Processing method of detection results and device as well as a computer-readable storage medium

Abstract

A detection result processing method and apparatus, and a computer-readable storage medium, the method comprising: detecting the signal peak of the target pixel signal; when it is determined that the signal peak of the target pixel signal is not greater than the first detection threshold and that both the target pixel signal and the neighboring pixel signal satisfy the conditions for accumulation, the accumulation signal consisting of the accumulation of the target pixel signal and the neighboring pixel signal is detected. The above method can improve the accuracy of detection results.

Description

Detection result processing method and device, and computer-readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on April 13, 2022, with application number 202210385823.5 and invention name “Detection result processing method and device, computer-readable storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the field of radar detection technology, and in particular to a detection result processing method and device, and a computer-readable storage medium. Background Art

[0003] When processing LiDAR detection results, range measurement performance can be improved through neighborhood accumulation. When the echo signal strength of a distant obstacle is weak, the echo signal from a single pixel may be below the detection threshold. However, by summing the signals from several adjacent pixels, the signal may exceed the detection threshold, allowing the obstacle to be detected, thereby improving LiDAR's range measurement performance.

[0004] In the prior art, the commonly used neighborhood accumulation method is usually to accumulate the signals of adjacent angular pixels in the same channel. However, the existing solution leads to low detection accuracy.

[0005] Summary of the Invention

[0006] The embodiment of the present invention solves the technical problem that the neighborhood accumulation method has low detection accuracy.

[0007] To solve the above technical problems, an embodiment of the present invention provides a detection result processing method, including: obtaining a signal peak value of a target pixel signal; detecting that the signal peak value of the target pixel signal is not greater than a first detection threshold, and determining that the target pixel signal and the neighboring pixel signal both meet the accumulation conditions, then obtaining an accumulated signal of the target pixel signal and the neighboring pixel signal.

[0008] Optionally, the target pixel signal and the neighboring pixel signal both meet the accumulation condition, which means that: the peak value of the target pixel signal is less than a first accumulation compliance threshold, and the signal peak value of the neighboring pixel signal is less than a second accumulation compliance threshold; the neighboring pixel is a pixel angularly adjacent to the target pixel, or a pixel adjacent to the target pixel channel.

[0009] Optionally, the first cumulative compliance threshold is a preset first constant value; or, the first cumulative compliance threshold is calculated from the target pixel signal; the second cumulative compliance threshold is a preset second constant value, or, the second cumulative compliance threshold is calculated from the target pixel signal.

[0010] Optionally, the first cumulative coincidence threshold or the second cumulative coincidence threshold is calculated by the following steps: clamping the target pixel signal to obtain a first clamped signal; obtaining a mean value μ of the first clamped signal; n and the standard deviation σ n ; Determine the first cumulative compliance threshold: μ n +y1σ n ; Determine that the second cumulative threshold is μ n +y2σ n , and y1≤y2.

[0011] Optionally, clamping the target pixel signal includes: comparing the signal amplitude of the target pixel signal at each timestamp with a preset clamping value, and selecting the minimum value between the signal amplitude at each timestamp and the preset clamping value; the minimum value corresponding to the timestamp is the signal amplitude at the corresponding timestamp on the first clamping signal.

[0012] Optionally, the detection result processing method further includes: if the signal peak value is greater than the first detection threshold, taking the target pixel signal as the detection result corresponding to the target pixel.

[0013] Optionally, the first detection threshold is a preset third constant value; or, the first detection threshold is calculated from the target pixel signal.

[0014] Optionally, the first detection threshold is calculated by the following steps: clamping the target pixel signal to obtain a first clamped signal; obtaining a mean value μ of the first clamped signal. n and the standard deviation σ n ; Get the mean value μ of the first clamp signal n and the standard deviation σ n ;

[0015] Optionally, after acquiring the accumulated signal, the method further includes: when detecting that the accumulated signal meets a preset output condition, using the accumulated signal as a detection result corresponding to the target pixel.

[0016] Optionally, the neighborhood pixels include a first neighborhood pixel and a second neighborhood pixel; the accumulated signal includes a first accumulated signal obtained by adding the target pixel signal and the first neighborhood pixel signal, a second accumulated signal obtained by adding the target pixel signal and the second neighborhood pixel signal, and a third accumulated signal obtained by adding the target pixel signal, the first neighborhood pixel signal and the second neighborhood pixel signal. When it is detected that the accumulated signal meets a preset output condition, the accumulated signal is used as the detection result corresponding to the target pixel, including: when only any one of the first accumulated signal, the second accumulated signal and the third accumulated signal is detected to meet the output condition, the accumulated signal that meets the output condition is used as the detection result corresponding to the target pixel.

[0017] Optionally, when it is detected that the accumulated signal meets a preset output condition, the accumulated signal is used as the detection result corresponding to the target pixel, including: when it is detected that multiple of the first accumulated signal, the second accumulated signal, and the third accumulated signal meet the output condition, the signal with the highest peak value is selected from the first accumulated signal, the second accumulated signal, and the third accumulated signal as the detection result corresponding to the target pixel.

[0018] Optionally, the output condition is: the peak value of the accumulated signal is greater than a second detection threshold.

[0019] Optionally, the output condition is: the peak value of the accumulated signal is greater than a second detection threshold.

[0020] Optionally, the second detection threshold is calculated by the following steps: clamping the accumulated signal to obtain a second clamped signal; obtaining the mean μ2 and standard deviation σ2 of the second clamped signal; and determining the second detection threshold as: μ2+xσ2.

[0021] Optionally, the neighborhood pixels include a first neighborhood pixel and a second neighborhood pixel; the second detection threshold is calculated by the following steps: clamping the first neighborhood pixel signal to obtain a third clamped signal, and clamping the second neighborhood pixel signal to obtain a fourth clamped signal; obtaining the mean μ of the third clamped signal n-1 , standard deviation σ n-1 , and the mean value μ of the fourth clamp signal n-2 , standard deviation σ n-2 ; Determine the second detection threshold: μ2+xσ2; where,

[0022] Optionally, the neighborhood pixels include a first neighborhood pixel and a second neighborhood pixel; the second detection threshold is calculated by the following steps: clamping the target pixel signal to obtain a first clamped signal, clamping the first neighborhood pixel signal to obtain a third clamped signal, and clamping the second neighborhood pixel signal to obtain a fourth clamped signal; obtaining the mean μ of the first clamped signals n and the standard deviation σ n , obtain the mean value μ of the third clamp signal n-1 , standard deviation σ n-1 and variance var n-1 , and the mean value μ of the fourth clamp signal n+1 , standard deviation σ n+1 and variance var n+1 ; Determine the second detection threshold: μ2+xσ2; where,

[0023] An embodiment of the present invention also provides a detection result processing device, including: a first acquisition unit, used to obtain a signal peak value of a target pixel signal; a second acquisition unit, used to detect that the signal peak value of the target pixel signal is not greater than a first detection threshold, and determine that the target pixel signal and the neighboring pixel signal both meet the accumulation conditions, and then obtain an accumulated signal of the target pixel signal and the neighboring pixel signal.

[0024] An embodiment of the present invention also provides a computer-readable storage medium, which is a non-volatile storage medium or a non-transient storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of any of the above-mentioned detection result processing methods are executed.

[0025] An embodiment of the present invention also provides another detection result processing device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor executes the steps of any of the above-mentioned detection result processing methods when running the computer program.

[0026] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects:

[0027] Obtaining a peak value of the target pixel signal. When the peak value of the target pixel signal is no greater than a first detection threshold, and when it is determined that the target pixel signal and the neighboring pixel signals both meet an accumulation condition, obtaining an accumulated signal by adding the target pixel signal and the neighboring pixel signals. After obtaining the accumulated signal, the accumulated signal can be used as the detection result corresponding to the target pixel. Obtaining the accumulated signal only occurs when it is detected that the peak value of the target pixel signal is small and both the target pixel signal and the neighboring pixel signals meet the accumulation condition. This reduces the deviation in the ranging result caused by neighborhood accumulation and correspondingly improves detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG1 is a schematic diagram of pixel distribution;

[0029] FIG2 is a waveform diagram of the detection result obtained by using the existing neighborhood accumulation method, the target pixel waveform, and the neighborhood pixel waveform;

[0030] FIG3 is a flow chart of a detection result processing method according to an embodiment of the present invention;

[0031] FIG4 is a waveform diagram of a target pixel signal according to an embodiment of the present invention;

[0032] FIG5 is a waveform diagram of a clamping signal in an embodiment of the present invention;

[0033] 6 to 10 are waveform diagrams of several specific application scenarios in the embodiments of the present invention;

[0034] FIG11 is a schematic structural diagram of a detection result processing device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] Taking a conventional multi-line lidar as an example, a multi-line lidar consists of multiple laser emitters and multiple detectors. The multiple laser emitters can be arranged in a specified direction (such as the vertical direction of the radar), and the detection signal emitted by each laser emitter is at a different angle to the specified direction. The detectors are in a corresponding relationship with the laser emitters and are used to receive the echo signal reflected by the detection signal from the obstacle and returned to the lidar. When the detector receives the echo signal, it can calculate the obstacle distance by using the time difference (flight time) between the detection signal of the corresponding laser emitter and the echo signal received by the detector.

[0036] Multiple detectors are arranged along the vertical axis of the radar, with different detectors receiving echo signals at different vertical angles. Therefore, the vertical angles corresponding to the data points measured by different detectors can be determined based on the detector's position. Furthermore, multiple laser emitters and detectors rotate horizontally with the radar's rotor. Alternatively, scanning mirrors (one- or two-dimensional scanning mirrors such as rotating mirrors and galvanometers) can be used to deflect the detection signals in different horizontal directions. Alternatively, the laser emitters and detectors can be arranged in a two-dimensional array, with detectors at different horizontal positions receiving echo signals at different horizontal angles, thus achieving two-dimensional scanning of the lidar.

[0037] The detectors and laser emitters with corresponding relationships constitute a detection channel, and the detection data of a horizontal angle of a detection channel forms a pixel point in the two-dimensional point cloud of the laser radar.

[0038] Referring to Figure 1, a schematic diagram of an existing pixel distribution is given. In Figure 1, the target pixel is set as: channel ch(i), angle θ n The target pixel’s neighborhood pixel can be: channel is ch(i), angle is θ n-1 Pixel point; and, channel is ch(i), angle is θ n+1 Alternatively, the neighborhood pixel of the target pixel can be: a pixel with channel ch(i-1) and angle θ; and a pixel with channel ch(i+1) and angle θ. n Pixels.

[0039] An existing neighborhood accumulation method accumulates the signals of several pixels or averages the accumulated results. For example, the target pixel and its neighboring pixels (such as channel ch(i) and angle θ n-1 Pixel point; and, channel is ch(i), angle is θ n+1 The signals of the target pixel and its neighboring pixels are accumulated, and the accumulated result or the average of the accumulated results is used as the detection result of the target pixel and its neighboring pixels. However, the above neighborhood accumulation method will reduce the detection accuracy.

[0040] Referring to Figure 2, a waveform diagram of the detection results obtained using the existing neighborhood accumulation method, the target pixel waveform, and the neighborhood pixel waveform is given. In Figure 2, the neighborhood pixel is: channel ch(i), angle θ n-1 Pixel point; and, channel is ch(i), angle is θ n+1 Since the detection time of different pixels is different, as shown in Figure 2, channel ch(i) detects the angle θ in turn. n-1 ,θ n and θ n+1Even if the same obstacle is detected from three different angles, the flight times corresponding to the echo signals of the three pixels (represented by peak time in Figure 2) will differ due to time delay. As shown in Figure 2, if the waveforms of the three pixels are directly accumulated, the peak value of the final detection result acc will deviate from the peak value of the detection result corresponding to the target pixel, resulting in reduced detection accuracy.

[0041] In an embodiment of the present invention, a signal peak value of a target pixel signal is obtained. When the signal peak value of the target pixel signal is not greater than a first detection threshold, and it is determined that the target pixel signal and the neighboring pixel signal both meet the accumulation condition, an accumulated signal is obtained by adding the target pixel signal and the neighboring pixel signal. After obtaining the accumulated signal, the accumulated signal can be used as the detection result corresponding to the target pixel. The accumulated signal is only obtained when it is detected that the signal peak value of the target pixel signal is small and the target pixel signal and the neighboring pixel signal both meet the accumulation condition. This can reduce the deviation of the ranging result caused by the neighborhood accumulation and correspondingly improve the detection accuracy.

[0042] In order to make the above-mentioned objects, features and beneficial effects of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0043] An embodiment of the present invention provides a detection result processing method, which is described in detail below through specific steps with reference to FIG3 .

[0044] Step S301: Acquire the signal peak value of the target pixel signal.

[0045] In a specific implementation, referring to FIG1 , the target pixel may be a pixel having a channel ch(i) and an angle θ in FIG1 . n After acquiring the target pixel signal, a signal peak value corresponding to the target pixel signal may be acquired. The signal peak value corresponding to the target pixel signal may be a peak value of a voltage amplitude corresponding to the target pixel signal.

[0046] After obtaining the signal peak value of the target pixel signal, the signal peak value of the target pixel signal can be compared with the first detection threshold. If the signal peak value of the target pixel signal is not greater than the first detection threshold, step S302 is executed.

[0047] Step S302 : If the peak value of the target pixel signal is detected to be not greater than a first detection threshold, and it is determined that both the target pixel signal and the neighboring pixel signal meet the accumulation condition, an accumulated signal of the target pixel signal and the neighboring pixel signal is acquired.

[0048] In a specific implementation, the neighborhood pixels may be pixels adjacent to the target pixel in terms of channel, or pixels adjacent to the target pixel in terms of angle.

[0049] As shown in FIG1 , the neighborhood pixels may include a first neighborhood pixel and / or a second neighborhood pixel, wherein: the first neighborhood pixel is a pixel with a channel of ch(i) and an angle of θ n-1 The pixel of the second neighborhood is the pixel with channel ch(i) and angle θ n+1 Or, the first neighborhood pixel is the pixel with channel ch(i-1) and angle θ n The pixel of the second neighborhood is the pixel with channel ch(i+1) and angle θ n It should be noted that the above two methods of selecting neighborhood pixels do not affect the solution of the present invention.

[0050] In the embodiment of the present invention, the target pixel signal and the neighboring pixel signal both meeting the accumulation condition may mean that the peak value of the target pixel signal is less than the first accumulation compliance threshold, and the peak value of the neighboring pixel signal is less than the second accumulation compliance threshold.

[0051] In one embodiment of the present invention, the signal peak value of the neighborhood pixel signal is less than the second cumulative compliance threshold value, which may mean that: the signal peak value of the first neighborhood pixel signal is less than the second cumulative compliance threshold value; or, the signal peak value of the second neighborhood pixel signal is less than the second cumulative compliance threshold value; or, the signal peak value of the first neighborhood pixel signal is less than the second cumulative compliance threshold value, and the signal peak value of the second neighborhood pixel signal is less than the second cumulative compliance threshold value.

[0052] In a specific implementation, the first cumulative coincidence threshold may be a preset first constant value, or the first cumulative coincidence threshold may be calculated from the target pixel signal. Correspondingly, the second cumulative coincidence threshold may be a preset second constant value, or the second cumulative coincidence threshold may be calculated from the target pixel signal.

[0053] The specific process of calculating the first cumulative coincidence threshold and the second cumulative coincidence threshold using the target pixel signal is described below.

[0054] In an embodiment of the present invention, the target pixel signal may be clamped to obtain a first clamped signal. The mean value μ of the first clamped signal is calculated. n and the standard deviation σ n , determine the first cumulative compliance threshold as: μ n +y1σ n ; Determine the second cumulative threshold is μ n +y2σ n , where y1≤y2.

[0055] In one embodiment of the present invention, y1<y2.

[0056] In a specific implementation, the following steps can be used to calculate the first clamping signal corresponding to the target pixel signal: compare the signal amplitude of the target pixel signal at each timestamp with the preset clamping value, select the minimum value between the signal amplitude at each timestamp and the preset clamping value, and the minimum value corresponding to the timestamp is the signal amplitude corresponding to the timestamp on the first clamping signal.

[0057] In an embodiment of the present invention, a timestamp may be a sampling point. At each timestamp, the signal amplitude at the timestamp is compared with a preset clamping value. If the signal amplitude at the timestamp is greater than the preset clamping value, the preset clamping value is used as the signal amplitude of the first clamped signal at the timestamp. If the signal amplitude at the timestamp is not greater than the preset clamping value, the signal amplitude of the target pixel signal at the timestamp is used as the signal amplitude of the first clamped signal at the timestamp.

[0058] For example, at timestamp 1 corresponding to sampling point 1, the signal amplitude of the target pixel signal at timestamp 1 is S t1 , the preset clamp value is ai, and S t1 >ai. Thus, the signal amplitude of the first clamped acoustic signal at timestamp 1 is the preset clamped value ai. At timestamp 2 corresponding to sampling point 2, the signal amplitude of the target pixel signal at timestamp 2 is S t2 , the preset clamp value is ai, and S t2 <ai. Therefore, the signal amplitude of the first clamp signal at timestamp 2 is S t2 .

[0059] By analogy, the signal amplitudes at all time stamps can be obtained, and then the first clamped signal can be obtained.

[0060] 4 , a waveform diagram of a target pixel signal according to an embodiment of the present invention is shown. Referring to FIG5 , a waveform diagram of a clamp signal according to an embodiment of the present invention is shown.

[0061] In a specific implementation, after the accumulated signal is acquired, the following step S303 may be further executed.

[0062] Step S303: When it is detected that the accumulated signal meets the preset output condition, the accumulated signal is used as the detection result corresponding to the target pixel.

[0063] In an embodiment of the present invention, since the neighborhood pixels of the target pixel may include a first neighborhood pixel and a second neighborhood pixel, the accumulated signal may include: a first accumulated signal obtained by adding the target pixel signal and the first neighborhood pixel signal, a second accumulated signal obtained by adding the target pixel signal and the second neighborhood pixel signal, and a third accumulated signal obtained by adding the target pixel signal, the first neighborhood pixel signal, and the second neighborhood pixel signal.

[0064] Since there may be a first accumulated signal, a second accumulated signal, and a third accumulated signal, when detecting whether the accumulated signal satisfies a preset condition, it is possible to separately detect whether any one of the first accumulated signal, the second accumulated signal, and the third accumulated signal satisfies an output condition. If any one of the first accumulated signal, the second accumulated signal, and the third accumulated signal satisfies the output condition, the accumulated signal that satisfies the output condition is used as the detection result corresponding to the target pixel.

[0065] If at least two of the first accumulated signal, the second accumulated signal and the third accumulated signal meet the output conditions, the accumulated signal with the highest peak value can be selected from the accumulated signals meeting the output conditions as the detection result corresponding to the target pixel.

[0066] For example, if it is detected that among the first accumulated signal, the second accumulated signal and the third accumulated signal, only the first accumulated signal meets the output condition, the first accumulated signal is used as the detection result corresponding to the target pixel.

[0067] For another example, if it is detected that among the first accumulated signal, the second accumulated signal and the third accumulated signal, the first accumulated signal and the second accumulated signal both meet the output conditions, and the peak value of the first accumulated signal is greater than the peak value of the second accumulated signal, then the first accumulated signal is used as the detection result corresponding to the target pixel.

[0068] In an embodiment of the present invention, if at least two of the first accumulated signal, the second accumulated signal, and the third accumulated signal meet the output condition, the detection result corresponding to the target pixel may be selected according to the priority between the accumulated signals.

[0069] For example, by setting the priority of the first and second accumulated signals higher than that of the third accumulated signal, when the third accumulated signal and either or both of the first and second accumulated signals meet the output conditions, the first or second accumulated signal is used as the detection result corresponding to the target pixel. Through embodiments of the present invention, the number of accumulated pixels in the output accumulated signal can be minimized, thereby reducing the impact of the accumulation of waveforms at different pixel points on detection accuracy.

[0070] Those skilled in the art will appreciate that the accumulation between two signals may refer to the accumulation between the amplitudes corresponding to the two signals.

[0071] In an embodiment of the present invention, the first accumulated signal, the second accumulated signal, and the third accumulated signal may all be normalized. Specifically, the first accumulated signal may be an average value of the target pixel signal and the first neighboring pixel signal, the second accumulated signal may be an average value of the target pixel signal and the second neighboring pixel signal, and the third accumulated signal may be an average value of the target pixel signal, the first neighboring pixel signal, and the third neighboring pixel signal.

[0072] In a specific implementation, the accumulated signal satisfies the output condition that: the peak value of the accumulated signal is greater than the second detection threshold.

[0073] In the embodiment of the present invention, the second detection threshold may be a preset third constant value, and the second detection threshold may also be calculated by accumulating the signal.

[0074] The specific process of calculating the second detection threshold by using the accumulated signal is described below.

[0075] The accumulated signal is clamped to obtain a second clamped signal. The specific principle and process of clamping the accumulated signal can refer to the principle and process of clamping the target pixel signal, which will not be described in detail here.

[0076] After obtaining the second clamped signal, the mean μ2 and standard deviation σ2 of the second clamped signal can be obtained, thereby determining the second detection threshold as μ2 + xσ2. The value of x can be related to the noise rate. When the noise rate is high, x can take a smaller value; conversely, when the noise rate is low, x can take a larger value. The value of x can range from 5 to 6.

[0077] It should be noted that clamping the accumulated signal may refer to clamping any one of the first accumulated signal, the second accumulated signal, or the third accumulated signal to ultimately obtain a second detection threshold. In other words, the second detection threshold may be calculated using any one of the first accumulated signal, the second accumulated signal, or the third accumulated signal. In this case, the accumulated signal meeting the preset output condition means that at least one of the first accumulated signal, the second accumulated signal, or the third accumulated signal is greater than the second detection threshold calculated above.

[0078] Clamping the accumulated signal may also refer to clamping the first accumulated signal, the second accumulated signal, and the third accumulated signal respectively, and obtaining the second detection threshold D corresponding to the first accumulated signal through the above operation. a1 , the second detection threshold D corresponding to the second accumulated signal a2 And the second detection threshold D corresponding to the third accumulated signal a3 At this time, for different accumulated signals, the corresponding output conditions may be different. Specifically, the accumulated signal satisfies the output condition as follows: the peak value of the first accumulated signal is greater than the second detection threshold D a1 , or the peak value of the second accumulated signal is greater than the second detection threshold D a1 , or the peak value of the third accumulated signal is greater than the second detection threshold D a3 .

[0079] In another embodiment of the present invention, the first neighborhood pixel signal is clamped to obtain a third clamped signal, and the mean value μ of the third clamped signal is calculated and obtained. n-1, standard deviation σ n-1 ; Clamp the second neighborhood pixel signal to obtain a fourth clamped signal, and calculate the mean μ of the fourth clamped signal n-2 , standard deviation σ n-2 The second detection threshold is determined as: μ2+xσ2; where μ2=(μ n-1 +μ n+1 ) / 2, Where var is the variance.

[0080] In another embodiment of the present invention, the target pixel signal is clamped to obtain a first clamped signal, and the mean value μ of the first clamped signal is calculated. n and the standard deviation σ n ; Clamp the first neighborhood pixel signal to obtain a third clamped signal, and calculate the mean μ of the third clamped signal n-1 , standard deviation σ n-1 and variance var n-1 ; Clamp the second neighborhood pixel signal to obtain a fourth clamped signal, and calculate the mean μ of the fourth clamped signal n+1 , standard deviation σ n+1 and variance var n+1 The second detection threshold is determined as: μ2+xσ2; where μ2=(μ n-1 +μ n +μ n+1 ) / 3,

[0081] In an embodiment of the present invention, each pixel of the laser radar can be sequentially used as a target pixel, and detection result processing can be performed sequentially through the above-mentioned steps S301 to S303. Therefore, the first neighborhood pixel and the second neighborhood pixel will be used as target pixels in other detection result processing steps. Their signals can also be clamped and their mean, variance, and standard deviation can be calculated to obtain the corresponding first detection threshold. Furthermore, in the step of processing the detection results of the target pixel, the second detection threshold is determined by using the mean and standard deviation, or by using the mean, standard deviation, and variance. The data obtained from the first neighborhood pixel and the second neighborhood pixel in other detection result processing steps can be used, and there is no need to perform statistics on the accumulated results. Therefore, the calculation of the second detection threshold can be simplified, thereby reducing system power consumption.

[0082] In a specific implementation, if the signal peak value corresponding to the target pixel signal is greater than the first detection threshold, the target pixel signal may be used as the detection result corresponding to the target pixel.

[0083] In a specific implementation, after obtaining the detection results corresponding to the target pixels through the above steps S301 to S303, the flight time can be obtained based on the detection results corresponding to the target pixels to calculate the obstacle distance; the obstacle reflectivity can be calculated based on the information reflecting the echo intensity, such as the peak amplitude, leading edge slope or signal pulse coverage area corresponding to the detection results.

[0084] 6 to 10 , schematic waveform diagrams of several specific application scenarios in the embodiments of the present invention are provided.

[0085] In FIG6 , the target pixel signal S n The peak amplitude reaches the first detection threshold D0, so there is no need to consider whether the waveform of the neighboring pixel signal reaches the first detection threshold D0 or other conditions, and the target pixel signal S is directly n As the detection result of the target pixel.

[0086] In another specific embodiment, referring to FIG. 7 , the target pixel signal S n The peak amplitude of the target pixel signal S n The peak amplitude of the target pixel signal S does not reach the first detection threshold D0, so it can be further determined that the target pixel signal S n and its neighborhood pixel signals (S n-1 、S n+1 ) meet the cumulative conditions.

[0087] As shown in FIG8 , the target pixel signal S n The peak amplitude is less than the first cumulative compliance threshold C th-0 , neighborhood pixel signal S n-1 and S n+1 The peak amplitudes are all less than the second cumulative compliance threshold C th-n Thus, the target pixel signal S is determined n , neighborhood pixel signal S n-1 and S n+1 Meet the accumulation conditions.

[0088] Continuing to refer to FIG7 , it is further determined whether the accumulated signal meets the output condition. n and the neighborhood pixel signal S n-1 Accumulate and obtain the first accumulated signal S a1 The signal peak reaches the second detection threshold D a1 ; Target pixel signal S n and the neighborhood pixel signal S n-1 and S n+1 The third accumulated signal S is accumulated. a3 The signal peak reaches the third detection threshold D a3 From this we can see that the first accumulated signal Sa1 and the third accumulated signal S a3 The output conditions are met.

[0089] According to an embodiment of the present invention, the first accumulated signal S a1 and the third accumulated signal S a3 Select the accumulated signal with the higher peak amplitude, that is, the first accumulated signal S a1 As the detection result of the target pixel.

[0090] According to another embodiment of the present invention, according to the priority of the accumulated signal, if the priority of the first accumulated signal is higher than that of the third accumulated signal, the first accumulated signal S a1 As the detection result of the target pixel.

[0091] In another specific embodiment, referring to FIG. 9 , the target pixel signal S n The peak amplitude of the target pixel signal S n The peak amplitude of the target pixel signal S does not reach the first detection threshold D0, so it can be further determined that the target pixel signal S n and its neighborhood pixel signals (S n-1 、S n+1 ) meet the cumulative conditions.

[0092] 10 , the target pixel signal S n The peak amplitude is less than the first cumulative compliance threshold C th-0 , neighborhood pixel signal S n-1 The peak amplitude is less than the second cumulative compliance threshold C th-n , but the neighborhood pixel signal S n+1 The peak amplitude exceeds the second cumulative compliance threshold C th-n Thus, the target pixel signal S is determined n , neighborhood pixel signal S n-1 Meet the accumulation condition, the neighborhood pixel signal S n+1 Does not meet the accumulation conditions.

[0093] Continuing to refer to FIG9 , the target pixel signal S n and the neighborhood pixel signal S n-1 Accumulate and obtain the first accumulated signal S a1 The signal peak does not reach the second detection threshold D a1 , does not meet the output conditions. Even if the target pixel signal S n and the neighborhood pixel signal S n-1 and S n+1 The third accumulated signal S is accumulated. a3 The signal peak reaches the third detection threshold D a3 , since the neighborhood pixel signal Sn+1 Does not meet the accumulation condition, the third accumulation signal S a3 Therefore, it is determined that the target pixel does not have a waveform that meets the conditions, and no valid signal is output.

[0094] It should be noted that, in the above embodiment, the target pixel signal S is obtained n and the neighborhood pixel signal S n-1 The first accumulated signal S to be accumulated a1 , and the target pixel signal S n and the neighborhood pixel signal S n-1 and S n+1 The third accumulated signal S is obtained by accumulating a3 , as the accumulated signal. In other embodiments of the present invention, the target pixel signal S can also be obtained n and the neighborhood pixel signal S n+1 The second accumulated signal S is obtained by accumulating a2 , also serves as an accumulated signal to determine whether the output condition is met. In the second accumulated signal S a2 When the output conditions are met, it can also be used as the detection result corresponding to the target pixel.

[0095] 11 , a detection result processing device 11 according to an embodiment of the present invention is provided, comprising: a first acquisition unit 111 and a second acquisition unit 112 , wherein:

[0096] A first acquisition unit 111 is configured to acquire a peak value of a target pixel signal;

[0097] The second acquisition unit 112 is configured to detect that a signal peak value of the target pixel signal is not greater than a first detection threshold, and determine that both the target pixel signal and the neighboring pixel signal meet an accumulation condition, and then acquire an accumulated signal of the target pixel signal and the neighboring pixel signal.

[0098] In a specific implementation, the specific execution process of the first acquisition unit 111 and the second acquisition unit 112 may correspond to the above steps S301 to S302, which will not be described in detail here.

[0099] An embodiment of the present invention also provides a computer-readable storage medium, which is a non-volatile storage medium or a non-transient storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the detection result processing method provided in any of the above embodiments are executed.

[0100] An embodiment of the present invention also provides another detection result processing device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor runs the computer program, it executes the steps of the detection result processing method provided in any of the above embodiments.

[0101] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, which may include: ROM, RAM, disk or CD, etc.

[0102] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be based on the scope defined by the claims.

Claims

1. A detection result processing method, characterized in that: include: Obtaining a signal peak value of a target pixel signal; It is detected that the signal peak of the target pixel signal is not greater than the first detection threshold, and it is determined that the target pixel signal and the neighboring pixel signal both meet the accumulation condition, then an accumulated signal of the target pixel signal and the neighboring pixel signal is acquired.

2. The detection result processing method according to claim 1, wherein: The target pixel signal and the neighboring pixel signal both meet the accumulation conditions, which means that: the peak value of the target pixel signal is less than the first accumulation compliance threshold, and the signal peak value of the neighboring pixel signal is less than the second accumulation compliance threshold; the neighboring pixels are pixels that are angularly adjacent to the target pixel, or pixels that are channel-adjacent to the target pixel.

3. The detection result processing method according to claim 2, wherein: The first cumulative coincidence threshold is a preset first constant value; or the first cumulative coincidence threshold is calculated from the target pixel signal; The second cumulative coincidence threshold is a preset second constant value, or the second cumulative coincidence threshold is calculated from the target pixel signal.

4. The detection result processing method according to claim 3, wherein: The first cumulative compliance threshold or the second cumulative compliance threshold is calculated using the following steps: clamping the target pixel signal to obtain a first clamped signal; Get the mean value μ of the first clamp signal n and the standard deviation σ n ; Determine the first cumulative compliance threshold as: μ n +y1σ n ; Determine that the second cumulative threshold is μ n +y2σ n , and y1≤y2.

5. The detection result processing method according to claim 4, wherein: The clamping of the target pixel signal includes: The signal amplitude of the target pixel signal at each timestamp is compared with a preset clamping value, and the minimum value between the signal amplitude at each timestamp and the preset clamping value is selected; the minimum value corresponding to the timestamp is the signal amplitude at the corresponding timestamp of the first clamping signal.

6. The detection result processing method according to claim 1, wherein: Also includes: If the signal peak value is greater than the first detection threshold, the target pixel signal is used as the detection result corresponding to the target pixel.

7. The detection result processing method according to claim 1 or 6, characterized in that: The first detection threshold is a preset third constant value; or, the first detection threshold is calculated from the target pixel signal.

8. The detection result processing method according to claim 7, wherein: The first detection threshold is calculated using the following steps: clamping the target pixel signal to obtain a first clamped signal; Get the mean value μ of the first clamp signal n and the standard deviation σ n ; Determine the first detection threshold as: μ n +xσ n .

9. The detection result processing method according to claim 1, wherein: After acquiring the accumulated signal, the method further includes: When it is detected that the accumulated signal meets a preset output condition, the accumulated signal is used as the detection result corresponding to the target pixel.

10. The detection result processing method according to claim 9, characterized in that: The neighborhood pixels include a first neighborhood pixel and a second neighborhood pixel; the accumulated signal includes a first accumulated signal obtained by accumulating the target pixel signal and the first neighborhood pixel signal, a second accumulated signal obtained by accumulating the target pixel signal and the second neighborhood pixel signal, and a third accumulated signal obtained by accumulating the target pixel signal, the first neighborhood pixel signal, and the second neighborhood pixel signal. When it is detected that the accumulated signal meets a preset output condition, the accumulated signal is used as the detection result corresponding to the target pixel, including: When only any one of the first accumulated signal, the second accumulated signal, and the third accumulated signal is detected to satisfy the output condition, the accumulated signal satisfying the output condition is used as the detection result corresponding to the target pixel.

11. The detection result processing method according to claim 10, wherein: When it is detected that the accumulated signal meets a preset output condition, using the accumulated signal as the detection result corresponding to the target pixel includes: When it is detected that multiple of the first accumulated signal, the second accumulated signal, and the third accumulated signal meet the output condition, the one with the highest peak value is selected from the first accumulated signal, the second accumulated signal, and the third accumulated signal as the detection result corresponding to the target pixel.

12. The detection result processing method according to any one of claims 9 to 11, characterized in that: The output condition is: the peak value of the accumulated signal is greater than a second detection threshold.

13. The detection result processing method according to claim 12, wherein: The second detection threshold is a preset third constant value; or, the second detection threshold is calculated from the accumulated signal.

14. The detection result processing method according to claim 13, wherein: The second detection threshold is calculated using the following steps: clamping the accumulated signal to obtain a second clamped signal; Obtaining a mean μ2 and a standard deviation σ2 of the second clamping signal; The second detection threshold is determined to be: μ2+xσ2.

15. The detection result processing method according to claim 13, wherein: The neighborhood pixels include a first neighborhood pixel and a second neighborhood pixel; the second detection threshold is calculated using the following steps: Clamping the first neighborhood pixel signal to obtain a third clamped signal, and clamping the second neighborhood pixel signal to obtain a fourth clamped signal; Get the mean value μ of the third clamp signal n-1 , standard deviation σ n-1 , and the mean value μ of the fourth clamp signal n-2 , standard deviation σ n-2 ; Determine the second detection threshold as: μ2+xσ2; where μ2=(μ n-1 +μ n+1 ) / 2, 16. The detection result processing method according to claim 13, wherein: The neighborhood pixels include a first neighborhood pixel and a second neighborhood pixel; the second detection threshold is calculated using the following steps: Clamping the target pixel signal to obtain a first clamped signal, clamping the first neighborhood pixel signal to obtain a third clamped signal, and clamping the second neighborhood pixel signal to obtain a fourth clamped signal; Get the mean value μ of the first clamp signal n and the standard deviation σ n , obtain the mean value μ of the third clamp signal n-1 , standard deviation σ n-1 and variance var n-1 , and the mean value μ of the fourth clamp signal n+1 , standard deviation σ n+1 and variance var n+1 ; Determine the second detection threshold as: μ2+xσ2; where μ2=(μ n-1 +μ n +μ n+1 ) / 3, 17. A detection result processing device, characterized in that: include: A first acquisition unit, configured to acquire a signal peak value of a target pixel signal; The second acquisition unit is used to detect that the signal peak of the target pixel signal is not greater than the first detection threshold, and determine that the target pixel signal and the neighboring pixel signal both meet the accumulation condition, and then acquire the accumulated signal of the target pixel signal and the neighboring pixel signal.

18. A computer-readable storage medium, wherein the computer-readable storage medium is a non-volatile storage medium or a non-transient storage medium, and a computer program is stored thereon, wherein: When the computer program is executed by a processor, the steps of the detection result processing method according to any one of claims 1 to 16 are executed.

19. A detection result processing device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor runs the computer program, the processor performs the steps of the detection result processing method according to any one of claims 1 to 16.

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