Radar ranging interference echo filtering method, laser radar and readable storage medium

Abstract

The invention provides a radar ranging interference echo filtering method, a laser radar and a readable storage medium, and relates to the technical field of laser radars. The method comprises the following steps: driving a laser radar to emit a multi-detection pulse coding sequence in a current distance measurement period, and performing pulse sequence construction on all echo pulses received in the current distance measurement period to obtain at least one echo pulse sequence to be matched; wherein the total number of echo pulses of each to-be-matched echo pulse sequence is consistent with the total number of detection pulses of the multi-detection pulse coding sequence, and then pulse distribution characteristic matching is carried out on each to-be-matched echo pulse sequence and the multi-detection pulse coding sequence, so that all the echo pulses received in the current distance measurement period are subjected to pulse distribution characteristic matching; and a target echo pulse sequence successfully matched with the multi-detection pulse coding sequence is screened and reserved, so that over-period echo interference and multi-radar echo interference in the laser radar ranging process are removed, and the laser radar ranging accuracy is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser radar, in particular to a radar ranging interference echo filtering method, a laser radar and a readable storage medium. BACKGROUND

[0002] With the continuous development of science and technology, the radar ranging technology is gradually mature, and the radar ranging technology is more and more widely used in various industries. The intelligent driving of the automobile is an important application direction of the radar ranging technology at present. In the process of intelligent driving of the automobile, the laser radar usually transmits a detection pulse light signal outward, and receives a reflected echo pulse light signal reflected by a measured target. Then, the laser radar calculates the time difference between the light signal transmission operation and the light signal receiving operation, and calculates the distance from the laser radar to the measured target based on the time of flight (TOF) ranging principle.

[0003] However, it is worth noting that there are usually a large number of traffic signs with high retroreflective performance in the actual road environment. Such traffic signs will reflect most of the received detection pulse light signals to the laser radar even when they are far beyond the radar tof detection range. The laser radar receives the detection pulse light signal transmitted in the non-measuring period, thereby forming a false echo pulse light signal, causing an over-period echo interference phenomenon, and affecting the ranging accuracy of the laser radar. At the same time, there are usually multiple same-wavelength laser radars working in close proximity in the actual road environment, which can easily cause the laser radar to mistake the detection pulse light signal transmitted by other laser radars as its own echo pulse light signal for TOF ranging calculation, thereby causing an incorrect distance output and a multi-radar echo interference phenomenon, and affecting the ranging accuracy of the laser radar. SUMMARY

[0004] Therefore, the present application aims to provide a radar ranging interference echo filtering method, a laser radar and a readable storage medium, which can use the adjustable detection pulse energy and the adjustable detection pulse time interval to accurately screen and retain the effective echo pulse light signal substantially matched with the multiple detection pulse light signals transmitted in the measuring period, so as to effectively remove the over-period echo interference and the multi-radar echo interference in the laser radar ranging process, and improve the ranging accuracy of the laser radar.

[0005] In order to achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows: In a first aspect, the present application provides a radar ranging interference echo filtering method applied to a laser radar, and the filtering method comprises: transmitting a multi-probe pulse coded sequence in a current ranging period, wherein the multi-probe pulse coded sequence comprises a plurality of probe pulses coded by pulse time intervals, and at least part of the probe pulses have different pulse energies; performing pulse sequence construction on all received echo pulses to obtain at least one to-be-matched echo pulse sequence, wherein the total number of echo pulses in each to-be-matched echo pulse sequence is consistent with the total number of probe pulses in the multi-probe pulse coded sequence; performing pulse distribution feature matching between each to-be-matched echo pulse sequence and the multi-probe pulse coded sequence; when a target echo pulse sequence that matches the multi-probe pulse coded sequence is detected, filtering out the remaining echo pulses other than the target echo pulse sequence as echo interference.

[0006] In an optional embodiment, the laser radar pre-stores a plurality of different time interval coded groups, wherein each time interval coded group comprises a plurality of different preset time intervals, and the step of transmitting a multi-probe pulse coded sequence in a current ranging period comprises: determining a target interval coded group corresponding to the current ranging period according to the respective cyclic selection order of the plurality of time interval coded groups; randomly selecting at least one target time interval from the plurality of preset time intervals included in the target interval coded group, wherein the number of interval selections of the at least one target time interval is obtained by subtracting one from the total number of probe pulses; transmitting laser pulses in the current ranging period according to the multi-pulse energy proportion configuration relationship corresponding to the current ranging period and the at least one target time interval, so as to transmit the multi-probe pulse coded sequence.

[0007] In an optional embodiment, the plurality of preset time intervals in the same time interval coded group each correspond to an encoded sequence number, and the step of randomly selecting at least one target time interval from the plurality of preset time intervals included in the target interval coded group comprises: performing random number conversion processing on at least one original random number of the laser radar in the current ranging period according to a preset random number conversion strategy, to obtain at least one interval selection random number of the laser radar in the current ranging period, wherein each interval selection random number corresponds to an original random number, and the total number of original random numbers is obtained by subtracting one from the total number of probe pulses; selecting a random number for each interval, calculating a remainder value of the interval selection random number relative to a total number of time intervals of the target interval encoding group, and performing plus one processing on the calculated remainder value to obtain a target encoding sequence number matched with the interval selection random number; selecting a preset time interval corresponding to the target encoding sequence number in the target interval encoding group as a target time interval corresponding to the current ranging period.

[0008] In an optional implementation, the step of performing random number conversion processing on at least one original random number of the laser radar in the current ranging period according to a preset random number conversion strategy and according to the radar identity of the laser radar to obtain at least one interval selection random number of the laser radar in the current ranging period includes: performing binary addition operation on the original random number and the radar identity for each original random number of the current ranging period to obtain a corresponding original binary value; performing low-32-bit value extraction on the original binary value, and performing digit left shift on a target binary value extracted by the original random number to obtain a corresponding to-be-converted binary value; performing decimal conversion processing on the to-be-converted binary value to obtain an interval selection random number corresponding to the original random number.

[0009] In an optional implementation, the filtering method further includes: When the target echo pulse sequence is not detected, for each to-be-matched echo pulse sequence, performing pulse distribution feature matching between the to-be-matched echo pulse sequence and a plurality of multi-probe pulse historical encoding sequences of the laser radar before the current ranging period, wherein each multi-probe pulse historical encoding sequence individually corresponds to a historical ranging period before the current ranging period. When it is detected that the to-be-matched echo pulse sequence is successfully matched with any one of the multi-probe pulse historical encoding sequences, filtering the to-be-matched echo pulse sequence from the all echo pulses.

[0010] In an optional implementation, for each probe pulse sequence in the multi-probe pulse encoding sequence and a plurality of multi-probe pulse historical encoding sequences, the step of performing pulse distribution feature matching between a single to-be-matched echo pulse sequence and the probe pulse sequence includes: extracting multi-pulse interval distribution features and multi-pulse energy proportion features of the to-be-matched echo pulse sequence and the probe pulse sequence, respectively; detecting whether the interval feature tolerance condition is satisfied between the multi-pulse interval distribution features of the echo pulse sequence to be matched and the detection pulse sequence, and detecting whether the energy feature tolerance condition is satisfied between the multi-pulse energy proportion features of the echo pulse sequence to be matched and the detection pulse sequence; If it is detected that the interval feature tolerance condition is satisfied between the multi-pulse interval distribution features of the echo pulse sequence to be matched and the detection pulse sequence, and the energy feature tolerance condition is satisfied between the multi-pulse energy proportion features of the echo pulse sequence to be matched and the detection pulse sequence, it is determined that the echo pulse sequence to be matched and the detection pulse sequence are matched successfully, otherwise it is determined that the echo pulse sequence to be matched and the detection pulse sequence are not matched successfully.

[0011] In an optional embodiment, the multi-pulse interval distribution feature of a single pulse sequence is obtained by arranging actual pulse time intervals between adjacent two pulses in the corresponding pulse sequence in sequence, and the step of detecting whether the interval feature tolerance condition is satisfied between the multi-pulse interval distribution features of the echo pulse sequence to be matched and the detection pulse sequence comprises: calculating time interval difference absolute values between actual pulse time intervals of the echo pulse sequence to be matched and the detection pulse sequence at the same interval arrangement sequence; detecting whether all the time interval difference absolute values of the echo pulse sequence to be matched are less than a preset time interval difference threshold value; If it is detected that all the time interval difference absolute values of the echo pulse sequence to be matched are less than the preset time interval difference threshold value, it is determined that the interval feature tolerance condition is satisfied between the multi-pulse interval distribution features of the echo pulse sequence to be matched and the detection pulse sequence, otherwise it is determined that the interval feature tolerance condition is not satisfied between the multi-pulse interval distribution features of the echo pulse sequence to be matched and the detection pulse sequence.

[0012] In an optional embodiment, the pulse energy proportion feature of a single pulse sequence is obtained by arranging actual energy equivalent intensities of each pulse in the corresponding pulse sequence according to pulse time sequence, and the step of detecting whether the energy feature tolerance condition is satisfied between the multi-pulse energy proportion features of the echo pulse sequence to be matched and the detection pulse sequence comprises: calculating intensity difference absolute values between actual energy equivalent intensities of the echo pulse sequence to be matched and the detection pulse sequence at the same pulse sequence; detecting whether all the intensity difference absolute values of the echo pulse sequence to be matched are less than a preset intensity difference threshold value; If all the absolute values of the intensity differences of the to-be-matched echo pulse sequence are detected to be less than the preset intensity difference threshold, it is determined that the energy characteristic tolerance condition is met between the multi-pulse energy proportion characteristics of the to-be-matched echo pulse sequence and the detection pulse sequence, otherwise, it is determined that the energy characteristic tolerance condition is not met between the multi-pulse energy proportion characteristics of the to-be-matched echo pulse sequence and the detection pulse sequence.

[0013] In a second aspect, the present application provides a laser radar, which comprises a master control component, a laser emission component and an echo reception component. The master control component is in communication connection with the laser emission component, and is configured to control the laser emission component to emit a detection pulse light signal outward. The master control component is in communication connection with the echo reception component, and is configured to receive an echo pulse light signal. The master control component stores a computer program and can run the computer program to cooperate with the laser emission component and the echo reception component to realize the radar ranging interference echo filtering method in any one of the preceding embodiments.

[0014] In a third aspect, the present application provides a readable storage medium, which stores a computer program, and when the computer program is run by a laser radar, the radar ranging interference echo filtering method in any one of the preceding embodiments is realized.

[0015] In this case, the beneficial effects of the embodiments of the present application can include the following: The present application drives the laser radar to emit a multi-detection pulse coding sequence in the current ranging period, and constructs a pulse sequence for all the echo pulses received in the current ranging period to obtain at least one to-be-matched echo pulse sequence, wherein the total number of echo pulses of each to-be-matched echo pulse sequence is consistent with the total number of detection pulses of the multi-detection pulse coding sequence, then according to the pulse time interval distribution condition (which corresponds to the detection pulse time interval adjustable characteristic) and the pulse energy relative size condition (which corresponds to the detection pulse energy adjustable characteristic) between the multiple detection pulses in the multi-detection pulse coding sequence, the pulse distribution characteristic matching is performed between each to-be-matched echo pulse sequence and the multi-detection pulse coding sequence, so as to screen out a target echo pulse sequence (i.e. a multi-echo pulse light signal which is substantially matched with the multi-detection pulse light signal emitted in the current ranging period and is effective) matched with the multi-detection pulse coding sequence from all the echo pulses received in the current ranging period, and through the way of filtering out the remaining echo pulses other than the non-target echo pulse sequence, the over-period echo interference and multi-radar echo interference in the laser radar ranging process are removed, so as to improve the laser radar ranging accuracy.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the device composition of the lidar provided in the embodiments of this application; Figure 2 One of the flowcharts for the radar ranging interference echo filtering method provided in the embodiments of this application; Figure 3 for Figure 2 A flowchart illustrating the sub-steps included in step S210; Figure 4 This is a schematic diagram of the pulse transmission and reception results of a lidar in a single ranging cycle provided in an embodiment of this application; Figure 5 This is the second flowchart illustrating the radar ranging interference echo filtering method provided in the embodiments of this application.

[0019] Icons: 10-LiDAR; 11-Main control unit; 12-Laser emission unit; 13-Echo reception unit. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] In the description of the application, it needs to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly understood by those skilled in the art, or the orientation or positional relationship commonly understood by those skilled in the art, or the orientation or positional relationship commonly understood by those skilled in the art, only for the convenience of describing the application and simplifying the description, and not indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application.

[0024] In the description of the application, it also needs to be explained that, unless otherwise explicitly specified and limited, the terms "set", "install", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0025] In addition, in the description of the application, it can be understood that the relationship terms such as "first" and "second" and the like are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitation, the element defined by the sentence "including a…" does not exclude the presence of other identical elements in the process, method, article or device including the element. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0026] Some embodiments of the application will be described in detail below with reference to the accompanying drawings. The following examples and features in the examples can be combined with each other without conflict.

[0027] Please refer to Figure 1 , Figure 1is a device composition schematic diagram of the laser radar 10 provided in the embodiment of the present application. In the embodiment of the present application, the laser radar 10 can be installed on a device such as a vehicle, a drone, a roadside traffic device, a smart home device, a smart manufacturing device, or a robot. For example, the laser radar 10 can be installed on a vehicle, and used for radar detection during driving / parking of the vehicle, to assist the vehicle to realize functions such as unmanned driving, autonomous driving, assisted driving, and intelligent parking. It can be understood that the above application scenarios are only illustrative examples, and the laser radar 10 provided in the present application can also be applied in various types of other application scenarios, and is not limited to the above exampled application scenarios.

[0028] In the embodiment of the present application, the laser radar 10 can include a master control assembly 11, a laser emission assembly 12, and a return wave receiving assembly 13. The master control assembly 11 can include a memory and a processor, wherein the processor can be, but is not limited to, at least one of a central processing unit (CPU), a graphics processing unit (GPU), and a network processor (NP), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), and the like. The memory can be used to store a computer program, and the processor can execute the computer program after receiving an execution instruction.

[0029] In this embodiment, the main control component 11 is in communication connection with the laser emission component 12, for controlling the laser emission component 12 to externally emit a detection pulse light signal. Among them, the main control component 11 can drive the laser emission component 12 to emit a detection pulse sequence composed of multiple detection pulse light signals in any one ranging period, wherein the pulse time interval between any two adjacent detection pulse light signals in the same detection pulse sequence can be edited according to a specific coding rule (i.e. corresponding to the detection pulse time interval adjustable characteristic), and the pulse energy of any one detection pulse light signal in the detection pulse sequence can be adjusted by adjusting the laser emission power (i.e. corresponding to the detection pulse energy adjustable characteristic, the pulse energy of a single detection pulse light signal is positively correlated with the laser emission power). In this process, the pulse energy of at least part of the detection pulse light signals in the detection pulse sequence is different, so that the detection pulse sequence can realize the detection pulse coding effect based on the detection pulse time interval adjustment operation and the detection pulse energy adjustment operation, and improve the pulse sequence distinguishing effect between the detection pulse sequences emitted by the same laser radar 10 in different ranging periods, and the pulse sequence distinguishing effect between the detection pulse sequences emitted by different laser radars 10 in the same ranging period.

[0030] In this embodiment, the main control component 11 is in communication connection with the echo receiving component 13, so as to receive the echo pulse light signal through the echo receiving component 13. Among them, when the main control component 11 drives the laser emission component 12 to emit a detection pulse sequence in any one ranging period, the main control component 11 will drive the echo receiving component 13 to receive the echo pulse light signal transmitted from the outside in this ranging period, so as to further identify which echo pulse light signal in all the echo pulse light signals received in this ranging period belongs to the effective echo pulse light signal substantially matched with the detection pulse sequence emitted in this ranging period, which echo pulse light signal may belong to the over-period interference echo signal substantially matched with the detection pulse sequence emitted in a certain historical ranging period before this ranging period, and which echo pulse light signal may belong to the interference echo signal from other laser radars.

[0031] In the embodiment of the present application, the main control component 11 can cooperate with the software function modules and computer programs related to the radar ranging interference echo filtering scheme provided in the embodiment of the present application to make the laser radar 10 where the main control component 11 is located can realize good multi-probe pulse coding effect in any ranging period by using the adjustable characteristics of probe pulse energy and the adjustable characteristics of probe pulse time interval, and accurately filter and retain the effective echo pulse optical signals substantially matched with the multi-probe pulse optical signals emitted in the current ranging period from the echo pulse optical signals received in the current ranging period, so as to effectively remove the over-period echo interference and multi-radar echo interference in the laser radar ranging process, and improve the laser radar ranging accuracy.

[0032] It can be understood that, Figure 1 The block diagram shown is only one constituent schematic diagram of the laser radar 10, and the laser radar 10 can further include more or less components than those shown in Figure 1 or have a different configuration from that shown in Figure 1 . Figure 1 The components shown in the embodiment of the present application can be realized by hardware, software or a combination thereof.

[0033] In the present application, in order to ensure that the laser radar 10 can accurately remove the over-period echo interference and multi-radar echo interference in the radar ranging process of any ranging period to improve the laser radar ranging accuracy, and facilitate the vehicle, robot and other equipment where the laser radar 10 is located to realize high-precision automation function, the embodiment of the present application realizes the foregoing purpose by providing a radar ranging interference echo filtering method which can be applied to the foregoing laser radar 10. The radar ranging interference echo filtering method provided in the present application will be described in detail below.

[0034] Please refer to Figure 2 , Figure 2 is one of the flowcharts of the radar ranging interference echo filtering method provided in the embodiment of the present application. In the embodiment of the present application, the radar ranging interference echo filtering method can include steps S210-S240.

[0035] Step S210: Emitting a multi-probe pulse coding sequence in the current ranging period and receiving echo pulses in the current ranging period.

[0036] In the embodiment, the multi-probe pulse coded sequence (i.e. the sequence of probe pulses emitted by the lidar 10 in the current ranging period) includes a plurality of probe pulses (i.e. probe pulse light signals) coded with pulse time interval, at least part of the probe pulses in the plurality of probe pulses have different pulse energies, so that the actual pulse energies of each probe pulse in the same probe pulse coded sequence are differentially distributed, to improve the sequence distinction between the multi-probe pulse coded sequence and the sequence of probe pulses emitted by the lidar 10 in other ranging periods, and the sequence distinction between the multi-probe pulse coded sequence and the sequence of probe pulses emitted by other lidars.

[0037] In the embodiment, the sequence of probe pulses respectively emitted by the same lidar 10 in different ranging periods (including the multi-probe pulse coded sequence of the current ranging period, and the multi-probe pulse historical coded sequence of each of a plurality of historical ranging periods before the current ranging period) has the same total number of probe pulses, but the sequence of probe pulses of each of the different ranging periods often has different multi-pulse interval distribution characteristics (which are used to describe the distribution of pulse time intervals between a plurality of pulses in the corresponding pulse sequence, which can be obtained by arranging the actual pulse time intervals between adjacent two pulses in the corresponding pulse sequence in sequence), and the sequence of probe pulses of each of the different ranging periods can have the same or different multi-pulse energy proportion characteristics (which are used to describe the relative size of the pulse energies between a plurality of pulses in the corresponding pulse sequence, which can be obtained by arranging the actual energy equivalent intensities of each pulse in the corresponding pulse sequence according to the pulse time sequence, wherein the actual energy equivalent intensity of a single pulse is the energy characteristic integer value of the corresponding pulse in the pulse energy proportion relationship between the plurality of pulses (for example, the actual energy equivalent intensity of the first pulse in the double-pulse energy proportion relationship "1:10" is 1 and the actual energy equivalent intensity of the second pulse is 10)), so that the sequence of probe pulses respectively emitted by the same lidar 10 in different ranging periods has obvious sequence coding difference.

[0038] Optionally, referring to Figure 3 , Figure 3 is Figure 2 the flowchart of the sub-steps included in step S210 in

[0039] Sub-step S211, according to the cyclic selection order of each of the plurality of time interval coding groups, determine the target interval coding group corresponding to the current ranging period.

[0040] In the embodiment, the laser radar 10 pre-stores a plurality of different time interval encoding groups, each of which includes a plurality of different preset time intervals, the absolute value of the time interval difference between any two preset time intervals in the same time interval encoding group is greater than or equal to a first preset time length threshold (for example, 0.1 microseconds), the absolute value of the time interval difference between any one preset time interval of each time interval encoding group and any one preset time interval of other time interval encoding groups is greater than or equal to a second preset time length threshold (for example, 0.5 microseconds), and the total number of time intervals of different time interval encoding groups can be the same or different; the plurality of time interval encoding groups pre-stored by the laser radar 10 each correspond to a specific selection order (i.e., a cyclic selection order) in the same encoding group selection cycle, so that the laser radar 10 selects a time interval encoding group that matches the order in the plurality of time interval encoding groups as a target interval encoding group to be used in the corresponding ranging period after receiving a ranging instruction issued by a user in each ranging period, and at this time, all ranging periods involved in the radar ranging operation of the laser radar 10 are divided into a plurality of period groups according to the total number of time interval encoding groups, wherein each period group consists of the total number of ranging periods of the time interval encoding groups, and each ranging period in the same period group corresponds to a target interval encoding group.

[0041] In the embodiment, the numerical relationship between the total number of time interval encoding groups at the laser radar 10 and the maximum light reflection distance of the high-reflective board (for example, a traffic sign with high retroreflective performance) and the maximum TOF detection distance of the laser radar 10 can be expressed as , wherein is used to represent the total number of time interval encoding groups, is used to represent the maximum light reflection distance of the high-reflective board, is used to represent the maximum TOF detection distance of the laser radar 10.

[0042] Sub-step S212, randomly extracting at least one target time interval from a plurality of preset time intervals included in the target interval encoding group.

[0043] In the embodiment, when determining the target interval encoding group corresponding to the current ranging period, at least one time interval random extraction operation can be performed on the target interval encoding group according to the total number of detection pulses of the detection pulse sequence to be transmitted, to obtain at least one target time interval, wherein each time interval random extraction operation corresponds to extracting one preset time interval (i.e., a target time interval), and the number of interval extractions of the at least one target time interval is obtained by subtracting one from the total number of detection pulses.

[0044] Optionally, in the embodiment, a plurality of preset time intervals in the same time interval coding group each correspond to an encoding serial number, the laser radar 10 is preconfigured with at least one initial random number after receiving the ranging instruction issued by the user (wherein each initial random number individually corresponds to extraction of a preset time interval), and the at least one initial random number is respectively taken as an original random number of the first ranging period after receiving the ranging instruction, all original random numbers of each ranging period thereafter are obtained by adding one to all original random numbers of the previous ranging period respectively, and the total number of original random numbers of a single ranging period is obtained by subtracting one from the total number of detection pulses. On this basis, in order to improve the sequence distinction degree between the multi-detection pulse coding sequence and the detection pulse sequence emitted by other laser radars, the above-mentioned sub-step S212 can perform time interval random extraction by using the laser radar identity and different original random numbers corresponding to different ranging periods, at this time, the sub-step S212 can include: According to the radar identity of the laser radar 10, performing random number conversion processing on the at least one original random number of the laser radar 10 in the current ranging period respectively according to a preset random number conversion strategy, to obtain at least one interval selection random number of the laser radar 10 in the current ranging period, wherein each interval selection random number individually corresponds to an original random number, and the total number of the at least one original random number is obtained by subtracting one from the total number of detection pulses; For each interval selection random number, calculating the remainder value of the interval selection random number relative to the total number of time intervals of the target interval coding group, and performing one processing on the calculated remainder value to obtain a target encoding serial number matched with the interval selection random number; Selecting a preset time interval corresponding to the target encoding serial number in the target interval coding group as a target time interval corresponding to the current ranging period.

[0045] In the process, the random number conversion strategy can be, but is not limited to: "performing binary addition operation on the original random number and the radar identity identifier, extracting the binary value of the low 32 bits of the binary addition operation result, then performing digit left shift on the extracted binary value according to the original random number, and then performing decimal conversion processing on the binary value after the digit left shift to obtain the corresponding interval selection random number", "performing binary addition operation on the original random number and the radar identity identifier, extracting the binary value of the high 32 bits of the binary addition operation result, then performing digit right shift on the extracted binary value according to the original random number, and then performing decimal conversion processing on the binary value after the digit left shift to obtain the corresponding interval selection random number", "performing binary addition operation on the original random number and the radar identity identifier, extracting the binary value of the low 32 bits of the binary addition operation result, then performing digit right shift on the extracted binary value according to the original random number, and then performing decimal conversion processing on the binary value after the digit left shift to obtain the corresponding interval selection random number", and the like.

[0046] Optionally, in an implementation form of the embodiment, the step of "performing random number conversion processing on at least one original random number of the laser radar 10 in the current ranging period according to a preset random number conversion strategy according to the radar identity identifier of the laser radar 10 to obtain at least one interval selection random number of the laser radar 10 in the current ranging period" can include: For each original random number of the current ranging period, performing binary addition operation on the original random number and the radar identity identifier to obtain a corresponding original binary value; Performing low 32-bit value extraction on the original binary value, and performing digit left shift on the extracted target binary value according to the original random number to obtain a corresponding to-be-converted binary value; Performing decimal conversion processing on the to-be-converted binary value to obtain an interval selection random number corresponding to the original random number.

[0047] Sub-step S213: performing laser pulse emission in the current ranging period according to the multi-pulse energy proportion configuration relationship corresponding to the current ranging period and at least one target time interval to emit a multi-probe pulse coding sequence.

[0048] In the embodiment, the multi-pulse energy proportion configuration relationship (i.e., multi-pulse energy proportion feature) corresponding to each ranging period in the same cycle group can be the same or different. When determining the multi-pulse energy proportion configuration relationship of the current ranging period, the laser radar 10 determines the pulse distribution feature (including multi-pulse interval distribution feature and multi-pulse energy proportion feature) between each detection pulse in the multi-detection pulse coding sequence according to the pulse timing condition and pulse energy relative size condition between multiple pulses in the multi-pulse energy proportion configuration relationship and the interval extraction sequence between at least one target time interval of the current ranging period, and then drives the laser emitting assembly 12 to emit detection pulse light signals in the current ranging period according to the determined pulse distribution feature, so as to realize the external emission function of the multi-detection pulse coding sequence.

[0049] Therefore, the application can improve the sequence coding difference and sequence construction randomness between the detection pulse sequences respectively required to be emitted in different ranging periods by executing the above-mentioned sub-steps S211 to S213.

[0050] Step S220, pulse sequence construction is performed on all received echo pulses to obtain at least one to-be-matched echo pulse sequence.

[0051] In the embodiment, after the laser radar 10 receives all echo pulses (i.e., echo pulse light signals) in the current ranging period, the pulse sequence construction is performed on all echo pulses according to the total number of detection pulses of the multi-detection pulse coding sequence according to the pulse receiving timing condition of each echo pulse to obtain at least one to-be-matched echo pulse sequence, wherein the total number of echo pulses of each to-be-matched echo pulse sequence is consistent with the total number of detection pulses of the multi-detection pulse coding sequence, and the pulse sequence of each to-be-matched echo pulse sequence is consistent with the pulse receiving timing condition of each echo pulse.

[0052] In the embodiment, the laser radar 10 receives all echo pulses (i.e., echo pulse light signals) in the current ranging period, and performs pulse sequence construction on all echo pulses according to the total number of detection pulses of the multi-detection pulse coding sequence according to the pulse receiving timing condition of each echo pulse to obtain at least one to-be-matched echo pulse sequence, wherein the total number of echo pulses of each to-be-matched echo pulse sequence is consistent with the total number of detection pulses of the multi-detection pulse coding sequence, and the pulse sequence of each to-be-matched echo pulse sequence is consistent with the pulse receiving timing condition of each echo pulse. Figure 4For example, when the laser radar 10 successively transmits detection pulses A1~A3 (where the pulse time interval between detection pulse A1 and detection pulse A2 is At1, the pulse time interval between detection pulse A2 and detection pulse A3 is At2, and the multi-pulse energy ratio configuration relationship between detection pulses A1~A3 is “2:3:4”) in a single ranging period, and successively receives echo pulses B1~B4 in the ranging period, the to-be-matched echo pulse sequences constructed based on the echo pulses B1~B4 are “[B1, B2, B3]”, “[B1, B2, B4]”, “[B1, B3, B4]”, and “[B2, B3, B4]”, that is, the number of echo pulse sequences constructed in a single ranging period can be calculated using “n! / (m!×(n-m)!)”, where n represents the total number of echo pulses received in the ranging period, and m represents the total number of detection pulses in a single ranging period.

[0053] In step S230, the pulse distribution characteristics of each to-be-matched echo pulse sequence and the multi-detection pulse coding sequence are matched.

[0054] In the present embodiment, when all to-be-matched echo pulse sequences of the current ranging period and the multi-detection pulse coding sequence of the current ranging period are determined, the multi-pulse interval distribution characteristics and the multi-pulse energy ratio characteristics of all to-be-matched echo pulse sequences and the multi-detection pulse coding sequence are extracted, respectively. Then, for each to-be-matched echo pulse sequence, the multi-pulse interval distribution characteristics of the to-be-matched echo pulse sequence are matched with the multi-pulse interval distribution characteristics of the multi-detection pulse coding sequence (i.e., whether the multi-pulse interval distribution characteristics of the to-be-matched echo pulse sequence and the multi-pulse interval distribution characteristics of the multi-detection pulse coding sequence satisfy the interval characteristic tolerance condition), and the multi-pulse energy ratio characteristics of the to-be-matched echo pulse sequence are matched with the multi-pulse energy ratio characteristics of the multi-detection pulse coding sequence (i.e., whether the multi-pulse energy ratio characteristics of the to-be-matched echo pulse sequence and the multi-pulse energy ratio characteristics of the multi-detection pulse coding sequence satisfy the energy characteristic tolerance condition). Then, when the multi-pulse interval distribution characteristics and the multi-pulse energy ratio characteristics of a certain to-be-matched echo pulse sequence are successfully matched with the multi-pulse interval distribution characteristics and the multi-pulse energy ratio characteristics of the multi-detection pulse coding sequence, respectively, it is determined that the to-be-matched echo pulse sequence belongs to the target echo pulse sequence substantially matched with the multi-detection pulse coding sequence of the laser radar 10 in the current ranging period. At this time, the target echo pulse sequence can be matched with the multi-detection pulse coding sequence for TOF ranging processing, so as to improve the ranging accuracy of the laser radar.

[0055] On this basis, the step of pulse distribution feature matching each to-be-matched echo pulse sequence with the multi-probe pulse encoding sequence can include: extracting the multi-pulse interval distribution feature and the multi-pulse energy proportion feature of each of the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence, respectively; detecting whether the interval feature tolerance condition is met between the multi-pulse interval distribution features of the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence, and detecting whether the energy feature tolerance condition is met between the multi-pulse energy proportion features of the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence; if it is detected that the interval feature tolerance condition is met between the multi-pulse interval distribution features of the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence, and the energy feature tolerance condition is met between the multi-pulse energy proportion features of the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence, it is determined that the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence are matched successfully, otherwise it is determined that the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence are not matched successfully.

[0056] In this process, the multi-pulse interval distribution feature of a single pulse sequence is obtained by arranging the actual pulse time intervals between adjacent two pulses in the corresponding pulse sequence in sequence, and the step of detecting whether the interval feature tolerance condition is met between the multi-pulse interval distribution features of the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence includes: calculating the time interval difference absolute values between the actual pulse time intervals of the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence at the same interval arrangement sequence; detecting whether all the time interval difference absolute values of the to-be-matched echo pulse sequence are less than a preset time interval difference threshold value (for example, 0.2 microseconds); if it is detected that all the time interval difference absolute values of the to-be-matched echo pulse sequence are less than the preset time interval difference threshold value, it is determined that the interval feature tolerance condition is met between the multi-pulse interval distribution features of the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence, otherwise it is determined that the interval feature tolerance condition is not met between the multi-pulse interval distribution features of the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence.

[0057] In addition, the pulse energy proportion feature of a single pulse sequence is obtained by arranging the actual energy equivalent intensities of each pulse in the corresponding pulse sequence in pulse time sequence, and the step of detecting whether the energy feature tolerance condition is met between the multi-pulse energy proportion features of the to-be-matched echo pulse sequence and the multi-probe pulse encoding sequence includes: calculating an intensity difference absolute value between the actual energy equivalent intensity of each of the to-be-matched echo pulse sequence and the multi-probe pulse coding sequence at the same pulse sequence; detecting whether each of all the intensity difference absolute values of the to-be-matched echo pulse sequence is less than a preset intensity difference threshold value (for example, 1); If it is detected that all the intensity difference absolute values of the to-be-matched echo pulse sequence are less than the preset intensity difference threshold value, it is determined that the energy feature tolerance condition is met between the multi-pulse energy proportion feature of each of the to-be-matched echo pulse sequence and the multi-probe pulse coding sequence, otherwise it is determined that the energy feature tolerance condition is not met between the multi-pulse energy proportion feature of each of the to-be-matched echo pulse sequence and the multi-probe pulse coding sequence.

[0058] In step S240, when the target echo pulse sequence that matches the multi-probe pulse coding sequence successfully is detected, the remaining echo pulses except the target echo pulse sequence are filtered as echo interference.

[0059] In the embodiment, when the target echo pulse sequence that matches the multi-probe pulse coding sequence successfully in the current ranging period is detected, it indicates that the laser radar 10 substantially receives the multi-echo pulse optical signal that substantially matches and is effective to the transmitted multi-probe pulse optical signal in the current ranging period, and the remaining echo pulses except the target echo pulse sequence received by the laser radar 10 in the current ranging period substantially belong to the over-period interference echo signal and / or other radar interference echo signal. At this time, the over-period echo interference and multi-radar echo interference can be effectively removed in the radar ranging process of the current ranging period by filtering the remaining echo pulses except the target echo pulse sequence received in the current ranging period, so as to improve the laser radar ranging accuracy.

[0060] Therefore, by executing the above steps S210 to S240, the corresponding laser radar 10 can achieve good multi-probe pulse coding effect by using the probe pulse energy adjustable feature and the probe pulse time interval adjustable feature in any ranging period, accurately screen and retain the effective echo pulse optical signal that substantially matches the multi-probe pulse optical signal transmitted in the current ranging period from the echo pulse optical signal received in the current ranging period, effectively remove the over-period echo interference and multi-radar echo interference in the laser radar ranging process, improve the laser radar ranging accuracy, and facilitate the vehicle, robot and other equipment where the laser radar 10 is located to realize high-precision automatic function.

[0061] Optionally, please refer to Figure 5 , Figure 5 FIG. 2 is a flow diagram of a radar ranging interference echo filtering method provided by an embodiment of the application. In the embodiment of the application, the steps of the method are as follows: Figure 2The radar ranging interference echo filtering method shown can further include steps S250-S260 to remove the over-period echo interference from the echo pulse light signals received in the current ranging period in the case that it is determined that the current ranging period fails to receive valid echo pulse light signals substantially matching the multi-probe pulse light signals transmitted in the current ranging period, so as to facilitate subsequent use of other means to check other radar echo interference. Figure 5 The radar ranging interference echo filtering method shown can further include steps S250-S260 to remove the over-period echo interference from the echo pulse light signals received in the current ranging period in the case that it is determined that the current ranging period fails to receive valid echo pulse light signals substantially matching the multi-probe pulse light signals transmitted in the current ranging period, so as to facilitate subsequent use of other means to check other radar echo interference.

[0062] Step S250, when no target echo pulse sequence is detected, for each to-be-matched echo pulse sequence, respectively match the to-be-matched echo pulse sequence with a plurality of multi-probe pulse historical coding sequences of the laser radar in a plurality of historical ranging periods before the current ranging period.

[0063] In the embodiment, the laser radar 10 selects a plurality of multi-probe pulse historical coding sequences of a plurality of historical ranging periods before the current ranging period, and respectively matches each selected multi-probe pulse historical coding sequence with each to-be-matched echo pulse sequence determined in the current ranging period to determine whether there is an over-period interference echo pulse sequence substantially matching a certain multi-probe pulse historical coding sequence in the current ranging period. For each to-be-matched echo pulse sequence, the step of respectively matching the to-be-matched echo pulse sequence with a multi-probe pulse historical coding sequence can include: respectively extracting multi-pulse interval distribution features and multi-pulse energy proportion features of the to-be-matched echo pulse sequence and the multi-probe pulse historical coding sequence; detecting whether the multi-pulse interval distribution features of the to-be-matched echo pulse sequence and the multi-probe pulse historical coding sequence satisfy an interval feature tolerance condition, and detecting whether the multi-pulse energy proportion features of the to-be-matched echo pulse sequence and the multi-probe pulse historical coding sequence satisfy an energy feature tolerance condition; if it is detected that the multi-pulse interval distribution features of the to-be-matched echo pulse sequence and the multi-probe pulse historical coding sequence satisfy the interval feature tolerance condition, and the multi-pulse energy proportion features of the to-be-matched echo pulse sequence and the multi-probe pulse historical coding sequence satisfy the energy feature tolerance condition, it is determined that the to-be-matched echo pulse sequence and the multi-probe pulse historical coding sequence match successfully, otherwise it is determined that the to-be-matched echo pulse sequence and the multi-probe pulse historical coding sequence match unsuccessfully.

[0064] In the process, the multi-pulse interval distribution feature of a single pulse sequence is obtained by arranging the actual pulse time intervals between two adjacent pulses in the corresponding pulse sequence in sequence, and the step of detecting whether the interval feature tolerance condition is met between the multi-pulse interval distribution features of the to-be-matched echo pulse sequence and the multi-probe pulse historical encoding sequence respectively includes: calculating the time interval difference absolute values between the actual pulse time intervals of the to-be-matched echo pulse sequence and the multi-probe pulse historical encoding sequence respectively at the same interval arrangement order; detecting whether all time interval difference absolute values of the to-be-matched echo pulse sequence are less than a preset time interval difference threshold value (for example, 0.2 microseconds) respectively; if it is detected that all time interval difference absolute values of the to-be-matched echo pulse sequence are less than the preset time interval difference threshold value, it is determined that the interval feature tolerance condition is met between the multi-pulse interval distribution features of the to-be-matched echo pulse sequence and the multi-probe pulse historical encoding sequence respectively, otherwise it is determined that the interval feature tolerance condition is not met between the multi-pulse interval distribution features of the to-be-matched echo pulse sequence and the multi-probe pulse historical encoding sequence respectively.

[0065] In addition, the pulse energy proportion feature of a single pulse sequence is obtained by arranging the actual energy equivalent intensities of each pulse in the corresponding pulse sequence in pulse time sequence, and the step of detecting whether the energy feature tolerance condition is met between the multi-pulse energy proportion features of the to-be-matched echo pulse sequence and the multi-probe pulse historical encoding sequence respectively includes: calculating the intensity difference absolute values between the actual energy equivalent intensities of the to-be-matched echo pulse sequence and the multi-probe pulse historical encoding sequence respectively at the same pulse order; detecting whether all intensity difference absolute values of the to-be-matched echo pulse sequence are less than a preset intensity difference threshold value (for example, 1) respectively; if it is detected that all intensity difference absolute values of the to-be-matched echo pulse sequence are less than the preset intensity difference threshold value, it is determined that the energy feature tolerance condition is met between the multi-pulse energy proportion features of the to-be-matched echo pulse sequence and the multi-probe pulse historical encoding sequence respectively, otherwise it is determined that the energy feature tolerance condition is not met between the multi-pulse energy proportion features of the to-be-matched echo pulse sequence and the multi-probe pulse historical encoding sequence respectively.

[0066] Step S260, when it is detected that the to-be-matched echo pulse sequence matches any one of the multi-probe pulse historical encoding sequences successfully, filtering out the to-be-matched echo pulse sequence in all echo pulses.

[0067] In the embodiment, when it is detected that a certain to-be-matched echo pulse sequence in the current ranging period is substantially matched with the multi-probe pulse historical coding sequence of a certain historical ranging period successfully, it indicates that the to-be-matched echo pulse sequence belongs to the over-period interference echo pulse sequence for the current ranging period, and the over-period echo interference removal effect can be achieved by filtering the to-be-matched echo pulse sequence from all echo pulses received in the current ranging period, which is convenient for subsequent radar echo interference troubleshooting by using other means.

[0068] Therefore, the application can perform the above steps S210-S230 and steps S250-S260 to remove the over-period echo interference from the echo pulse optical signals received in the current ranging period when it is determined that the current ranging period fails to receive the effective echo pulse optical signals substantially matched with the multi-probe pulse optical signals transmitted in the current ranging period, which is convenient for subsequent radar echo interference troubleshooting by using other means.

[0069] In the embodiments provided by the present application, it should be understood that the disclosed apparatus and method can also be implemented in other manners. The embodiments described above are only schematic. For example, the flowcharts and block diagrams in the embodiments of the present application illustrate the possible implementation ways and functional modules of the apparatus, methods and computer program products according to the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a segment or a portion of code which comprises one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions shown in the blocks can be performed in a different order from that shown in the flowcharts or block diagrams. For example, the succession of two consecutive blocks can actually be performed in parallel or in reverse order, depending on the functions involved. It should also be noted that each block in the flowcharts and / or block diagrams and combinations of blocks in the flowcharts and / or block diagrams can be implemented by a dedicated hardware-based system, or can be implemented by a combination of dedicated hardware-based systems and computer instructions.

[0070] In addition, each function module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. When the functions are realized in the form of a software function module and sold or used as an independent product, the software function module can be stored in a readable storage medium. Based on this understanding, the technical solutions of the present application essentially or say the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium and includes a plurality of instructions for causing a laser radar or a computer device or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned readable storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0071] The above is only various embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for filtering out radar ranging interference echoes, characterized in that, The filtering method, applied to lidar, includes: Transmit a multi-detector pulse coded sequence during the current ranging period and receive echo pulses during the current ranging period, wherein the multi-detector pulse coded sequence includes multiple detector pulses encoded using pulse time intervals, and at least some of the multiple detector pulses have different pulse energies; A pulse sequence is constructed from all received echo pulses to obtain at least one echo pulse sequence to be matched, wherein the total number of echo pulses in each echo pulse sequence to be matched is consistent with the total number of probe pulses in the multi-probe pulse coding sequence. Each echo pulse sequence to be matched is matched with the multi-probe pulse coding sequence for pulse distribution characteristics; When a target echo pulse sequence that successfully matches the multi-probe pulse coding sequence is detected, the remaining echo pulses other than the target echo pulse sequence among all echo pulses are filtered out as echo interference.

2. The filtration method according to claim 1, characterized in that, The lidar has multiple pre-stored time interval code groups, where each time interval code group includes multiple different preset time intervals. The step of transmitting a multi-detection pulse code sequence within the current ranging period includes: The target interval coding group corresponding to the current ranging period is determined according to the cyclic selection order of the multiple time interval coding groups. In the multiple preset time intervals included in the target interval coding group, at least one target time interval is randomly selected, wherein the number of intervals selected for the at least one target time interval is obtained by subtracting one from the total number of detection pulses; According to the multi-pulse energy ratio configuration relationship corresponding to the current ranging period and at least one target time interval, laser pulses are emitted within the current ranging period to emit the multi-detector pulse coded sequence.

3. The filtration method according to claim 2, characterized in that, If multiple preset time intervals within the same time interval coding group each correspond to a coding sequence number, then the step of randomly selecting at least one target time interval from the multiple preset time intervals included in the target time interval coding group includes: According to the radar identification of the lidar, at least one original random number of the lidar in the current ranging period is processed by random number conversion according to a preset random number conversion strategy to obtain at least one interval random number selected by the lidar in the current ranging period, wherein each interval random number corresponds to a single original random number, and the total number of random numbers of the at least one original random number is obtained by subtracting one from the total number of detection pulses. For each interval, a random number is selected, and the remainder of the selected random number relative to the total number of time intervals of the target interval coding group is calculated. The calculated remainder is incremented by one to obtain the target coding sequence number that matches the selected random number for that interval. A preset time interval corresponding to the target code number in the target interval coding group is selected as a target time interval corresponding to the current ranging period.

4. The filtration method according to claim 3, characterized in that, The step of performing random number conversion processing on at least one original random number of the lidar in the current ranging period according to the lidar's radar identification and a preset random number conversion strategy to obtain at least one interval random number selected by the lidar in the current ranging period includes: For each original random number in the current ranging cycle, perform a binary addition operation on the original random number and the radar identification to obtain the corresponding original binary value; The lower 32 bits of the original binary value are taken, and the target binary value is shifted left by the original random number to obtain the corresponding binary value to be converted. Perform decimal conversion on the binary value to be converted to obtain a random number with an interval corresponding to the original random number.

5. The filtering method according to any one of claims 1-4, characterized in that, The filtering method further includes: When no target echo pulse sequence is detected, for each echo pulse sequence to be matched, the echo pulse sequence to be matched is matched with multiple multi-detection pulse historical coding sequences of the lidar before the current ranging period, and each multi-detection pulse historical coding sequence corresponds to a historical ranging period before the current ranging period. When it is detected that the echo pulse sequence to be matched successfully matches any multi-probe pulse historical encoding sequence, the echo pulse sequence to be matched is filtered out from all the echo pulses.

6. The filtration method according to claim 5, characterized in that, For each probe pulse sequence in the multi-probe pulse coded sequence and the multiple multi-probe pulse historical coded sequences, the step of matching the pulse distribution characteristics of a single echo pulse sequence to be matched with that probe pulse sequence includes: Extract the multi-pulse interval distribution characteristics and multi-pulse energy ratio characteristics of the echo pulse sequence to be matched and the probe pulse sequence, respectively; The system detects whether the multi-pulse interval distribution characteristics of the echo pulse sequence to be matched and the probe pulse sequence satisfy the interval characteristic tolerance condition, and detects whether the multi-pulse energy ratio characteristics of the echo pulse sequence to be matched and the probe pulse sequence satisfy the energy characteristic tolerance condition. If the interval characteristic tolerance condition is met between the multi-pulse interval distribution characteristics of the echo pulse sequence to be matched and the probe pulse sequence, and the energy characteristic tolerance condition is met between the multi-pulse energy ratio characteristics of the echo pulse sequence to be matched and the probe pulse sequence, then the echo pulse sequence to be matched and the probe pulse sequence are determined to be successfully matched; otherwise, the echo pulse sequence to be matched and the probe pulse sequence are determined to be unmatched.

7. The filtration method according to claim 6, characterized in that, The multi-pulse interval distribution characteristics of a single pulse sequence are obtained by sequentially arranging the actual pulse time intervals between two adjacent pulses in the corresponding pulse sequence. The step of detecting whether the multi-pulse interval distribution characteristics of the echo pulse sequence to be matched and the probe pulse sequence satisfy the interval characteristic tolerance condition includes: Calculate the absolute value of the time interval difference between the actual pulse time intervals of the echo pulse sequence to be matched and the probe pulse sequence at the same interval arrangement order; Detect whether the absolute value of each time interval difference in the echo pulse sequence to be matched is less than a preset time interval difference threshold; If the absolute value of all time interval differences in the echo pulse sequence to be matched is less than the preset time interval difference threshold, it is determined that the interval feature tolerance condition is met between the multi-pulse interval distribution characteristics of the echo pulse sequence to be matched and the probe pulse sequence, otherwise it is determined that the interval feature tolerance condition is not met between the multi-pulse interval distribution characteristics of the echo pulse sequence to be matched and the probe pulse sequence.

8. The filtration method according to claim 6, characterized in that, The pulse energy ratio characteristic of a single pulse sequence is obtained by arranging the actual energy equivalent intensities of each pulse in the corresponding pulse sequence according to the pulse time sequence. The step of detecting whether the multi-pulse energy ratio characteristics of the echo pulse sequence to be matched and the probe pulse sequence satisfy the energy characteristic tolerance condition includes: Calculate the absolute value of the intensity difference between the actual equivalent energy intensities of the echo pulse sequence to be matched and the probe pulse sequence at the same pulse sequence; Detect whether the absolute value of each intensity difference in the echo pulse sequence to be matched is less than a preset intensity difference threshold. If the absolute values ​​of all intensity differences in the echo pulse sequence to be matched are less than the preset intensity difference threshold, it is determined that the energy characteristic tolerance condition is met between the multi-pulse energy ratio characteristics of the echo pulse sequence to be matched and the probe pulse sequence, otherwise it is determined that the energy characteristic tolerance condition is not met between the multi-pulse energy ratio characteristics of the echo pulse sequence to be matched and the probe pulse sequence.

9. A lidar, characterized in that, The lidar includes a main control component, a laser emitting component, and an echo receiving component; The main control component is communicatively connected to the laser emitting component and is used to control the laser emitting component to emit detection pulse light signals. The main control component is communicatively connected to the echo receiving component and is used to receive echo pulse optical signals. The main control component stores a computer program and can run the computer program to cooperate with the laser emitting component and the echo receiving component to implement the radar ranging interference echo filtering method according to any one of claims 1-8.

10. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is run by the lidar, it implements the radar ranging interference echo filtering method according to any one of claims 1-8.

Images