Automatic driving control method and device based on laser ranging, vehicle and medium

Abstract

The invention relates to the technical field of automatic driving, in particular to an automatic driving control method and device based on laser ranging, a vehicle and a medium, and the method comprises the steps: obtaining a current automatic driving working condition of the vehicle, matching a target ranging mode of a mode-locked pulse laser and at least one ranging target of a current environment, and generating a measurement action of at least one distance measurement target according to the target distance measurement mode, executing the measurement action by using the double-optical comb pulse laser output by the mode-locked pulse laser until the current distance data of the at least one distance measurement target is obtained, exiting the target distance measurement mode, and controlling the vehicle to run in the current automatic driving working condition according to the current distance data. According to the embodiment of the invention, the distance measurement task of the current working condition of the vehicle can be executed by applying the double-optical-comb pulse laser output by the mode-locked pulse laser, so that the target distance of the vehicle is accurately measured, the accuracy and reliability of laser data are improved, and the driving safety of a user is further guaranteed.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to an autonomous driving control method, device, vehicle and medium based on laser ranging. Background Technology

[0002] With the continuous development of autonomous driving technology, the intelligent safety functions of vehicles are also becoming more comprehensive. The distance between vehicles on the road is one of the important factors in maintaining traffic safety, and vehicle safe distance measurement technology can effectively reduce traffic accidents and improve driving safety.

[0003] Among related technologies, common vehicle-to-vehicle distance measurement methods include laser, ultrasonic, radar, infrared, and vision. For example, patent CN117031483A can measure the distance between vehicles by setting up a laser sensor, which can be used to realize lane detection in the current environment.

[0004] However, due to the functional limitations of existing lidar sensors, the sensitivity and processing efficiency of sensors are low when facing complex multi-target conditions, resulting in reduced accuracy of laser ranging results and the inability to achieve high temporal resolution laser detection, which reduces vehicle safety and urgently needs to be addressed. Summary of the Invention

[0005] This application provides an autonomous driving control method, device, vehicle, and medium based on laser ranging, to solve the problems in related technologies, such as the functional limitations of existing lidar sensors, the low sensitivity and processing efficiency of sensors in complex multi-target conditions, which leads to reduced accuracy of laser ranging results, inability to achieve high temporal resolution laser detection, and decreased vehicle safety.

[0006] The first aspect of this application provides an autonomous driving control method based on laser ranging, applied to a mode-locked pulsed laser installed in a vehicle. The method includes the following steps: acquiring the current autonomous driving condition of the vehicle; matching the target ranging mode of the mode-locked pulsed laser with at least one ranging target in the current environment based on the current autonomous driving condition; generating a measurement action for the at least one ranging target according to the target ranging mode; executing the measurement action using a dual-comb pulsed laser output from the mode-locked pulsed laser until the current distance data of the at least one ranging target is obtained; exiting the target ranging mode; and controlling the vehicle to operate under the current autonomous driving condition based on the current distance data.

[0007] Based on the above technical means, the embodiments of this application can use the dual-comb pulsed laser output by a mode-locked pulsed laser to perform the ranging task of the vehicle under the current working condition. The periodic pulses can realize the time-of-flight ranging over a large range, and can obtain high-precision interference information by utilizing the coherent spectrum in the frequency domain, thereby completing the accurate measurement of the distance between the vehicle and the target, improving the accuracy and reliability of the laser data, and further ensuring the driving safety of the user.

[0008] Optionally, in one embodiment of this application, the step of performing the measurement action using the dual-comb pulsed laser output by the mode-locked pulsed laser until the current distance data of the at least one ranging target is obtained includes: detecting the relative positional relationship between the at least one ranging target and the mode-locked pulsed laser; and obtaining the current distance data based on the relative positional relationship.

[0009] Based on the above technical means, the embodiments of this application can detect the relative positional relationship between the at least one ranging target and the mode-locked pulsed laser, obtain the current distance data based on the relative positional relationship, and improve the reliability and accuracy of the ranging data by distinguishing the relative positional relationship between the ranging target and the mode-locked pulsed laser.

[0010] Optionally, in one embodiment of this application, obtaining the current distance data based on the relative positional relationship includes: obtaining the current distance data based on the detection signal of the dual-comb pulsed laser when the relative positional relationship satisfies the preset non-ambiguity condition of the mode-locked pulsed laser; and calculating the distance difference between the reference arm and the signal arm of the dual-comb pulsed laser when the relative positional relationship does not satisfy the preset non-ambiguity condition, and using the distance difference to confirm the current distance data.

[0011] Based on the above technical means, the embodiments of this application can obtain the current distance data based on the satisfaction of preset fuzzy conditions, and obtain high-precision target object distance data by performing targeted distance detection for different measurement scenarios, thereby meeting the requirements of the autonomous driving system for high-precision ranging.

[0012] Optionally, in one embodiment of this application, calculating the distance difference between the reference arm and the signal arm of the dual-comb pulsed laser includes: obtaining the fiber refractive index of the mode-locked pulsed laser and the difference between the actual repetition rate and the repetition rate of the dual-comb pulsed laser; and calculating the distance difference based on the fiber refractive index, the actual repetition rate, and the difference between the repetition rate.

[0013] Based on the above technical means, the embodiments of this application can obtain the fiber refractive index of the mode-locked pulsed laser and the difference between the actual repetition rate and repetition rate of the dual-comb pulsed laser, so as to calculate the distance difference between the reference arm and the signal arm. By calculating the distance difference for calibration, the ambiguity of the ranging data can be automatically corrected, reducing manual intervention and improving the reliability of the data.

[0014] Optionally, in one embodiment of this application, the step of generating the measurement action of the at least one ranging target according to the target ranging mode and executing the measurement action using the dual-comb pulsed laser output by the mode-locked pulsed laser includes: determining whether the target ranging mode contains at least one update instruction; if the target ranging mode contains the at least one update instruction, generating an update measurement action of the at least one ranging target based on the at least one update instruction, and executing the update measurement action based on a preset update rate of the mode-locked pulsed laser.

[0015] Based on the above technical means, the embodiments of this application can determine whether the target ranging mode contains at least one update instruction, and generate an update measurement action for at least one ranging target based on the at least one update instruction. The update measurement action is executed based on the preset update rate of the mode-locked pulse laser. By generating and executing the measurement action in real time according to the update instruction, the latest ranging data can be obtained in a timely manner to adapt to changes in the target state.

[0016] A second aspect of this application provides an autonomous driving control device based on laser ranging, applied to a mode-locked pulsed laser installed in a vehicle. The device includes: an acquisition module for acquiring the current autonomous driving condition of the vehicle; a matching module for matching the target ranging mode of the mode-locked pulsed laser with at least one ranging target in the current environment based on the current autonomous driving condition; and a control module for generating measurement actions for the at least one ranging target according to the target ranging mode, executing the measurement actions using a dual-comb pulsed laser output from the mode-locked pulsed laser until current distance data of the at least one ranging target is obtained, exiting the target ranging mode, and controlling the vehicle to operate under the current autonomous driving condition based on the current distance data.

[0017] Optionally, in one embodiment of this application, the control module includes: a detection unit, which detects the relative positional relationship between the at least one ranging target and the mode-locked pulsed laser; and an acquisition unit, which obtains the current distance data based on the relative positional relationship.

[0018] Optionally, in one embodiment of this application, the acquisition unit is specifically used to: obtain the current distance data based on the detection signal of the dual-comb pulsed laser when the relative positional relationship satisfies the preset non-ambiguity condition of the mode-locked pulsed laser; and calculate the distance difference between the reference arm and the signal arm of the dual-comb pulsed laser when the relative positional relationship does not satisfy the preset non-ambiguity condition, and use the distance difference to confirm the current distance data.

[0019] Optionally, in one embodiment of this application, calculating the distance difference between the reference arm and the signal arm of the dual-comb pulsed laser includes: obtaining the fiber refractive index of the mode-locked pulsed laser and the difference between the actual repetition rate and the repetition rate of the dual-comb pulsed laser; and calculating the distance difference based on the fiber refractive index, the actual repetition rate, and the difference between the repetition rate.

[0020] Optionally, in one embodiment of this application, the control module includes: a judgment unit, which includes judging whether the target ranging mode contains at least one update instruction; and an update unit, which includes, when the target ranging mode contains the at least one update instruction, generating an update measurement action for the at least one ranging target based on the at least one update instruction, and executing the update measurement action based on a preset update rate of the mode-locked pulse laser.

[0021] A third aspect of this application provides a mode-locked pulsed laser, characterized in that it is used to implement the above-described laser ranging-based autonomous driving control method.

[0022] A fourth aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the laser ranging-based autonomous driving control method as described in the above embodiments.

[0023] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the laser ranging-based autonomous driving control method described above.

[0024] A sixth aspect of this application provides a computer program that, when executed, implements the laser ranging-based autonomous driving control method described above.

[0025] The beneficial effects of this application are:

[0026] (1) By using the dual-comb pulsed laser output by the mode-locked pulsed laser, the distance measurement task of the vehicle under the current working condition is performed. The time-of-flight distance measurement over a large range is achieved through periodic pulses, and high-precision interference information can be obtained by using the coherent spectrum in the frequency domain. This completes the accurate measurement of the distance between the vehicle and the target, improves the accuracy and reliability of the laser data, and further ensures the driving safety of the user.

[0027] (2) Detect the relative positional relationship between the at least one ranging target and the mode-locked pulse laser, obtain the current distance data based on the relative positional relationship, and improve the reliability and accuracy of the ranging data by distinguishing the relative positional relationship between the ranging target and the mode-locked pulse laser.

[0028] (3) Obtain the difference between the refractive index of the fiber of the mode-locked pulsed laser and the actual repetition rate and repetition rate of the dual-comb pulsed laser to calculate the distance difference between the reference arm and the signal arm. By calculating the distance difference for calibration, the ambiguity of the ranging data can be automatically corrected, reducing manual intervention and improving the reliability of the data.

[0029] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0030] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0031] Figure 1 This is a flowchart of an autonomous driving control method based on laser ranging provided according to an embodiment of this application;

[0032] Figure 2 This is a schematic diagram of the components of a mode-locked pulsed laser according to an embodiment of this application;

[0033] Figure 3 This is a schematic diagram of the laser output for vehicle safety distance measurement and detection according to an embodiment of this application;

[0034] Figure 4 This is a schematic diagram of the mode-locked laser detection process according to an embodiment of this application;

[0035] Figure 5 This is a schematic diagram of a mode-locked laser architecture according to an embodiment of this application;

[0036] Figure 6 This is a schematic diagram of the structure of an automatic driving control device based on laser ranging according to an embodiment of this application;

[0037] Figure 7 This is a structural schematic diagram of a vehicle according to an embodiment of this application.

[0038] Among them, 10-autonomous driving control device based on laser ranging; 100-acquisition module, 200-matching module and 300-control module; 701-memory, 702-processor and 703-communication interface. Detailed Implementation

[0039] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0040] The following description, with reference to the accompanying drawings, outlines an autonomous driving control method, apparatus, vehicle, and medium based on laser ranging, representing embodiments of this application. Addressing the limitations of existing lidar sensors mentioned in the background section, particularly their low sensitivity and processing efficiency in complex multi-target scenarios, which reduces the accuracy of laser ranging results and hinders high-temporal-resolution laser detection, thus compromising vehicle safety, this application provides an autonomous driving control method based on laser ranging. This method utilizes a dual-comb pulsed laser output from a mode-locked pulsed laser to perform ranging tasks under the vehicle's current operating conditions. Periodic pulses enable large-scale time-of-flight ranging, and high-precision interference information is obtained using coherent spectral lines in the frequency domain. This allows for accurate measurement of target distances, improving the accuracy and reliability of laser data and further ensuring user driving safety. Therefore, this method solves the problems in related technologies where existing lidar sensors suffer from functional limitations, resulting in low sensitivity and processing efficiency in complex multi-target scenarios, leading to reduced accuracy of laser ranging results, inability to achieve high-temporal-resolution laser detection, and consequently, decreased vehicle safety.

[0041] Specifically, Figure 1 This is a schematic flowchart of an autonomous driving control method based on laser ranging provided in an embodiment of this application.

[0042] like Figure 1 As shown, this laser ranging-based autonomous driving control method is applied to a mode-locked pulse laser installed in a vehicle. The method includes the following steps:

[0043] In step S101, the current autonomous driving status of the vehicle is obtained.

[0044] It is understood that, in the embodiments of this application, data such as the vehicle's current speed, steering angle, and braking status can be obtained through the vehicle's internal systems and sensors. By analyzing and processing the sensor data and vehicle data, the current autonomous driving condition of the vehicle can be identified.

[0045] In step S102, based on the current autonomous driving conditions, the target ranging mode of the mode-locked pulsed laser is matched with at least one ranging target in the current environment.

[0046] It is understood that, in the embodiments of this application, the sensor detection range and sensor detection data required for the current autonomous driving condition of the vehicle obtained in the above steps can be confirmed to obtain the target ranging mode of the mode-locked pulse laser, and the target type that needs to be measured can be confirmed to obtain at least one ranging target in the current environment.

[0047] Specifically, mode-locked pulsed lasers are a method for realizing ultrashort pulses, which are characterized by high peak power, high bandwidth, and high time resolution. Among them, passively mode-locked pulsed fiber lasers do not require the addition of active modulation devices in the laser cavity, resulting in a simple structure and low cost, which is conducive to realizing all-fiber lasers. They can generate femtosecond-level pulsed lasers. Femtosecond lasers can not only use periodic pulses in the time domain to achieve time-of-flight ranging over a large area, but also obtain high-precision interference information using coherent spectral lines in the frequency domain.

[0048] For example, such as Figure 2 The diagram shows a schematic of the components of a mode-locked pulsed laser according to an embodiment of this application. The laser includes an approximately 1-meter-long erbium-doped fiber, an integrated 980 / 1550nm wavelength division multiplexer, a 90 / 10 coupler and isolator, a single-walled carbon nanotube saturable absorber, and a polarization controller. The erbium-doped fiber is used as the gain medium and is forward-pumped by a 974nm pump diode integrated through the wavelength division multiplexer, coupler, and isolator. To obtain multifunctional pulsed output, the linear cavity birefringence is tuned by the polarization controller, which consists of an equivalent half-wave plate and two equivalent quarter-wave plates. The fiber on the side integrating the wavelength division multiplexer, coupler, and isolator is a single-mode fiber.

[0049] Among them, the saturable absorber is an optical device made of single-walled carbon nanotubes using optical deposition. The saturable absorber is used to generate mode-locked lasers. Erbium-doped fiber is used as the gain medium. Erbium-doped ions in the erbium-doped fiber generate population inversion under the excitation of the pump source, and under the induction of signal light, stimulated emission amplification is achieved to generate gain. Polarization-maintaining fiber is used to induce linear birefringence of the intracavity pulsed laser, so that the mode-locked fiber laser outputs dual-frequency femtosecond pulsed laser in a dispersive state. The generation of dual-frequency femtosecond pulsed laser is due to the polarization mode dispersion of the polarization-maintaining fiber.

[0050] In step S103, a measurement action for at least one ranging target is generated according to the target ranging mode. The measurement action is performed using the dual-comb pulse laser output by the mode-locked pulse laser until the current distance data of at least one ranging target is obtained. The target ranging mode is then exited, and the vehicle is controlled to operate under the current autonomous driving condition based on the current distance data.

[0051] It is understood that, in the embodiments of this application, a suitable measurement action for the target object can be selected according to the actual needs of the target ranging mode. The ranging action is performed by using the dual-comb pulse laser output by the mode-locked pulse laser. The target object is illuminated by the laser and the reflected light signal is received. The distance data of the target object is calculated. After completing the target ranging task, the target ranging mode is exited. The obtained current distance data is used to supply the sensor data required for the current autonomous driving condition of the vehicle.

[0052] Specifically, mode-locked pulsed lasers can generate femtosecond-level dual-comb pulses. Introducing polarization-maintaining fibers induces linear birefringence within the laser cavity, allowing the laser to operate under anomalous dispersion conditions and output dual-frequency femtosecond pulsed lasers. These pulses feature high peak power, wide bandwidth, and high time resolution, yielding pulses with different repetition frequencies (f...). r1 and f r2 By studying and controlling the stability of the repetition frequency difference (RFD), a dual-comb light source with good RFD stability can be generated to meet the requirements of vehicle safety distance measurement. Simultaneously, to generate stable dual-comb femtosecond-level pulses, the dual-comb ranging principle can be used to improve the update speed, unambiguous range, and ranging accuracy of distance measurement. Furthermore, the function of vehicle safety distance measurement can be further improved by studying the factors affecting the ranging results. Moreover, by using alternating sampling with dual combs, based on the vernier effect, alternating sampling eliminates the need for manual signal switching and the effect of local pulses, enabling rapid real-time measurement with a large ambiguity range and expansion of the unambiguous range.

[0053] For example, such as Figure 3The diagram shown is a schematic representation of laser transmission for vehicle safety distance measurement and detection according to an embodiment of this application. A mode-locked fiber laser serves as the light source, a polarization controller changes the polarization state in the system, a polarization beam splitter divides the beam into horizontal and vertical polarizations, separating them into two different propagation directions, a coupler is used for beam splitting, a single-mode fiber is used for the optical delay line, and a bandpass filter selectively amplifies or suppresses the signal, achieving a filtering effect. A dual-frequency laser can be emitted by a mode-locked pulsed laser. The dual-frequency laser is received by a polarization controller 1, which adjusts the polarization state of the optical signal to obtain an adjusted polarized beam. This beam then enters a polarization beam splitter to obtain a local oscillator beam and a signal beam, respectively. The local oscillator beam enters a coupler 3, and the signal beam enters a coupler 1. The signal beam is split after passing through a coupler 1. The split signal beam 1 is then adjusted in polarization by a polarization controller 2 and enters a coupler 2 after a certain time delay. The split signal beam 2 enters a polarization controller 3, which adjusts its polarization state as a reference beam. It then directly enters a coupler 2 to merge the two beams. The merged laser enters a coupler 3 and interferes with the signal beam. A bandpass filter is used to improve the signal quality, making the signal clearer and more stable, and the distance between the vehicle behind and the vehicle in front is measured and calculated.

[0054] Optionally, in one embodiment of this application, a measurement action is performed using a dual-comb pulsed laser output from a mode-locked pulsed laser until the current distance data of at least one ranging target is obtained, including: detecting the relative positional relationship between at least one ranging target and the mode-locked pulsed laser; and obtaining the current distance data based on the relative positional relationship.

[0055] Optionally, in one embodiment of this application, obtaining the current distance data based on the relative positional relationship includes: obtaining the current distance data based on the detection signal of the dual-comb pulsed laser when the relative positional relationship meets the preset non-ambiguity condition of the mode-locked pulsed laser; and calculating the distance difference between the reference arm and the signal arm of the dual-comb pulsed laser when the relative positional relationship does not meet the preset non-ambiguity condition, and using the distance difference to confirm the current distance data.

[0056] It should be noted that the preset non-fuzzy conditions can be set by those skilled in the art according to the actual situation, and no specific limitations are made here.

[0057] Based on the two embodiments described above, in actual execution, if the relative positional relationship confirms that the ranging target is within the ambiguity range detected by the mode-locked pulsed laser, i.e., within the high-precision detection range, then the relative positional relationship is considered to meet the preset unambiguous condition. When the relative positional relationship meets the preset unambiguous condition of the mode-locked pulsed laser, the laser output should be able to clearly identify the target and return reliable distance data. If the relative positional relationship does not meet the preset unambiguous condition, since clear identification of the ranging target cannot be guaranteed, compensation and calibration can be performed using the distance difference between the reference arm and the signal arm to confirm the current distance data.

[0058] Specifically, the distance within a fuzzy range can be expressed using the following formula:

[0059]

[0060] Where c is the vacuum speed of light, f r This is a repetition frequency.

[0061] This application can obtain the current distance data by distinguishing the relative positional relationship between the ranging target and the mode-locked pulsed laser, based on the satisfaction of preset fuzzy conditions. This allows for flexible adaptation to different ranging scenarios and targeted distance detection for different scenarios, thereby improving the reliability and accuracy of ranging data and obtaining high-precision target object distance data to meet the requirements of autonomous driving systems for high-precision ranging.

[0062] Optionally, in one embodiment of this application, calculating the distance difference between the reference arm and the signal arm of a dual-comb pulsed laser includes: obtaining the fiber refractive index of the mode-locked pulsed laser and the difference between the actual repetition rate and the repetition rate of the dual-comb pulsed laser; and calculating the distance difference based on the fiber refractive index, the difference between the actual repetition rate and the repetition rate.

[0063] In practical applications, a mode-locked pulsed laser device with high repetition rate difference can be constructed using polarization multiplexing technology based on carbon nanotube saturable absorbers. The repetition rate and repetition rate difference can be changed by adjusting parameters within the cavity. Polarization multiplexing technology utilizes the polarization dimension of light, ensuring that different polarizations do not interfere with each other, thus generating multiple pulses. The high repetition rate difference in polarization-multiplexed fiber lasers is caused by polarization mode dispersion. During light pulse propagation, birefringence splits the light into two polarizations with perpendicular vibration directions. The different refractive indices lead to different velocities, resulting in asynchronous repetition rate differences in the time domain and corresponding frequency domains—this is polarization mode dispersion. The repetition rate difference Δf of the polarization-multiplexed double-comb pulse caused by polarization mode dispersion is calculated. r1 It can be expressed by the following formula:

[0064] Δf r1 =f r 2 ΔnL0 / c,

[0065] Among them, f r The repetition rate is L0, the effective length of the polarization-maintaining fiber is L0, the speed of light is c, and Δn is the birefringence in the PMF (Positive Matrix Factorization) model, approximately 4 × 10⁻⁶. -4 The determination of the above parameters can estimate the repetition rate difference of the laser. When the ranging target exceeds the ambiguity range, i.e., when the relative positional relationship does not meet the preset unambiguity condition, the distance difference between the reference arm and the signal arm can be expressed by the following formula:

[0066]

[0067] Let m1 = m2, then we get:

[0068]

[0069]

[0070] If the maximum value of l1-l2 is but:

[0071]

[0072] Where c is the speed of light, m ​​is an integer, and n is a constant. g The refractive index of the optical fiber. τ1 and τ2 are the times of the reference interferogram and the target interferogram, respectively. From the above equation, it can be seen that the unambiguous range can be expanded to f. r / Δf r times.

[0073] This application can obtain the fiber refractive index of a mode-locked pulsed laser and the difference between the actual repetition rate and repetition rate of a dual-comb pulsed laser, in order to calculate the distance difference between the reference arm and the signal arm. By calculating the distance difference for calibration, automatic correction of ambiguity in ranging data can be achieved, reducing manual intervention and improving data reliability.

[0074] Optionally, in one embodiment of this application, generating a measurement action for at least one ranging target based on a target ranging mode and executing the measurement action using a dual-comb pulsed laser output from a mode-locked pulsed laser includes: determining whether the target ranging mode contains at least one update instruction; if the target ranging mode contains at least one update instruction, generating an update measurement action for at least one ranging target based on the at least one update instruction, and executing the update measurement action based on a preset update rate of the mode-locked pulsed laser.

[0075] It should be noted that the preset update rate can be set by those skilled in the art according to the actual situation, and no specific limitation is made here.

[0076] In actual execution, the target ranging mode can be analyzed to determine whether an update measurement of the ranging target is needed. This includes identifying commands related to target movement or state changes. If an update command is detected, an update measurement action is generated for the ranging target, which may include re-aiming at the target and adjusting laser parameters. When executing the update measurement action, the accuracy and timeliness of the measurement must be ensured according to the preset update rate of the mode-locked pulsed laser. The preset update rate corresponds to an update speed T. update The calculation can be expressed by the following formula:

[0077]

[0078] Among them, f rep This is the repetition rate of the mode-locked pulsed laser.

[0079] For example, a target ranging mode that includes at least one update instruction can be a mode that requires continuous ranging of the target. If the current autonomous driving condition requires obtaining the running trajectory of the target, the sensor needs to obtain multiple distance measurement data of the target within a fixed detection time.

[0080] This application can determine whether the target ranging mode contains at least one update command, and generate an update measurement action for at least one ranging target based on the at least one update command. The update measurement action is executed based on the preset update rate of the mode-locked pulse laser. By generating and executing the measurement action in real time according to the update command, the latest ranging data can be obtained in a timely manner to adapt to changes in the target state.

[0081] The following detailed description of the working content of the embodiments of this application is based on a specific example. Figure 4-5 As shown, where, Figure 4 This is a schematic diagram of the mode-locked laser detection process according to one embodiment of this application. Figure 5 This is a schematic diagram of a mode-locked laser architecture according to an embodiment of this application, specifically:

[0082] Step S401: Begin.

[0083] Among them, the design process for using mode-locked lasers to detect safe distances from vehicles has begun.

[0084] Step S402: Determine the mode-locked laser structure.

[0085] Among them, such as Figure 5As shown, in the construction of the mode-locked fiber laser, polarization multiplexing technology is first used to generate a dual optical comb. Polarization multiplexing enables multi-pulse laser output within a single cavity, and the multi-pulse output generated by single-cavity multidimensional multiplexing technology can meet the ranging requirements of the dual optical comb. After determining to use polarization multiplexing technology, the laser system is designed, employing single-walled carbon nanotubes as the saturable absorber material and introducing erbium-doped fiber as the gain medium. After the laser is constructed, the performance of the output pulsed laser is characterized, including repetition rate, repetition rate difference magnitude, repetition rate difference stability, and output power stability.

[0086] Step S403: Determine the vehicle distance safety distance measurement system based on the output pulse.

[0087] Among them, such as Figure 5 As shown, a laser that meets the requirements is used as the light source to further build a distance measurement system for vehicle safety distance measurement. First, the components and positions of the dual-comb distance measurement system are determined, and then the dual-comb distance measurement system is built. The dual-comb distance measurement system can achieve a distance measurement process with fast update speed, large non-ambiguity range, and high accuracy, which can further improve the functionality of vehicle safety distance measurement.

[0088] Step S404: End.

[0089] Verification shows that the distance measurement system for measuring safe vehicle distance can update its distance at the microsecond level, and its maximum unambiguous range can be increased by four orders of magnitude, enabling large-scale vehicle distance measurement. During vehicle operation, when two cars approach each other, the distance measurement system can quickly obtain the distance between the two cars, improving the safety of vehicle driving.

[0090] The laser ranging-based autonomous driving control method proposed in this application utilizes a dual-comb pulsed laser output from a mode-locked pulsed laser to perform ranging tasks based on the vehicle's current operating conditions. It achieves time-of-flight ranging over a large area using periodic pulses and obtains high-precision interference information using coherent spectral lines in the frequency domain. This enables accurate measurement of the vehicle's distance to targets, improving the accuracy and reliability of laser data and further ensuring user driving safety. This solves the problems in related technologies, such as the functional limitations of existing lidar sensors, low sensitivity and processing efficiency in complex multi-target situations, reduced accuracy of laser ranging results, inability to achieve high temporal resolution laser detection, and decreased vehicle safety.

[0091] Next, referring to the accompanying drawings, an autonomous driving control device based on laser ranging proposed according to an embodiment of this application is described.

[0092] Figure 6 This is a schematic diagram of the structure of an automatic driving control device based on laser ranging according to an embodiment of this application.

[0093] like Figure 6 As shown, the laser ranging-based autonomous driving control device 10 includes: an acquisition module 100, a matching module 200, and a control module 300.

[0094] The acquisition module 100 is used to acquire the current autonomous driving status of the vehicle.

[0095] The matching module 200 is used to match the target ranging mode of the mode-locked pulsed laser with at least one ranging target in the current environment based on the current autonomous driving conditions.

[0096] The control module 300 is used to generate a measurement action for at least one ranging target according to the target ranging mode, and to perform the measurement action using a dual-comb pulse laser output from a mode-locked pulse laser until the current distance data of at least one ranging target is obtained, then exit the target ranging mode, and control the vehicle to operate in the current autonomous driving mode according to the current distance data.

[0097] Optionally, in one embodiment of this application, the control module 300 includes a detection unit and a data acquisition unit.

[0098] The detection unit includes the ability to detect the relative positional relationship between at least one ranging target and a mode-locked pulsed laser.

[0099] The data acquisition unit includes data on the current distance obtained based on the relative positional relationship.

[0100] Optionally, in one embodiment of this application, the acquisition unit is specifically used to: obtain current distance data based on the detection signal of the dual-comb pulsed laser when the relative positional relationship meets the preset non-ambiguity condition of the mode-locked pulsed laser; and calculate the distance difference between the reference arm and the signal arm of the dual-comb pulsed laser when the relative positional relationship does not meet the preset non-ambiguity condition, and use the distance difference to confirm the current distance data.

[0101] Optionally, in one embodiment of this application, calculating the distance difference between the reference arm and the signal arm of a dual-comb pulsed laser includes: obtaining the fiber refractive index of the mode-locked pulsed laser and the difference between the actual repetition rate and the repetition rate of the dual-comb pulsed laser; and calculating the distance difference based on the fiber refractive index, the difference between the actual repetition rate and the repetition rate.

[0102] Optionally, in one embodiment of this application, the control module 300 includes a judgment unit and an update unit.

[0103] The judgment unit includes judging whether the target ranging mode contains at least one update instruction.

[0104] The update unit includes generating an update measurement action for at least one ranging target based on at least one update instruction when the target ranging mode contains at least one update instruction, and executing the update measurement action based on a preset update rate of the mode-locked pulse laser.

[0105] It should be noted that the foregoing explanation of the embodiment of the laser ranging-based autonomous driving control method also applies to the laser ranging-based autonomous driving control device of this embodiment, and will not be repeated here.

[0106] The laser ranging-based autonomous driving control device proposed in this application can perform ranging tasks based on the current vehicle operating conditions by using dual-comb pulsed laser output from a mode-locked pulsed laser. It achieves time-of-flight ranging over a large area through periodic pulses and obtains high-precision interference information using coherent spectral lines in the frequency domain. This enables accurate measurement of the vehicle's distance to targets, improving the accuracy and reliability of laser data and further ensuring user driving safety. This solves the problems in related technologies, such as the functional limitations of existing lidar sensors, low sensitivity and processing efficiency in complex multi-target situations, reduced accuracy of laser ranging results, inability to achieve high temporal resolution laser detection, and decreased vehicle safety.

[0107] This embodiment also provides a mode-locked pulsed laser for implementing the laser ranging-based autonomous driving control method described above.

[0108] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0109] The memory 701, the processor 702, and the computer program stored on the memory 701 and executable on the processor 702.

[0110] When the processor 702 executes the program, it implements the laser ranging-based autonomous driving control method provided in the above embodiments.

[0111] Furthermore, the vehicle also includes:

[0112] Communication interface 703 is used for communication between memory 701 and processor 702.

[0113] The memory 701 is used to store computer programs that can run on the processor 702.

[0114] The memory 701 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0115] If the memory 701, processor 702, and communication interface 703 are implemented independently, then the communication interface 703, memory 701, and processor 702 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0116] Optionally, in a specific implementation, if the memory 701, processor 702, and communication interface 703 are integrated on a single chip, then the memory 701, processor 702, and communication interface 703 can communicate with each other through an internal interface.

[0117] The processor 702 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0118] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described laser ranging-based autonomous driving control method.

[0119] This embodiment also provides a computer program that, when executed, implements the above-described laser ranging-based autonomous driving control method.

[0120] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0121] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0122] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0123] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0124] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0125] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0126] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0127] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. An autonomous driving control method based on laser ranging, characterized in that, Applied to a mode-locked pulsed laser installed in a vehicle, the method includes the following steps: Obtain the current autonomous driving status of the vehicle; Based on the current autonomous driving conditions, the target ranging mode of the mode-locked pulsed laser is matched with at least one ranging target in the current environment; The measurement action of at least one ranging target is generated according to the target ranging mode. The measurement action is executed using the dual-comb pulse laser output by the mode-locked pulse laser until the current distance data of the at least one ranging target is obtained. The target ranging mode is then exited, and the vehicle is controlled to operate the current autonomous driving mode according to the current distance data.

2. The method according to claim 1, characterized in that, The measurement action is performed using the dual-comb pulsed laser output from the mode-locked pulsed laser until the current distance data of the at least one ranging target is obtained, including: Detect the relative positional relationship between the at least one ranging target and the mode-locked pulsed laser; The current distance data is obtained based on the relative positional relationship.

3. The method according to claim 2, characterized in that, The step of obtaining the current distance data based on the relative positional relationship includes: When the relative positional relationship satisfies the preset non-ambiguity condition of the mode-locked pulsed laser, the current distance data is obtained based on the detection signal of the dual-comb pulsed laser. If the relative positional relationship does not meet the preset non-ambiguity condition, the distance difference between the reference arm and the signal arm of the dual-comb pulsed laser is calculated, and the current distance data is confirmed using the distance difference.

4. The method according to claim 3, characterized in that, The calculation of the distance difference between the reference arm and the signal arm of the dual-comb pulsed laser includes: Obtain the refractive index of the fiber in the mode-locked pulsed laser and the difference between the actual repetition rate and the repetition rate of the dual-comb pulsed laser; The distance difference is calculated based on the difference between the fiber refractive index, the actual repetition rate, and the repetition rate.

5. The method according to claim 1, characterized in that, The measurement action of generating the at least one ranging target according to the target ranging mode, and executing the measurement action using the dual-comb pulsed laser output from the mode-locked pulsed laser, includes: Determine whether the target ranging mode contains at least one update instruction; If the target ranging mode includes at least one update instruction, then an update measurement action for the at least one ranging target is generated based on the at least one update instruction, and the update measurement action is executed based on the preset update rate of the mode-locked pulse laser.

6. An automatic driving control device (10) based on laser ranging, characterized in that, Applied to a mode-locked pulsed laser installed in a vehicle, wherein the device (10) comprises: The acquisition module (100) is used to acquire the current autonomous driving status of the vehicle; The matching module (200) is used to match the target ranging mode of the mode-locked pulse laser with at least one ranging target in the current environment based on the current autonomous driving condition. The control module (300) is used to generate a measurement action for the at least one ranging target according to the target ranging mode, execute the measurement action using the dual-comb pulse laser output by the mode-locked pulse laser until the current distance data of the at least one ranging target is obtained, exit the target ranging mode, and control the vehicle to operate the current autonomous driving mode according to the current distance data.

7. The apparatus (10) according to claim 6, characterized in that, The control module (300) includes: The detection unit includes detecting the relative positional relationship between the at least one ranging target and the mode-locked pulsed laser; The acquisition unit includes obtaining the current distance data based on the relative positional relationship.

8. A mode-locked pulsed laser, characterized in that, Used to implement the laser ranging-based autonomous driving control method as described in any one of claims 1-5.

9. A vehicle, characterized in that, include: The system includes a memory (701), a processor (702), and a computer program stored in the memory (701) and executable on the processor (702), wherein the processor (702) executes the program to implement the laser ranging-based autonomous driving control method as described in any one of claims 1-5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the laser ranging-based autonomous driving control method as described in any one of claims 1-5.

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