Filter control method, device, medium, product and system

Abstract

The invention relates to a filter control method and device, a computer readable storage medium, a computer program product, a filtering system and a sensing system. The method comprises the steps that target noise feature information of environment noise of sensing equipment is acquired; and determining a target filter coefficient used for configuring a filter corresponding to the sensing equipment according to the target noise feature information. The performance of the sensing equipment can be improved.

Description

Technical Field

[0001] The present application relates to the field of power electronics technology, and in particular to a filter control method, device, medium, product, filtering system and sensing system. Background Art

[0002] The perception performance of perception devices (such as lidar) is closely related to filters. For example, lidar needs to process large amounts of data in real time, and it is very necessary to consider how to set the filter coefficients to achieve the best filtering effect to improve perception accuracy and intensity.

[0003] However, related technologies generally improve equipment performance directly through the design and optimization of optical measurement systems, which has very limited performance improvements. Summary of the Invention

[0004] The embodiments of the present application provide a filter control method, device, computer-readable storage medium, computer program product, filtering system and perception system, which can design corresponding filter coefficients for the filter of the perception device to at least partially solve the above-mentioned technical problems.

[0005] In order to achieve the above object, according to a first aspect of the present application, a filter control method is provided, the method comprising:

[0006] Acquire target noise characteristic information of the ambient noise of the sensing device;

[0007] A target filter coefficient for configuring a filter corresponding to the sensing device is determined according to the target noise characteristic information.

[0008] The target noise characteristic information includes target noise intensity.

[0009] Optionally, determining, based on the target noise characteristic information, a target filter coefficient for configuring a filter corresponding to the sensing device includes:

[0010] According to the preset correspondence between noise intensity and filter coefficient and the target noise intensity, a target filter coefficient for configuring the filter corresponding to the sensing device is determined.

[0011] Optionally, the preset correspondence includes multiple noise intensities, and determining the target filter coefficient for configuring the filter corresponding to the sensing device according to the preset correspondence between the noise intensity and the filter coefficient and the target noise intensity includes:

[0012] If the target noise intensity exists among the multiple noise intensities, a filter coefficient corresponding to the target noise intensity is obtained from the preset corresponding relationship to obtain the target filter coefficient for configuring the filter corresponding to the sensing device.

[0013] Optionally, the method further includes:

[0014] If the target noise intensity does not exist in the multiple noise intensities, determining a first noise intensity from the multiple noise intensities, wherein the first noise intensity is higher than the target noise intensity;

[0015] Determine a filter coefficient corresponding to the first noise intensity in the preset corresponding relationship as a target filter coefficient.

[0016] Optionally, the first noise intensity is a minimum noise intensity that is higher than the target noise intensity among the multiple noise intensities.

[0017] Optionally, when the preset corresponding relationship is used to indicate the filter coefficients required by the filter under multiple noise intensities so that the perception device meets a preset accuracy requirement.

[0018] Optionally, the filter coefficient includes a first filter coefficient, and the larger the first filter coefficient is, the greater the filtering strength of the filter is, and the first filter coefficients in the filter coefficients corresponding to different noise intensities are different.

[0019] Optionally, the first filter coefficients include negative sidelobe parameters.

[0020] Optionally, the negative sidelobe parameter includes a negative sidelobe width.

[0021] Optionally, the step of determining the preset corresponding relationship includes:

[0022] Configuring a first filter coefficient of a filter of the sensing device to be a preset value;

[0023] When the sensing device is in a preset light source change scenario, if the accuracy indication parameter of the sensing device meets the preset accuracy requirement, record the noise intensity of the environment in which the sensing device is located and the corresponding relationship between the filter coefficients to obtain the preset corresponding relationship;

[0024] Increase the first filter coefficient, and return to execute the step of recording the noise intensity of the environment in which the perception device is located and the corresponding relationship of the filter coefficient when the accuracy indication parameter of the perception device meets the preset accuracy requirement when the perception device is in a preset light source change scenario.

[0025] Optionally, the preset light source change scenario includes: the light source power gradually increases from a preset power value.

[0026] Optionally, the method further includes:

[0027] When the illumination intensity of the light source does not reach the preset maximum illumination intensity, the first filter coefficient is increased.

[0028] Optionally, when the illumination intensity of the light source reaches a preset maximum illumination intensity, the preset corresponding relationship is obtained based on the recorded corresponding relationship.

[0029] Optionally, the accuracy indication parameter includes a ranging standard deviation.

[0030] Optionally, the target noise characteristic information includes real-time target noise characteristic information of the ambient noise acquired by the sensing device.

[0031] Optionally, the method further includes:

[0032] obtaining a histogram from the sensing device;

[0033] And after determining the target filter coefficient, filtering processing is performed on the histogram based on the target filter coefficient to obtain a processed histogram.

[0034] Optionally, the filtering the histogram based on the target filter coefficient to obtain a processed histogram includes:

[0035] The histogram is convolved based on the target filter coefficient to obtain a processed histogram.

[0036] According to a second aspect of the present application, a filter control device is provided, the device comprising:

[0037] An acquisition module is used to acquire target noise characteristic information of the ambient noise of the sensing device;

[0038] A determination module is used to determine a target filter coefficient for configuring a filter corresponding to the perception device based on the target noise characteristic information.

[0039] According to a third aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the filter control method described above is implemented.

[0040] According to a fourth aspect of the present application, a computer program product is provided, comprising a computer program, wherein the computer program implements the above filter control method when executed by a processor.

[0041] According to a fifth aspect of the present application, a filtering system is provided, comprising a processor and a memory, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to execute the steps of the filter control method as described in the first aspect.

[0042] According to a sixth aspect of the present application, a perception system is provided, comprising the above-mentioned filtering system.

[0043] The filter control method, apparatus, computer-readable storage medium, computer program product, filtering system, and perception system of the embodiments of the present application enable a perception device to determine the target filter coefficient of its filter based on target noise characteristic information of the ambient noise in its environment. Compared to the prior art that ignores the impact of ambient noise, the present application can use the target noise characteristic information of the ambient noise to determine the target filter coefficient of the filter, enabling flexible setting of the target filter coefficient to achieve the optimal filtering effect, thereby effectively improving the perception performance of the perception device.

[0044] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0046] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0047] Figure 1-1 It is the first schematic diagram of the related art;

[0048] Figure 1-2 is a second schematic diagram of the related art;

[0049] Figure 2-1 is a third schematic diagram of the related art;

[0050] Figure 2-2 is a fourth schematic diagram of the related art;

[0051] Figure 3 is a fifth schematic diagram of the related art;

[0052] Figure 4 is a filtering control flow chart provided in some embodiments of the present application;

[0053] Figure 5is a schematic diagram of a filter coefficient query process provided in some embodiments of the present application;

[0054] Figure 6 is a noise intensity-accuracy curve provided in some embodiments of the present application;

[0055] Figure 7 is a FIR intensity-accuracy curve provided in some embodiments of the present application;

[0056] Figure 8 is a schematic diagram of an example of filter coefficients with negative side lobes provided in some embodiments of the present application;

[0057] Figure 9 Schematic diagram of the convolution effect of a histogram with or without a negative sidelobe filter provided in some embodiments of the present application;

[0058] Figure 10 is a schematic diagram of ranging jitter under the influence of noise with and without a negative sidelobe filter provided in some embodiments of the present application;

[0059] Figure 11 This is a schematic diagram of obtaining a preset correspondence relationship provided in some embodiments of the present application;

[0060] Figure 12 is a schematic diagram of a fixed filter coefficient system provided in some embodiments of the present application;

[0061] Figure 13 is a schematic diagram of real-time adjustable filter coefficients provided in some embodiments of the present application;

[0062] Figure 14 is a schematic structural diagram of a filter control device provided in some embodiments of the present application;

[0063] Figure 15 Schematic diagram of the structure of the filtering system provided in some embodiments of the present application. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0065] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0066] In the description of this application, the word "for example" is used to mean "used as an example, illustration or illustration". Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any person skilled in the art to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes are not elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in this application.

[0067] Single-photon counting 3D imaging technology has enormous application value in biophoton imaging, faint target detection, and remote sensing mapping. While single-photon counting can improve detection sensitivity, its sensitivity to small numbers of photons can also significantly affect the LiDAR system's ranging accuracy and intensity measurements. Accuracy and intensity determine LiDAR's ability to accurately identify the location and properties of a target. Therefore, improving the ranging accuracy and intensity discrimination capabilities of SPAD-based LiDAR systems is crucial.

[0068] SPAD-based LiDARs require real-time processing of large amounts of data. FIR filters offer flexible design, high speed, and the ability to adjust filter coefficients in real time to achieve optimal filtering results. They effectively separate signals from ambient noise, improving LiDAR performance. Therefore, FIR filter design is a crucial cornerstone of LiDAR system signal processing.

[0069] In the related art, US20230176223A1 discloses a processing system for laser radar measurement, such as Figure 1-1 Schematic flow chart of the peak detection example and Figure 1-2A schematic diagram of an example of ambient noise estimation, primarily involving light detection and ranging systems. SPAD-based lidar improves ranging accuracy through the design and optimization of the optical measurement system. This is primarily accomplished by improving the system's ability to estimate ambient noise levels and its peak detection capabilities in the optical measurement system's data transmission link, including photodetectors or arithmetic logic circuits, saturation detection circuits, masking circuits, and peak detection circuits.

[0070] This solution's improvement in accuracy and intensity differentiation mainly relies on the optical measurement system link, and has high requirements for optical hardware. When the optical measurement system is determined, this solution does not further improve the accuracy and intensity differentiation capability of the lidar system through the signal domain in software, and the implementation cost is high. This solution directly removes the estimated environmental noise and does not adjust the system in real time according to the impact of environmental noise to meet high-precision indicators, which lacks flexibility.

[0071] CN110537124B discloses an accurate light detector measurement method for radar, such as Figure 2-1 The flowchart and Figure 2-2 Schematic diagram of the two-stage filtering scheme in . This scheme pre-designs several sets of matched filters based on different reflection signal curves. After obtaining the histogram data, the outputs of different matched filters are calculated and compared respectively. Finally, the maximum window method is used to improve the ranging accuracy.

[0072] The algorithm of this scheme has a large amount of computation and high complexity. Not only does it need to calculate multiple sets of matched filters after obtaining the histogram data, but it also requires cascading two layers of filters. In addition, this scheme does not consider the impact of environmental noise on the signal and its ranging accuracy. It cannot adapt the matched filter configuration that best meets the accuracy requirements according to the real-time environmental noise intensity, and it does not enhance the intensity differentiation capability on this basis.

[0073] US20200041651A1 discloses a system and method for improving the range resolution in a laser radar system, such as Figure 3 As shown in FIG, the scheme is based on the fact that changes in environmental noise will cause changes in radar pulse shape, and the matched filter is updated in real time to improve the radar ranging accuracy.

[0074] This solution does not have a specific matched filter design method to describe the relationship between pulse shape and matched filter, and does not mention the impact of environmental noise on lidar ranging, so there is no relevant strategy; this solution does not optimize the accuracy of the raw data histogram of the lidar system in the field of single photon counting technology.

[0075] In order to solve the above problems, the present application provides a filter control method, device, computer-readable storage medium, computer program product, filtering system and perception system, which aims to utilize a table of correspondences between different environmental noises and filter coefficients, so that when the hardware obtains the environmental noise intensity, it can quickly use the filter coefficients that meet the accuracy requirements, thereby realizing dynamic adjustment of the filter coefficients. Compared with the existing technology, the application realizes intensity differentiation while meeting the ranging accuracy, which can maximize the performance of the filter; at the same time, because it is directly processed in the signal domain, it has the characteristics of small amount of computation, fast processing speed, high stability, low error rate, and simple and easy implementation.

[0076] Specifically, the filter control method in the embodiment of the present application can be applied to a sensing device, which can be a laser radar or other sensors, without specific limitation.

[0077] The filter control method in the embodiment of the present application is as follows: Figure 4 As shown, the following steps may be included:

[0078] S10, obtaining target noise characteristic information of the ambient noise of the sensing device;

[0079] In this embodiment, the sensing device obtains target noise characteristic information of the ambient noise in its environment.

[0080] Specifically, for example, the sensing device extracts target noise feature information of the ambient noise corresponding to the sensing device based on the histogram.

[0081] For example, the sensing device can average the data in the histogram to obtain the noise characteristic parameters of the ambient noise corresponding to the sensing device, wherein the histogram can refer to Figure 1. The histogram can be generated based on the data collected by the sensor of the sensing device, and can refer to the existing technology, which will not be repeated here.

[0082] Optionally, the target noise characteristic information includes real-time target noise characteristic information of the ambient noise acquired by the sensing device.

[0083] In this embodiment, the sensing device can obtain real-time target noise characteristic information of the ambient noise in its environment, which is used to configure the corresponding target filter coefficient for the filter corresponding to the sensing device in real time.

[0084] In another embodiment, the sensing device may also store the acquired multiple noise characteristic information in a register, so that the historical target noise characteristic information can be read from the register later to configure the corresponding target filter coefficient for the filter corresponding to the sensing device.

[0085] In one embodiment, the target noise characteristic information includes target noise intensity.

[0086] In this embodiment, the target noise characteristic information may specifically include the target noise intensity S, and may also include other characteristic information, such as noise distribution, which will not be listed one by one.

[0087] S20: Determine a target filter coefficient for configuring a filter corresponding to the sensing device according to the target noise characteristic information.

[0088] In this embodiment, after acquiring the target noise characteristic information of the ambient noise, the perception device may determine the target filter coefficient for configuring the filter corresponding to the perception device according to the target noise characteristic information.

[0089] The filter in the sensing device in this embodiment may be a finite impulse response filter (PIR filter), and the corresponding target filter coefficient may include a negative sidelobe parameter.

[0090] Thus, in an embodiment of the present application, the perception device can determine the target filter coefficient of its filter based on the target noise characteristic information of the ambient noise in its environment. Compared to the prior art that ignores the impact of ambient noise, the present application can use the target noise characteristic information of the ambient noise to determine the target filter coefficient of the filter, realizing flexible setting of the target filter coefficient to achieve the optimal filtering effect, thereby effectively ensuring the perception performance of the perception device.

[0091] In one embodiment, in the above S20, “determining, according to the target noise characteristic information, a target filter coefficient for configuring a filter corresponding to the sensing device” may include:

[0092] S201 : Determine a target filter coefficient for configuring a filter corresponding to the sensing device according to a preset correspondence between noise intensity and filter coefficient and the target noise intensity.

[0093] It can be understood that in this embodiment, a preset correspondence between noise intensity and filter coefficient can be pre-constructed, so that after obtaining the target noise characteristic information of the ambient noise, the perception device can use the target noise characteristic information to query the above-mentioned preset correspondence and obtain the target filter coefficient corresponding to the target noise characteristic information.

[0094] In one embodiment, the preset correspondence includes multiple noise intensities. In the above S201, "determining the target filter coefficient for configuring the filter corresponding to the sensing device according to the preset correspondence between the noise intensity and the filter coefficient and the target noise intensity" may include:

[0095] S2011: If the target noise intensity exists among the multiple noise intensities, obtain a filter coefficient corresponding to the target noise intensity from the preset corresponding relationship to obtain a target filter coefficient for configuring a filter corresponding to the sensing device.

[0096] The preset corresponding relationship in this embodiment may specifically be a relationship table, which may include multiple noise intensities, wherein each noise intensity has a corresponding filter coefficient.

[0097] On this basis, the perception device can query the relationship table. If the target noise intensity exists in the table, the filter coefficient corresponding to the target noise intensity can be directly obtained from the relationship table as the target filter coefficient for configuring the filter corresponding to the perception device.

[0098] In one embodiment, the filter control method in the present application may further include:

[0099] S2011: If the target noise intensity does not exist among the multiple noise intensities, determine a first noise intensity from the multiple noise intensities, wherein the first noise intensity is higher than the target noise intensity;

[0100] S2012: Determine a filter coefficient corresponding to the first noise intensity in the preset corresponding relationship as a target filter coefficient.

[0101] In this embodiment, if the target noise intensity does not exist in the relationship table, a first noise intensity higher than the target noise intensity can be obtained from the relationship table, and the filter coefficient corresponding to the first noise intensity in the relationship table is used as the target filter coefficient for configuring the filter corresponding to the perception device.

[0102] In a specific embodiment, the first noise intensity is a minimum noise intensity that is higher than the target noise intensity among the multiple noise intensities.

[0103] For example, the sensing device can query the relationship table to find the value s1 that is closest to the noise intensity s read from the register. For example, if the read target noise intensity s is 20, and the corresponding relationship table T stores noise intensities of 10, 15, 25, and 40, then the sensing device can find the first noise intensity s1 that is closest to the read noise intensity value s in the relationship table T, which is 25, and use s1 to query the mapping to obtain the FIR configuration corresponding to the first noise intensity s1 (that is, the target filter coefficient in this embodiment).

[0104] In general, if Figure 5 The flowchart of the real-time FIR configuration task shown in FIG. 4 shows a process for configuring the corresponding target filter coefficients for the filter, which may at least include:

[0105] (1) Read the noise intensity register to read the target noise intensity;

[0106] (2) Read the table T of correspondence between noise intensity and FIR configuration, and determine whether the table stores a relationship corresponding to the target noise intensity; if so, go to (3) to find the corresponding FIR configuration (i.e., the target filter coefficient of the filter configuration in this embodiment); if not, go to (5) to find an available first noise intensity;

[0107] (3) Use the target noise intensity read from the register to query the noise intensity and filter coefficient correspondence table T to obtain the FIR configuration corresponding to the target noise intensity;

[0108] (4) Write the found FIR configuration into the FIR register;

[0109] (5) Find the first noise intensity in the relationship table T that is closest to the register read noise intensity. For example, if the read noise intensity is 20, and the correspondence table T stores the correspondences for noise intensity values ​​of 10, 15, 25, and 40, then find the first noise intensity in the correspondence table T that is closest to 25.

[0110] (6) Use the first noise intensity of similar value to query the relationship table T and obtain the FIR configuration corresponding to the first noise intensity.

[0111] In one embodiment, the preset correspondence is used to indicate the filter coefficients required by the filter under multiple noise intensities so that the sensing device meets a preset accuracy requirement.

[0112] It can be understood that, in this embodiment, Figure 6 As shown, Figure 6 The figure below shows the relationship between accuracy and noise intensity. The noise intensity can be read from the corresponding register. When other conditions remain unchanged, an increase in noise intensity increases the ranging standard deviation, which in turn decreases accuracy.

[0113] Another example Figure 7 As shown, Figure 7 Figure 2 is a diagram illustrating the relationship between accuracy and FIR strength. In this embodiment, the FIR negative sidelobe width can be used to characterize FIR strength. A wider negative sidelobe indicates a stronger FIR. When other conditions remain unchanged, increasing FIR strength reduces the ranging standard deviation (i.e., improves accuracy).

[0114] Combine Figure 6 and Figure 7Analysis shows that when the noise intensity increases, the ranging standard deviation will increase (i.e., the accuracy will decrease). At this time, it is necessary to increase the FIR intensity so that the ranging standard deviation does not increase (i.e., the accuracy does not decrease). Since the stronger the FIR, the more negative sidelobes there are, this will cause the echo intensity value to become smaller, making the subsequent algorithm based on intensity judgment more difficult. Therefore, when the noise intensity is reduced and the ranging standard deviation is reduced, the FIR intensity can be reduced so that the ranging standard deviation is maintained below the index K while the intensity algorithm has better performance, that is, considering that ranging accuracy and echo intensity are two important performance indicators of lidar, this application is committed to achieving intensity differentiation under the premise of meeting ranging accuracy, and realizing the joint design of ranging accuracy and echo intensity indicators. Compared with the prior art that only focuses on accuracy and intensity, this application provides real-time dynamic adjustment of the two, so that the performance is better.

[0115] In one embodiment, the first filter coefficients include negative sidelobe parameters.

[0116] like Figure 8 The example of the filter coefficient with negative side lobes is shown in FIG. 1 . The two left and right parts of the filter coefficient value that are less than 0 are negative side lobes, and the middle part that is greater than 0 is a positive peak.

[0117] like Figure 9 The convolution effect on the histogram using filter coefficients with negative sidelobes (left) and without negative sidelobes (right) is shown. It can be seen that the filter coefficients with negative sidelobes can make the rising edge of the first half peak steeper and closer to the original boundary of the histogram, thereby achieving higher accuracy requirements.

[0118] Another example Figure 10 As shown in the figure, the half-wave starting point jitter d1 of the filter without negative sidelobe is compared with the half-wave starting point jitter d2 of the filter with negative sidelobe under the same superposition of environmental noise intensity. It can be seen that under the same noise intensity, the ranging jitter of the negative sidelobe filter is smaller.

[0119] Based on the above analysis, in this embodiment, negative sidelobe parameters can be used as filter coefficients.

[0120] In a specific embodiment, the negative sidelobe parameter includes a negative sidelobe width.

[0121] In this embodiment, the negative sidelobe width may be used as the negative sidelobe parameter. In addition, the negative sidelobe area may also be used as the negative sidelobe parameter, and there is no specific limitation on this.

[0122] In one embodiment, the step of determining the preset corresponding relationship in the present application may include:

[0123] S30, configuring a first filter coefficient in the filter coefficients of the sensing device to be a preset value;

[0124] S40, when the sensing device is in a preset light source change scenario, if the accuracy indication parameter of the sensing device meets the preset accuracy requirement, recording the noise intensity of the environment in which the sensing device is located and the corresponding relationship between the filter coefficients to obtain the preset corresponding relationship;

[0125] S50, increase the first filter coefficient, return to execute the step of recording the noise intensity of the environment in which the perception device is located and the corresponding relationship of the filter coefficient when the accuracy indication parameter of the perception device meets the preset accuracy requirement when the perception device is in a preset light source change scenario.

[0126] In this embodiment, the preset value of the first filter coefficient may specifically be that the negative sidelobe width is 0, that is, there is no negative sidelobe.

[0127] like Figure 11 As shown, in this embodiment, determining the preset corresponding relationship may at least include:

[0128] (1) Obtain the accuracy requirement K (i.e., the preset accuracy requirement in this embodiment) and the maximum light intensity requirement L by developing a requirements document;

[0129] (2) configuring the FIR negative sidelobe width to 0, i.e., no negative sidelobe (i.e., the preset value in this embodiment);

[0130] (3) Use a laboratory light source to simulate sunlight noise. This light source should be similar to sunlight in composition and intensity. First, set the light source power to 0, that is, turn off the laboratory light source, collect data to test the accuracy under this condition, and gradually increase the light source power several times until the accuracy performance approaches the development document requirement K.

[0131] (4) Record the corresponding relationship between the currently used FIR configuration (i.e., the filter coefficients in this embodiment, represented by intensity, such as 0, i.e., no negative sidelobe) and the current register readout noise intensity S;

[0132] (5) Use an illuminance meter to confirm whether the light intensity of the light source has reached the development document requirement L. If not, execute (3) to increase the FIR negative sidelobe width and retest. If it reaches, execute (7) to record the results.

[0133] (6) Compared with the currently used FIR configuration, increase the negative sidelobe width and go to (3) for testing;

[0134] (7) When the light intensity reaches the development document requirement L, the correspondence between the multiple sets of filter coefficients and the noise intensity S obtained by executing (4) multiple times is recorded to obtain a table T of correspondence between noise intensity and filter coefficients. This table can represent the minimum FIR intensity (i.e., the minimum negative sidelobe width) that can be used for different noise intensity values ​​while meeting the development document accuracy requirement K.

[0135] In a specific embodiment, the preset light source change scenario includes: the light source power gradually increases from a preset power value.

[0136] In a specific embodiment, when the illumination intensity of the light source does not reach a preset maximum illumination intensity, the first filter coefficient is increased.

[0137] In a specific embodiment, when the illumination intensity of the light source reaches a preset maximum illumination intensity, the preset corresponding relationship is obtained based on the recorded corresponding relationship.

[0138] In a specific embodiment, the accuracy indication parameter includes a ranging standard deviation.

[0139] Therefore, in the embodiment of the present application, the noise intensity information is referred to in the process of designing the filter, the filter coefficient is determined according to the noise intensity, and the quantitative correspondence between the filter and the noise is realized, so that the filter coefficient adjusted in real time can meet the design requirements. In this way, the filter coefficient is adjusted in real time by looking up the table, which has the advantages of low computational complexity and fast operation speed.

[0140] In one embodiment, the filter control method in the present application may further include:

[0141] S60, obtaining a histogram from the sensing device;

[0142] S70 , after determining the target filter coefficient, performing filtering processing on the histogram based on the target filter coefficient to obtain a processed histogram.

[0143] It is understandable that if Figure 12 As shown, in the prior art, fixed filter coefficients are generally used directly. The filter coefficients in the system are not adjustable, so the filter coefficients are directly convolved with the histogram.

[0144] In this embodiment, if Figure 13 The filter coefficients shown in the figure are adjusted in real time according to the noise intensity, and the adjusted filter is then used for convolution with the histogram.

[0145] In a specific embodiment, in the above S70, “filtering the histogram based on the target filter coefficient to obtain a processed histogram” may include:

[0146] S701 : Perform convolution processing on the histogram based on the target filter coefficient to obtain a processed histogram.

[0147] Combine Figure 13 , the perception device can perform convolution processing on the histogram based on the target filter coefficient to obtain an optimized histogram with higher accuracy.

[0148] In general, compared with the prior art, this application has at least the following differences and effects:

[0149] (1) Dynamic adjustment;

[0150] The perception system of this application supports the function of adjusting the filter coefficient in real time according to the noise intensity. The hardware design satisfies the basic requirements of filter adjustment, and the algorithm design implements the filter adjustment function. The filter coefficient can be adjusted in real time, laying the foundation for indicator compatibility.

[0151] (2) Multi-indicator joint design;

[0152] Ranging accuracy and echo strength are two key performance indicators for lidar. This application aims to achieve intensity differentiation while maintaining ranging accuracy, enabling the joint design of ranging accuracy and echo strength. Compared to existing technologies that focus solely on accuracy and strength, this application provides real-time dynamic adjustment of both, resulting in superior performance.

[0153] (3) Quantitative design of FIR filter;

[0154] In the filter design process, this application refers to the noise intensity information and determines the filter coefficient according to the noise intensity. It also realizes the quantitative correspondence between the filter and the noise, so that the filter coefficient adjusted in real time can meet the design requirements.

[0155] (4) Low computational complexity;

[0156] The present application adjusts the filter in real time by looking up a table, which has the advantages of low computational complexity and high computational speed.

[0157] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times. The order of execution of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the steps or stages in other steps.

[0158] Based on the same inventive concept, the present application also provides a filter control device for implementing the filter control method involved in the above-mentioned embodiment in which the filter system is the execution subject. The implementation solution provided by this device is similar to the implementation solution described in the above-mentioned method. Therefore, the specific limitations in one or more filter control device embodiments provided below can be referred to the limitations of the filter control method involved in the embodiment in which the filter system is the execution subject above, and will not be repeated here.

[0159] In some embodiments, as Figure 14 As shown, a filter control device is provided, which can be integrated into a filter system, including:

[0160] An acquisition module 1001 is configured to acquire target noise characteristic information of the ambient noise of a sensing device;

[0161] The determination module 1002 is configured to determine a target filter coefficient for configuring a filter corresponding to the sensing device according to the target noise characteristic information.

[0162] Optionally, the target noise characteristic information includes target noise intensity.

[0163] Optionally, the determining module 1002 is further configured to:

[0164] According to the preset correspondence between noise intensity and filter coefficient and the target noise intensity, a target filter coefficient for configuring the filter corresponding to the sensing device is determined.

[0165] Optionally, the determining module 1002 is further configured to:

[0166] If the target noise intensity exists among the multiple noise intensities, a filter coefficient corresponding to the target noise intensity is obtained from the preset corresponding relationship to obtain the target filter coefficient for configuring the filter corresponding to the sensing device.

[0167] Optionally, the filter control device in the present application further includes:

[0168] a noise intensity determining module, configured to determine a first noise intensity from the multiple noise intensities if the target noise intensity does not exist among the multiple noise intensities, wherein the first noise intensity is higher than the target noise intensity;

[0169] The filter coefficient determination module is used to determine the filter coefficient corresponding to the first noise intensity in the preset corresponding relationship as the target filter coefficient.

[0170] Optionally, the first noise intensity is a minimum noise intensity that is higher than the target noise intensity among the multiple noise intensities.

[0171] Optionally, when the preset corresponding relationship is used to indicate the filter coefficients required by the filter under multiple noise intensities so that the perception device meets a preset accuracy requirement.

[0172] Optionally, the filter coefficient includes a first filter coefficient, and the larger the first filter coefficient is, the greater the filtering strength of the filter is, and the first filter coefficients in the filter coefficients corresponding to different noise intensities are different.

[0173] Optionally, the first filter coefficients include negative sidelobe parameters.

[0174] Optionally, the negative sidelobe parameter includes a negative sidelobe width.

[0175] Optionally, determining the preset corresponding relationship includes:

[0176] Configuring a first filter coefficient of a filter of the sensing device to be a preset value;

[0177] When the sensing device is in a preset light source change scenario, if the accuracy indication parameter of the sensing device meets the preset accuracy requirement, record the noise intensity of the environment in which the sensing device is located and the corresponding relationship between the filter coefficients to obtain the preset corresponding relationship;

[0178] Increase the first filter coefficient, and return to execute the step of recording the noise intensity of the environment in which the perception device is located and the corresponding relationship of the filter coefficient when the accuracy indication parameter of the perception device meets the preset accuracy requirement when the perception device is in a preset light source change scenario.

[0179] Optionally, the preset light source change scenario includes: the light source power gradually increases from a preset power value.

[0180] Optionally, the filter control device in the present application further includes:

[0181] When the illumination intensity of the light source does not reach the preset maximum illumination intensity, the first filter coefficient is increased.

[0182] Optionally, when the illumination intensity of the light source reaches a preset maximum illumination intensity, the preset corresponding relationship is obtained based on the recorded corresponding relationship.

[0183] Optionally, the accuracy indication parameter includes a ranging standard deviation.

[0184] Optionally, the target noise characteristic information includes real-time target noise characteristic information of the ambient noise acquired by the sensing device.

[0185] Optionally, the filter control device of the present application further includes:

[0186] a first histogram acquisition module, configured to acquire a histogram from the sensing device;

[0187] The second histogram acquisition module is used to, after determining the target filter coefficient, perform filtering processing on the histogram based on the target filter coefficient to obtain a processed histogram.

[0188] Optionally, the histogram second acquisition module is further configured to:

[0189] The histogram is convolved based on the target filter coefficient to obtain a processed histogram.

[0190] Each module in each of the above devices can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the above modules can be embedded in or independent of the processor in the control device in hardware form, or can be stored in the memory of the filtering system in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0191] In some embodiments, a filtering system is provided, whose internal structure diagram can be as follows: Figure 15As shown. The filtering system includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the filtering system is used to provide computing and control capabilities. The memory of the filtering system includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the filtering system is used to exchange information between the processor and an external device. The communication interface of the filtering system is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a filter control method is implemented.

[0192] Optionally, the filtering system further includes a display unit. The display unit of the filtering system is used to produce a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display or an electronic ink display screen. The input device of the filtering system can be a touch layer covering the display screen, a key, trackball, or touchpad provided on the filtering system housing, or an external keyboard, touchpad, or mouse.

[0193] Those skilled in the art will understand that Figure 15 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present application, and does not constitute a limitation on the control device to which the scheme of the present application is applied. The specific control device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0194] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. For purposes of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The processors involved in the various embodiments provided herein may be general-purpose processors, central processing units (CPUs), graphics processors (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like, without limitation thereto.

[0195] Correspondingly, an embodiment of the present application also provides a filtering system, which can be a terminal device or a server.

[0196] like Figure 15 As shown, Figure 15 This is a schematic diagram of the structure of the filtering system provided in an embodiment of the present application. The filtering system 1000 includes a processor 1001 having one or more processing cores, a memory 1002 having one or more computer-readable storage media, and a computer program stored in the memory 1002 and executable on the processor. The processor 1001 is electrically connected to the memory 1002. Those skilled in the art will appreciate that the filtering system structure shown in the figure does not constitute a limitation on the filtering system, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0197] Processor 1001 is the control center of filter system 1000. It connects various parts of filter system 1000 using various interfaces and lines. By running or loading software programs and / or units stored in memory 1002 and calling data stored in memory 1002, it executes various functions of filter system 1000 and processes data, thereby monitoring filter system 1000 as a whole. Processor 1001 can be a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), etc., and can implement or execute the various methods, steps, and logic blocks disclosed in the embodiments of this application.

[0198] In the embodiment of the present application, the processor 1001 in the filtering system 1000 loads instructions corresponding to one or more application processes into the memory 1002 according to the following steps, and the processor 1001 runs the application stored in the memory 1002, thereby implementing various functions, such as: compensating the target steering wheel angle of the vehicle based on the lateral error and speed of the vehicle to obtain a compensated steering wheel angle; and controlling the steering of the vehicle based on the compensated steering wheel angle. The specific implementation of each of the above operations can be found in the previous embodiments and will not be repeated here.

[0199] Alternatively, as Figure 15 As shown, the filtering system 1000 further includes: a touch screen 1003, a radio frequency circuit 1004, an audio circuit 1005, an input unit 1006, and a power supply 1007. Among them, the processor 1001 is electrically connected to the touch screen 1003, the radio frequency circuit 1004, the audio circuit 1005, the input unit 1006, and the power supply 1007 respectively. It will be understood by those skilled in the art that Figure 15 The filter system structure shown in the figure does not constitute a limitation to the filter system, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0200] The touch screen 1003 can be used for displaying a graphical user interface and receiving the operation instructions generated by the user acting on the graphical user interface. The touch screen 1003 can include a display panel and a touch panel. Among them, the display panel can be used for displaying the information input by the user or the information provided to the user and various graphical user interfaces of the filtering system, and these graphical user interfaces can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. The touch panel can be used for collecting the touch operation of the user thereon or near it (such as the user uses any suitable object or accessory such as a finger, a stylus on the touch panel or near the touch panel) and generates corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel can include two parts: a touch detection device and a touch filtering system. Among them, the touch detection device detects the user's touch direction, detects the signal caused by the touch operation, and transmits the signal to the touch filtering system; the touch filtering system receives the touch information from the touch detection device, converts it into touch point coordinates, and then sends it to the processor 1001, and can receive commands sent by the processor 1001 and execute them. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1001 to determine the type of touch event. The processor 1001 then provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 1003 to realize input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize input and output functions. That is, the touch display screen 1003 can also be used as part of the input unit 1006 to realize the input function.

[0201] The RF circuit 1004 may be used to transmit and receive RF signals, thereby establishing wireless communication with a network device or other filtering system through wireless communication, and transmitting and receiving signals between the network device or other filtering system.

[0202] Audio circuit 1005 can be used to provide an audio interface between the user and the filtering system via a speaker and microphone. Audio circuit 1005 can convert received audio data into electrical signals and transmit them to the speaker, which then converts them into sound signals for output. The microphone, on the other hand, converts collected sound signals into electrical signals, which are received by audio circuit 1005 and converted into audio data. This audio data is then output to processor 1001 for processing, then sent to another filtering system via RF circuit 1004, or to memory 1002 for further processing. Audio circuit 1005 may also include an earphone jack to provide communication between external headphones and the filtering system.

[0203] The input unit 1006 may be configured to receive input digital, character information, or user feature information (such as fingerprint, iris, or facial information), and generate keyboard, mouse, joystick, optical, or trackball signal input related to user settings and function control.

[0204] Power supply 1007 is used to supply power to the various components of filtering system 1000. Optionally, power supply 1007 can be logically connected to processor 1001 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. Power supply 1007 can also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0205] although Figure 15 Not shown in the figure, the filtering system 1000 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0206] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0207] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0208] To this end, an embodiment of the present application provides a computer-readable storage medium storing a plurality of computer programs, which can be loaded by a processor to execute any of the filter control methods provided in the embodiments of the present application. The computer program can execute the following steps of the filter control method:

[0209] Acquire target noise characteristic information of the ambient noise of the sensing device;

[0210] A target filter coefficient for configuring a filter corresponding to the sensing device is determined according to the target noise characteristic information.

[0211] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0212] The computer-readable storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0213] Since the computer program stored in the computer-readable storage medium can execute any filter control method provided in the embodiments of the present application, the beneficial effects that can be achieved by any filter control method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0214] According to one aspect of the present application, a computer program product or computer program is also provided. The computer program product or computer program includes computer instructions stored in a computer-readable storage medium. A processor of a filtering system reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the filtering system to perform the methods provided in various optional implementations of the above embodiments.

[0215] In the above-described embodiments of the filter control device, computer-readable storage medium, computer program product, filtering system, and sensing system, the descriptions of each embodiment have different focuses. For portions not described in detail in a particular embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes and beneficial effects of the filter control device, computer-readable storage medium, computer program product, filtering system, sensing system, and their corresponding units described above can be referred to in the description of the filter control method in the above embodiments, and the details will not be repeated here.

[0216] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0217] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of each embodiment in the embodiments of the present application have different focuses, for parts that are not described in detail in a certain embodiment, please refer to the relevant embodiments of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A filter control method, characterized in that: include; Acquire target noise characteristic information of the ambient noise of the sensing device; A target filter coefficient for configuring a filter corresponding to the sensing device is determined according to the target noise characteristic information.

2. The filter control method according to claim 1, characterized in that: The target noise characteristic information includes target noise intensity.

3. The filter control method according to claim 2, characterized in that: The determining, based on the target noise characteristic information, a target filter coefficient for configuring a filter corresponding to the sensing device includes: According to the preset correspondence between noise intensity and filter coefficient and the target noise intensity, a target filter coefficient for configuring the filter corresponding to the sensing device is determined.

4. The filter control method according to claim 3, characterized in that: The preset correspondence relationship includes a plurality of noise intensities, and determining a target filter coefficient for configuring a filter corresponding to the sensing device according to the preset correspondence relationship between the noise intensity and the filter coefficient and the target noise intensity includes: If the target noise intensity exists among the multiple noise intensities, a filter coefficient corresponding to the target noise intensity is obtained from the preset corresponding relationship to obtain the target filter coefficient for configuring the filter corresponding to the sensing device.

5. The filter control method according to claim 4, characterized in that: The method further comprises: If the target noise intensity does not exist in the multiple noise intensities, determining a first noise intensity from the multiple noise intensities, wherein the first noise intensity is higher than the target noise intensity; Determine a filter coefficient corresponding to the first noise intensity in the preset corresponding relationship as a target filter coefficient.

6. The filter control method according to claim 5, characterized in that: The first noise intensity is a minimum noise intensity that is higher than the target noise intensity among the multiple noise intensities.

7. The filter control method according to claim 3, characterized in that: The preset corresponding relationship is used to indicate the filter coefficients required for the filter under multiple noise intensities when the sensing device meets the preset accuracy requirement.

8. The filter control method according to claim 7, characterized in that: The filter coefficients include a first filter coefficient. The larger the first filter coefficient is, the greater the filtering strength of the filter is. The first filter coefficients are different in the filter coefficients corresponding to different noise intensities.

9. The filter control method according to claim 8, characterized in that: The first filter coefficients include negative sidelobe parameters.

10. The filter control method according to claim 9, characterized in that: The negative sidelobe parameter includes a negative sidelobe width.

11. The filter control method according to claim 8, characterized in that: The step of determining the preset corresponding relationship includes: Configuring a first filter coefficient of a filter of the sensing device to be a preset value; When the sensing device is in a preset light source change scenario, if the accuracy indication parameter of the sensing device meets the preset accuracy requirement, record the noise intensity of the environment in which the sensing device is located and the corresponding relationship between the filter coefficients to obtain the preset corresponding relationship; Increase the first filter coefficient, and return to execute the step of recording the noise intensity of the environment in which the perception device is located and the corresponding relationship of the filter coefficient when the accuracy indication parameter of the perception device meets the preset accuracy requirement when the perception device is in a preset light source change scenario.

12. The filter control method according to claim 11, characterized in that: The preset light source change scenario includes: the light source power gradually increases from a preset power value.

13. The filter control method according to claim 12, characterized in that: The method further comprises: When the illumination intensity of the light source does not reach the preset maximum illumination intensity, the first filter coefficient is increased.

14. The filter control method according to claim 12, characterized in that: When the illumination intensity of the light source reaches a preset maximum illumination intensity, the preset corresponding relationship is obtained based on the recorded corresponding relationship.

15. The filter control method according to claim 11, characterized in that: The accuracy indication parameter includes a ranging standard deviation.

16. The filter control method according to any one of claims 1 to 15, characterized in that: described The target noise characteristic information includes real-time target noise characteristic information of the ambient noise acquired by the sensing device.

17. The filter control method according to any one of claims 1 to 15, characterized in that: The method further comprises: obtaining a histogram from the sensing device; And after determining the target filter coefficient, filtering processing is performed on the histogram based on the target filter coefficient to obtain a processed histogram.

18. The filter control method according to claim 17, characterized in that: The filtering process on the histogram based on the target filter coefficient to obtain a processed histogram includes: The histogram is convolved based on the target filter coefficient to obtain a processed histogram.

19. A filter control device, characterized in that: The device comprises: An acquisition module is used to acquire target noise characteristic information of the ambient noise of the sensing device; A determination module is used to determine a target filter coefficient for configuring a filter corresponding to the perception device based on the target noise characteristic information.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the filter control method according to any one of claims 1 to 18 is implemented.

21. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the filter control method according to any one of claims 1 to 18 is implemented.

22. A filtering system, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the filter control method according to any one of claims 1 to 17.

23. A perception system, characterized in that: Comprising the filtering system of claim 22.

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