Lidar, signal processing method therefor, and signal processing apparatus

Abstract

A LiDAR, a signal processing method therefor, and a signal processing apparatus. The LiDAR comprises a plurality of detectors. The signal processing method for the LiDAR comprises: selecting a target detector, and acquiring an output signal thereof (S11); determining the total amount of crosstalk generated by other detectors to the target detector (S12); and obtaining an actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk (S13). The signal processing method can eliminate noise points generated by crosstalk between the detectors of the LiDAR, thus improving the point cloud quality.

Description

Laser radar, signal processing method, and signal processing device thereof Technical Field

[0001] The embodiments of this specification relate to the field of signal processing technology, and in particular to a laser radar, a signal processing method thereof, and a signal processing device. Background Art

[0002] When multiple detection channels of a lidar work in parallel, crosstalk is likely to occur between the detection channels, especially when encountering detection objects with high reflectivity (such as highly reflective objects).

[0003] For example, the field of view detection corresponding to a detection channel B obtains an echo signal of a detection point C. Since the reflectivity of the detection point C is very high, it will cause crosstalk to the detection channel A, so that a detection result is also output within the field of view corresponding to the detection channel A. However, the detection point C may be located outside the field of view corresponding to the detection channel A. This will cause the detection point C to appear in the detection result (for example, in the point cloud map) at a position where the detection point C was originally not present, that is, some false points (noise points) appear around the point cloud, which is called "expansion" or "widening" of the high-reflectivity object.

[0004] Among them, the "expansion" phenomenon is usually manifested as the point cloud outline of a normal high-reflective object (such as a traffic sign) spreading outward, imaging a point cloud shape that is larger than the real object, and the reflection intensity of the extra point cloud part is relatively low. In other words, "expansion" means that after the laser scans a high-reflective object, the output point cloud will spread outward, and it looks like it has "expanded", so it is called high-reflection "expansion". Referring to Figure 1, the parts framed by solid boxes 10 and 11 were originally some thin rods, but due to the existence of the "expansion" problem, their shape has changed, and many noise points (lower brightness points in Figure 1) appear around the actual detection points (higher brightness points in Figure 1), and even the thin rods are displayed as spherical objects.

[0005] In actual driving scenarios, highly reflective objects are very common, such as traffic signs. The echo intensity reflected back by highly reflective objects received by the lidar is very high, which can easily cause expansion or widening in the point cloud, affecting the quality of the point cloud.

[0006] The contents of the background technology section are merely technologies known to the public and do not necessarily represent the existing technologies in this field.

[0007] Summary of the Invention

[0008] In view of this, the embodiments of this specification provide a laser radar and its signal processing method and signal processing device, which can eliminate the noise generated by the laser radar due to crosstalk between detectors and improve the quality of the point cloud.

[0009] First, an embodiment of this specification provides a signal processing method for a laser radar, wherein the laser radar includes multiple detectors, and the signal processing method includes:

[0010] Select a target detector and obtain its output signal;

[0011] Determining the total amount of crosstalk generated by other detectors to the target detector;

[0012] An actual detection signal of the target detector is obtained according to the output signal of the target detector and the total amount of crosstalk.

[0013] Optionally, selecting a target detector and acquiring its output signal includes:

[0014] It is determined whether the output signal of the detector is a high-reflection echo signal, and when it is determined that the output signal is a high-reflection echo signal, the detector is used as the target detector.

[0015] Optionally, determining whether the output signal of the detector is a high-reflection echo signal includes:

[0016] According to the signal characteristics of the output signal of the detector, it is determined whether the output signal is a high-reflection echo signal.

[0017] Optionally, the signal characteristics of the output signal include at least one of the following:

[0018] Noise value;

[0019] Strength value;

[0020] Pulse width of the echo waveform;

[0021] The slope of the echo waveform.

[0022] Optionally, determining the total amount of crosstalk generated by other detectors on the target detector includes:

[0023] determining all detectors that generate crosstalk to the target detector as crosstalk detectors;

[0024] The crosstalk amount of the crosstalk detector is convolved with the crosstalk amount of the target detector to obtain the total crosstalk amount.

[0025] Optionally, convolving the crosstalk amount of the crosstalk detector with the target detector to obtain the total crosstalk amount includes:

[0026] Obtaining the output signal of each crosstalk detector, and determining the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector;

[0027] The crosstalk amounts corresponding to the crosstalk detectors are accumulated to obtain the total crosstalk amount.

[0028] Optionally, acquiring the output signal of each crosstalk detector and determining the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector includes:

[0029] The product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal is used as the crosstalk amount corresponding to each crosstalk detector.

[0030] Optionally, the crosstalk coefficient is related to the distance between the crosstalk detector and the target detector.

[0031] Optionally, the signal processing method also includes: determining the obstacle distance based on the output signal of the target detector and the output signal of each crosstalk detector, and when the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, setting the crosstalk coefficient of the corresponding crosstalk detector to zero.

[0032] Optionally, obtaining an actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk includes:

[0033] The actual detection signal is obtained by subtracting the total amount of crosstalk from the output signal of the target detector.

[0034] Optionally, the signal processing method further includes:

[0035] It is determined whether the signal strength of the actual detection signal exceeds a preset detection threshold to determine whether the actual detection signal is a valid signal.

[0036] Accordingly, an embodiment of this specification further provides a signal processing device for a laser radar, wherein the laser radar includes a plurality of detectors, wherein the signal processing device includes:

[0037] A sampling module, adapted to obtain an output signal of a target detector;

[0038] The processing module is adapted to determine the total amount of crosstalk generated by other detectors on the target detector; and is adapted to obtain the actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk.

[0039] Optionally, the processing module is further adapted to determine whether the output signal of the detector is a high-reflection echo signal, and when it is determined that the output signal is a high-reflection echo signal, use the detector as a target detector.

[0040] Optionally, the processing module is adapted to determine all detectors that generate crosstalk to the target detector as crosstalk detectors; and is adapted to convolve the crosstalk amounts of the crosstalk detectors on the target detector to obtain the total crosstalk amount.

[0041] Optionally, the processing module is adapted to obtain the output signal of each crosstalk detector and determine the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector; and is adapted to accumulate the crosstalk amount corresponding to each target detector to obtain the total crosstalk amount.

[0042] Optionally, the crosstalk coefficient is related to the distance between the crosstalk detector and the target detector.

[0043] Optionally, the processing module is also suitable for determining the obstacle distance based on the output signal of the target detector and the output signal of each crosstalk detector, respectively. When the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk coefficient of the corresponding crosstalk detector is set to zero.

[0044] Optionally, the processing module is further adapted to determine whether the signal strength of the actual detection signal exceeds a preset detection threshold, so as to determine whether the actual detection signal is a valid signal.

[0045] The embodiment of this specification further provides a laser radar, including:

[0046] a transmitting device, comprising a plurality of lasers, adapted to transmit a detection signal;

[0047] a receiving device comprising a plurality of detectors adapted to receive echo signals corresponding to the detection signals;

[0048] A signal processing device is coupled to the receiving device and is suitable for determining the total amount of crosstalk generated by other detectors on the target detector; and is suitable for obtaining the actual detection signal of the target detector based on the obtained output signal of the target detector and the total amount of crosstalk.

[0049] Optionally, the receiving device includes an area array detector.

[0050] For the laser radar including multiple detectors, the signal processing method of the laser radar embodiment of this specification is adopted. After the target detector is selected, the total amount of crosstalk generated by other detectors on the target detector can be determined, and then the actual detection signal of the target detector is obtained based on the obtained output signal of the target detector and the total amount of crosstalk. That is, the above-mentioned signal processing method is adopted to eliminate the total amount of crosstalk generated by other detectors on the target detector, so that the actual detection signal of the target detector does not include the crosstalk generated by other detectors, thereby eliminating the influence of crosstalk between detectors on the detection results, eliminating the noise generated by crosstalk, and improving the quality of the point cloud.

[0051] Furthermore, by using the detector whose output signal is a high-reflection echo signal as the target detector, only the detector whose output signal is a high-reflection echo signal can be processed, thereby reducing the amount of calculation and improving processing efficiency.

[0052] Furthermore, according to the signal characteristics of the output signal of any one of the detectors, it can be determined whether the output signal is a high-reflection echo signal, and the judgment process is simple and easy to implement.

[0053] Furthermore, since the output signal of the target detector is the result of the joint action of itself and all crosstalk detectors, by convolving the crosstalk amount of the crosstalk detector on the target detector, the total crosstalk amount obtained can more realistically reflect the crosstalk generated by the crosstalk detector on the target detector, thereby improving the accuracy of the actual detection signal of the target detector obtained.

[0054] Furthermore, the crosstalk amount can be determined based on the output signal of each crosstalk detector and its corresponding crosstalk coefficient, and the crosstalk amounts corresponding to each crosstalk detector are accumulated to obtain the total crosstalk amount, thereby improving the accuracy of calculating the total crosstalk amount. The calculation method is simple and easy to implement.

[0055] Furthermore, by setting the crosstalk coefficient to be related to the distance between the crosstalk detector and the target detector, the obtained crosstalk coefficient can more accurately reflect the crosstalk capability of the crosstalk detector on the target detector, thereby improving the accuracy of the calculated total crosstalk amount.

[0056] Furthermore, by determining the obstacle distance based on the output signal of the target detector and the output signal of each crosstalk detector, when it is determined that the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk detector and the target detector do not detect the same obstacle, and the crosstalk generated by the crosstalk detector on the target detector is relatively small. At this time, the crosstalk coefficient of the corresponding crosstalk detector can be set to zero, thereby improving the accuracy of the calculated crosstalk amount.

[0057] Furthermore, by judging whether the signal strength of the actual detection signal exceeds a preset detection threshold, it is possible to determine whether the actual detection signal is a valid signal, and when it is determined that the actual detection signal is a valid signal, information related to the obstacle is obtained; and when it is determined that the actual detection signal is an invalid signal, it is marked, thereby improving the accuracy of the point cloud data. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following briefly introduces the drawings required for use in the embodiments of this specification or the description of the prior art. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0059] FIG1 is a schematic diagram showing the expansion of a highly reflective object;

[0060] FIG2 shows a schematic structural diagram of a laser radar receiving end;

[0061] FIG3 shows a flow chart of a signal processing method of a laser radar according to an embodiment of the present specification;

[0062] FIG4 shows a flow chart of determining the total amount of crosstalk generated by each crosstalk detector to the target detector according to an embodiment of this specification;

[0063] FIG5 is a schematic diagram showing the distribution of the receiving field of view of the detector in the embodiment of this specification;

[0064] FIG6 shows a schematic structural diagram of a signal processing device for a laser radar according to an embodiment of this specification;

[0065] FIG7 a shows a distribution diagram of point cloud data based on an existing detection solution;

[0066] FIG7 b shows a distribution diagram of point cloud data after de-crosstalk processing according to an embodiment of this specification;

[0067] FIG8 shows a schematic structural diagram of a laser radar in an embodiment of this specification. DETAILED DESCRIPTION

[0068] In order to enable those skilled in the art to better understand the problems existing in the prior art, the following first briefly introduces the principle of crosstalk generated by laser radar in combination with the structure of a laser radar.

[0069] Referring to the structural diagram of a laser radar receiving end shown in FIG2 , as shown in FIG2 , the laser radar receiving end includes a planar array detector photosensitive area A0 having a plurality of detectors arranged in an array.

[0070] When the lidar is detecting, multiple detectors (for example, detector A01 and detector A02 shown in Figure 2) can work in parallel. When the detector detects a highly reflective obstacle, the echo signal is very strong. In addition to receiving the echo signal detected by itself, each detector will also generate crosstalk to other surrounding detectors. That is, each detector can not only receive the echo signal related to the obstacle detected by itself, but also receive the crosstalk signals generated by all detectors that can generate crosstalk to it (for example, detector A01 can receive the echo signal detected by itself and the crosstalk signal generated by detector A02). Therefore, the signal finally received by each detector is the result of the joint action of all detectors in the entire receiving field of view.

[0071] However, as can be seen from the background technology, when the detectors in the lidar generate crosstalk, it is easy to cause expansion or widening in the point cloud, affecting the quality of the point cloud.

[0072] For the laser radar including multiple detectors, in order to reduce the crosstalk between the detectors of the laser radar, in the embodiment of this specification, after selecting the target detector, the total amount of crosstalk generated by other detectors on the target detector can be determined, and then the actual detection signal of the target detector is obtained based on the obtained output signal of the target detector and the total amount of crosstalk. That is, the above-mentioned signal processing method is used to eliminate the total amount of crosstalk generated by other detectors on the target detector, so that the actual detection signal of the target detector does not include the crosstalk generated by other detectors, thereby eliminating the influence of the crosstalk between the detectors on the detection results, eliminating the noise generated by the crosstalk, and improving the quality of the point cloud.

[0073] In order to enable those skilled in the art to better understand the inventive concept, working principle and advantages of the embodiments of this specification, the signal processing scheme of the laser radar in the embodiments of the present invention is described in detail below.

[0074] For a laser radar including multiple detectors, when the detectors in the laser radar operate in parallel, crosstalk may occur between the detectors. To reduce the crosstalk between the detectors of the laser radar, referring to the flowchart of a laser radar signal processing method in an embodiment of this specification shown in FIG3 , in some embodiments of this specification, the output signal of each detector may be processed according to the following steps:

[0075] S11, select the target detector and obtain its output signal.

[0076] In a specific implementation, a photodetector can be used as the detector in the laser radar.

[0077] As an optional example, the photodetector can be a photodetector such as an avalanche photon diode (APD), a single photon avalanche diode (SPAD), or a silicon photomultiplier (SiPM). The embodiments of this specification do not limit the specific structure of the detector, as long as the detector can perform photoelectric conversion on the received light signal to obtain a corresponding output signal.

[0078] To avoid crosstalk between detectors, any one or more detectors can be selected from the multiple detectors as target detectors to process the output signals of the target detectors; or detectors that meet preset conditions can be selected from the multiple detectors, and the output signals of the detectors that meet the preset conditions can be processed in turn according to the working timing of the detectors. The embodiments of this specification do not impose any restrictions on the selection of target detectors, as long as the output signals of the detectors can be obtained.

[0079] In a specific implementation, the output signal may be a signal related to obstacle information detected by the target detector. In some embodiments, the output signal may include a signal output by the target detector itself and a crosstalk signal generated by other detectors to the target detector.

[0080] S12, determining the total amount of crosstalk generated by other detectors on the target detector.

[0081] Specifically, for the selected target detector, the amount of crosstalk generated by other detectors on the target detector can be determined, and then the total amount of crosstalk generated by other detectors on the target detector can be calculated.

[0082] S13, obtaining an actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk.

[0083] In a specific implementation, the actual detection signal of the target detector can be obtained by using a preset calculation method according to the output signal of the target detector and the total amount of crosstalk.

[0084] As an optional example, the total amount of crosstalk may be subtracted from the output signal of the target detector to obtain the actual detection signal of the target detector, that is, the difference between the output signal of the target detector and the total amount of crosstalk is used as the actual detection signal of the target detector.

[0085] It can be understood that the above calculation method is only an example. In the embodiments of this specification, the specific calculation method for obtaining the actual detection signal of the target detector is not limited. As long as the actual detection signal of the target detector can be obtained based on the output signal of the target detector and the total amount of crosstalk, it will be sufficient.

[0086] Therefore, the signal processing method of the laser radar in the embodiment of this specification can eliminate the total amount of crosstalk generated by other detectors on the target detector, so that the actual detection signal of the target detector does not include the crosstalk generated by other detectors, thereby eliminating the impact of crosstalk between detectors on the detection results, eliminating the noise generated by crosstalk, and improving the quality of the point cloud.

[0087] In order to enable those skilled in the art to better understand and implement the embodiments of this specification, some specific examples are given below for the specific implementation of the signal processing solution of the laser radar in the embodiments of this specification.

[0088] In actual operation, the inventors discovered that if a detector detects a common obstacle (which can be understood as an object with low reflectivity, such as an object with a reflectivity below a first reflectivity threshold), the energy of the echo signal detected by it is relatively weak, and the amount of crosstalk generated on other detectors is small and negligible, thus not affecting the output signals of other detectors. Therefore, in some embodiments of this specification, when it is determined that a detector has detected a highly reflective obstacle (for example, an object with a reflectivity above a second reflectivity threshold, which can be greater than or equal to the first reflectivity threshold), the output signal of the detector can be processed to eliminate crosstalk.

[0089] Based on this, in a specific implementation, it can be determined whether the output signal of the detector is a high-reflection echo signal. When it is determined that the output signal is a high-reflection echo signal, the detector is used as the target detector.

[0090] By adopting the above-mentioned judgment method, only the detectors whose output signals are high-reflection echo signals can be processed, which can reduce the amount of calculation and improve the processing efficiency.

[0091] In practice, when a target detector detects a highly reflective obstacle, the received light echo signal is very strong, resulting in an output signal with the characteristics of a strong echo. Therefore, the detector's output signal can be used to determine whether it is a highly reflective echo signal based on its characteristics. This determination process is simple and easy to implement.

[0092] In some embodiments of the present specification, the signal characteristics of the output signal include at least one of a noise value, an intensity value, a pulse width of an echo waveform, and a slope of an echo waveform.

[0093] It should be noted that the types of signal characteristics of the above-mentioned output signals are only examples. In some other embodiments, the signal characteristics of the output signal may also include: number of photons, integral value, etc. The embodiments of this specification do not impose any restrictions on this, as long as it is possible to determine whether the output signal is a high-reflection echo signal based on the signal characteristics.

[0094] For ease of understanding, the following describes in detail how to determine whether an output signal is a high-reflection echo signal based on the signal characteristics of the output signal through specific examples.

[0095] Example 1: Determine whether the detector's output signal is a high-reflection signal based on the relative relationship between the noise value of the detector's output signal and a preset noise threshold. Specifically:

[0096] When it is determined that the noise value of the detector output signal is less than the preset noise threshold, it means that the detector has not detected a high-reflection obstacle, and the output signal is not a high-reflection echo signal.

[0097] When it is determined that the noise value of the detector output signal is greater than the preset noise threshold, it means that the detector detects a high-reflection obstacle, and the output signal is a high-reflection echo signal.

[0098] As a specific example, the preset noise threshold can be determined according to the baseline noise of the detector output signal.

[0099] Example 2: Since the reflectivity of highly reflective obstacles is much higher than that of ordinary objects, for detection signals with the same luminous intensity, the output signal intensity corresponding to the detector detecting the echo of a highly reflective obstacle is much greater than the output signal intensity corresponding to the echo of an ordinary obstacle. Therefore, it is possible to determine whether the detector's output signal is a highly reflective echo signal based on the signal intensity.

[0100] Specifically, when it is determined that the intensity corresponding to the output signal is greater than the preset intensity threshold, it means that the detector has detected a high-reflection obstacle, and the output signal is a high-reflection echo signal. The detector can be used as a target detector, and the output signal of the detector can be processed to eliminate crosstalk; when it is determined that the intensity corresponding to the output signal is less than the preset intensity threshold, it means that the detector has not detected a high-reflection obstacle, and the output signal is not a high-reflection echo signal, and there is no need to eliminate crosstalk on the output signal of the detector.

[0101] In other embodiments, whether the output signal is a high-reflection echo signal can be determined based on the correspondence between other features of the echo waveform and the echo signals of obstacles with different reflectivities received by the detector. In some specific examples, whether the output signal is a high-reflection echo signal is determined based on the relationship between the pulse width of the echo waveform and a preset pulse width, or the relationship between the slope of the echo waveform and a preset slope. When the output signal is determined to be a high-reflection echo signal, crosstalk elimination processing is performed on the output signal of the detector.

[0102] It should be noted that the above judgment method is only an example. In a specific embodiment, according to actual needs, it is also possible to judge whether the output signal is a high-reflection echo signal by judging the relationship between the integral value of the output signal within a preset time period and the preset integral value. The embodiments of this specification do not limit this.

[0103] In some other embodiments, at least two parameters of the noise value, intensity value, pulse width of the echo waveform, and slope of the echo waveform may be combined to determine whether the output signal of the detector is a high-reflection echo signal, so as to improve the determination accuracy.

[0104] In a specific implementation, when the output signal is determined to be a high-reflection echo signal, the corresponding detector can be used as a target detector, and then the detector that generates crosstalk to the target detector can be determined, and then the total amount of crosstalk to the target detector can be determined.

[0105] Referring to FIG. 4 , a flowchart of determining the total amount of crosstalk generated by each crosstalk detector on a target detector in an embodiment of this specification, as shown in FIG. 4 , in some embodiments of this specification, the total amount of crosstalk can be determined specifically according to the following steps:

[0106] S21, determining all detectors that generate crosstalk to the target detector as crosstalk detectors.

[0107] Specifically, after determining the target detector, it is taken into account that not all detectors will cause crosstalk to the target detector. For example, if the detector detects an ordinary obstacle or the distance between the detector and the target detector is far, it may not cause crosstalk to the target detector. Therefore, before calculating the total amount of crosstalk, it is necessary to determine which detectors will cause crosstalk to the target detector.

[0108] In some embodiments of the present specification, all detectors that generate crosstalk to the target detector may be determined based on the receiving field of view distribution (point spread function) of the target detector.

[0109] For example, refer to the schematic diagram of the receiving field of view distribution of a target detector in an embodiment of this specification shown in Figure 5, wherein plane P0 represents the detector array, wherein each rectangular grid represents a detector, and the detector array may include multiple detectors; the x-axis and y-axis represent the position of each detector, and the relative position of each detector can be determined by the x-axis and y-axis; the z-axis represents the signal strength value of each detector; the pulse graph P1 represents the point spread function of the target detector, and the point spread function is used to characterize the crosstalk capability of other detectors to the target detector, or to characterize the target detector's ability to receive signals at different positions.

[0110] In a specific implementation, when the target detector is determined, for example, the detector with coordinate values ​​of ((19, 20), (6, 7)) in Figure 5 is the target detector, all detectors that generate crosstalk to it can be determined according to its corresponding point spread function, such as the detector covered by the intersection of the pulse pattern P1 and the plane P0 in Figure 5 as the crosstalk detector.

[0111] In some other embodiments, when a target detector is determined, detectors within a certain range around the target detector may be used as crosstalk detectors.

[0112] In some other embodiments, when determining the target detector, other detectors may also be used as crosstalk detectors.

[0113] In some embodiments of this specification, to reduce computational complexity, each target detector may use the same point spread function (PSF), assuming that each detector in the area array detector has the same PSF. In other embodiments, the PSF of each target detector may be separately acquired, and the crosstalk detectors causing crosstalk to each target detector may be determined separately to improve the accuracy of the actual detection signals obtained from the target detectors.

[0114] It should be noted that the receiving field of view distribution of the detectors shown in Figure 5 is only an example. For different application scenarios, the field of view distribution corresponding to each detector may be different. The embodiments of this specification do not impose any restrictions on this, as long as the field of view distribution of the detectors can be established.

[0115] S22 , convolving the crosstalk amount of the crosstalk detector with the crosstalk amount of the target detector to obtain the total crosstalk amount.

[0116] Specifically, when all detectors that can generate crosstalk to the target detector are determined, the crosstalk amount of each crosstalk detector to the target detector can be calculated respectively, and a convolution operation can be performed on each crosstalk amount to obtain the total crosstalk amount.

[0117] Since the output signal of the target detector is the result of the joint action of itself and all crosstalk detectors, the total amount of crosstalk obtained by convolving the crosstalk amount of the crosstalk detector on the target detector can more realistically reflect the crosstalk generated by all crosstalk detectors on the target detector, thereby improving the accuracy of the actual detection signal of the target detector obtained.

[0118] In some embodiments of this specification, step S21 may specifically include:

[0119] C1: Obtain the output signal of each crosstalk detector, and determine the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector.

[0120] In a specific implementation, the crosstalk amount of the target detector of each crosstalk detector can be obtained by using a preset calculation method according to the output signal of each crosstalk detector and the crosstalk coefficient.

[0121] As an optional example, the product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal can be used as the crosstalk amount corresponding to each crosstalk detector.

[0122] It can be understood that the above calculation method is only an example. In the embodiments of this specification, the specific calculation method for obtaining the crosstalk amount corresponding to each crosstalk detector is not limited. It is sufficient as long as the crosstalk amount can be obtained based on the crosstalk coefficient corresponding to the crosstalk detector and the signal strength of its output signal.

[0123] C2: performing cumulative calculation on the crosstalk amounts corresponding to the crosstalk detectors to obtain the total crosstalk amount.

[0124] Specifically, step C1 can obtain the crosstalk amount of each crosstalk detector on the target detector. By accumulating the crosstalk amounts, the total crosstalk amount of all crosstalk detectors on the target detector can be obtained, thereby improving the accuracy of the total crosstalk amount. The calculation method is simple and easy to implement.

[0125] In a specific implementation, the inventors conducted further research on factors affecting the crosstalk coefficient and found that the crosstalk coefficient is related to the distance between the crosstalk detector and the target detector.

[0126] For example, continuing to refer to Figure 5, it can be seen from Figure 5 that the closer the target detector is to it, the stronger its signal receiving ability is. Therefore, the closer the crosstalk detector is to the target detector, the greater the crosstalk intensity it generates on the target detector, and its corresponding crosstalk coefficient is also larger; while the crosstalk detector that is farther away from the target detector generates less crosstalk on the target detector, and its corresponding crosstalk coefficient is also smaller. There are even some crosstalk detectors that generate a relative crosstalk intensity value of 0 on the target detector, and a crosstalk coefficient of 0.

[0127] That is, the crosstalk coefficient is negatively correlated with the distance between the crosstalk detector and the target detector. The farther the distance between the crosstalk detector and the target detector, the smaller the crosstalk coefficient; the closer the distance between the crosstalk detector and the target detector, the larger the crosstalk coefficient. Therefore, by setting the crosstalk coefficient to be related to the distance between the crosstalk detector and the target detector, the obtained crosstalk coefficient can more accurately reflect the crosstalk ability of the crosstalk detector to the target detector, thereby improving the accuracy of the calculated total crosstalk amount.

[0128] As another specific example, the target detector's receiving field of view distribution is obtained through testing, and the crosstalk coefficient of each crosstalk detector is obtained based on the receiving field of view distribution. As shown in Figure 5, based on the receiving field of view distribution, if the target detector's own signal strength is 5500 and the corresponding signal strength of a crosstalk detector is 4500, then the crosstalk coefficient of the crosstalk detector to the target detector can be 4500 / 5500 ≈ 0.818.

[0129] In order to enable those skilled in the art to better understand the signal processing method in the embodiments of this specification, the specific process of the signal processing method in the embodiments of this specification is described in detail below through a specific example.

[0130] When multiple detectors of the laser radar work in parallel, the output signals corresponding to each detector can be obtained. When it is determined that the output signal of any one of the detectors is a high-reflection echo signal, the detector can be used as the target detector.

[0131] Afterwards, the receiving field of view distribution of the target detector is obtained (see Figure 5). According to the point spread function of the target detector, all detectors that generate crosstalk to the target detector can be determined and used as crosstalk detectors. Then, according to the relative signal strength between each crosstalk detector and the target detector, the crosstalk coefficient corresponding to each crosstalk detector is determined.

[0132] The product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal is calculated respectively to obtain the crosstalk amount generated by each crosstalk detector on the target detector, and the crosstalk amounts are superimposed to obtain the total crosstalk amount generated by all crosstalk detectors on the target detector.

[0133] Finally, the actual detection signal is obtained by subtracting the total amount of crosstalk from the output signal of the target detector, and information related to the obstacle can be obtained based on the actual detection signal.

[0134] In the above signal processing, the total crosstalk amount is calculated based on the assumption that both the target detector and the crosstalk detector detect a highly reflective obstacle. Since the crosstalk detector receives a strong echo reflected by the highly reflective obstacle, it generates crosstalk on the target detector. However, in actual operation, some crosstalk detectors may not detect the highly reflective obstacle. In this case, the crosstalk generated by these crosstalk detectors is very small and can be ignored.

[0135] Based on this, in some embodiments of this specification, after the crosstalk detector is determined, the crosstalk coefficient of the crosstalk detector can also be determined by the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector.

[0136] As a specific example, the obstacle distance can be determined based on the output signal of the target detector and the output signal of each crosstalk detector. When the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk coefficient of the corresponding crosstalk detector is set to zero.

[0137] Specifically, when it is determined that the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, it means that the crosstalk detector and the target detector detect different obstacles. It can also be considered that the crosstalk detector may not detect a high-reflection obstacle, that is, the crosstalk detector does not receive a high-reflection echo. At this time, the crosstalk generated by the crosstalk detector to the target detector is small. At this time, the crosstalk coefficient of the corresponding crosstalk detector can be set to zero, thereby improving the accuracy of the calculated crosstalk amount.

[0138] It is understandable that when the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector does not exceed the preset distance threshold, the crosstalk coefficient corresponding to each crosstalk detector can still be determined according to the point spread function of the target detector.

[0139] In some embodiments of this specification, the preset distance threshold can be flexibly set according to actual needs. For example, for some scenarios with higher precision requirements, the preset distance threshold can be a smaller value or a smaller interval value; for some scenarios with lower precision requirements, the preset distance threshold can be a larger value or a larger interval value. The embodiments of this specification do not limit this.

[0140] As an optional example, the preset distance threshold may be 10 cm.

[0141] In a specific implementation, since the output signal of the target detector is the result of the combined action of all crosstalk detectors and itself, it is possible that the target detector fails to detect an obstacle, and its output signal is all crosstalk generated by each crosstalk detector. Therefore, after obtaining the actual detection signal of the target detector using the above method, it is also possible to determine whether the signal strength of the actual detection signal exceeds the preset detection threshold to determine whether the actual detection signal is a valid signal.

[0142] Specifically, when it is determined that the signal strength of the actual detection signal exceeds the preset detection threshold, it means that the actual detection signal is a valid signal, and the target detector detects the obstacle, and then according to the actual detection signal, information related to the obstacle can be obtained; when the signal strength of the actual detection signal does not exceed the preset detection threshold, it means that the target detector may not receive the obstacle echo, and its output signal is due to the crosstalk generated by the crosstalk detector, and thus the actual detection signal is determined to be an invalid signal.

[0143] Furthermore, actual detection signals determined to be invalid can be marked, for example, by filtering out the corresponding data points from the point cloud data, or marking the corresponding data points in the point cloud data as untrusted data, thereby improving the accuracy of the point cloud data. As a specific example, after completing the processing of the target detector, the other detectors are judged or processed separately. Specifically, all detectors performing detection are judged separately in a certain order. When it is determined that the detector has detected a highly reflective obstacle, further crosstalk elimination processing is performed to reduce noise and improve the quality of the point cloud.

[0144] It should be noted that the signal processing method provided in the embodiment of the present invention is not limited to the application of planar array detectors. For linear array or other forms of detectors, as long as there are multiple detectors detecting in parallel, the signal processing method provided in the embodiment of the present invention can be used to eliminate crosstalk of the target detector.

[0145] The present disclosure also provides a signal processing device corresponding to the aforementioned signal processing method. These devices are described in detail below through specific embodiments with reference to the accompanying drawings. It should be noted that the signal processing device described below can be considered the functional module required to implement the signal processing method provided by the present disclosure. The details of the signal processing device described below can be referenced in conjunction with the details of the signal processing method described above.

[0146] Refer to FIG6 , which shows a signal processing device for a laser radar in an embodiment of the present specification, wherein the laser radar L0 includes a plurality of detectors 11 to 1n, where n is an integer greater than 1.

[0147] In some embodiments of the present specification, the detector may be a photodetector. As an optional example, the photodetector may be an avalanche photodiode (APD), a single-photon avalanche photodiode (SPAD), a silicon photomultiplier (SiPM), or other photodetectors.

[0148] The signal processing device 60 may include:

[0149] A sampling module 61 is adapted to obtain an output signal of a target detector;

[0150] The processing module 62 is adapted to determine the total amount of crosstalk generated by other detectors on the target detector; and to obtain the actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk.

[0151] Specifically, for a laser radar L0 with multiple detectors, after determining the target detector, the processing module 62 can determine the total amount of crosstalk generated by other detectors on the target detector, and then based on the output signal of the target detector obtained by the sampling module 61 and the total amount of crosstalk, the processing module 62 can obtain the actual detection signal of the target detector, thereby eliminating the total amount of crosstalk generated by other detectors on the target detector, so that the actual detection signal of the target detector does not include the crosstalk generated by other detectors, thereby eliminating the influence of crosstalk between detectors on the detection results, eliminating the noise generated by crosstalk, and improving the quality of the point cloud.

[0152] It should be noted that any one or more detectors can be selected from the multiple detectors as the target detector to process the output signals of each target detector; or detectors with preset conditions can be selected from the multiple detectors, and the output signals of the detectors that meet the preset conditions can be processed in turn according to the working timing of the detectors. The embodiments of this specification do not impose any restrictions on the selection of target detectors, as long as the output signals of the detectors can be obtained.

[0153] In actual operation, the inventors discovered that if a detector detects a common obstacle (which can be understood as an object with low reflectivity, such as an object with a reflectivity below a first reflectivity threshold), the energy of the echo signal detected by it is relatively weak, and the amount of crosstalk generated on other detectors is small and negligible, thus not affecting the output signals of other detectors. Therefore, in some embodiments of this specification, when it is determined that a detector has detected a highly reflective obstacle (for example, an object with a reflectivity above a second reflectivity threshold, which can be greater than or equal to the first reflectivity threshold), the output signal of the detector can be processed to eliminate crosstalk.

[0154] Based on this, in the specific implementation, the processing module can judge whether the output signal of the detector is a high-reflection echo signal. When it is determined that the output signal is a high-reflection echo signal, the detector is used as the target detector. The specific judgment process can be found in the above content and will not be elaborated here.

[0155] In the actual processing process, after determining the target detector, it is taken into consideration that not all detectors will cause crosstalk to the target detector. For example, if the detector detects an ordinary object or the distance between the detector and the target detector is far, it may not cause crosstalk to the target detector. Therefore, before calculating the total amount of crosstalk, it is necessary to determine which detectors will cause crosstalk to the target detector and serve as crosstalk detectors, and then it is only necessary to calculate the crosstalk amount of each crosstalk detector to the target detector.

[0156] In some embodiments of the present specification, the processing module may determine all detectors that generate crosstalk to the target detector as crosstalk detectors, and convolute the crosstalk amounts of the crosstalk detectors on the target detector to obtain the total crosstalk amount.

[0157] As a specific example, the processing module may determine all detectors that generate crosstalk to the target detector based on the receiving field of view distribution (point spread function) of the target detector. For the specific process, please refer to the above content.

[0158] In some other examples, when a target detector is determined, detectors within a certain range around the target detector may be used as crosstalk detectors.

[0159] In some other examples, when determining the target detector, other detectors may also be used as crosstalk detectors.

[0160] In some embodiments of this specification, to reduce computational complexity, each target detector may use the same point spread function (PSF), assuming that the receiving field of view distribution of each detector in the area array detector is identical. In other embodiments, the PSF of each target detector may be separately obtained, and the crosstalk detectors that cause crosstalk to each target detector may be determined separately to improve the accuracy of the actual detection signals obtained from the target detectors.

[0161] In a specific implementation, the processing module can obtain the output signal of each crosstalk detector, and determine the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector, and is suitable for accumulating the crosstalk amount corresponding to each target detector to obtain the total crosstalk amount.

[0162] Specifically, the processing module can use the product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal as the crosstalk amount corresponding to each crosstalk detector, and then add up the crosstalk amounts, which can improve the accuracy of calculating the total amount of crosstalk of all crosstalk detectors on the target detector, and the calculation method is simple and easy to implement.

[0163] In a specific implementation, the inventors conducted further research on factors affecting the crosstalk coefficient and found that the crosstalk coefficient is related to the distance between the crosstalk detector and the target detector.

[0164] Furthermore, as shown in FIG5 , the closer the target detector is to the target detector, the stronger its signal receiving capability is. Therefore, the closer the crosstalk detector is to the target detector, the greater the crosstalk intensity it generates on the target detector, and its corresponding crosstalk coefficient is also larger. The crosstalk detector that is farther away from the target detector generates less crosstalk on the target detector, and its corresponding crosstalk coefficient is also smaller. That is, the crosstalk coefficient is negatively correlated with the distance between the crosstalk detector and the target detector. Therefore, by setting the crosstalk coefficient to be related to the distance between the crosstalk detector and the target detector, the obtained crosstalk coefficient can more accurately reflect the crosstalk capability of the crosstalk detector on the target detector, thereby improving the accuracy of the calculated total crosstalk amount.

[0165] In a specific implementation, the processing module may obtain the actual detection signal of the target detector by using a preset calculation method according to the output signal of the target detector and the total amount of crosstalk.

[0166] As an optional example, the processing module may subtract the total amount of crosstalk from the output signal of the target detector to obtain the actual detection signal of the target detector, that is, use the difference between the output signal of the target detector and the total amount of crosstalk as the actual detection signal of the target detector.

[0167] In order to enable those skilled in the art to better understand the working principle of the signal processing device in the embodiment of this specification, the specific processing process of the signal processing device in the embodiment of this specification is described in detail below through a specific example.

[0168] When multiple detectors of the laser radar work in parallel, the sampling module can obtain the output signal corresponding to each detector. When the processing module determines that the output signal of any one of the detectors is a high-reflection echo signal, the detector can be used as the target detector.

[0169] Afterwards, the processing module can obtain the point spread function of the target detector, and determine all detectors that cause crosstalk to the target detector based on the point spread function of the target detector, and use them as crosstalk detectors, and then determine the crosstalk coefficient corresponding to each crosstalk detector based on the relative signal strength between each crosstalk detector and the target detector.

[0170] Then, the processing module can calculate the product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal to obtain the crosstalk amount generated by each crosstalk detector on the target detector, and superimpose each crosstalk amount to obtain the total crosstalk amount generated by all crosstalk detectors on the target detector.

[0171] Finally, the processing module subtracts the total amount of crosstalk from the output signal of the target detector to obtain the actual detection signal, and information related to the obstacle can be obtained according to the actual detection signal.

[0172] In the above signal processing, the total crosstalk amount is calculated based on the assumption that both the target detector and the crosstalk detector detect a highly reflective obstacle. Since the crosstalk detector receives a strong echo reflected by the highly reflective obstacle, it generates crosstalk on the target detector. However, in actual operation, some crosstalk detectors may not detect the highly reflective obstacle. In this case, the crosstalk generated by these crosstalk detectors is very small and can be ignored.

[0173] Based on this, in some embodiments of this specification, after the processing module determines the crosstalk detector, the crosstalk coefficient of the crosstalk detector can also be determined by the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector.

[0174] As a specific example, the processing module can also determine the obstacle distance based on the output signal of the target detector and the output signal of each crosstalk detector respectively. When the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk coefficient of the corresponding crosstalk detector is set to zero.

[0175] Specifically, when the processing module determines that the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, it means that the crosstalk detector and the target detector detect different obstacles. It can also be considered that the crosstalk detector may not hit the high-reflection obstacle, that is, the crosstalk detector does not receive a high-reflection echo. At this time, the crosstalk generated by the crosstalk detector to the target detector is small. At this time, the crosstalk coefficient of the corresponding crosstalk detector can be set to zero, thereby improving the accuracy of the calculated crosstalk amount.

[0176] It is understandable that when the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector does not exceed the preset distance threshold, the processing module can still determine the crosstalk coefficient corresponding to each crosstalk detector based on the point spread function of the target detector.

[0177] In some embodiments of this specification, the preset distance threshold can be flexibly set according to actual needs. As an optional example, the preset distance threshold can be 10 cm.

[0178] In a specific implementation, since the output signal of the target detector is the result of the combined action of all crosstalk detectors and itself, it is possible that the target detector fails to detect an obstacle, and its output signal is all crosstalk generated by each crosstalk detector. Therefore, after obtaining the actual detection signal of the target detector using the above method, it is also possible to determine whether the signal strength of the actual detection signal exceeds the preset detection threshold to determine whether the actual detection signal is a valid signal.

[0179] Specifically, when the processing module determines that the signal strength of the actual detection signal exceeds the preset detection threshold, it means that the actual detection signal is a valid signal, and the target detector detects a high-reflection obstacle, and then according to the actual detection signal, information related to the obstacle can be obtained; when the processing module determines that the signal strength of the actual detection signal does not exceed the preset detection threshold, it means that the actual detection signal is an invalid signal, and its output signal is generated by the crosstalk detector, and thus the actual detection signal is determined to be an invalid signal.

[0180] Furthermore, the processing module can mark the actual detection signal determined to be an invalid signal, for example, filtering the corresponding data point from the point cloud data, or marking the corresponding data point in the point cloud data as unreliable data, thereby improving the accuracy of the point cloud data.

[0181] In a specific implementation, the sampling module can be implemented by a sampling circuit, an application specific integrated circuit (ASIC), or one or more integrated circuits configured according to the embodiments of this specification, or by a processing chip such as a central processing unit (CPU) or a field programmable gate array (FPGA).

[0182] The processing module can be implemented by a processing chip such as a central processing unit (CPU), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC) or one or more integrated circuits configured to implement the embodiments of this specification.

[0183] In some embodiments of this specification, the above-mentioned signal processing device and laser radar can be applied to corresponding equipment. For example, the signal processing device and laser radar can be applied to a vehicle. During the operation of the vehicle, the laser radar can detect the surrounding environment and output corresponding signals. The signal processing device can process the output signals to improve the quality of the point cloud.

[0184] Refer to a point cloud data distribution diagram based on an existing detection scheme shown in Figure 7a and a point cloud data distribution diagram after de-crosstalk processing in an embodiment of this specification shown in Figure 7b, where areas D1 and D2 in Figure 7a are point cloud data about highly reflective obstacles (such as road signs) detected by the target detector. It can be seen from Figure 7a that there are many noise points generated by the crosstalk detector around them.

[0185] When the signal processing solution in the embodiment of this specification is adopted, as shown in FIG7 b , the number of noise points around regions D1 and D2 is significantly reduced, the crosstalk problem between detectors is basically eliminated, and the point cloud quality is improved.

[0186] It should be noted that when multiple detectors operate in parallel, if a detector does not detect a highly reflective obstacle or is far away from the target detector, causing little or no crosstalk to the target detector, the amount of crosstalk generated by the detector does not need to be considered when processing the output signal of the target detector, and the data points detected by the detector will remain in the point cloud. For example, as shown in Figure 7b, the data points in area D3 are not removed.

[0187] The embodiments of this specification also provide a laser radar, which is described in detail below with reference to the accompanying drawings through specific examples.

[0188] Referring to FIG8 , a schematic diagram of the structure of a laser radar in an embodiment of the present specification, in some embodiments of the present specification, the laser radar L1 may include a transmitting device TX, a receiving device RX, and a signal processing device 80 as described in any of the aforementioned embodiments, wherein:

[0189] The transmitting device TX includes a plurality of lasers (e.g., lasers T1 to Tq shown in FIG8 , where q is an integer greater than 1), adapted to transmit a detection signal;

[0190] The receiving device RX includes a plurality of detectors (e.g., lasers R1 to Rp as shown in FIG8 , where p is an integer greater than 1), adapted to receive an echo signal corresponding to the detection signal;

[0191] The signal processing device 80 is coupled to the receiving device RX and is suitable for determining the total amount of crosstalk generated by other detectors on the target detector; and is suitable for obtaining the actual detection signal of the target detector based on the obtained output signal of the target detector and the total amount of crosstalk.

[0192] The specific implementation of the signal processing device 80 can be found in the detailed introduction of the aforementioned embodiment and will not be described in detail here.

[0193] Specifically, any one of the lasers T1 to Tq can emit a detection signal (detection beam or laser signal) to the outside world, and then the detector corresponding to the laser will receive the echo signal (reflection signal) reflected from the obstacle 8A. When the signal processing device 80 determines that the output signal of the detector is a high-reflection echo signal based on the signal characteristics of the output signal of the detector, the detector is used as the target detector, and then the total amount of crosstalk generated by other detectors on the target detector is determined, and the actual detection signal of the target detector is obtained based on the output signal of the target detector and the total amount of crosstalk; when the signal processing device 80 determines that the output signal of the detector is not a high-reflection echo signal based on the signal characteristics of the output signal of the detector, there is no need to determine the total amount of crosstalk generated by other detectors on it.

[0194] In some embodiments of this specification, the signal processing device 80 may also be coupled to the transmitting device TX. After acquiring the actual detection signal or output signal from the target detector, the signal processing device 80 may determine the flight time of the detection signal based on the time of transmitting the detection signal and the time of receiving the echo signal, thereby obtaining distance information to the obstacle 8A. Furthermore, the signal processing device 80 may also obtain parameters such as the reflectivity of the obstacle 8A for detecting, identifying, or tracking the obstacle 8A.

[0195] In specific implementations, the correspondence between lasers and detectors can be flexibly configured based on actual needs. For example, lasers and detectors can be set in a one-to-one correspondence, meaning q can be equal to p; another example is that one laser can correspond to multiple detectors, meaning q can be less than p; another example is that one detector can correspond to multiple lasers, meaning p can be less than q. This specification does not impose any restrictions on this, as long as the laser radar can complete the obstacle detection process.

[0196] In some embodiments of the present specification, the receiving device may include an area array detector, which may be composed of a plurality of detectors arranged in a preset array. One or more detectors may serve as a pixel point, which may output detection data and form a data point in a point cloud after processing.

[0197] It is understandable that the receiving device may also be other forms of detectors. For example, the receiving device may be a linear array detector. The embodiments of this specification do not impose any restrictions on the specific form of the receiving device, as long as the receiving device can receive echo signals related to obstacles.

[0198] Although the embodiments of this specification are disclosed 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 laser radar signal processing method, characterized in that: The laser radar includes a plurality of detectors, and the signal processing method includes: Select a target detector and obtain its output signal; Determine the total amount of crosstalk generated by other detectors to the target detector; An actual detection signal of the target detector is obtained according to the output signal of the target detector and the total amount of crosstalk.

2. The signal processing method according to claim 1, characterized in that: The step of selecting a target detector and obtaining an output signal thereof includes: It is determined whether the output signal of the detector is a high-reflection echo signal, and when it is determined that the output signal is a high-reflection echo signal, the detector is used as the target detector.

3. The signal processing method according to claim 2, characterized in that: The determining whether the output signal of the detector is a high-reflection echo signal comprises: According to the signal characteristics of the output signal of the detector, it is determined whether the output signal is a high-reflection echo signal.

4. The signal processing method according to claim 3, characterized in that: The signal characteristics of the output signal include at least one of the following: Noise value; Strength value; Pulse width of the echo waveform; The slope of the echo waveform.

5. The signal processing method according to claim 1, characterized in that: Determining the total amount of crosstalk generated by other detectors on the target detector includes: Determine all detectors that generate crosstalk to the target detector as crosstalk detectors; The crosstalk amount of the crosstalk detector is convolved with the crosstalk amount of the target detector to obtain the total crosstalk amount.

6. The signal processing method according to claim 5, characterized in that: The step of convolving the crosstalk amount of the target detector with the crosstalk detector to obtain the total crosstalk amount includes: Obtaining output signals of each crosstalk detector, and determining the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector; The crosstalk amounts corresponding to the crosstalk detectors are accumulated to obtain the total crosstalk amount.

7. The signal processing method according to claim 6, characterized in that: The step of obtaining the output signal of each crosstalk detector and determining the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector includes: The product of the crosstalk coefficient corresponding to each crosstalk detector and the signal strength of its output signal is taken as the crosstalk amount corresponding to each crosstalk detector.

8. The signal processing method according to claim 6, characterized in that: The crosstalk coefficient is related to the distance between the crosstalk detector and the target detector.

9. The signal processing method according to claim 8, characterized in that: Also includes: The obstacle distance is determined according to the output signal of the target detector and the output signal of each crosstalk detector respectively. When the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk coefficient of the corresponding crosstalk detector is set to zero.

10. The signal processing method according to claim 1, characterized in that: The step of obtaining an actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk comprises: The actual detection signal is obtained by subtracting the total amount of crosstalk from the output signal of the target detector.

11. The signal processing method according to any one of claims 1 to 10, characterized in that: Also includes: It is determined whether the signal strength of the actual detection signal exceeds a preset detection threshold to determine whether the actual detection signal is a valid signal.

12. A laser radar signal processing device, characterized in that: The laser radar includes a plurality of detectors, wherein the signal processing device includes: A sampling module, adapted to obtain an output signal of a target detector; The processing module is adapted to determine the total amount of crosstalk generated by other detectors on the target detector; and is adapted to obtain the actual detection signal of the target detector according to the output signal of the target detector and the total amount of crosstalk.

13. The signal processing device according to claim 12, characterized in that: The processing module is further adapted to determine whether the output signal of the detector is a high-reflection echo signal, and when it is determined that the output signal is a high-reflection echo signal, the detector is used as a target detector.

14. The signal processing device according to claim 12, characterized in that: The processing module is adapted to determine all detectors that generate crosstalk to the target detector as crosstalk detectors; and is adapted to convolve the crosstalk amounts of the crosstalk detectors on the target detector to obtain the total crosstalk amount.

15. The signal processing device according to claim 14, characterized in that: The processing module is suitable for obtaining the output signal of each crosstalk detector and determining the crosstalk amount corresponding to each crosstalk detector according to the crosstalk coefficient corresponding to each crosstalk detector; and is suitable for accumulating the crosstalk amount corresponding to each target detector to obtain the total crosstalk amount.

16. The signal processing device according to claim 15, characterized in that: The crosstalk coefficient is related to the distance between the crosstalk detector and the target detector.

17. The signal processing device according to claim 16, characterized in that: The processing module is also suitable for determining the obstacle distance according to the output signal of the target detector and the output signal of each crosstalk detector, respectively. When the difference between the obstacle distance corresponding to the crosstalk detector and the obstacle distance corresponding to the target detector exceeds a preset distance threshold, the crosstalk coefficient of the corresponding crosstalk detector is set to zero.

18. The signal processing device according to claim 12, characterized in that: The processing module is adapted to subtract the total amount of crosstalk from the output signal of the target detector to obtain the actual detection signal.

19. The signal processing device according to any one of claims 12 to 18, characterized in that: The processing module is further adapted to determine whether the signal strength of the actual detection signal exceeds a preset detection threshold, so as to determine whether the actual detection signal is a valid signal.

20. A laser radar, characterized in that: include: A transmitting device, including a plurality of lasers, adapted to transmit a detection signal; A receiving device, comprising a plurality of detectors, adapted to receive echo signals corresponding to the detection signals; a signal processing device, coupled to the receiving device, adapted to determine the total amount of crosstalk generated by other detectors to the target detector; And it is suitable for obtaining the actual detection signal of the target detector according to the obtained output signal of the target detector and the total amount of crosstalk.

21. The laser radar according to claim 20, characterized in that: The receiving device includes a planar array detector.

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