laser signal into a backhaul electrical signal, and perform preprocessing on the backhaul electrical signal to obtain the initial information.

11. The sensing and processing system (100) according to claim 10, characterized in that, The receiving and processing module (122) includes: a data sending unit (124), connected to the data processing unit, configured to obtain the initial information and transfer the initial information to the processing device (101).

12. The sensing and processing system (100) according to claim 10, characterized in that, The control timing sequence includes a first control signal, the sensing module includes a transmitting component (201), and the transmitting component (201) is configured to emit a laser signal based on the first control signal.

13. The sensing and processing system (100) according to claim 12, wherein The transmitting component (201) includes: a laser emitter (303), and the laser emitter (303) includes one of an edge-emitting laser and a vertical-cavity surface-emitting laser.

14. The sensing and processing system (100) according to claim 12, characterized in that, The data processing unit includes a time-to-digital conversion histogram accumulation unit (313), configured to measure the backhaul electrical signal between the emission time and the reception time of the laser signal and record the measurement result in a relative interval of the histogram.

15. The sensing and processing system (100) according to claim 14, wherein The time-to-digital conversion histogram accumulation unit (313) is driven based on the first control signal.

16. The sensing and processing system (100) according to claim 12, characterized in that, The transmitting component (201) further includes: a driving unit (301), connected to the laser emitter (303), configured to perform digital-to-analog conversion and amplification on the first control signal.

17. The sensing and processing system (100) according to claim 16, wherein, The transmitting component (201) further includes: a switching unit, connected to the laser emitter (303), configured to control the switching operation of the laser emitter (113).

18. The sensing and processing system (100) according to claim 17, wherein, The switching unit includes: a gallium nitride switching tube (302), with one end connected to the driving unit (301) and the other end connected to the laser emitter (303).

19. The sensing and processing system (100) according to claim 12, wherein The sensing module further includes: a lens assembly (202), configured to collimate, shape, and diverge the laser signal emitted by the transmitting component (201), and converge the received laser signal.

20. The sensing and processing system (100) according to claim 19, wherein The lens assembly (202) includes: a transmitting lens module (304), configured to collimate and shape the laser signal emitted by the transmitting component (201); a rotating mirror (305), configured to guide the laser signal adjusted by the transmitting lens module (304) to different directions, and reflect the back-propagating laser signal to the receiving lens module (306); The receiving lens module (306) is configured to converge the received laser signal.

21. The sensing and processing system (100) according to claim 12, characterized in that, The sensing module further includes: a scanning component (203), configured to perform one-dimensional scanning on the laser signal to obtain part of the initial information, and transmit the initial information back to the receiving and processing module (122).

22. The sensing and processing system (100) according to claim 21, wherein The scanning component (203) includes: a scanning motor (308) and a grating code disk (309); the scanning motor (308) is connected to the grating code disk (309) and the scanning rotating mirror, and the scanning motor (308) is configured to drive the scanning rotating mirror and the grating code disk (309) to rotate.

23. The sensing and processing system (100) according to claim 22, characterized in that, The scanning component (203) includes: an optoelectronic encoder (310), connected to the grating code disk (309), configured to obtain a square wave signal based on the rotation angle of the grating code disk (309).

24. The sensing and processing system (100) according to claim 23, characterized in that, The control timing includes a second control signal, and the sensing control unit is connected to the scanning motor (308), configured to control the rotation speed and direction of the scanning motor (308) based on the second control signal.

25. The sensing and processing system (100) according to claim 24, wherein The data processing unit includes: an angle reading unit (316), connected to the optoelectronic encoder (310), configured to obtain the initial information based on the square wave signal.

26. The sensing and processing system (100) according to claim 25, wherein The sensing control unit is further configured to adjust the second control signal based on the initial information to perform feedback control on the scanning motor (308).

27. The sensing and processing system (100) according to claim 24, wherein, The scanning component (203) further includes: a power amplification unit (307), connected to the scanning motor (308) and the sensing control unit, configured to amplify and shape the second control signal.

28. The sensing and processing system (100) according to claim 25, characterized in that, The lens assembly (202) includes a rotating mirror (305), and the relative position between the rotating mirror (305) and the grating code disk (309) is fixedly set.

29. The sensing and processing system (100) according to claim 28, wherein, The data processing unit is further configured to obtain the rotation angle of the grating disk (309) based on the optoelectronic encoder (310) to obtain the angle of the rotating mirror (305).

30. The sensing and processing system (100) according to claim 8, wherein, The receiving and processing module (122) outputs the control timing based on the frame start signal.

31. The sensing and processing system (100) according to claim 30, characterized in that, The lens assembly (202) includes a rotating mirror (305), and the frame start signal is obtained based on the position of the rotating mirror (305) and the start angle of the frame.

32. The sensing and processing system (100) according to claim 10, wherein, The data processing unit includes: a sensing array for receiving the laser signal and generating the feedback electrical signal based on the laser signal.

33. The sensing and processing system (100) according to claim 32, characterized in that, The sensing array includes a single-photon avalanche diode array (318), which is configured to obtain a conversion electrical signal based on the laser signal, and the conversion electrical signal is used to obtain the initial information.

34. The sensing and processing system (100) according to claim 33, wherein, The data processing unit includes a front-end analog circuit (312), which is configured to preprocess and amplify the feedback electrical signal.

35. The sensing and processing system (100) according to claim 33, characterized in that, The data processing unit includes a high-precision clock sampling unit (319), which is configured to digitally process the emission time and reception time of the laser signal.

36. The sensing and processing system (100) according to claim 33, characterized in that, The data processing unit includes a finite impulse response filter (320), which is configured to filter interference from the feedback electrical signal.

37. The sensing and processing system (100) according to claim 33, characterized in that, The data processing unit includes a peak detection unit (314), which is configured to obtain the return time and intensity of the laser signal based on the peak of the feedback electrical signal.

38. The sensing and processing system (100) according to claim 33, wherein The receiving and processing module (122) is set based on the SPAD SoC chip.

39. The sensing and processing system (100) according to claim 11, characterized in that, The data sending unit (124) transmits the initial information to the processing device (101) after packing it according to a preset data format.

40. The sensing and processing system (100) according to claim 39, wherein, The data sending unit (124) encodes and serializes the distance information, intensity information, and angle information of the laser signal to obtain the initial information.

41. A method for generating an intelligent driving strategy, which is applied to the sensing and processing system (100) according to any one of claims 1 to 40, and is characterized in that, Including: Obtaining initial information obtained by monitoring a detection object; Performing information processing on the initial information to obtain point cloud information of the detection object.

42. The method for generating an intelligent driving strategy according to claim 41, wherein Further including: Obtaining an intelligent driving strategy based on the point cloud information corresponding to multiple target objects.

43. The method for generating an intelligent driving strategy according to claim 41, wherein The performing information processing on the initial information to obtain point cloud information of the detection object includes: obtaining the point cloud information based on a preset algorithm.

44. The method for generating an intelligent driving strategy according to claim 41, wherein The preset algorithm includes at least one of a high-reflectivity expansion suppression, ghost filtering, dirt detection, and rain / fog / dust filtering algorithm.

45. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions, and the instructions are suitable for being loaded by a processor to execute the method for generating an intelligent driving strategy according to any one of claims 41 to 44.

46. A computer program product comprising a computer program / instructions, characterized in that, The computer program / instructions, when executed by a processor, implement the method for generating an intelligent driving strategy according to any one of claims 41 to 44.

47. A controller, characterized in that, Including a processor and a memory, the processor is connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program to implement the method for generating an intelligent driving strategy according to any one of claims 41 to 44.

48. A vehicle, characterized in that, Comprising the sensing and processing system (100) according to any one of claims 1 to 40, or comprising the computer-readable storage medium according to claim 45, or comprising the computer program product according to claim 46, or comprising the controller according to claim 47.

Images