Lidar signal processing method, detection method, and lidar

Abstract

The present disclosure provides a lidar signal processing method, a detection method, and a lidar. The lidar comprises a preset channel and reference detectors, and the preset channel comprises a first laser and a first detector. The method comprises: obtaining a first detection signal of the first detector within a first time window, wherein the first laser emits detection light within the first time window; obtaining at least one second detection signal of at least one of the reference detectors within the first time window; and on the basis of the signal value of the first detection signal and the signal value of the at least one second detection signal, determining whether the first detection signal is a valid signal.

Description

Laser radar signal processing method, detection method and laser radar

[0001] This application claims the priority of the Chinese patent application number 202410172199.X, filed with the China Patent Office on February 6, 2024, with the invention name “Laser radar and its detection method”, and the priority of the Chinese patent application number 202410383719.1, filed with the China Patent Office on March 29, 2024, with the invention name “Laser radar signal processing method, device, related equipment and storage medium”, as well as the priority of the Chinese patent application number 202410816014.4, filed with the China Patent Office on June 21, 2024, with the invention name “Laser radar signal processing method, detection method and laser radar”, and the priority of the Chinese patent application number 202411363182.9, filed with the China Patent Office on September 26, 2024, with the invention name “Laser radar signal processing method, device, related equipment and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of laser radar technology, and in particular to a laser radar signal processing method, a detection method, and a laser radar. Background Art

[0003] Laser radar (LiDAR) can detect the position, speed and other characteristic quantities of an object by emitting a laser beam and receiving the reflected light of the laser beam reflected by surrounding objects, and then output three-dimensional point cloud data of the surrounding environment.

[0004] In lidar, due to the non-ideal characteristics of the optical system, the received echo signals may contain invalid signals. A detector receiving an invalid signal typically has no object within its field of view. However, lidar cannot distinguish valid echo signals from valid ones and may mistakenly believe that an object is within the detector's field of view, affecting the lidar's detection accuracy. Highly reflective objects are often present in real-world detection scenarios. Highly reflective objects are those with a reflectivity greater than a certain threshold and are often referred to as highly reflective objects. When a lidar channel encounters a highly reflective object, the laser beam emitted by that channel is reflected by the object. The resulting reflected light is extremely intense, causing crosstalk with the current channel or other channels operating in parallel, resulting in "ghosting." Ghosting manifests as the lidar generating a point cloud at a location where an object does not actually exist. The generation of ghosting can affect the accuracy of lidar detection results.

[0005] The content of the background technology section is merely information known to the inventor personally, and does not mean that the above information has entered the public domain before the application date of this disclosure, nor does it mean that it can become the prior art of the present disclosure. Summary of the Invention

[0006] The present disclosure provides a laser radar signal processing method, a detection method and a laser radar, which can accurately determine whether the echo signal received by the laser radar is valid, effectively reduce the ghosting problem, and improve the accuracy of the laser radar's detection results.

[0007] In a first aspect, an embodiment of the present disclosure provides a laser radar signal processing method, wherein the laser radar includes a preset channel and a reference detector, wherein the preset channel includes a first laser and a first detector; the method includes:

[0008] Acquiring a first detection signal of the first detector within a first time window, wherein the first laser emits detection light within the first time window;

[0009] Acquire at least one second detection signal of at least one of the reference detectors within a first time window;

[0010] Whether the first detection signal is a valid signal is determined according to the signal value of the first detection signal and the signal value of the at least one second detection signal.

[0011] Optionally, the reference detector includes a second detector, and the second detector has no corresponding laser.

[0012] Optionally, acquiring at least one second detection signal of at least one reference detector within the first time window includes: acquiring the second detection signal of one reference detector within the first time window;

[0013] The determining, based on the signal value of the first detection signal and the signal value of the at least one second detection signal, whether the first detection signal is a valid signal includes:

[0014] comparing a signal value of the first detection signal with a signal value of the second detection signal, and obtaining a comparison result;

[0015] Determine whether the first detection signal is a valid signal according to the comparison result.

[0016] Optionally, acquiring at least one second detection signal of at least one reference detector within the first time window includes: acquiring multiple second detection signals of the multiple reference detectors within the first time window;

[0017] The determining, based on the signal value of the first detection signal and the signal value of the at least one second detection signal, whether the first detection signal is a valid signal includes:

[0018] determining signal values ​​of the plurality of second detection signals;

[0019] determining weights of the plurality of second detection signals;

[0020] determining a comparison result according to a signal value of the first detection signal, signal values ​​of the plurality of second detection signals, and weights of the plurality of second detection signals;

[0021] According to the comparison result, it is determined whether the first detection signal is a valid signal.

[0022] Optionally, the weight of the second detection signal is negatively correlated with the number of the multiple reference detectors; or,

[0023] The weight of the second detection signal is negatively correlated with the distance between the reference detector and the first detector.

[0024] Optionally, determining whether the first detection signal is a valid signal according to the comparison result includes:

[0025] When it is determined that the comparison result is less than or equal to the first preset threshold, the first detection signal is determined to be an invalid signal.

[0026] Optionally, determining whether the first detection signal is a valid signal according to the comparison result includes:

[0027] When it is determined that the comparison result is greater than a second preset threshold, the first detection signal is determined to be a valid signal.

[0028] Optionally, the signal value includes: amplitude or integral value.

[0029] Optionally, the amplitude of the first detection signal is greater than a third preset threshold or a preset threshold curve.

[0030] Optionally, the signal processing method further includes lowering the third preset threshold or lowering the preset threshold curve.

[0031] Optionally, the distance between the reference detector and the first detector is less than or equal to a fourth preset threshold.

[0032] Optionally, the reference detector is adjacent to the first detector.

[0033] Optionally, the first detector and the reference detector are located on the same detector chip; or,

[0034] The first detector and the reference detector are located on different detector chips.

[0035] In a second aspect, an embodiment of the present disclosure further provides a signal processing device, including:

[0036] a receiving module configured to acquire a first detection signal of a first detector and at least one second detection signal of at least one reference detector within a first time window;

[0037] The processing module is configured to determine whether the first detection signal is a valid signal according to a signal value of the first detection signal and a signal value of the at least one second detection signal.

[0038] In a third aspect, the present disclosure further provides a laser radar, including:

[0039] A preset channel, the preset channel comprising a first laser and a first detector;

[0040] Reference detector;

[0041] a signal acquisition circuit, configured to acquire a signal from the first detector and a signal from the reference detector;

[0042] The processor is configured to execute the lidar signal processing method described in any of the above embodiments.

[0043] In a fourth aspect, embodiments of the present disclosure further provide a laser radar signal processing method, wherein the laser radar includes a preset channel and a first channel, the preset channel includes a first laser and a first detector, and the first channel includes a third laser and a third detector; the method includes:

[0044] Acquiring a first detection signal of the first detector within a first time window, wherein the first laser emits detection light within the first time window;

[0045] Acquiring at least one second detection signal from at least one of the third detectors within a first time window, wherein the third laser does not emit detection light within the first time window;

[0046] Whether the first detection signal is a valid signal is determined according to the signal value of the first detection signal and the signal value of the at least one second detection signal.

[0047] Optionally, acquiring at least one second detection signal of at least one third detector within the first time window includes: acquiring the second detection signal of one third detector within the first time window;

[0048] The determining, based on the signal value of the first detection signal and the signal value of the at least one second detection signal, whether the first detection signal is a valid signal includes:

[0049] comparing a signal value of the first detection signal with a signal value of the second detection signal, and obtaining a comparison result;

[0050] Determine whether the first detection signal is a valid signal according to the comparison result.

[0051] Optionally, acquiring at least one second detection signal of at least one of the third detectors within the first time window includes: acquiring the multiple second detection signals of the multiple third detectors within the first time window;

[0052] The determining, based on the signal value of the first detection signal and the signal value of the at least one second detection signal, whether the first detection signal is a valid signal includes:

[0053] determining signal values ​​of the plurality of second detection signals;

[0054] determining weights of the plurality of second detection signals;

[0055] determining a comparison result according to a signal value of the first detection signal, signal values ​​of the plurality of second detection signals, and weights of the plurality of second detection signals;

[0056] According to the comparison result, it is determined whether the first detection signal is a valid signal.

[0057] Optionally, the weight of the second detection signal is negatively correlated with the number of the plurality of third detectors; or,

[0058] The weight of the second detection signal is negatively correlated with the distance between the third detector and the first detector.

[0059] Optionally, determining whether the first detection signal is a valid signal according to the comparison result includes:

[0060] When it is determined that the comparison result is less than or equal to the first preset threshold, the first detection signal is determined to be an invalid signal.

[0061] Optionally, determining whether the first detection signal is a valid signal according to the comparison result includes:

[0062] When it is determined that the comparison result is greater than a second preset threshold, the first detection signal is determined to be a valid signal.

[0063] Optionally, the signal value includes: amplitude or integral value.

[0064] Optionally, the amplitude of the first detection signal is greater than a third preset threshold or a preset threshold curve.

[0065] Optionally, the signal processing method also includes lowering the third preset threshold or lowering the preset threshold curve, and the amplitude of the first detection signal is greater than the third preset threshold or the preset threshold curve, so that the amplitude of the first detection signal is greater than the adjusted third preset threshold or the preset threshold curve.

[0066] Optionally, the distance between the third detector and the first detector is less than or equal to a fourth preset threshold.

[0067] Optionally, the third detector is adjacent to the first detector.

[0068] Optionally, the first detector and the third detector are located on the same detector chip; or,

[0069] The first detector and the third detector are located on different detector chips.

[0070] In a fifth aspect, an embodiment of the present disclosure further provides a signal processing device, including:

[0071] a receiving module configured to acquire a first detection signal of a first detector and at least one second detection signal of at least one third detector within a first time window;

[0072] The processing module is configured to determine whether the first detection signal is a valid signal according to a signal value of the first detection signal and a signal value of the at least one second detection signal.

[0073] In a sixth aspect, the embodiments of the present disclosure further provide a laser radar, including:

[0074] A preset channel, the preset channel comprising a first laser and a first detector;

[0075] a first channel comprising a third laser and a third detector;

[0076] a signal acquisition circuit, configured to acquire a signal from the first detector and a signal from the third detector;

[0077] The processor is configured to execute the lidar signal processing method described in any of the above embodiments.

[0078] By using the laser radar signal processing method provided by the embodiments of the present disclosure, the validity of the first detection signal can be effectively determined by the signal value of the first detection signal and the signal value of the second detection signal, thereby improving the accuracy of the laser radar measurement. The first detection signal is a signal received by a first detector corresponding to a first laser emitting detection light within a first time window, and the second detection signal is a signal received by a third detector corresponding to a third laser that does not emit detection light within the first time window, or the second detection signal is a signal received by a second detector that does not correspond to a laser within the first time window.

[0079] In the seventh aspect, the present specification provides a detection method for a laser radar, wherein the laser radar includes at least one transceiver channel, each transceiver channel includes a laser and a detector, and the method includes: controlling the laser in a preset channel to emit a laser beam, and obtaining a first detection signal received by the detector in the preset channel, wherein the preset channel is any channel in the at least one transceiver channel; obtaining a third detection signal corresponding to a reference field of view, wherein the reference field of view has a preset offset relative to the detection field of view of the preset channel, and overlaps with a partial area of ​​the detection field of view of the preset channel; determining whether there is an object in the detection field of view of the preset channel based on the first detection signal and the third detection signal; and when there is an object in the detection field of view of the preset channel, determining the information of the object based on the first detection signal.

[0080] In some embodiments, determining whether there is an object in the detection field of view of the preset channel based on the first detection signal and the third detection signal includes: determining whether there is an object in the detection field of view of the preset channel based on the relative size relationship between the first detection signal and the third detection signal.

[0081] In some embodiments, determining whether there is an object in the detection field of view of the preset channel based on the relative size relationship between the first detection signal and the third detection signal includes: if the difference between the first detection signal and the third detection signal is greater than a preset threshold, determining that there is an object in the detection field of view of the preset channel; or, if the difference between the first detection signal and the third detection signal is less than or equal to the preset threshold, determining that there is no object in the detection field of view of the preset channel.

[0082] In some embodiments, determining the information of the object based on the first detection signal includes: determining a difference between the first detection signal and the third detection signal; and determining the information of the object based on the difference.

[0083] In some embodiments, the laser radar also includes a reference detector, and the detection field of view of the reference detector corresponds to the reference field of view; obtaining the third detection signal corresponding to the reference field of view includes: using the detection signal received by the reference detector as the third detection signal.

[0084] In some embodiments, the laser radar also includes multiple reference detectors, and the detection field of view of the multiple reference detectors is different from the reference field of view; obtaining the third detection signal corresponding to the reference field of view includes: obtaining multiple fourth detection signals received by the multiple reference detectors; and determining the third detection signal corresponding to the reference field of view based on the multiple fourth detection signals and the positional relationship between the reference field of view and the detection field of view of the multiple reference detectors.

[0085] In some embodiments, determining the third detection signal corresponding to the reference field of view based on the multiple fourth detection signals and the positional relationship between the reference field of view and the detection fields of view of the multiple reference detectors includes: interpolating the multiple fourth detection signals to obtain detection distribution information; and determining the third detection signal corresponding to the reference field of view based on the detection distribution information and the positional relationship between the reference field of view and the detection fields of the multiple reference detectors.

[0086] In the eighth aspect, this specification also provides a laser radar, comprising: at least one transceiver channel and a processor, wherein each of the at least one transceiver channel comprises a laser and a detector, the processor is communicatively connected to the at least one transceiver channel, and is configured to: control the laser in the preset channel to emit a laser beam, and obtain a first detection signal received by the detector in the preset channel, the preset channel being any channel in the at least one transceiver channel, obtain a third detection signal corresponding to a reference field of view, the reference field of view has a preset offset relative to the detection field of view of the preset channel, and overlaps with a partial area of ​​the detection field of view of the preset channel, determine whether there is an object in the detection field of view of the preset channel based on the first detection signal and the third detection signal, and when there is an object in the detection field of view of the preset channel, determine the information of the object based on the first detection signal.

[0087] In some embodiments, in order to determine whether there is an object in the detection field of view of the preset channel, the processor: determines whether there is an object in the detection field of view of the preset channel based on the relative size relationship between the first detection signal and the third detection signal.

[0088] In some embodiments, in order to determine whether there is an object in the detection field of view of the preset channel, the processor: if the difference between the first detection signal and the third detection signal is greater than a preset threshold, determines that there is an object in the detection field of view of the preset channel; or, if the difference between the first detection signal and the third detection signal is less than or equal to the preset threshold, determines that there is no object in the detection field of view of the preset channel.

[0089] In some embodiments, to determine the information of the object, the processor: determines a difference between the first detection signal and the third detection signal; and determines the information of the object based on the difference.

[0090] In some embodiments, the laser radar also includes: a reference detector, the detection field of view of the reference detector corresponds to the reference field of view; in order to obtain a third detection signal corresponding to the reference field of view, the processor: uses the detection signal received by the reference detector as the third detection signal.

[0091] In some embodiments, the reference detector is a detector other than the detector in the at least one transceiver channel in the laser radar.

[0092] In some embodiments, the at least one transceiver channel is divided into M groups, where M is an integer greater than 1, wherein the transceiver channels in the same group are configured to emit light in parallel, and the transceiver channels in different groups are configured to emit light in different detection rounds; the reference detector is a detector in the first channel, and the first channel and the preset channel are in different groups.

[0093] In some embodiments, the at least one transceiver channel is divided into M groups, where M is an integer greater than 1, wherein channels in the same group are configured to emit light in parallel, and channels in different groups are configured to emit light in different detection rounds; the at least one transceiver channel includes a second channel, the detection process of the second channel and the detection process of the preset channel share the reference detector, and the second channel and the preset channel are in the same group.

[0094] In some embodiments, the laser radar includes at least a first linear detector and a second linear detector, multiple detectors in the first linear detector collectively correspond to laser No. 01, multiple detectors in the second linear detector collectively correspond to laser No. 02, and the laser No. 01 and the laser No. 02 are not emitted in parallel, wherein the detector in the preset channel corresponds to the i-th detector in the first linear detector, and the reference detector corresponds to the i-th detector in the second linear detector, where i is a positive integer.

[0095] In some embodiments, the laser radar includes a single-photon avalanche diode (SPAD) array, wherein the detector in the preset channel corresponds to a first portion of SPADs in the SPAD array, and the reference detector corresponds to a second portion of SPADs in the SPAD array.

[0096] In some embodiments, the laser radar also includes multiple reference detectors, and the detection fields of the multiple reference detectors are different from the reference field of view; in order to obtain the third detection signal corresponding to the reference field of view, the processor: obtains multiple fourth detection signals received by the multiple reference detectors, and, based on the multiple fourth detection signals and the positional relationship between the reference field of view and the detection fields of the multiple reference detectors, determines the third detection signal corresponding to the reference field of view.

[0097] In some embodiments, in order to determine the third detection signal corresponding to the reference field of view, the processor: interpolates the multiple fourth detection signals to obtain detection distribution information; and, based on the detection distribution information and the positional relationship between the reference field of view and the detection fields of view of the multiple reference detectors, determines the third detection signal corresponding to the reference field of view.

[0098] In a ninth aspect, this specification further provides a laser radar signal processing method, wherein the laser radar includes a preset channel and a first channel, the preset channel includes a first laser and a first detector, and the first channel includes a third laser and a third detector; the method includes:

[0099] Acquire a first detection signal from the first detector within a first time window, wherein the first laser emits light within the first time window; acquire a second detection signal from the third detector within the first time window, wherein the third laser does not emit light within the first time window;

[0100] Determining a time parameter and an intensity parameter of the first detection signal, and a time parameter and an intensity parameter of the second detection signal;

[0101] The validity of the first detection signal is determined based on the time parameter and the intensity parameter of the first detection signal and the time parameter and the intensity parameter of the second detection signal.

[0102] Optionally, the first detection signal includes one or more first echo signals, and the second detection signal includes one or more second echo signals; and determining the validity of the first detection signal based on the time parameter and intensity parameter of the first detection signal and the time parameter and intensity parameter of the second detection signal includes:

[0103] The validity of the one or more first echo signals is determined based on the time parameters and the intensity parameters of the one or more first echo signals and the time parameters and the intensity parameters of the one or more second echo signals.

[0104] Optionally, determining the validity of the one or more first echo signals based on the time parameters and intensity parameters of the one or more first echo signals and the time parameters and intensity parameters of the one or more second echo signals includes:

[0105] comparing time parameter values ​​of the first echo signal and the second echo signal to obtain a first comparison result;

[0106] comparing the intensity parameter values ​​of the first echo signal and the second echo signal to obtain a second comparison result;

[0107] The validity of the first echo signal is determined based on the first comparison result and the second comparison result.

[0108] Optionally, determining the validity of the one or more first echo signals based on the time parameters and intensity parameters of the one or more first echo signals and the time parameters and intensity parameters of the one or more second echo signals includes:

[0109] comparing time parameter values ​​of the first echo signal and the second echo signal to obtain a first comparison result;

[0110] determining a second echo signal within a first preset range of a first comparison result with the first echo signal;

[0111] comparing the first echo signal and the determined intensity parameter value of the second echo signal to obtain a second comparison result;

[0112] Based on the second comparison result, the validity of the first echo signal is determined.

[0113] Optionally, determining the validity of the one or more first echo signals based on the time parameters and intensity parameters of the one or more first echo signals and the time parameters and intensity parameters of the one or more second echo signals includes:

[0114] comparing the intensity parameter values ​​of the first echo signal and the second echo signal to obtain a second comparison result;

[0115] determining a second echo signal having a second comparison result with the first echo signal within a second preset range;

[0116] comparing the first echo signal and the determined time parameter value of the second echo signal to obtain a first comparison result;

[0117] Based on the first comparison result, the validity of the first echo signal is determined.

[0118] Optionally, comparing the intensity parameter values ​​of the first echo signal and the second echo signal to obtain a second comparison result includes:

[0119] determining a first configurable coefficient of the first echo signal or a second configurable coefficient of the second echo signal;

[0120] The second comparison result is determined based on the intensity parameter values ​​of the first echo signal and the second echo signal and the first adjustable coefficient or the second adjustable coefficient.

[0121] Optionally, the first matching coefficient or the second matching coefficient is determined based on the relative position of the preset channel and the first channel.

[0122] Optionally, determining the validity of the first echo signal based on the first comparison result and the second comparison result includes:

[0123] When it is determined that the first comparison result is within a first preset range and the second comparison result is within a second preset range, the first echo signal is determined to be a signal to be verified.

[0124] Optionally, determining the validity of the first echo signal based on the first comparison result and the second comparison result includes:

[0125] When it is determined that the first comparison result is not within a first preset range, or when it is determined that the second comparison result is not within a second preset range, the first echo signal is determined to be a valid signal.

[0126] Optionally, determining the validity of the first echo signal based on the second comparison result includes:

[0127] When it is determined that the second comparison result is within a second preset range, the first echo signal is determined to be a signal to be verified.

[0128] Optionally, determining the validity of the first echo signal based on the first comparison result includes:

[0129] When it is determined that the first comparison result is within a first preset range, the first echo signal is determined to be a signal to be verified.

[0130] Optionally, the time parameter includes any one of the following: echo time; flight time; object distance.

[0131] Optionally, the flight time of the first detection signal or the object distance is determined based on the echo time of the first detection signal and the emission time of the first laser;

[0132] The flight time or object distance of the second detection signal is determined based on the echo time of the second detection signal and the emission time of the first laser.

[0133] Optionally, the intensity parameter includes any one of the following: amplitude; pulse width; power; reflectivity of the object.

[0134] Optionally, the method further includes:

[0135] Acquire a second detection signal from the third detector within a second time window, wherein the third laser emits light within the second time window; acquire a first detection signal from the first detector within the second time window, wherein the first laser does not emit light within the second time window;

[0136] determining a time parameter and an intensity parameter of the second detection signal, and a time parameter and an intensity parameter of the first detection signal;

[0137] The validity of the second detection signal is determined based on the time parameter and the intensity parameter of the second detection signal and the time parameter and the intensity parameter of the first detection signal.

[0138] Optionally, the laser radar further includes a third channel, the third channel includes a fifth laser and a fifth detector, and the method further includes:

[0139] Acquire a second detection signal from the third detector within a second time window, wherein the third laser emits light within the second time window; acquire a fifth detection signal from the fifth detector within the second time window, wherein the fifth laser does not emit light within the second time window;

[0140] determining a time parameter and an intensity parameter of the second detection signal, and a time parameter and an intensity parameter of the fifth detection signal;

[0141] The validity of the second detection signal is determined based on the time parameter and the intensity parameter of the second detection signal and the time parameter and the intensity parameter of the fifth detection signal.

[0142] In a tenth aspect, this specification further provides a signal processing device, comprising:

[0143] a first receiver configured to acquire a first detection signal from a first detector in a preset channel within a first time window, wherein the preset channel further includes a first laser corresponding to the first detector, and the first laser emits light within the first time window;

[0144] a second receiver configured to acquire a second detection signal from a third detector in the first channel within the first time window, wherein the first channel further includes a third laser corresponding to the third detector, and the third laser does not emit light within the first time window;

[0145] The processing module is configured to determine the time parameters and intensity parameters of the first detection signal, as well as the time parameters and intensity parameters of the second detection signal; and determine the validity of the first detection signal based on the time parameters and intensity parameters of the first detection signal, as well as the time parameters and intensity parameters of the second detection signal.

[0146] In the eleventh aspect, this specification also provides a computer program product, including computer instructions, which, when executed by a processor, implement the laser radar signal processing method described in any of the above embodiments.

[0147] In the twelfth aspect, this specification also provides a non-volatile computer-readable storage medium on which computer instructions are stored. When the computer instructions are executed by a processor, the laser radar signal processing method described in any of the above embodiments is implemented.

[0148] In a thirteenth aspect, this specification further provides a laser radar, comprising:

[0149] A preset channel, the preset channel comprising a first laser and a first detector;

[0150] a first channel comprising a third laser and a third detector;

[0151] a signal acquisition circuit configured to acquire a first detection signal from the first detector and a second detection signal from the third detector;

[0152] The processor is configured to execute the lidar signal processing method described in any of the above embodiments.

[0153] In the fourteenth aspect, this specification also provides a perception device, which includes the laser radar described in any of the above embodiments.

[0154] In the fifteenth aspect, this specification also provides a vehicle, which includes the laser radar described in any of the above embodiments.

[0155] It can be seen from the above technical solutions that the laser radar and its detection method provided in this specification, during the detection process of the preset channel, can assist in identifying whether there is an object in the detection field of view of the preset channel by using the third detection signal corresponding to the reference field of view of the preset channel, thereby effectively avoiding or reducing the problem of high-reflection ghosting. The above detection method does not require the laser radar to emit multiple pulses, nor does it require angle encoding, and is simple to implement and easier to implement. In addition, the laser radar and its detection method provided in this specification do not require improvements to the hardware of the laser radar, or only require a small amount of hardware improvements (such as adding some reference detectors) to avoid or reduce the problem of high-reflection ghosting, and the cost of hardware modification is low.

[0156] Other functions of the laser radar and detection method provided by this specification will be partially listed in the following description. The creative aspects of the laser radar and detection method provided by this specification can be fully explained by practicing or using the methods, devices and combinations described in the following detailed examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0157] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the following briefly introduces the drawings required for use in the description of the embodiments. 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.

[0158] Figure 1 shows a schematic diagram of a laser radar and its detection scene;

[0159] FIG2 is a schematic diagram showing the reflection of a laser beam by a Lambertian body or a nearly Lambertian body;

[0160] FIG3 is a schematic diagram showing the reflection of a laser beam by a corner reflector;

[0161] FIG4 shows a schematic diagram of a detection scenario with high reverse crosstalk;

[0162] FIG5 shows a schematic diagram of generating a light spot;

[0163] FIG6 shows another schematic diagram of generating a light spot;

[0164] FIG7 is a schematic diagram showing ghost images generated in the detection scenario shown in FIG4 ;

[0165] FIG8 shows a schematic diagram of another detection scenario with high reverse crosstalk;

[0166] FIG9 is a schematic diagram showing ghost images generated in the detection scenario shown in FIG8 ;

[0167] FIG10 shows a schematic diagram of another detection scenario with high reverse crosstalk;

[0168] FIG11 is a schematic diagram showing the corresponding relationship between the laser and the detector of a laser radar;

[0169] FIG12 is a schematic diagram showing a principle of generating an invalid signal of a laser radar;

[0170] FIG13 is a schematic diagram showing a flow chart of a detection method provided according to an embodiment of this specification;

[0171] FIG14A is a schematic diagram showing a detection field of view and a reference field of view corresponding to a preset channel;

[0172] FIG14B is a schematic diagram showing a detection field of view and a reference field of view corresponding to another preset channel;

[0173] FIG14C is a schematic diagram showing a detection field of view corresponding to a preset channel and a detection field of view corresponding to a reference detector;

[0174] FIG15 shows a schematic diagram of a transceiver module of a laser radar;

[0175] FIG16 shows a schematic diagram of a transceiver module of another laser radar;

[0176] FIG17 shows a schematic diagram of a transceiver module of another laser radar;

[0177] FIG18 shows a schematic diagram of a receiving module of yet another laser radar; and

[0178] FIG19 shows a schematic diagram of a receiving module of yet another laser radar;

[0179] FIG20 is a schematic diagram showing the steps of a laser radar signal processing method in some embodiments of the present disclosure;

[0180] FIG21 is a schematic diagram showing the steps of another method for processing lidar signals in some embodiments of the present disclosure;

[0181] FIG22 shows a schematic structural diagram of a laser radar in some embodiments of the present disclosure;

[0182] FIG23 is a schematic diagram showing the positions of a first detector and a third detector in some embodiments of the present disclosure;

[0183] FIG24 shows a schematic diagram of the positions of another first detector and a third detector in some embodiments of the present disclosure;

[0184] FIG25 is a schematic diagram showing the positions of a first detector and a plurality of third detectors in some embodiments of the present disclosure;

[0185] FIG26 shows another schematic diagram of the positions of a first detector and a plurality of third detectors in some embodiments of the present disclosure;

[0186] FIG27 shows a schematic diagram of the positions of another first detector and a plurality of third detectors in some embodiments of the present disclosure;

[0187] FIG28 shows a schematic diagram showing a comparison of signal strengths of a first detection signal and a second detection signal in some embodiments of the present disclosure;

[0188] FIG29 shows another schematic diagram of comparing the signal strengths of a first detection signal and a second detection signal in some embodiments of the present disclosure;

[0189] FIG30 shows a schematic structural diagram of yet another laser radar in some embodiments of the present disclosure;

[0190] FIG31 is a schematic diagram showing the positions of a plurality of first detectors and a plurality of third detectors in some embodiments of the present disclosure;

[0191] FIG32 shows another schematic diagram of the positions of a plurality of first detectors and a plurality of third detectors in some embodiments of the present disclosure;

[0192] Figures 33a and 33b illustrate a schematic diagram of the principle of generating an invalid signal of a laser radar, wherein Figure 33a illustrates a schematic diagram of the principle of generating a ghost in a point cloud, and Figure 33b illustrates a schematic diagram of a point cloud generating a ghost;

[0193] FIG34 shows a schematic diagram of another laser radar's invalid signal generation principle;

[0194] FIG35 is a schematic diagram showing the steps of an exemplary lidar signal processing method consistent with some embodiments of the present disclosure;

[0195] FIG36 is a schematic diagram showing the steps of another exemplary lidar signal processing method consistent with some embodiments of the present disclosure;

[0196] FIG37 is a schematic diagram showing the steps of another exemplary lidar signal processing method consistent with some embodiments of the present disclosure;

[0197] FIG38 is a schematic diagram showing steps of an exemplary method for determining the validity of an echo signal consistent with some embodiments of the present disclosure;

[0198] FIG39 is a schematic diagram showing the steps of another exemplary method for determining the validity of an echo signal consistent with some embodiments of the present disclosure;

[0199] FIG40 shows a schematic diagram of steps of another exemplary method for determining the validity of an echo signal consistent with some embodiments of the present disclosure. DETAILED DESCRIPTION

[0200] The following description provides specific application scenarios and requirements for this specification, with the goal of enabling those skilled in the art to make and use the contents of this specification. Various modifications to the disclosed embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown, but is intended to be accorded the broadest scope consistent with the claims.

[0201] The terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. For example, as used herein, the singular forms "a," "an," and "the" may also include the plural forms unless the context clearly indicates otherwise. When used in this specification, the terms "comprise," "include," and / or "contain" are intended to refer to the presence of the associated integers, steps, operations, elements, and / or components, but do not preclude the presence of one or more other features, integers, steps, operations, elements, components, and / or groups or the addition of other features, integers, steps, operations, elements, components, and / or groups in the system / method.

[0202] These and other features of this specification, as well as the operation and function of the associated elements of the structure, and the economical assembly and manufacture of the components, can be significantly improved with consideration of the following description. Reference is made to the accompanying drawings, all of which form a part of this specification. However, it should be expressly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0203] The flowcharts used in this specification illustrate operations implemented by systems according to some embodiments of the present specification. It should be clearly understood that the operations of the flowcharts may not be implemented in sequence. Rather, the operations may be implemented in reverse order or simultaneously. Furthermore, one or more additional operations may be added to the flowcharts. One or more operations may be removed from the flowcharts.

[0204] LiDAR can be used in a variety of scenarios, such as vehicle driving, robot movement, and drone flight. Taking the vehicle driving scenario as an example, LiDAR can help vehicles perceive their surroundings, identify obstacles on the road, and improve driving safety. This specification does not limit the application scenarios of LiDAR; in addition to the scenarios listed above, LiDAR can also be applied to other scenarios. For ease of understanding, the examples provided below will be based on the vehicle driving scenario.

[0205] When the lidar is working, it transmits a detection signal into space through a laser, and receives the echo signal reflected from the object through the detector corresponding to the laser. The received echo signal reflected from the object is then compared with the detection signal. After corresponding processing, relevant information about the object can be obtained, such as the object's distance, direction, height, speed, posture, and even shape.

[0206] Referring to the schematic diagram of the correspondence between the laser and detector of a lidar shown in Figure 11, a correspondence between the laser and the detector means that the laser light emitted by the laser falls within the detection range of the detector. As shown in Figure 11, if the laser light emitted by the laser TX at least partially falls within the detection range of the detector RX, then there is a correspondence between the laser TX and the detector RX. The laser and detector of a lidar can have multiple correspondences, for example, one laser corresponds to one detector; another example, one laser corresponds to multiple detectors; another example, multiple lasers correspond to one detector; another example, multiple lasers correspond to multiple detectors, etc.

[0207] To expand the detection range or improve detection resolution, lidars typically have multiple channels, each pointing to different azimuth angles in space. A pair of corresponding lasers and detectors constitutes a channel.

[0208] If the echo signal received by the detector is emitted by the corresponding laser and reflected by an object within the detector's preset field of view, the echo signal is considered a valid signal, and relatively accurate object-related information can be obtained through the valid signal. However, due to the non-ideal characteristics of the laser radar's optical system, the echo signal received by the detector often contains invalid signals. Invalid signals are usually not reflected from objects in the spatial orientation of the detector's channel. Therefore, the object-related information obtained from invalid signals is usually inaccurate. If the laser radar cannot distinguish whether the received echo signal is valid, it will lead to a decrease in the accuracy of the laser radar measurement.

[0209] Figure 12 shows a schematic diagram of the invalid signal generation principle of a lidar. The laser light spot emitted by the laser typically has a certain size and divergence angle. Due to reflection or scattering from optical components or structural parts such as lenses and reflectors within the lidar, some light is not emitted in the expected direction. This light is called stray light. Similarly, due to optical system imperfections, such as reflection or scattering from optical components or structural parts such as lenses and reflectors within the lidar, some light that is not within the detector's predetermined receiving field of view can reach and be received by the detector. The energy of stray light is generally low. In most cases, the energy of stray light after being reflected by an object is very low and cannot exceed the lidar's threshold for valid signal screening. However, when encountering a highly reflective object or an object close to the lidar, the energy of the echo signal reflected by the object can still be strong enough to exceed the lidar's threshold for valid signal screening and be considered a valid signal, resulting in the appearance of ghost points in the channel. For example, as shown in Figure 12, laser TX emits probe light. The portion of the probe light emitted in a preset direction is referred to here as preset light L11. During this emission process, the probe light generates stray light L12. There are no real objects within the preset receiving field of view of the detector RX corresponding to laser TX, but there is a real object O1 outside of the preset receiving field of view of detector RX. Stray light L12 strikes real object O1, reflects off it, and is received by detector RX. Because the lidar cannot determine the validity of the signal received by detector RX, it interprets the received signal as the reflection of the preset light from an object in that direction. It then assumes that an object exists in that direction and generates a data point, resulting in a ghost image O2 in that channel. In other words, real object O1 is not in the direction corresponding to the channel where the preset light is emitted, but the detector RX in that channel receives echo information. The lidar then interprets the received echo information as a reflection of an object in the direction corresponding to the channel where the preset light is emitted, resulting in the ghost image O2.

[0210] Figures 33a and 33b show a schematic diagram of the invalid signal generation principle of a laser radar. Figure 33a shows a schematic diagram of the principle of generating ghost images in a point cloud. As shown in Figure 33a, the light beam emitted by the second detection channel channel2 detects a high-reflectivity object in its detection direction. The echo signal intensity generated after reflection from the high-reflectivity object is relatively high, causing the first detection channel channel1 working in parallel to also receive an interference echo signal from the second detection channel channel2. Due to the high intensity of the interference echo signal, the first detection channel channel1 mistakenly judges the interference echo signal from the second detection channel channel2 as an echo from the detection direction for which the first detection channel channel1 is responsible, mistakenly believing that an object has been detected at a location where there is actually no object (for example, the location shown by the dotted circle in Figure 33a), resulting in a ghost image in the point cloud.

[0211] Figure 33b shows a schematic diagram of a point cloud that produces ghosting. As shown in Figure 33b, after the lidar detects a high-reflectivity object, the generated point cloud image of the high-reflectivity object (e.g., the rectangular dashed box in Figure 33b) will diffuse outward (e.g., the circled area in Figure 33b), causing the image size of the high-reflectivity object in the point cloud to increase, resulting in a phenomenon of widening (expansion) of the high-reflectivity object point cloud image.

[0212] Figure 34 shows a schematic diagram of another LiDAR's invalid signal generation principle. In a multi-channel simultaneous scanning system, there are multiple channels emitting light simultaneously. For example, as shown in Figure 34, channels A and B emit light in parallel. Due to optical system imperfections, such as reflection or scattering from optical components or structural parts such as lenses and reflectors within the LiDAR, some light from channel A within the preset receiving field of view can reach and be received by the detector of channel B, thus forming a noise point at the corresponding position of channel B.

[0213] It can be seen that detecting whether the echo signal received by the lidar is valid is of great significance to ensuring the reliability of the lidar operation.

[0214] The structure and detection principle of the laser radar are described below with reference to FIG1 .

[0215] Figure 1 shows a schematic diagram of a laser radar and its detection scenario. As shown in Figure 1 , the laser radar 100 may include at least one laser 110 and at least one detector 120. The laser radar 100 may also include a processor 130. Processor 130 is communicatively coupled to each of the at least one laser 110 and the at least one detector 120.

[0216] The at least one laser 110 and the at least one detector 120 form one or more transceiver channels. A transceiver channel refers to an information path for a laser radar to transmit and receive laser light. A transceiver channel may be referred to simply as a channel. In some embodiments, a channel may include a laser 110 and a detector 120, i.e., one laser 110 corresponds to one detector 120. In some embodiments, multiple lasers 110 may share one detector 120 (i.e., one channel includes multiple lasers 110 and one detector 120), or multiple detectors 120 may share one laser 110 (i.e., one channel includes one laser 110 and multiple detectors 120). FIG1 illustrates an example where one laser 110 corresponds to one detector 120.

[0217] It should be noted that this specification does not limit the number of channels included in the laser radar 100. That is, the laser radar 100 may include one channel or multiple channels. When the laser radar 100 includes multiple channels, the laser radar 100 is generally referred to as a multi-beam laser radar. The number of channels included in the laser radar 100 can also be referred to as the number of scanning beams, or simply the number of scanning lines.

[0218] A channel has a detection field of view. The laser 110 in a channel emits a laser beam, and the detector 120 in the channel receives the reflected light of the laser beam reflected by the object in the detection field of view of the channel. For example, it is possible to detect obstacles in the detection field of view. Continuing to refer to Figure 1, taking channel 1 as an example, the detection process is as follows: the laser 110 in channel 1 can emit a laser beam in the direction of the detection field of view of channel 1 at time T1 under the control of the processor 130. The laser beam can also be called a detection beam or a detection pulse. The laser beam is reflected by the object a in the detection field of view to generate reflected light. The detector 120 in channel 1 receives the reflected light and converts the reflected light into an electrical signal and provides it to the processor 130. The processor 130 can calculate the flight time ΔT=T2-T1 of the light based on the emission time T1 of the laser beam and the reception time T2 of the reflected light. Furthermore, the processor can determine the flight distance based on the speed of light c and the flight time ΔT. The flight distance represents the distance between object a and the laser radar. The processor 130 can determine the position information of object a based on the flight distance d and the detection field of view orientation of channel 1.

[0219] In a similar manner, the other channels in the LiDAR 100 can each detect obstacles within their respective detection fields. In this way, the processor 130 can generate point cloud data based on the obstacle information detected by all channels and output the point cloud data. This point cloud data reflects the object information within the LiDAR 100's total detection field of view.

[0220] During the detection process of the lidar 100, the processor 130 can control the detection process of all channels. One possible control method is for the processor 130 to control all channels to perform detection sequentially. For example, the processor 130 controls channel 1 to perform detection at time 1, controls channel 2 to perform detection at time 2, controls channel 3 to perform detection at time 3, and so on. In this method, the detection process of all channels is performed sequentially, which reduces crosstalk between channels, but also reduces detection efficiency.

[0221] Another possible control method is that the processor 130 controls all channels to perform detection in parallel. In this method, the detection process of all channels is performed in parallel, which has a high detection efficiency, but the crosstalk between different channels is large.

[0222] Another possible control method is for the processor 130 to control the channels to perform detection in groups. For example, assuming that the lidar 100 includes a total of 128 channels, these 128 channels can be divided into 8 groups, each group containing 16 channels. Among them, the 16 channels in each group are detected in parallel in the same detection round, while channels in different groups are detected in different detection rounds. For example, in the first detection round, the 16 channels in the first group are detected in parallel, in the second detection round, the 16 channels in the second group are detected in parallel, in the third detection round, the 16 channels in the third group are detected in parallel, and so on.

[0223] It should be noted that the parallel detection of 16 channels in the same group described above means that these 16 channels complete the reflection of the laser beam and the reception of the reflected light within a time window, not that these 16 channels must emit light simultaneously. In other words, the emission times of these 16 channels can be the same or different, as long as they are within the same time window.

[0224] The grouped detection method described above can group distant channels together, allowing multiple channels with relatively large physical distances to be detected in parallel. This not only improves detection efficiency but also reduces crosstalk between channels to a certain extent.

[0225] Objects in a detection scene can generally be divided into two types: Lambertian or near-Lambertian bodies, and angular reflectors. In vehicle driving scenarios, most objects are Lambertian or near-Lambertian bodies, while a smaller number are angular reflectors. Common angular reflectors include, but are not limited to, road signs and license plates. These two types of objects reflect the laser beam differently. This is illustrated below with reference to Figures 2 and 3.

[0226] Figure 2 shows a schematic diagram of laser beam reflection from a Lambertian or Lambertian-like body. As shown in Figure 2, assume that a laser beam emitted by a lidar strikes the surface of a Lambertian or Lambertian-like body. In this case, the energy of the incident light is isotropically reflected from the entire spherical space around the point of incidence, generating reflected light. Reflection from a Lambertian or Lambertian-like body is generally referred to as diffuse reflection.

[0227] Figure 3 shows a schematic diagram of how a laser beam is reflected by a corner reflector. As shown in Figure 3, assume that a laser beam emitted by a LiDAR hits the surface of a corner reflector. Because the corner reflector has multiple millimeter-scale corner reflection areas, the energy of the incident light is reflected back along its original path, resulting in a very high intensity of reflected light.

[0228] Most objects have diffuse reflection, so the intensity of the reflected light received by the lidar detector for diffuse reflection objects is: πD 2 / (4·πR 2 ). Where D is the receiving aperture of the laser radar (in millimeters), and R is the distance of the object. For angular reflectors, the reflected light almost returns to the laser radar along the original path, and almost all the reflected light energy is received by the laser radar. Therefore, even if the reflected light intensity of the angular reflection is lost to one percent of the incident light intensity, the difference in reflected light intensity between the angular reflection and diffuse reflection that the laser radar can receive can still reach 10 5 This indicates that compared to a Lambertian or near-Lambertian body, the equivalent reflectivity of a corner reflector is significantly higher, resulting in a significantly higher energy of reflected light received by the LiDAR. Therefore, corner reflectors are also referred to as high-reflectivity objects, or simply high-reflectivity objects. The equivalent reflectivity is the reflectivity of an object calculated based on the energy of the laser beam emitted by the LiDAR and the energy of the reflected light received by the LiDAR.

[0229] During the operation of the LiDAR 100, when multiple channels are detecting in parallel, if the light emitted by a channel encounters a highly reflective object, the intensity of the reflected light generated by the highly reflective object will be very high. This reflected light will cause crosstalk to the current channel or other channels detecting in parallel, resulting in ghosting in the point cloud data output by the LiDAR 100. The specific manifestation of ghosting is that although the LiDAR 100 forms a point cloud point at a certain location, there is no real object at that location. In other words, the LiDAR 100 forms a point cloud point at a location where no real object exists.

[0230] Although in some embodiments, the processor 130 can use a group detection method to group channels with relatively long physical distances for parallel detection to reduce crosstalk between channels to a certain extent, when the lidar 100 encounters a highly reflective object, the intensity of the reflected light generated by the highly reflective object is very high. Even if the multiple channels participating in the parallel detection are relatively far apart, crosstalk between the multiple channels in the parallel detection still exists, resulting in the existence of ghosting problems in the lidar point cloud data.

[0231] The following is a detailed explanation of the phenomenon of high-reflection ghosting and its causes based on several specific situations.

[0232] Figure 4 illustrates a detection scenario with high crosstalk. The following describes the detection process for one channel (e.g., channel 1) in lidar 100 as an example. As shown in Figure 4 , the laser in channel 1 emits a laser beam, which forms a light spot 300 comprising a central region 310 and a halo region 320.

[0233] Those skilled in the art will appreciate that, ideally, the light spot 300 formed by the laser beam should include only the central region 310 and not the halo region 320. However, due to factors in the detection scenario and the divergence angle of the light emitted by the laser, the presence of the halo region 320 is unavoidable. The light spot generation process is described in detail below with reference to Figures 5 and 6.

[0234] For example, Figure 5 shows a schematic diagram of how light spot 300 is generated. As shown in Figure 5 , the laser radar 100 typically also includes components such as a transmitting lens 160 and a light shield 140. Most of the laser light in the laser beam emitted by the laser 110 passes through the transmitting lens 160 and then through the light shield 140, forming the central region 310 of the light spot 300. Furthermore, a small portion of the laser light in the laser beam is reflected between components such as the transmitting lens 160 and the light shield 140. This reflected light causes the halo region 320 to expand.

[0235] For another example, Figure 6 shows another schematic diagram of generating light spot 300. As shown in Figure 6, the light mask 140 of the laser radar 100 may have attachments 150, such as rain, dirt, etc. The laser beam emitted by the laser 110 passes through the transmitting lens 160 and then through the light mask 140. The majority of the laser light in the laser beam directly passes through the light mask 140, forming the center region 310 of the light spot 300. Furthermore, the attachments 150 on the light mask 140 refract some of the laser light, expanding the halo region 320.

[0236] Continuing with Figure 4, the detection field of view of channel 1 is oriented in the direction of the central region 310 of the light spot 300. The energy received by the detector 120 in channel 1 is the total energy received by the photosensitive surface of the detector 120 after the complete light spot 300 is reflected. Typically, the detection result of channel 1 is one of the following two situations:

[0237] (1) When the energy received by the detector 120 exceeds a certain energy threshold, the laser radar 100 determines that there is an object in the detection field corresponding to the channel and calculates the flight time based on the energy received by the detector 120 to obtain object information. In this case, the laser radar 100 will generate a point cloud point at the direction corresponding to channel 1.

[0238] (2) When the energy received by the detector 120 is less than the energy threshold, the laser radar 100 determines that there is no object in the detection field corresponding to the channel. In this case, the laser radar 100 will not generate a point cloud point at the direction corresponding to channel 1.

[0239] Continuing with Figure 4 , when a highly reflective object 200 is present in the surrounding environment of the lidar 100, assume that the laser 110 of channel 1 emits a laser beam. There is no object in the direction corresponding to the center region 310 of the light spot 300 formed by this laser beam, while the halo region 320 of the light spot 300 illuminates the highly reflective object 200. In this case, since the center region 310 of the light spot 300 does not strike an object, it does not produce any reflected light. The halo region 320 of the light spot 300 strikes the highly reflective object 200 and is reflected by it, forming reflected light. Although the energy of the halo region 320 itself is not high, due to the high reflectivity of the highly reflective object 200, the energy of the reflected light reflected from the highly reflective object 200 that is received by the detector 120 is very high, causing the energy received by the detector 120 to exceed the energy threshold. Consequently, the lidar 100 mistakenly believes that an object is present in the direction of the detection field of view corresponding to channel 1 (i.e., the direction indicated by the center region 310 of the light spot 300). In this way, the laser radar 100 calculates the flight time based on the energy received by the detector 120 and generates point cloud points in the detection field of view orientation corresponding to channel 1, resulting in ghost images in the point cloud data.

[0240] Figure 7 illustrates a ghost image generated in the detection scenario shown in Figure 4 . As shown in Figure 7 , assume that highly reflective object 200 is a rectangular object, such as a license plate or road sign. During the detection process of the lidar 100, when the detection field of view of certain channels is located near the highly reflective object 200, the light spot 300 generated by these channels may meet the conditions shown in Figure 4 . That is, the center region 310 of the light spot 300 does not illuminate the object, but the halo region 320 illuminates the highly reflective object 200. In this case, according to the detection method described above, point clouds may be generated in the detection field orientations corresponding to these channels. This causes the point cloud cluster corresponding to the highly reflective object 200 in the point cloud data 700 to become larger. In other words, in the point cloud data 700, in addition to the point cloud 710 at the actual location of the highly reflective object 200, there are also point clouds 720 at the periphery of the highly reflective object 200, making it appear as if the highly reflective object has been magnified. There is no object in the surrounding area of ​​the highly reflective object 200, and there should not be any point cloud. However, a point cloud 720 is actually generated. Therefore, the point cloud 720 in the surrounding area is a "ghost".

[0241] As can be seen from Figures 4 and 7, when the central area 310 of the light spot 300 formed by the laser beam emitted by channel 1 does not hit the object, and the halo area 320 hits the highly reflective object 200, since the intensity of the reflected light generated by the highly reflective object 200 that can be received by the detector 12 is very high, it will cause crosstalk to its own channel (i.e., channel 1), resulting in the generation of point cloud points in the detection field of view of channel 1, thereby forming a ghost image.

[0242] Figure 8 illustrates another detection scenario involving high-reflectivity crosstalk. The following describes the detection process for one channel (e.g., channel 1) in the lidar 100. As shown in Figure 8, the laser 110 in channel 1 emits a laser beam, which strikes a highly reflective object 200 and is reflected by it for the first time, forming reflected light 1. A portion of the energy in reflected light 1 passes through the mask 140 and is received by the detector 120 in channel 1. Another portion of the energy in reflected light 1 is reflected by the mask 140 (e.g., by the mask 140 itself, or by dirt, raindrops, etc. on the mask 140). The reflected light strikes the highly reflective object 200 again and is reflected by it for a second time, forming reflected light 2. Due to the high reflectivity of the highly reflective object 200, the intensity of reflected light 2 remains high after the second reflection from the highly reflective object 200. This means that reflected light 2 can still be received by the detector 120, and the energy received by the detector 120 can exceed a certain energy threshold.

[0243] In this way, the laser radar 100 can calculate flight time 1 based on the energy of reflected light 1 and form a point cloud at the position corresponding to the highly reflective object 200. The laser radar 100 calculates flight time 2 based on the energy of reflected light 2. Flight time 2 is approximately twice that of flight time 1. Therefore, the laser radar 100 also forms a point cloud point behind the highly reflective object 200 (i.e., in the depth direction), thus forming a ghost image.

[0244] FIG9 is a schematic diagram showing ghost images generated in the detection scenario shown in FIG8 . As shown in FIG9 , assume that the highly reflective object 200 is a rectangular object, such as a license plate, road sign, or the like. In the point cloud data 900 generated by the lidar 100, in addition to point cloud 910 corresponding to the actual area of ​​the highly reflective object 200, there is also point cloud 920 corresponding to the area behind the highly reflective object 200 (for example, at a position approximately twice the distance). There is no object behind the highly reflective object 200, or in other words, the highly reflective object 200 is not transparent, and even if there is an object behind it, the radar cannot detect it. Therefore, point cloud 920 should not exist in the point cloud data. However, due to the above reasons, point cloud data 900 generates point cloud 920, and therefore, point cloud 920 is a "ghost image."

[0245] As can be seen from Figures 8 and 9, when the laser beam emitted by channel 1 irradiates the highly reflective object 200, since the intensity of the reflected light generated by the highly reflective object 200 that can be received by the detector 120 is very high, it will cause crosstalk to the detection of its own channel (i.e., channel 1), resulting in a ghost image behind the highly reflective object 200.

[0246] Figure 10 shows another schematic diagram of a detection scenario with high-reflectivity crosstalk. As shown in Figure 10 , assume that channels 1 and 2 of a lidar 100 are detecting in parallel. Laser beam 1 emitted by laser 110 in channel 1 misses the object, while laser beam 2 emitted by laser 110 in channel 2 hits a highly reflective object 200.

[0247] In channel 2, laser beam 2 is irradiated onto highly reflective object 200. Referring to Figure 10 , laser beam 2 forms a light spot 300 on highly reflective object 200, comprising a central region 310 and a light source region 320. Laser beam 2 is reflected by highly reflective object 200, forming reflected light 2. This reflected light 2 is received by detector 120 in channel 2. Based on the energy received by detector 120 in channel 2, lidar 100 calculates the distance to highly reflective object 200 and generates a point cloud of points in the detection field of view of channel 2.

[0248] For channel 1, since laser beam 1 encounters no object in the direction of channel 1, detector 120 in channel 1 would not originally receive the reflected light corresponding to laser beam 1. However, due to the high reflectivity of highly reflective object 200 and the size of the light spot, even the intensity of reflected light 2 generated by laser beam 2 in halo region 320 is very high, resulting in the possibility that reflected light 2 can be detected by detector 120 in channel 1. In this case, lidar 110 will mistakenly believe that there is an obstacle in the detection field of view corresponding to channel 1, and calculate the flight distance based on the energy received by detector 120 in channel 1, thereby generating point cloud points in the direction of the detection field of view of channel 1.

[0249] It can be seen that in the detection scenario shown in Figure 10, even if there is actually no object in the detection field of view of channel 1, the laser beam of channel 2 is irradiated on the highly reflective object 200 to form a light spot of a certain size, and since the intensity of the reflected light formed in the halo area of ​​the light spot is also very high, the laser beam of channel 2 will cause crosstalk to channel 1, causing the laser radar 100 to generate point cloud points in the detection field of view of channel 1, that is, ghost images are generated in the field of view of channel 1.

[0250] Those skilled in the art will appreciate that the ghosting scenarios described in Figures 4 to 10 are merely examples. In actual applications, in addition to the aforementioned scenarios, other ghosting scenarios may also exist, which will not be described in detail in this specification.

[0251] In order to avoid the above-mentioned ghosting problem, for any channel in the laser radar 100, taking channel 1 as an example, it is unknown whether some channels in the multiple channels of the current detection round (multiple channels are detected in parallel) are irradiated on highly reflective objects. Therefore, the detection signal received by the detector in channel 1 may contain crosstalk components, or may not contain crosstalk components. Among them, the above-mentioned crosstalk components may come from the crosstalk of other parallel detection channels (such as the scene shown in Figure 10), or may come from the crosstalk of its own detection channel (such as the scenes shown in Figures 4 and 8). In addition, it is also unknown whether there is a real object in the detection field of view of channel 1, so the detection signal received by the detector in channel 1 may contain echo components, or may not contain echo components. It can be seen that the detection signal received by the detector in channel 1 may correspond to any one of the following three situations:

[0252] Case 1: The detection signal received by the detector contains only crosstalk components.

[0253] Case 2: The detection signal received by the detector contains both crosstalk components and echo components.

[0254] Case 3: The detection signal received by the detector contains only the echo component.

[0255] If the detection signal received by the detector corresponds to Case 2 or Case 3, it means that there is an object in the detection field of channel 1, and the probability of generating ghost images is low according to the current detection method. If the detection signal received by the detector corresponds to Case 1, it means that there is no object in the detection field of channel 1, but due to the existence of high anti-crosstalk, the lidar mistakenly believes that there is an object, resulting in ghost images in the point cloud data.

[0256] Based on the above analysis, the design goal of this application is to propose a detection method that can identify whether the detection signal received by channel 1 contains an echo component, or in other words, whether there is an object within the detection field of channel 1. In this way, the lidar can distinguish between the above-mentioned situation 1 and situations 2 and 3. When the detection signal received by the detector corresponds to situation 1, the flight time calculation for channel 1 can be omitted. This avoids the appearance of ghost images in the point cloud data.

[0257] In order to achieve the above-mentioned design goals, in this specification, channel 1 in the laser radar 100 has a detection field of view. The reference field of view and the detection field of view partially overlap. For example, the reference field of view can be regarded as a field of view formed by a certain offset of the detection field of view of channel 1. No actively emitting laser is set in the reference field of view. When the reference field of view is not affected by crosstalk from the detection field of view, even if some signals are detected in the reference field of view, these signals will not exceed a certain preset threshold. Therefore, the detection signal corresponding to the reference field of view can characterize the crosstalk situation of the reference field of view by the detection field of view. The detection signal corresponding to the reference field of view can be regarded as an estimated value of the crosstalk component in the detection signal received by channel 1. In this way, we can determine whether the signal received by channel 1 contains an echo component based on the detection signal received by channel 1 and the detection signal corresponding to the reference field of view, or identify whether there is an object in the detection field of view of channel 1.

[0258] The detection method provided in this application is described in detail below with reference to FIG13 .

[0259] FIG13 is a flow chart of a detection method P100 according to an embodiment of the present disclosure. The detection method P100 may be applied to the laser radar 100 shown in FIG1 . For example, the processor 130 in the laser radar 100 may execute the detection method P100 .

[0260] As shown in FIG13 , the detection method P100 may include:

[0261] S110: Control a laser in a preset channel to emit a laser beam, and obtain a first detection signal received by a detector in the preset channel, where the preset channel is any channel included in the laser radar.

[0262] The laser radar 100 may include one or more channels. The preset channel may be any one or more channels among all the channels included in the laser radar.

[0263] As previously described, during the detection process of the lidar 100, the processor 130 can control the channels in the lidar 100 to perform detection in a serial, fully parallel, or partially parallel manner. When performing detection in a serial manner, the processor 130 can control the laser 110 in one channel to emit a laser beam during the current detection round. In this case, the preset channel is the channel that needs to emit light during the current detection round. When performing detection in a fully parallel manner, the processor 130 can control the laser 110 in all channels (all channels physically available in the lidar; for example, if a lidar is a 128-line lidar, all channels can be these 128 channels; if a lidar is a 48-line lidar, all channels can be these 48 channels) to emit laser beams during the current detection round. In this case, the preset channel can be any one or more channels among all channels. When performing detection in a partially parallel manner, the processor 130 can control the lasers 110 in the same group of channels to emit laser beams during the current detection round. In this case, the preset channel can be any one or more channels within the same group of channels.

[0264] Those skilled in the art will appreciate that the detection method P100 describes the detection process of one channel. When the laser radar 100 performs detection in a fully parallel or partially parallel manner, the detection process of each channel involved in the parallel operation may be the same.

[0265] As previously described, each channel corresponds to a detection field of view. In S110, processor 130 may control laser 110 in a predetermined channel to emit a laser beam and control detector 120 in the predetermined channel to receive light energy reflected from the detection field of view. Furthermore, processor 130 may receive a first detection signal from detector 120. The first detection signal is a signal corresponding to the light energy received by detector 120 in the predetermined channel.

[0266] As analyzed above, the first detection signal may or may not contain crosstalk components. The first detection signal may or may not contain echo components. In this specification, crosstalk components can include crosstalk energy generated by the laser beam spot irradiating a highly reflective object, as well as crosstalk energy generated by dirt, raindrops, and other factors on the mask. Echo components include the energy of reflected light reflected from the object.

[0267] S120: Obtaining a third detection signal corresponding to a reference field of view, where the reference field of view has a preset offset relative to the detection field of view of the preset channel and overlaps with a portion of the detection field of view of the preset channel.

[0268] Figure 14A shows a schematic diagram of the detection field of view and reference field of view corresponding to a preset channel. Referring to Figure 14A , the preset channel may include a laser 110 and a detector 120. The detection field of view corresponding to the preset channel is labeled 400, and the reference field of view corresponding to the preset channel is labeled 500. The reference field of view 500 and the detection field of view 400 have different centers. The reference field of view 500 can be considered a field of view formed by offsetting the detection field of view 400. The reference field of view 500 and the detection field of view 400 partially overlap.

[0269] The reference field of view 500 does not have a corresponding actively emitting laser. If the laser beam emitted by the above-mentioned preset channel or other parallel detection channels encounters a highly reflective object, or if there is dirt, raindrops, etc. on the light shield through which the light path of the preset channel or other parallel detection channels passes, a portion of the light spot formed by the laser beam emitted by the preset channel or other parallel detection channels may fall into the reference field of view 500, and then be received by the detector corresponding to the reference field of view 500. Regardless of the above-mentioned situation of encountering a highly reflective object, or the situation where there is dirt, raindrops, etc. on the light shield, because the external environment itself has a certain light intensity, even if the reference field of view 500 does not have a corresponding actively emitting laser, the reference field of view 500 will receive crosstalk caused by the reflection of ambient light by highly reflective objects or crosstalk caused by dirt, raindrops, etc. on the light shield. However, in the above two cases, the detection signal received by the reference field of view 500 will usually exceed a certain threshold. Since the reference field of view 500 does not have a corresponding actively emitting laser, if the reference field of view 500 does not receive the crosstalk in the above two situations, even if the reference field of view 500 can detect some signals, the detection signal it receives is not enough to exceed a certain threshold. It can be seen that the detection signal corresponding to the reference field of view 500 can characterize the high-reflection crosstalk received by the reference field of view 500. There is a certain field of view offset between the reference field of view 500 and the detection field of view 400, and the two are partially overlapped. When the crosstalk component is much larger than the echo component (for example, the crosstalk component is hundreds or thousands of times the echo component), the high-reflection crosstalk in the reference field of view 500 is roughly equivalent to the high-reflection crosstalk in the detection field of view 400.

[0270] It should be noted that the size of the reference field of view 500 can be the same as, larger than, or smaller than the detection field of view 400, and this specification is not limited thereto. As an example, FIG14B shows a schematic diagram of the detection field of view and the reference field of view corresponding to another preset channel. Referring to FIG14B , the reference field of view 500 can correspond to a portion of the edge region of the detection field of view 400.

[0271] S130: Determine whether there is an object in the detection field of view of the preset channel based on the first detection signal and the third detection signal.

[0272] For the convenience of description, in this specification, the first detection signal received by the detector 120 in the preset channel is recorded as R, and the third detection signal corresponding to the reference field of view 500 is recorded as R'. According to the previous analysis, the third detection signal R' can be regarded as an estimated value of the crosstalk component in the first detection signal R. Therefore, the processor 130 can determine whether there is an object in the detection field of view of the preset channel based on the first detection signal R and the third detection signal R', or the probability / credibility of the existence of the object. Those skilled in the art will understand that S130 can also be expressed as: based on the first detection signal R and the third detection signal R', determine whether the first detection signal R contains an echo component, or the probability / credibility of containing an echo component.

[0273] The processor 130 can determine whether there is an object in the detection field of the preset channel based on the relative size relationship between the first detection signal R and the third detection signal R′, or determine the probability / credibility of the existence of an object in the detection field of the preset channel.

[0274] For example, if R>R′+Δ, it means that there is an object in the detection field of view 400 of the preset channel, or the probability / credibility of the existence of the object is high, or the probability / credibility of the first detection signal R containing an echo component is high.

[0275] For another example, if R≤R′+Δ, it means that there is no object in the detection field of view 400 of the preset channel, or in other words, the probability / credibility of the existence of an object is low, or in other words, the probability / credibility of the first detection signal R containing an echo component is low.

[0276] The preset threshold Δ represents the threshold that the echo should exceed. It should be noted that this specification does not limit the value of the preset threshold Δ. In practical applications, the preset threshold Δ can be determined based on environmental noise and the distribution characteristics of the single-photon response itself. Furthermore, the preset threshold Δ can also be related to the maximum detection range of the lidar 100.

[0277] The processor 130 can determine whether an object exists within the detection field of view of the preset channel based on the difference between the first detection signal R and the third detection signal R′, or in other words, determine the probability / confidence of the existence of an object within the detection field of view of the preset channel, or in other words, determine the probability / confidence of the presence of an echo component in the first detection signal R. Those skilled in the art will appreciate that the third detection signal R′ can reflect the relative size of the crosstalk component in the first detection signal R. Therefore, in one or more embodiments of the present invention, the difference between the first detection signal R and the third detection signal R′ can be used as the size of the echo component in the first detection signal R.

[0278] For example, when the difference between the first detection signal R and the third detection signal R′ is greater than the preset threshold value Δ, that is, RR′>Δ, it means that there is an object in the detection field of view of the preset channel, or in other words, the probability / credibility of the existence of an object in the detection field of view of the preset channel is high, or in other words, the first detection signal R contains an echo component, or in other words, the probability / credibility of the first detection signal R containing an echo component is high.

[0279] For another example, when the difference between the first detection signal R and the third detection signal R′ is less than or equal to the preset threshold value Δ, that is, RR′≤Δ, it indicates that there is no object in the detection field of view of the preset channel, or in other words, the probability / credibility of the existence of an object in the detection field of view of the preset channel is low, or in other words, the first detection signal R does not contain an echo component, or in other words, the probability / credibility of the first detection signal R containing an echo component is low.

[0280] S140: When an object exists in the detection field of view of the preset channel, determine information about the object based on the first detection signal.

[0281] For example, when there is an object in the detection field of view of the preset channel, or in other words, when the probability / credibility of the existence of an object in the detection field of view of the preset channel is high, the processor 130 can perform flight time calculation based on the first detection signal R to determine the information of the object (for example, distance, reflectivity, etc.).

[0282] When the preset channel is subject to crosstalk caused by the laser beam spot hitting a highly reflective object, or crosstalk caused by dirt, raindrops, etc. on the mask, the first detection signal R contains both crosstalk components and echo components. If the processor 130 directly calculates the time of flight based on the first detection signal R, the information of the object determined may be inaccurate. In some embodiments, the processor 130 can first determine the difference (RR') between the first detection signal R and the third detection signal R', and then perform a flight time calculation based on the difference (RR') to obtain the information of the object.

[0283] It can be understood that since the third detection signal R′ reflects the size of the crosstalk component contained in the first detection signal R, the processor 130 calculates the flight time based on the difference (RR′), which is equivalent to eliminating the influence of the crosstalk component, thereby improving the accuracy of the determined object information.

[0284] The above S140 describes the situation where there is an object in the detection field of view of the preset channel. The following describes the situation where there is no object in the detection field of view of the preset channel.

[0285] When no object exists within the detection field of view of the preset channel, or in other words, the probability / confidence of the presence of an object within the detection field of view of the preset channel is low, corresponding to the above-mentioned situation 1, the first detection signal R has high anti-crosstalk. The processor 130 can discard the first detection signal R and not perform time-of-flight calculation on the first detection signal R. This prevents the lidar 100 from generating point cloud points in the detection field of view of the preset channel, thereby avoiding the ghosting problem.

[0286] It can be seen that the detection method P100 provided in this specification, during the detection process of the preset channel, determines whether there is an object in the detection field of view of the preset channel, or the probability / credibility of the existence of the object, based on the first detection signal R received by the detector in the preset channel and the third detection signal R′ corresponding to the reference field of view. Therefore, only when it is determined that there is an object in the detection field of view of the preset channel, or the probability / credibility of the existence of the object is high, the information of the object is determined based on the first detection signal. Accordingly, when it is determined that there is no object in the detection field of view of the preset channel, or the probability / credibility of the existence of the object is low, there is no need to calculate the object information, thereby avoiding the high-reflective ghost problem caused by the laser beam irradiating the high-reflective object, and avoiding the ghost problem caused by dirt, raindrops, etc. on the mask, thereby improving the accuracy of the detection results of the laser radar 100.

[0287] The following describes in detail how the processor 130 obtains the third detection signal R′ corresponding to the reference field of view in combination with several possible implementations.

[0288] In some possible implementations, the laser radar 100 may include a reference detector whose detection field of view corresponds to the reference field of view, that is, the reference detector's field of view is the reference field of view or the reference detector's field of view includes the reference field of view. Figure 14C shows a schematic diagram of the detection field of view corresponding to a preset channel and the detection field of view corresponding to the reference detector. Referring to Figure 14C, assuming that the preset channel includes a laser 110 and a detector 120, the detection field of view corresponding to the preset channel is marked as 400. The laser radar 100 may also include a reference detector 120', and the detection field of view corresponding to the reference detector 120' is marked as 500. The detection field of view 500 of the reference detector 120' is offset from the detection field of view 400 of the preset channel and partially overlaps with the detection field of view 400 of the preset channel. During detection in the preset channel, the detection field of view 500 of the reference detector 120' does not have a corresponding active light-emitting laser. For example, the reference detector 120' does not have a corresponding laser. For another example, reference detector 120' may have a corresponding laser, but this laser may not emit light during detection of the preset channel. In this case, during detection of the preset channel, reference detector 120' may receive detection signals within its corresponding detection field of view 500. Processor 130 uses the detection signals received by reference detector 120' as third detection signals R'. Third detection signals R' may be signals converted from the light energy received by reference detector 120'.

[0289] The following describes in detail how to set up the reference detector by combining several different types of lidar.

[0290] (1) The first type of lidar: a single laser corresponds to a single detector.

[0291] Figure 15 shows a schematic diagram of a transceiver module for a laser radar. As shown in Figure 15, the laser radar includes a transmitting module 10 and a receiving module 20. Transmitting module 10 includes 16 light-emitting units, namely, light-emitting unit a1 to light-emitting unit a16. Each light-emitting unit includes 8 lasers. For example, light-emitting unit a1 may include lasers 01 to laser 08. Receiving module 20 includes 16 detection units, namely, detection unit b1 to detection unit b16. Each detection unit includes 8 detectors. For example, detection unit b1 may include detectors 11 to detector 18, and detection unit b2 may include detectors 21 to detector 28.

[0292] In the lidar shown in Figure 15, the transmitting module 10 contains a total of 128 lasers, and the receiving module 20 contains a total of 128 detectors. These 128 lasers and 128 detectors correspond one-to-one to form 128 channels. For example, laser 01 and detector 11 form channel 1, laser 02 and detector 12 form channel 2, and so on.

[0293] The following example illustrates how to design a corresponding reference detector for each channel of the lidar shown in Figure 15. For ease of description, only channel 1 (i.e., the channel consisting of laser 01 and detector 11) is used as an example. The design of reference detectors for other channels is similar.

[0294] Method 1: The reference detector corresponding to channel 1 can reuse the detector in the idle channel in the current detection round.

[0295] Specifically, assume that the 128 channels in a lidar are divided into multiple groups, with channels in the same group configured to emit light in parallel, and channels in different groups configured to emit light in different detection rounds. In this case, a detector in a channel in a different group than channel 1 can be used as the reference detector for channel 1. In other words, the reference detector for channel 1 can be a detector in the first channel, which is in a different group than channel 1.

[0296] For example, referring to FIG. 15 , assume that 128 channels are divided into 16 groups.

[0297] Among them, the first group includes: a channel formed by the first laser in the light-emitting unit a1 and the first detector in the detection unit b1, a channel formed by the second laser in the light-emitting unit a1 and the second detector in the detection unit b1,..., a channel formed by the eighth laser in the light-emitting unit a1 and the eighth detector in the detection unit b1.

[0298] The second group includes: a channel formed by the first laser in the light-emitting unit a2 and the first detector in the detection unit b2, a channel formed by the second laser in the light-emitting unit a2 and the second detector in the detection unit b2,…, a channel formed by the eighth laser in the light-emitting unit a2 and the eighth detector in the detection unit b2.

[0299] …

[0300] The 16th group includes: a channel formed by the first laser in the light-emitting unit a16 and the first detector in the detection unit b16, a channel formed by the second laser in the light-emitting unit a16 and the second detector in the detection unit b16,…, a channel formed by the eighth laser in the light-emitting unit a16 and the eighth detector in the detection unit b16.

[0301] In this case, when channel 1 is performing detection, the detectors in detection unit b2 are idle. Therefore, a detector in detection unit b2 can be used as a reference detector corresponding to channel 1. For example, detector 21 can be used as the reference detector corresponding to channel 1.

[0302] For another example, assume that 128 channels are divided into 8 groups.

[0303] Among them, the first group may include: a channel formed by the first laser in the light-emitting unit a1 and the first detector in the detection unit b1, a channel formed by the first laser in the light-emitting unit a2 and the first detector in the detection unit b2, a channel formed by the first laser in the light-emitting unit a3 and the first detector in the detection unit b3,..., a channel formed by the first laser in the light-emitting unit a16 and the first detector in the detection unit b16.

[0304] The second group may include: a channel formed by the second laser in the light-emitting unit a1 and the second detector in the detection unit b1, a channel formed by the second laser in the light-emitting unit a2 and the second detector in the detection unit b2, a channel formed by the second laser in the light-emitting unit a3 and the second detector in the detection unit b3,... , a channel formed by the second laser in the light-emitting unit a16 and the second detector in the detection unit b16.

[0305] …

[0306] The 8th group may include: the channel formed by the 8th laser in the light-emitting unit a1 and the 8th detector in the detection unit b1, the channel formed by the 8th laser in the light-emitting unit a2 and the 8th detector in the detection unit b2, the channel formed by the 8th laser in the light-emitting unit a3 and the 8th detector in the detection unit b3,... , the channel formed by the 8th laser in the light-emitting unit a16 and the 8th detector in the detection unit b16.

[0307] In this case, when channel 1 is performing detection, the other detectors in detection unit b1 (i.e., detectors 12 to 18) are idle. Therefore, the other detectors in detection unit b1 can be used as reference detectors for channel 1. For example, detector 12 can be used as the reference detector for channel 1.

[0308] Those skilled in the art will appreciate that reusing detectors in idle channels in the current detection round as reference detectors may eliminate the need for hardware improvements to existing lidars and reduce hardware costs.

[0309] Method 2: Add a detector in the receiving module 20 as a reference detector corresponding to channel 1.

[0310] That is to say, the reference detector corresponding to channel 1 is the other detectors in the lidar except the detectors in the 128 channels.

[0311] Figure 16 shows a schematic diagram of the transceiver module of another laser radar. As shown in Figure 16, a detector 11' can be added at a suitable position near the detection unit b1, so that the detection field of the detector 11' has a preset offset relative to the detection field of the channel 1, and partially overlaps with the detection field of the channel 1. In this way, the detector 11' can be used as a reference detector corresponding to the channel 1. It should be noted that this detector 11' does not perform actual ranging and does not increase the overall wiring harness of the laser radar. Its function is to assist in identifying whether there is an object in the detection field of the channel 1.

[0312] Similarly, for channel 2 in the laser radar, a detector 12 ′ (not shown in FIG16 ) may be added near the detection unit b1 , and the detector 12 ′ may be used as a reference detector corresponding to channel 2 .

[0313] Those skilled in the art will appreciate that by adding a new detector as a reference detector in the receiving module 20 , the hardware modification of the laser radar is simpler and the hardware modification cost is lower.

[0314] In some embodiments, multiple channels in a lidar can also share the same reference detector. For example, assume that the 128 channels in the lidar are divided into multiple groups, the channels in the same group are configured to emit light in parallel, and the channels in different groups are configured to emit light in different detection rounds. There can be at least one second channel among the above 128 channels, and the at least one second channel is in the same group as channel 1, and the detection process of the at least one second channel and the detection process of channel 1 share the same reference detector. In other words, at least some of the channels in the same group as channel 1 can share the same reference detector with channel 1.

[0315] For another example, in Figure 16, assume that the eight channels formed by light-emitting unit a1 and detection unit b1 are in different groups. That is, these eight channels do not emit light in parallel. In this case, these eight channels can share reference detector 11'. That is, when channel 1 performs detection, detector 11' serves as the reference detector for channel 1; when channel 2 performs detection, detector 11' serves as the reference detector for channel 2; when channel 3 performs detection, detector 11' serves as the reference detector for channel 3, and so on.

[0316] It can be understood that multiple channels share the same reference detector, which can reduce the number of new detectors required in the receiving module 20, thereby further reducing hardware modification costs.

[0317] (2) The second type of lidar: a single laser corresponds to a single linear detector.

[0318] FIG17 shows a schematic diagram of a transceiver module of another laser radar. As shown in FIG17 , the laser radar includes a transmitting module 10 and a receiving module 20. The transmitting module 10 includes k lasers, namely laser 01, laser 02, laser 03, ..., laser 0k, etc. The receiving module 20 includes k linear array detectors, each of which is formed by a plurality of detectors arranged in a column. For example, in FIG17 , detectors 11 to 18 form the first linear array detector, detectors 21 to 28 form the second linear array detector, ..., and detectors k1 to k8 form the kth linear array detector.

[0319] The k lasers correspond one-to-one to the k linear detectors, that is, one laser corresponds to one linear detector. Each laser and its corresponding linear detector form multiple channels. Referring to Figure 17, laser 01 corresponds to the first linear detector, and laser 01 and each detector in the first linear detector form a channel. For example, laser 01 and detector 11 form channel 1, laser 01 and detector 12 form channel 2, ..., laser 01 and detector 18 form channel 8. The laser beam emitted by laser 01 can simultaneously illuminate the entire corresponding linear detector. In other words, channels 1 to 8 are detected in parallel.

[0320] The following example illustrates how to design a reference detector for each channel of the lidar shown in FIG17 .

[0321] Method 1: Reuse idle line detectors in the current detection round.

[0322] Taking the first linear detector as an example, when the first linear detector performs detection, other linear detectors that are not performing parallel detection with the first linear detector can be reused. For example, in conjunction with Figure 17, assuming that laser 02 and laser 01 are not emitting light in parallel, when the first linear detector performs detection, the second linear detector is idle. Each detector in the second linear detector can be used as a reference detector corresponding to each channel in the first linear detector. For example, detector 21 in the second linear detector can be used as the reference detector corresponding to channel 1, detector 22 in the second linear detector can be used as the reference detector corresponding to channel 2, ..., and detector 28 in the second linear detector can be used as the reference detector corresponding to channel 8.

[0323] Method 2: Add a new linear detector

[0324] Taking the first linear array detector as an example, a new linear array detector can be added to the receiving module 20, and the first detector in the newly added linear array detector serves as the reference detector corresponding to channel 1, the second detector in the newly added linear array detector serves as the reference detector corresponding to channel 2, ..., the eighth detector in the newly added linear array detector serves as the reference detector corresponding to channel 8.

[0325] It can be seen that for the laser radar shown in Figure 17, assuming that the detector in the preset channel corresponds to the i-th detector in the first linear array of detectors in the laser radar, the reference detector can correspond to the i-th detector in the second linear array of detectors, where i is a positive integer. That is, when the detector in the preset channel is the i-th detector in the first linear array of detectors in the laser radar, the reference detector can be the i-th detector in the second linear array of detectors. The second linear array detector can reuse other linear array detectors that are not detected in parallel with the first linear array detector (similar to the above method 1), or the second linear array detector can be a newly added linear array detector in the receiving module 20 (similar to the above method 2). The newly added linear array detector does not perform actual ranging and does not increase the overall beam of the laser radar. Its function is to assist in identifying whether there is an object in the detection field of view of the preset channel.

[0326] (3) The third type of lidar: using digital SPAD array.

[0327] Figure 18 shows a schematic diagram of another receiving module of a lidar. As shown in Figure 18, the receiving module 20 uses a digital single photon avalanche diode (SPAD) array. The SPAD array includes m*n array-arranged SPADs. Among them, SPAD is a photodiode that operates in Geiger mode (reverse bias voltage is greater than its avalanche breakdown voltage) and uses avalanche breakdown to achieve single photon detection capability. SPAD generally has the characteristics of high photon detection efficiency, wide spectral response range, extremely high sensitivity and low power consumption.

[0328] One or more SPADs in a SPAD array can be independently controlled, allowing multiple SPADs to be combined to form detectors with different field-of-view sizes. For example, referring to FIG18 , SPAD11, SPAD12, SPAD21, and SPAD22 can be combined to form one detector, while SPAD13, SPAD14, SPAD23, and SPAD24 can be combined to form another detector.

[0329] For a lidar using a SPAD array, the detectors in each channel may correspond to the first portion of the SPADs in the SPAD array, while the reference detector corresponding to that channel may correspond to the second portion of the SPADs in the SPAD array. For example, the detector in channel 1 may be a detector formed by the combination of SPAD11, SPAD12, SPAD21, and SPAD22, while the reference detector corresponding to channel 1 may be a detector formed by the combination of SPAD13, SPAD14, SPAD23, and SPAD24.

[0330] Those skilled in the art will appreciate that the correspondence between the detector and the SPAD in each channel may be pre-set or dynamically determined during the operation of the LiDAR, and this specification does not limit this. The correspondence between the reference detector and the SPAD corresponding to each channel may be pre-set or dynamically determined during the operation of the LiDAR, and this specification does not limit this.

[0331] The above description assumes that the lidar has a reference detector corresponding to the reference field of view. Processor 130 can use the detection signal received by this reference detector as the third detection signal R′. However, in some cases, the lidar may not have a reference detector corresponding to the reference field of view. In some possible implementations, processor 130 can also calculate the third detection signal R′ corresponding to the reference field of view.

[0332] In some embodiments, the laser radar 100 may include multiple reference detectors, and the detection fields of the multiple reference detectors are all different from the reference field of view. In this case, the processor 130 can obtain multiple fourth detection signals received by the multiple reference detectors, and then determine the third detection signal R' corresponding to the reference field of view based on the multiple fourth detection signals and the positional relationship between the reference field of view and the detection fields of the multiple reference detectors. For example, the processor 130 can interpolate the multiple fourth detection signals to obtain detection distribution information, and then determine the third detection signal R' corresponding to the reference field of view based on the detection distribution information and the positional relationship between the reference field of view and the detection fields of the multiple reference detectors.

[0333] For ease of understanding, the interpolation calculation process is illustrated below using the third type of lidar as an example.

[0334] Figure 19 shows a schematic diagram of a receiving module for another lidar. As shown in Figure 19, it is assumed that SPAD11 and SPAD12 form the detector in channel 1, SPAD21 and SPAD22 form the detector in channel 2, SPAD31 and SPAD32 form the detector in channel 3, SPAD41 and SPAD42 form the detector in channel 4, SPAD51 and SPAD52 form the detector in channel 5, SPAD61 and SPAD62 form the detector in channel 6, SPAD71 and SPAD72 form the detector in channel 7, SPAD81 and SPAD82 form the detector in channel 8, and SPAD91 and SPAD92 form the detector in channel 9. Channels 1 to 9 perform parallel detection.

[0335] Continuing to refer to FIG19 , four reference detectors are also formed in the SPAD array. Among them,

[0336] SPAD 23, SPAD 24, and SPAD 25 form a reference detector 1. The detection field of view of the reference detector 1 and the detection field of view of channel 2 meet the preset field of view condition. Therefore, the detection field of view of the reference detector 1 can be used as the reference field of view corresponding to channel 2, and the detection signal received by the reference detector 1 can be used as the third detection signal R' corresponding to channel 2.

[0337] SPAD 43 and SPAD 44 form a reference detector 2. The detection field of view of the reference detector 2 and the detection field of view of channel 4 meet the preset field of view condition. Therefore, the detection field of view of the reference detector 2 can be used as the reference field of view corresponding to channel 4, and the detection signal received by the reference detector 2 can be used as the third detection signal R′ corresponding to channel 4.

[0338] SPAD 63 forms reference detector 3. The detection field of view of reference detector 3 and the detection field of view of channel 6 meet the preset field of view condition. Therefore, the detection field of view of reference detector 3 can be used as the reference field of view corresponding to channel 6, and the detection signal received by reference detector 3 can be used as the third detection signal R′ corresponding to channel 6.

[0339] SPAD83, SPAD84, SPAD93, and SPAD94 form reference detector 4. The detection field of view of reference detector 4 satisfies a preset field of view condition with the detection field of view of channel 8, and the detection field of view of reference detector 4 satisfies a preset field of view condition with the detection field of view of channel 9. Therefore, the detection field of view of reference detector 4 can serve as the reference field of view corresponding to channel 8, and the detection signal received by reference detector 4 can serve as the third detection signal R' corresponding to channel 8. The detection field of view of reference detector 4 can serve as the reference field of view corresponding to channel 9, and the detection signal received by reference detector 4 can serve as the third detection signal R' corresponding to channel 9.

[0340] The four reference detectors formed in the SPAD array are not used as reference detectors for channels 1, 3, 5, and 7. Third detection signals R′ corresponding to channels 1, 3, 5, and 7 cannot be obtained using these four reference detectors. In this case, processor 130 can perform interpolation calculations based on the detection signals received by reference detectors 1, 2, 3, and 4 to obtain detection distribution information.

[0341] For channel 1, the processor 130 may determine the third detection signal R′ corresponding to channel 1 based on the detection distribution information and the positional relationship between the reference field of view corresponding to channel 1 and the detection fields of view of the four reference detectors.

[0342] For channel 3, the processor 130 may determine the third detection signal R′ corresponding to channel 3 based on the detection distribution information and the positional relationship between the reference field of view corresponding to channel 3 and the detection fields of view of the four reference detectors.

[0343] For channel 5, the processor 130 may determine the third detection signal R′ corresponding to channel 5 based on the detection distribution information and the positional relationship between the reference field of view corresponding to channel 5 and the detection fields of view of the four reference detectors.

[0344] For channel 7, the processor 130 may determine the third detection signal R′ corresponding to channel 7 based on the detection distribution information and the positional relationship between the reference field of view corresponding to channel 7 and the detection fields of view of the four reference detectors.

[0345] This shows that for a specific channel in a LiDAR, if a reference detector cannot be found to match the reference field of view corresponding to that channel, the detection signals corresponding to multiple easily found reference detectors can be used to interpolate and calculate the third detection signal R′ corresponding to that channel. This makes the detection method provided in this specification applicable to any channel in a LiDAR, increasing its applicability.

[0346] The detection method provided in this specification does not require any hardware improvements to the laser radar, or only requires a small amount of hardware improvements (such as adding some reference detectors) to avoid or reduce the high-reflection ghosting problem, and the cost of hardware modification is low. The detection method provided in this specification, during the detection process of the preset channel, uses the third detection signal R′ corresponding to the reference field of view of the preset channel to assist in identifying whether there is an object in the detection field of view of the preset channel, thereby effectively avoiding or reducing the high-reflection ghosting problem. The above-mentioned detection method is simple to implement, does not require the emission of multiple pulses, and does not require angle encoding, making the detection method provided in this specification easier to implement.

[0347] An embodiment of the present specification also provides a laser radar, which includes at least one transceiver channel and a processor. Each transceiver channel includes a laser and a detector. The processor is communicatively connected to the at least one transceiver channel and is configured to: control the laser in a preset channel to emit a laser beam, and obtain a first detection signal received by the detector in the preset channel, wherein the preset channel is any channel in the at least one transceiver channel. A third detection signal corresponding to a reference field of view is obtained, wherein the reference field of view has a preset offset relative to the detection field of view of the preset channel and overlaps with a partial area of ​​the detection field of view of the preset channel. Based on the first detection signal and the third detection signal, determine whether there is an object in the detection field of view of the preset channel. And, when there is an object in the detection field of view of the preset channel, determine the information of the object based on the first detection signal.

[0348] In some embodiments, in order to determine whether there is an object in the detection field of view of the preset channel, the processor: determines whether there is an object in the detection field of view of the preset channel based on the relative size relationship between the first detection signal and the third detection signal.

[0349] In some embodiments, in order to determine whether there is an object in the detection field of view of the preset channel, the processor: if the difference between the first detection signal and the third detection signal is greater than a preset threshold, determines that there is an object in the detection field of view of the preset channel; or, if the difference between the first detection signal and the third detection signal is less than or equal to the preset threshold, determines that there is no object in the detection field of view of the preset channel.

[0350] In some embodiments, to determine the information of the object, the processor: determines a difference between the first detection signal and the third detection signal; and determines the information of the object based on the difference.

[0351] In some embodiments, the laser radar also includes: a reference detector, the detection field of view of the reference detector corresponds to the reference field of view; in order to obtain a third detection signal corresponding to the reference field of view, the processor: uses the detection signal received by the reference detector as the third detection signal.

[0352] In some embodiments, the reference detector is a detector other than the detector in the at least one transceiver channel in the laser radar.

[0353] In some embodiments, the at least one transceiver channel is divided into M groups, where M is an integer greater than 1, wherein channels in the same group are configured to emit light in parallel, and channels in different groups are configured to emit light in different detection rounds; the reference detector is a detector in the first channel, and the first channel and the preset channel are in different groups.

[0354] In some embodiments, the at least one transceiver channel is divided into M groups, where M is an integer greater than 1, wherein channels in the same group are configured to emit light in parallel, and channels in different groups are configured to emit light in different detection rounds; the at least one transceiver channel includes a second channel, the detection process of the second channel and the detection process of the preset channel share the reference detector, and the second channel and the preset channel are in the same group.

[0355] In some embodiments, the laser radar includes at least a first linear detector and a second linear detector, multiple detectors in the first linear detector collectively correspond to laser No. 01, multiple detectors in the second linear detector collectively correspond to laser No. 02, and the laser No. 01 and the laser No. 02 are not emitted in parallel, wherein the detector in the preset channel corresponds to the i-th detector in the first linear detector, and the reference detector corresponds to the i-th detector in the second linear detector, where i is a positive integer.

[0356] In some embodiments, the laser radar includes a single-photon avalanche diode (SPAD) array, wherein the detector in the preset channel corresponds to a first portion of SPADs in the SPAD array, and the reference detector corresponds to a second portion of SPADs in the SPAD array.

[0357] In some embodiments, the laser radar further includes a plurality of reference detectors, each having a detection field of view different from the reference field of view. To obtain a third detection signal corresponding to the reference field of view, the processor: obtains a plurality of fourth detection signals received by the plurality of reference detectors, and determines the third detection signal corresponding to the reference field of view based on the plurality of fourth detection signals and a positional relationship between the reference field of view and the detection fields of view of the plurality of reference detectors.

[0358] In some embodiments, in order to determine the third detection signal corresponding to the reference field of view, the processor: interpolates the multiple fourth detection signals to obtain detection distribution information, and determines the third detection signal corresponding to the reference field of view based on the detection distribution information and the positional relationship between the reference field of view and the detection fields of view of the multiple reference detectors.

[0359] Those skilled in the art will understand that the laser radar provided in the embodiments of this specification can execute the detection method described above, and its implementation principle and technical effects are similar to those described above, which will not be repeated here.

[0360] On the other hand, this specification provides a non-transitory storage medium storing at least one set of executable instructions for performing detection. When the executable instructions are executed by a processor, the executable instructions instruct the processor to implement the steps of the detection method P100 described in this specification. In some possible embodiments, various aspects of this specification can also be implemented in the form of a program product, which includes program code. When the program product is run on a laser radar, the program code is used to cause the laser radar to perform the steps of the detection method P100 described in this specification. The program product for implementing the above method can use a portable compact disk read-only memory (CD-ROM) to include program code and can be run on the laser radar. However, the program product of this specification is not limited to this. In this specification, a readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system. The program product can use any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media include: an electrical connection having one or more conductors, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. The computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The computer-readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing. Program code for performing the operations of this specification may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages.

[0361] Some embodiments of the present disclosure provide a laser radar signal processing method, which can be configured to configure a first laser to emit detection light within a first time window, and a third laser not to emit detection light within the first time window. The signal within the first time window detected by the first detector corresponding to the first laser is the first detection signal, and the signal within the first time window detected by the third detector corresponding to the third laser is the second detection signal. If there is a clear difference between the first detection signal and the second detection signal, the first detection signal is considered to be a valid signal. If the difference between the first detection signal and the second detection signal is small, the first detection signal is considered to be an invalid signal. The above method can more accurately determine whether the signal received by the detector is valid, and the accuracy of the laser radar operation can be improved.

[0362] In order to enable those skilled in the art to better understand and implement the embodiments of the present disclosure, the concepts, schemes, principles and advantages of the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings and through specific application examples.

[0363] First, embodiments of the present disclosure provide a method for processing laser radar signals, wherein the laser radar includes a preset channel and a first channel, the preset channel includes a first laser and a first detector, and the first channel includes a third laser and a third detector. FIG21 illustrates a schematic diagram of the steps of a laser radar signal processing method in some embodiments of the present disclosure. As shown in FIG21 , the laser radar signal can be processed through the following steps:

[0364] Step A: Acquire a first detection signal from the first detector within a first time window, wherein the first laser emits detection light within the first time window.

[0365] There is a corresponding relationship between the first laser and the first detector. As mentioned above, there can be multiple corresponding relationships between lasers and detectors. For example, one-to-one, one-to-many, many-to-one or many-to-many, etc. Figure 22 shows a schematic structural diagram of a laser radar in some embodiments of the present disclosure. As shown in Figure 22, the laser radar includes a planar array laser LA1, a planar array detector LA2, a transmitting lens LA3 and a receiving lens LA4, wherein there is a corresponding relationship between the laser TX1 and the detector RX1. The detector RX1 forms a preset receiving field of view V1 after passing through the receiving lens LA4. The detection light emitted by the laser TX1 can fall within the preset receiving field of view V1 of the detector RX1 after passing through the transmitting lens LA3. The laser TX1 and the detector RX1 constitute a channel.

[0366] In some embodiments of the present disclosure, step A may be performed by an integrated circuit. In some embodiments, step A may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or an FPGA (field programmable gate array). In some embodiments, step A may be performed by a combination of an integrated circuit and a processor.

[0367] Step B: acquiring at least one second detection signal of at least one of the third detectors within a first time window, wherein the third laser does not emit detection light within the first time window.

[0368] In some embodiments of the present disclosure, there is a corresponding relationship between the third laser and the third detector. The description of the corresponding relationship refers to the aforementioned first laser and first detector, which will not be repeated here.

[0369] In some embodiments of the present disclosure, step B may be performed by an integrated circuit. In some embodiments, step B may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or an FPGA (field programmable gate array). In some embodiments, step B may be performed by a combination of an integrated circuit and a processor.

[0370] In some embodiments of the present disclosure, there is no specific restriction on the opening time and duration of the first time window. For example, for any time window, within the time window, the laser that emits the detection light is the first laser, and the channel formed by the first laser and its corresponding first detector is the preset channel; the laser that does not emit the detection light is the third laser, and the channel formed by the third laser and the corresponding third detector is the first channel. It should be noted that the same laser is the first laser in one time window, and can be the first laser or the third laser in another time window. The same laser is the third laser in one time window, and can be the first laser or the third laser in another time window.

[0371] Step C: Determine whether the first detection signal is a valid signal based on the signal value of the first detection signal and the signal value of the at least one second detection signal.

[0372] In some embodiments of the present disclosure, the signal value may include an amplitude or an integral value. In some embodiments of the present disclosure, the signal value may include a pulse width of a signal. In some embodiments of the present disclosure, the signal value may include a half-height width of a signal. It should be noted that the signal value is used to characterize the size of a signal. The embodiments of the present disclosure do not limit the representation form of the signal value. The signal value of the first detection signal and the signal value of the second detection signal can be represented in the same form. The above embodiments are only used for illustrative purposes.

[0373] In some embodiments of the present disclosure, step C may be performed by an integrated circuit. In some embodiments, step C may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or an FPGA (field programmable gate array). In some embodiments, step C may be performed by a combination of an integrated circuit and a processor.

[0374] Adopting the method described in the above embodiment can improve the accuracy of judging the validity of the echo signal and improve the accuracy of lidar measurements. As described above, the first laser emits light within the first time window, and it is necessary to determine whether the first detection signal from the first detector is a valid signal. Because the third laser does not emit light within the first time window, the second detection signal from the third detector is not a valid signal, but the second detection signal can be used to determine the validity of the first detection signal. The detection light energy emitted by the laser is much higher than stray light. If there is an object in the direction pointed by the preset channel, the signal value of the first detection signal will differ significantly from the signal value of the second detection signal. If there is no object in the direction pointed by the preset channel, the signal value of the first detection signal will differ slightly from the signal value of the second detection signal. It should be noted that the signal value of the first detection signal can be zero, and the signal value of the second detection signal can also be zero. Even when the signal values ​​are zero, the signal processing method of the present embodiment can still be performed. The method described in the present embodiment is simple and applicable to various types of lidar.

[0375] In some embodiments of the present disclosure, step B may include the following steps:

[0376] Step B1: Acquire the second detection signal of the third detector within the first time window.

[0377] Accordingly, when acquiring the second detection signal of the third detector within the first time window, step C may include the following steps:

[0378] Step C11: compare the signal value of the first detection signal with the signal value of the second detection signal, and obtain a comparison result.

[0379] In some embodiments of the present disclosure, the difference between the signal value of the first detection signal and the signal value of the second detection signal may be used as the comparison result.

[0380] In some embodiments of the present disclosure, the ratio of the signal value of the first detection signal to the signal value of the second detection signal may be used as the comparison result.

[0381] It can be understood that the embodiment of the present disclosure does not impose any specific restrictions on how to compare the signal value of the first detection signal with the signal value of the second detection signal, as long as the comparison result obtained can represent the difference between the signal value of the first detection signal and the signal value of the second detection signal.

[0382] In some embodiments of the present disclosure, in order to improve the accuracy of the signal processing method, the distance between the third detector and the first detector may be less than or equal to a fourth preset threshold. For example, FIG23 shows a schematic diagram of the positions of a first detector and a third detector. As shown in FIG23, when acquiring the second detection signal of the third detector within the first time window, a third detector RX2 that is two detectors away from the first detector RX1 may be selected. For another example, the fourth preset threshold may be any value less than 5 cm, for example, 0.5 cm, 0.8 cm, 1 cm, 3 cm, 3.3 cm, 5 cm, and so on.

[0383] In some embodiments of the present disclosure, to further improve the accuracy of the signal processing method, the third detector is adjacent to the first detector. For example, Figure 24 shows another schematic diagram of the positions of the first detector and a third detector. As shown in Figure 24, when acquiring the second detection signal of the third detector within the first time window, the third detector RX2 adjacent to the first detector RX1 can be selected. It will be understood that the above example is merely an illustrative description and does not constitute any limitation on the embodiments of the present disclosure. In other embodiments of the present disclosure, the first detector and the third detector can be separated by a greater distance.

[0384] Step C12: Determine whether the first detection signal is a valid signal according to the comparison result.

[0385] In the above embodiment, by acquiring the second detection signal from the third detector, and then comparing the signal value of the first detection signal with the signal value of the second detection signal, and obtaining a comparison result, the above method not only accurately determines whether the first detection signal is a valid signal based on the comparison result, but also is simple, requires little computation, and can improve the real-time performance of signal processing.

[0386] In some embodiments of the present disclosure, step B may include the following steps:

[0387] Step B2: Acquire the multiple second detection signals of the multiple third detectors within the first time window.

[0388] For example, referring to a schematic diagram of the positions of a first detector and multiple third detectors shown in FIG25 , when acquiring the multiple second detection signals of the multiple third detectors within the first time window, three third detectors RX2 as shown in FIG25 may be selected.

[0389] For another example, referring to another schematic diagram of the positions of a first detector and multiple third detectors shown in FIG26 , when acquiring the multiple second detection signals of the multiple third detectors within the first time window, eight third detectors RX2 as shown in FIG26 may be selected.

[0390] It is understood that the above examples are merely illustrative and do not constitute any limitation on the embodiments of the present disclosure. The embodiments of the present disclosure do not impose any specific limitation on the number of the third detectors and the distance between the first detector and the third detector.

[0391] It should be noted that, when the laser radar includes multiple detector chips, the first detector and the third detector can be located on the same detector chip or on different detector chips.

[0392] For example, Figure 27 shows another schematic diagram of the positions of the first and third detectors. As shown in G1 in Figure 27, the first detector RX1 and the two third detectors RX2 can all be located on detector chip 1. As shown in G2 in Figure 27, the first detector RX1 and one third detector RX2 can be located on detector chip 1, while the other third detector RX2 can be located on detector chip 2. As shown in G3 in Figure 27, the first detector RX1 can be located on detector chip 2, while the third detector RX2 can be located on detector chip 1.

[0393] Accordingly, when acquiring the plurality of second detection signals of the plurality of third detectors within the first time window, step C may include the following steps:

[0394] Step C21: Determine the signal values ​​of the plurality of second detection signals.

[0395] Step C22: Determine the weights of the multiple second detection signals.

[0396] In some embodiments of the present disclosure, the weights of the plurality of second detection signals may be preset weights, so that they can be directly called during the signal processing process to improve the real-time performance of the signal processing.

[0397] In some embodiments of the present disclosure, the weights of the plurality of second detection signals may be determined according to the number of the plurality of third detectors and the distance between each of the third detectors and the first detector.

[0398] For example, the weight of the second detection signal may be negatively correlated with the number of the plurality of third detectors.

[0399] For another example, the weight of each second detection signal may be negatively correlated with the distance between the third detector and the first detector. In other words, the closer the distance between the third detector and the first detector, the greater the weight of the second detection signal of the third detector.

[0400] The closer the detectors are, the closer their optical paths are. Therefore, a larger weight can be assigned to the second detection signal of the third detector that is closer to the first detector. In this way, the accuracy of the signal processing results can be further improved. This method can improve the flexibility and accuracy of the signal processing method. When it is necessary to adjust the number or position of the third lasers corresponding to the first laser, the influence of the adjusted second detection signal of the third detector on determining whether the first detection signal is valid may change. In order to ensure the accuracy of the signal processing method, the weights of the multiple second detection signals corresponding to the adjusted third detector can be re-determined based on the number of the adjusted third detectors and the distance between them and the first detector.

[0401] Step C23 : determining a comparison result according to the signal value of the first detection signal, the signal values ​​of the plurality of second detection signals, and the weights of the plurality of second detection signals.

[0402] In some embodiments of the present disclosure, one of the signal values ​​of the plurality of second detection signals may be selected according to the weight of each second detection signal for comparison with the signal value of the first detection signal to obtain a comparison result.

[0403] For example, a second detection signal with the highest weight can be selected and subtracted from the first detection signal's signal value, with the difference between the two signal values ​​serving as the comparison result. Since the weight can be negatively correlated with the distance between the third detector and the first detector, the highest weight indicates that the third detector corresponding to the second detection signal is closest to the first detector, further improving the accuracy of the signal processing results.

[0404] For another example, a second detection signal with the largest weight may be selected, and the ratio of the signal value of the first detection signal to the signal value of the second detection signal may be used as the comparison result.

[0405] In some embodiments of the present disclosure, the signal values ​​of the plurality of second detection signals may be weighted, and the weighted result may be used to compare with the signal value of the first detection signal to obtain a comparison result.

[0406] For example, the signal values ​​of the second detection signals may be multiplied by their respective weights and then integrated, the integrated result may be subtracted from the signal value of the first detection signal, and the difference between the two signal values ​​may be used as the comparison result.

[0407] For another example, the signal values ​​of the second detection signals may be multiplied by their respective weights and then integrated, and the ratio of the integrated result to the signal value of the first detection signal may be used as the comparison result.

[0408] In some embodiments of the present disclosure, the signal value of each second detection signal among the plurality of second detection signals may be compared with the signal value of the first detection signal and then weighted, and the weighted result may be used as the comparison result.

[0409] For example, the signal value of each second detection signal may be subtracted from the signal value of the first detection signal, and then each difference may be multiplied by a weight corresponding to each second detection signal and then summed, and the summed result may be used as the comparison result.

[0410] For another example, the signal value of each second detection signal may be ratioed to the signal value of the first detection signal, and then each ratio may be multiplied by the weight corresponding to each second detection signal and then summed, and the summed result may be used as the comparison result.

[0411] Step C24: Determine whether the first detection signal is a valid signal based on the comparison result.

[0412] Using the above embodiment, multiple second detection signals from multiple third detectors are acquired within the first time window, and a weight is assigned to each second detection signal. A comparison result is determined based on the signal value of the first detection signal, the signal values ​​of the multiple second detection signals, and the weights of the multiple second detection signals. Because the comparison result is derived from multiple second detection signals, the comparison result is highly robust. In addition, using multiple second detection signals to determine the validity of the first detection signal can further improve the accuracy of the comparison result, thereby improving the accuracy of the signal processing result.

[0413] In some embodiments of the present disclosure, for step C12 and step C24, whether the first detection signal is a valid signal may be determined by the following steps:

[0414] Step S1: When it is determined that the comparison result is less than or equal to a first preset threshold, the first detection signal is judged to be an invalid signal.

[0415] Figure 28 shows a schematic diagram comparing the signal strengths of a first detection signal and a second detection signal in some embodiments of the present disclosure. Figure 29 shows another schematic diagram comparing the signal strengths of a first detection signal and a second detection signal in some embodiments of the present disclosure. As shown in Figures 28 and 29, the horizontal axis t represents time, the vertical axis RSS represents signal strength, SS1 represents the first detection signal, and SS2 represents the second detection signal. As shown in Figure 28, if the difference between the first detection signal SS1 and the second detection signal SS2 is small, for example, the difference between the amplitude of the first detection signal SS1 and the amplitude of the second detection signal SS2 is less than or equal to a first preset threshold, the first detection signal SS1 can be determined to be an invalid signal. Conversely, as shown in Figure 29, if the difference between the first detection signal SS1 and the second detection signal SS2 is large, for example, the difference between the amplitude of the first detection signal SS1 and the amplitude of the second detection signal SS2 is greater than the first preset threshold, the first detection signal SS1 can be determined to be a valid signal. It should be noted that signal strength can be represented by power P or voltage U, for example. For example, the unit of the vertical axis RSS in Figures 28 and 29 can be watts W or volts V.

[0416] The size of the first preset threshold value can be determined according to the characterization method of the signal value, the characterization method of the comparison result, and the use requirements of the laser radar. In some embodiments of the present disclosure, if the amplitude is used to characterize the first detection signal value and the second detection signal value, and the comparison result is represented by the difference between the signal value of the first detection signal and the signal value of the second detection signal, then the first preset threshold value can be set to an intensity value of a certain size, such as any value less than or equal to 10mW, for example, 0mW, 1mW, 2mW, etc. In some other embodiments of the present disclosure, if the integral value is used to characterize the first detection signal value and the second detection signal value, and the ratio of the signal value of the first detection signal to the signal value of the second detection signal is used as the comparison result, then the first preset threshold value can be set to a certain ratio, such as any value less than or equal to 1.5, for example, 1, 0.9, 0.8, 1.1, 1.2, etc.

[0417] In some embodiments of the present disclosure, after determining that the first detection signal is an invalid signal, the point corresponding to the first detection signal can be removed from the point cloud image of the laser radar, or the point is not formed directly.

[0418] In some embodiments of the present disclosure, step C12 and step C24 may further include the following steps:

[0419] Step S2: When it is determined that the comparison result is greater than a second preset threshold, the first detection signal is determined to be a valid signal.

[0420] The size of the second preset threshold value can be determined according to the characterization method of the signal value, the characterization method of the comparison result, and the use requirements of the laser radar. In some embodiments of the present disclosure, if the amplitude is used to characterize the first detection signal value and the second detection signal value, and the difference between the signal value of the first detection signal and the signal value of the second detection signal is used as the comparison result, then the second preset threshold value can be set to an intensity value of a certain size, such as any value greater than 10mW, for example, 11mW, 15mW, 20mW, 30mW, etc. In other embodiments of the present disclosure, if the integral value is used to characterize the first detection signal value and the second detection signal value, and the ratio of the signal value of the first detection signal to the signal value of the second detection signal is used as the comparison result, then the second preset threshold value can be set to a certain ratio, for example, any value greater than 1.5, such as 1.6, 2, 5, 10, etc.

[0421] In some embodiments of the present disclosure, in order to improve the efficiency of signal processing, the first detection signal with obviously weaker intensity is usually directly filtered out.

[0422] For example, a third preset threshold can be set, and only the first detection signal with a signal value greater than the third preset threshold will be obtained for signal processing, and the first detection signal less than or equal to the third preset threshold will be considered an invalid signal and will not be processed.

[0423] For another example, a preset threshold curve may be set so that only the first detection signal having a signal value greater than the preset threshold curve is acquired for signal processing.

[0424] It should be noted that the embodiments of the present disclosure do not impose specific limitations on the third preset threshold and the preset threshold curve. Those skilled in the art may set them based on the actual performance requirements of the lidar. For example, when the lidar is performing close-range detection, the third preset threshold and the preset threshold curve may be higher. For another example, when the lidar is performing long-range detection, the third preset threshold and the preset threshold curve may be lower.

[0425] In some embodiments of the present disclosure, before acquiring the first detection signal and the second detection signal, the third preset threshold value or the preset threshold value curve may be lowered.

[0426] By lowering the third preset threshold or lowering the preset threshold curve, signals with relatively weak intensity can also pass the threshold, thereby ensuring the effective detection of low-reflectivity objects or distant objects by the laser radar, and further improving the detection performance of the laser radar.

[0427] In some embodiments of the present disclosure, the laser radar may include multiple preset channels. When the validity of the first detection signal obtained by the first detector of the multiple preset channels is judged, the second detection signal of the same one or more third detectors can be obtained.

[0428] For example, referring to Figures 30 to 32, Figure 30 shows a schematic diagram of the structure of another laser radar in some embodiments of the present disclosure, Figure 31 shows a schematic diagram of the positions of multiple first detectors and multiple third detectors in some embodiments of the present disclosure, and Figure 32 shows another schematic diagram of the positions of multiple first detectors and multiple third detectors in some embodiments of the present disclosure. As shown in Figure 30, the laser radar includes an array laser LA1, an array detector LA2, a transmitting lens LA3, and a receiving lens LA4. The laser group TX1G includes one or more lasers, one or more detectors in TX1G can emit light simultaneously, and the detector group RX1G includes multiple detectors. As shown in Figure 31, when determining whether the first detection signal of each detector in the detector group RX1G is valid, the second detection signals of all detectors in the detector group RX2G can be obtained, and the second detection signals of all detectors can be used to determine whether the first detection signal of each detector in the detector group RX1G is valid. For another example, referring to Figure 32, as shown in Figure G1, the first detection signals output by the two first detectors RX1 in G1 can be used to determine the signal validity using the second detection signals of the four third detectors RX2 in G1.

[0429] In some embodiments of the present disclosure, the laser radar may include multiple preset channels. When judging the validity of the first detection signals obtained by the first detectors of the multiple preset channels, the second detection signals of different third detectors may be used.

[0430] The present disclosure further provides a signal processing device, including:

[0431] The receiving module is configured to acquire a first detection signal from a first detector and at least one second detection signal from at least one third detector within a first time window.

[0432] In some embodiments of the present disclosure, the receiving module may be implemented by an integrated circuit. In some embodiments, the receiving module may be implemented by a processor, such as a central processing unit (CPU), a microprocessor, or an FPGA (field programmable gate array). In some embodiments, the receiving module may be implemented by a combination of an integrated circuit and a processor.

[0433] The processing module is configured to determine whether the first detection signal is a valid signal according to a signal value of the first detection signal and a signal value of the at least one second detection signal.

[0434] In an embodiment of the present disclosure, the processing module can execute the laser radar signal processing method described in any of the aforementioned embodiments to determine whether the first detection signal is a valid signal. The specific steps can be referred to the aforementioned embodiments and will not be repeated here.

[0435] In some embodiments of the present disclosure, the processing module may be implemented by an integrated circuit. In some embodiments, the processing module may be implemented by a processor, such as a central processing unit (CPU), a microprocessor, or an FPGA (field programmable gate array). In some embodiments, the processing module may be implemented by a combination of an integrated circuit and a processor.

[0436] A signal processing device using some embodiments of the present disclosure obtains a first detection signal of a first detector and at least one second detection signal of at least one third detector within a first time window through a receiving module, and then determines whether the first detection signal is a valid signal based on the signal value of the first detection signal and the signal value of the at least one second detection signal through a processing module. The device has good signal processing effect and a simple structure.

[0437] The present disclosure also provides a computer program product comprising computer instructions, wherein when executed by a processor, the computer instructions implement the lidar signal processing method described in any of the aforementioned embodiments. The specific steps can be found in the aforementioned embodiments and will not be repeated here.

[0438] The present disclosure also provides a non-volatile computer-readable storage medium having computer instructions stored thereon. When executed by a processor, the computer instructions implement the lidar signal processing method described in any of the aforementioned embodiments. The specific steps can be found in the aforementioned embodiments and will not be repeated here.

[0439] In some embodiments of the present disclosure, the non-volatile computer-readable storage medium may be any suitable computer-readable storage medium such as an optical disc, a mechanical hard disk, or a solid-state drive.

[0440] The present disclosure also provides a laser radar, including:

[0441] A preset channel, the preset channel comprising a first laser and a first detector;

[0442] a first channel comprising a third laser and a third detector;

[0443] a signal acquisition circuit, configured to acquire a signal from the first detector and a signal from the third detector;

[0444] The processor is configured to execute the lidar signal processing method described in any of the foregoing embodiments.

[0445] Using the lidar described in the above embodiment, the signal from the first detector and the signal from the third detector are acquired by a signal acquisition circuit, and then processed by a processor. Because the signal processing method executed by the processor can determine whether the signal from the first detector is a valid signal, the accuracy of the lidar measurement results can be improved. In addition, in some embodiments, the threshold curve of the lidar detector can be lowered so that even a weaker first detection signal can exceed the threshold curve for signal validity determination, thereby improving the lidar's detection capability for low-reflectivity objects and distant objects, further enhancing the lidar's detection performance.

[0446] The embodiments of the present disclosure also provide a sensing device, including: the laser radar described in the aforementioned embodiments.

[0447] For example, in the field of autonomous driving, the perception device may include a device for measuring the distance and shape of the surrounding environment, helping the vehicle to perceive roads, vehicles, obstacles, etc., thereby realizing automatic navigation and obstacle avoidance functions.

[0448] For another example, in the field of industrial measurement and mapping, the sensing device may include equipment used for construction measurement, land surveying and mapping.

[0449] For another example, in the field of smart homes, the sensing devices may include devices for distance measurement, gesture recognition, and virtual reality.

[0450] It should be understood that the above examples are merely illustrative and do not constitute any limitation to the embodiments of the present disclosure.

[0451] The embodiments of the present disclosure also provide a vehicle, comprising: the laser radar described in the aforementioned embodiments.

[0452] For example, the vehicle may include a vehicle.

[0453] As another example, the vehicle may include a mobile robot.

[0454] It should be understood that the above examples are merely illustrative and do not constitute any limitation to the embodiments of the present disclosure.

[0455] It should be noted that the modules in the embodiments of the present disclosure may be composed of discrete components or implemented by a single electrical chip.

[0456] Some embodiments of the present disclosure provide a laser radar signal processing method, which can be configured to have a first laser emit detection light within a first time window, a first detector corresponding to the first laser detects a signal within the first time window as a first detection signal, and a reference detector detects a signal within the first time window as a second detection signal. If there is a clear difference between the first detection signal and the second detection signal, the first detection signal is considered to be a valid signal. If the difference between the first detection signal and the second detection signal is small, the first detection signal is considered to be an invalid signal. The above method can more accurately determine whether the signal received by the detector is valid, which can improve the accuracy of the laser radar operation.

[0457] The present disclosure provides a method for processing laser radar signals, wherein the laser radar includes a preset channel and a reference detector, wherein the preset channel includes a first laser and a first detector. FIG20 shows a schematic diagram of the steps of the laser radar signal processing method in some embodiments of the present disclosure. As shown in FIG20 , the laser radar signal can be processed through the following steps:

[0458] Step S01: acquiring a first detection signal of the first detector within a first time window, wherein the first laser emits detection light within the first time window;

[0459] In some embodiments of the present disclosure, there is a corresponding relationship between the first laser and the first detector. For a description of the corresponding relationship, please refer to the aforementioned first laser and first detector, which will not be repeated here.

[0460] In some embodiments of the present disclosure, step S01 may be performed by an integrated circuit. In some embodiments, step S01 may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or an FPGA (field programmable gate array). In some embodiments, step S01 may be performed by a combination of an integrated circuit and a processor.

[0461] Step S02: acquiring at least one second detection signal of at least one reference detector within a first time window;

[0462] In some embodiments, the reference detector includes a second detector, and the second detector has no corresponding laser. For example, the reference detector is a newly added detector in the laser radar. In the laser radar shown in Figure 15, the transmitting module 10 includes a total of 128 lasers, and the receiving module 20 includes a total of 128 detectors. The above 128 lasers and 128 detectors form 128 channels in a one-to-one correspondence. Laser 01 and detector 11 form channel 1, laser 02 and detector 12 form channel 2, and so on. Figure 16 shows a schematic diagram of the transceiver module of another laser radar. As shown in Figure 16, a detector 11 can be added at a suitable position near the detection unit b1. ‘ , so that the detector 11 ‘ As the reference detector corresponding to channel 1. That is to say, the reference detector is the other detectors in the laser radar except the detectors in the 128 channels. It should be noted that this detector 11 ‘ It does not perform actual distance measurement and does not increase the overall wiring harness of the LiDAR. Its function is to assist in identifying whether there is an object in the detection field of view of channel 1.

[0463] In some embodiments, the reference detector includes a third detector, and a third laser corresponding to the third detector does not emit detection light within the first time window. As described above, the laser radar may include a first channel, the first channel including a third detector and a third laser, and the third laser does not emit detection light within the first time window.

[0464] In some embodiments of the present disclosure, step S02 may be performed by an integrated circuit. In some embodiments, step S02 may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or an FPGA (field programmable gate array). In some embodiments, step S02 may be performed by a combination of an integrated circuit and a processor.

[0465] In some embodiments of the present disclosure, as mentioned above, there is no specific restriction on the opening time and duration of the first time window, and no further details are given here.

[0466] Step S03: determining whether the first detection signal is a valid signal according to the signal value of the first detection signal and the signal value of the at least one second detection signal.

[0467] In some embodiments of the present disclosure, as mentioned above, the signal value is used to characterize the size of the signal, for example, it may include the amplitude or integral value or pulse width or half-height width of the signal, etc. The embodiments of the present disclosure do not limit the representation form of the signal value.

[0468] In some embodiments of the present disclosure, step S03 may be performed by an integrated circuit. In some embodiments, step S03 may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or an FPGA (field programmable gate array). In some embodiments, step S03 may be performed by a combination of an integrated circuit and a processor.

[0469] Adopting the method described in the above embodiment can improve the accuracy of judging the validity of the echo signal and improve the accuracy of lidar measurements. As described above, the first laser emits light within the first time window, and it is necessary to determine whether the first detection signal of the first detector is a valid signal. Because the reference detector has no corresponding laser or the laser corresponding to the reference detector does not emit light within the first time window, the second detection signal of the reference detector is not a valid signal. However, the second detection signal can be used to determine the validity of the first detection signal. The detection light energy emitted by the laser is much higher than stray light. If there is an object in the direction pointed by the preset channel, the signal value of the first detection signal will differ significantly from the signal value of the second detection signal. If there is no object in the direction pointed by the preset channel, the signal value of the first detection signal will differ slightly from the signal value of the second detection signal. It should be noted that the signal value of the first detection signal can be zero, and the signal value of the second detection signal can also be zero. Even when the signal values ​​are zero, the signal processing method of the present embodiment can still be performed. The method described in the present embodiment is simple and applicable to various types of lidar.

[0470] In some embodiments of the present disclosure, step S02 may include the following steps:

[0471] Step S0211, acquiring the second detection signal of one of the reference detectors within the first time window;

[0472] Accordingly, when acquiring the second detection signal of the reference detector within the first time window, step S03 may include the following steps:

[0473] Step S0311: comparing the signal value of the first detection signal with the signal value of the second detection signal, and obtaining a comparison result;

[0474] In some embodiments of the present disclosure, the second detection signal of the reference detector may be the second detection signal of the third detector in the aforementioned embodiment, or may be the second detection signal of the second detector.

[0475] In some embodiments of the present disclosure, as mentioned above, the difference or ratio between the signal value of the first detection signal and the signal value of the second detection signal may be used as the comparison result, which will not be elaborated herein.

[0476] In some embodiments of the present disclosure, to improve the accuracy of the signal processing method, the distance between the reference detector and the first detector is less than or equal to a fourth threshold. As previously mentioned, when a third detector is used as the reference detector, the distance between the third detector and the first detector can be less than or equal to a fourth preset threshold. Similarly, when a second detector is used as the reference detector, the distance between the second detector and the first detector can be less than or equal to the fourth preset threshold. This is not further described here.

[0477] In some embodiments of the present disclosure, to further improve the accuracy of the signal processing method, the reference detector is adjacent to the first detector. As previously mentioned, when a third detector is used as the reference detector, the third detector is adjacent to the first detector. Similarly, when a second detector is used as the reference detector, the second detector is adjacent to the first detector. This is not further described here.

[0478] Step S0312: Determine whether the first detection signal is a valid signal according to the comparison result.

[0479] In the above embodiment, by acquiring the second detection signal from a reference detector, the signal value of the first detection signal is compared with the signal value of the second detection signal to obtain a comparison result. This not only accurately determines whether the first detection signal is a valid signal based on the comparison result, but also is simple, requires little computation, and improves the real-time performance of signal processing.

[0480] In some embodiments of the present disclosure, step S02 may include the following steps:

[0481] Step S0221: Acquire the multiple second detection signals of the multiple reference detectors within the first time window.

[0482] In some embodiments of the present disclosure, as described above, the second detection signal of the reference detector may be the second detection signal of the third detector or the second detection signal of the second detector. As in the aforementioned embodiments, the first detector and the third detector may have various positional relationships. Similarly, the first detector and the second detector may also have such positional relationships, which will not be described in detail here.

[0483] In some embodiments of the present disclosure, as described above, when the laser radar includes multiple detector chips, the first detector and the third detector can be located on the same detector chip or on different detector chips. Similarly, the first detector and the second detector can be located on the same detector chip or on different detector chips, which will not be described in detail here.

[0484] Accordingly, when acquiring the multiple second detection signals of the multiple reference detectors within the first time window, step S03 may include the following steps:

[0485] Step S0321: determining the signal values ​​of the plurality of second detection signals;

[0486] Step S0322: Determine the weights of the multiple second detection signals.

[0487] In some embodiments of the present disclosure, as mentioned above, the weights of the multiple second detection signals may be preset weights, so that they can be directly called during the signal processing process to improve the real-time performance of the signal processing.

[0488] In some embodiments of the present disclosure, as mentioned above, when a third detector is used as a reference detector, the weights of the multiple second detection signals can be determined based on the number of the multiple third detectors and the distance between the third detector and the first detector. Similarly, when a second detector is used as a reference detector, the weights of the multiple second detection signals can be determined based on the number of the multiple second detectors and the distance between the second detector and the first detector. When a third detector and a second detector are used as reference detectors, the weights of the multiple second detection signals can be determined based on the number of multiple reference detectors (i.e., the third detector and the second detector) and the distance between the reference detector and the first detector. The principle is the same as the above embodiment and will not be repeated here.

[0489] Step S0323: determining a comparison result according to the signal value of the first detection signal, the signal values ​​of the plurality of second detection signals, and the weights of the plurality of second detection signals.

[0490] In some embodiments of the present disclosure, as described above, one of the signal values ​​of the multiple second detection signals can be selected based on the weight of each second detection signal to be compared with the signal value of the first detection signal to obtain a comparison result, which is not elaborated here.

[0491] In some embodiments of the present disclosure, as mentioned above, the signal values ​​of the multiple second detection signals can be weighted, and the weighted result can be used to compare with the signal value of the first detection signal to obtain a comparison result, which is not described in detail here.

[0492] In some embodiments of the present disclosure, as described above, the signal value of each second detection signal among the multiple second detection signals can be compared with the signal value of the first detection signal and then weighted, and the weighted result can be used as the comparison result, which will not be repeated here.

[0493] Step S0324: Determine whether the first detection signal is a valid signal based on the comparison result.

[0494] Using the above embodiment, multiple second detection signals from multiple reference detectors are acquired within the first time window, and a weight is assigned to each second detection signal. A comparison result is then determined based on the signal value of the first detection signal, the signal values ​​of the multiple second detection signals, and the weights of the multiple second detection signals. Because the comparison result is obtained based on multiple second detection signals, the comparison result has strong robustness. In addition, using multiple second detection signals to determine the validity of the first detection signal can further improve the accuracy of the comparison result, thereby improving the accuracy of the signal processing result.

[0495] In some embodiments of the present disclosure, for step S0312 and step S0324, whether the first detection signal is a valid signal may be determined by the following steps:

[0496] Step Y1: When it is determined that the comparison result is less than or equal to a first preset threshold, the first detection signal is judged to be an invalid signal.

[0497] The confirmation method, confirmation principle, and the manner in which the first preset threshold value is indicated, etc., refer to the aforementioned embodiments and are not described in detail here.

[0498] In some embodiments of the present disclosure, after determining that the first detection signal is an invalid signal, the point corresponding to the first detection signal can be removed from the point cloud image of the laser radar, or the point is not formed directly.

[0499] In some embodiments of the present disclosure, step S0312 and step S0324 may further include the following steps:

[0500] Step Y2: When it is determined that the comparison result is greater than a second preset threshold, the first detection signal is judged to be a valid signal.

[0501] The confirmation method, confirmation principle, and the manner in which the second preset threshold is defined, etc., refer to the aforementioned embodiments and are not described in detail here.

[0502] In some embodiments of the present disclosure, in order to improve the efficiency of signal processing, the first detection signal with a relatively weak intensity is usually directly filtered out. As mentioned above, the first detection signal with a relatively weak intensity can be filtered out by setting a third preset threshold or a preset threshold curve, which will not be described in detail here.

[0503] In some embodiments of the present disclosure, before acquiring the first detection signal and the second detection signal, the third preset threshold value or the preset threshold value curve may be lowered.

[0504] As mentioned above, lowering the third preset threshold or lowering the preset threshold curve can improve the detection performance of the laser radar, which will not be elaborated here.

[0505] In some embodiments of the present disclosure, as mentioned above, the laser radar may include multiple preset channels. When the validity of the first detection signal obtained by the first detector of the multiple preset channels is judged, the second detection signal of the same one or more reference detectors can be obtained.

[0506] In some embodiments of the present disclosure, as mentioned above, the laser radar may include multiple preset channels. When judging the validity of the first detection signals obtained by the first detectors of the multiple preset channels, the second detection signals of different reference detectors may be obtained.

[0507] The present disclosure further provides a signal processing device, including:

[0508] The receiving module is configured to acquire a first detection signal from a first detector and at least one second detection signal from at least one reference detector within a first time window.

[0509] In some embodiments of the present disclosure, the receiving module may be implemented by an integrated circuit. In some embodiments, the receiving module may be implemented by a processor, such as a central processing unit (CPU), a microprocessor, or an FPGA (field programmable gate array). In some embodiments, the receiving module may be implemented by a combination of an integrated circuit and a processor.

[0510] The processing module is configured to determine whether the first detection signal is a valid signal according to a signal value of the first detection signal and a signal value of the at least one second detection signal.

[0511] In an embodiment of the present disclosure, the processing module can execute the laser radar signal processing method described in any of the aforementioned embodiments to determine whether the first detection signal is a valid signal. The specific steps can be referred to the aforementioned embodiments and will not be repeated here.

[0512] In some embodiments of the present disclosure, the processing module may be implemented by an integrated circuit. In some embodiments, the processing module may be implemented by a processor, such as a central processing unit (CPU), a microprocessor, or an FPGA (field programmable gate array). In some embodiments, the processing module may be implemented by a combination of an integrated circuit and a processor.

[0513] A signal processing device using some embodiments of the present disclosure obtains a first detection signal of a first detector and at least one second detection signal of at least one reference detector within a first time window through a receiving module, and then determines whether the first detection signal is a valid signal based on the signal value of the first detection signal and the signal value of the at least one second detection signal through a processing module. The device has good signal processing effect and a simple structure.

[0514] The present disclosure also provides a computer program product comprising computer instructions, wherein when executed by a processor, the computer instructions implement the lidar signal processing method described in any of the aforementioned embodiments. The specific steps can be found in the aforementioned embodiments and will not be repeated here.

[0515] The present disclosure also provides a non-volatile computer-readable storage medium having computer instructions stored thereon. When executed by a processor, the computer instructions implement the lidar signal processing method described in any of the aforementioned embodiments. The specific steps can be found in the aforementioned embodiments and will not be repeated here.

[0516] In some embodiments of the present disclosure, the non-volatile computer-readable storage medium may be any suitable computer-readable storage medium such as an optical disc, a mechanical hard disk, or a solid-state drive.

[0517] The present disclosure also provides a laser radar, including:

[0518] A preset channel, the preset channel comprising a first laser and a first detector;

[0519] Reference detector;

[0520] a signal acquisition circuit, configured to acquire a signal from the first detector and a signal from the reference detector;

[0521] The processor is configured to execute the lidar signal processing method described in any of the foregoing embodiments.

[0522] Using the lidar described in the above embodiment, the signal from the first detector and the signal from the reference detector are acquired by a signal acquisition circuit, and then signal processing is performed by a processor. Because the signal processing method executed by the processor can determine whether the signal from the first detector is a valid signal, the accuracy of the lidar measurement results can be improved. In some embodiments, the threshold curve of the lidar detector can be lowered so that even a weaker first detection signal can exceed the threshold curve for signal validity determination, thereby improving the lidar's detection capability for low-reflectivity objects and distant objects, further improving the lidar's detection performance.

[0523] The embodiments of the present disclosure also provide a sensing device, including: the laser radar described in the aforementioned embodiments.

[0524] For example, in the field of autonomous driving, the perception device may include a device for measuring the distance and shape of the surrounding environment, helping the vehicle to perceive roads, vehicles, obstacles, etc., thereby realizing automatic navigation and obstacle avoidance functions.

[0525] For another example, in the field of industrial measurement and mapping, the sensing device may include equipment used for construction measurement, land surveying and mapping.

[0526] For another example, in the field of smart homes, the sensing devices may include devices for distance measurement, gesture recognition, and virtual reality.

[0527] It should be understood that the above examples are merely illustrative and do not constitute any limitation to the embodiments of the present disclosure.

[0528] The embodiments of the present disclosure also provide a vehicle, comprising: the laser radar described in the aforementioned embodiments.

[0529] For example, the vehicle may include a vehicle.

[0530] As another example, the vehicle may include a mobile robot.

[0531] Some embodiments of the present disclosure provide a laser radar signal processing method, which can be configured so that the first laser emits light within a first time window and the third laser does not emit light within the first time window. A first detection signal of a first detector corresponding to the first laser and a second detection signal of a third detector corresponding to the third laser are obtained within the first time window, and the time parameters and intensity parameters of the first detection signal, as well as the time parameters and intensity parameters of the second detection signal are determined. Then, by comparing the time parameters and intensity parameters of the first detection signal and the second detection signal, the validity of the first detection signal can be determined, thereby improving the accuracy of the laser radar operation. In addition, the method described in the embodiments of the present disclosure is to confirm the validity of the first detection signal based on the two dimensions of time and intensity. Some embodiments of the present disclosure can improve the accuracy of the detection signal validity determination result.

[0532] In order to enable those skilled in the art to better understand and implement the embodiments of the present disclosure, the solutions and advantages of the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings and through application examples.

[0533] First, embodiments of the present disclosure provide a method for processing laser radar signals, wherein the laser radar includes a preset channel and a first channel, the preset channel includes a first laser and a first detector, and the first channel includes a third laser and a third detector. FIG35 illustrates a schematic diagram of steps in an exemplary laser radar signal processing method consistent with some embodiments of the present disclosure. As shown in FIG35 , the laser radar signal can be processed through the following steps:

[0534] Step SA: acquiring a first detection signal from the first detector within a first time window, wherein the first laser emits light within the first time window.

[0535] The first laser and the first detector have a corresponding relationship. As mentioned above, the laser and the detector can have multiple corresponding relationships, such as one-to-one, one-to-many, many-to-one or many-to-many.

[0536] In some embodiments of the present disclosure, step SA may be performed by an integrated circuit. In some embodiments, step SA may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or a field programmable gate array (FPGA). In some embodiments, step A may be performed by a combination of an integrated circuit and a processor.

[0537] Step SB: acquiring a second detection signal from the third detector within the first time window, wherein the third laser does not emit light within the first time window.

[0538] In some embodiments of the present disclosure, there is a corresponding relationship between the third laser and the third detector. The description of the corresponding relationship refers to the aforementioned first laser and first detector, which will not be repeated here.

[0539] In some embodiments of the present disclosure, step SB may be performed by an integrated circuit. In some embodiments, step SB may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or a field programmable gate array (FPGA). In some embodiments, step SB may be performed by a combination of an integrated circuit and a processor.

[0540] In some embodiments of the present disclosure, there are no specific restrictions on the activation time and duration of the first time window. For example, within any time window, the first laser can be configured to emit light, and the channel formed by the first laser and its corresponding first detector can be the preset channel; the third laser can be configured not to emit light, and the channel formed by the third laser and its corresponding third detector can be the first channel.

[0541] Step SC: determining the time parameter and intensity parameter of the first detection signal, and the time parameter and intensity parameter of the second detection signal.

[0542] Optionally, the time parameter may be used to characterize the time at which the detector receives the detection signal, and the intensity parameter may be used to characterize the intensity of the detection signal. In some embodiments, the time parameter may be a parameter related to the time at which the detector receives the detection signal. In some embodiments, the intensity parameter may be a parameter related to the intensity of the detection signal received by the detector.

[0543] In some embodiments of the present disclosure, the time parameter may include an echo time. The echo time of the detection signal may directly represent the time when the detector receives the detection signal.

[0544] In some embodiments of the present disclosure, the time parameter may include time of flight. The time of flight of the detection signal received by the detector can be determined based on the echo time of the detection signal and the emission time of the laser. Therefore, the time of flight of the detection signal can be used to indirectly represent the time when the detection signal is received by the detector.

[0545] In some embodiments of the present disclosure, the time parameter may include object distance. The detection signal's time of flight can be determined based on the detection signal's echo time and the laser's emission time. Furthermore, the object distance can be determined based on the detection signal's time of flight and the speed of light. Therefore, the object distance can be used to indirectly represent the time at which the detector receives the detection signal.

[0546] In some embodiments of the present disclosure, since the first laser emits light within the first time window, the flight time of the first detection signal or the distance to the object can be determined based on the echo time of the first detection signal and the emission time of the first laser. The third laser does not emit light within the first time window, and it can be considered that the second detection signal received by the third detector within the first time window is not a valid signal. It may be an echo signal of stray light from the emitting laser, or it may be an echo signal of the light beam emitted by the first laser reflected by a high-reflectivity object. In some embodiments, the flight time of the second detection signal or the distance to the object can be determined based on the echo time of the second detection signal and the emission time of the first laser.

[0547] It should be noted that the embodiments of the present disclosure do not limit the selection of time parameters, and the above embodiments are only used for illustrative purposes.

[0548] In some embodiments of the present disclosure, the intensity parameter may include amplitude or pulse width. In some embodiments of the present disclosure, the intensity parameter may include power. In some embodiments of the present disclosure, the intensity parameter may include pulse half-maximum width. In some embodiments of the present disclosure, the intensity parameter may include object reflectivity.

[0549] It should be noted that the embodiments of the present disclosure do not limit the selection of intensity parameters, and the above embodiments are only used for illustrative purposes.

[0550] In some embodiments of the present disclosure, step SC may be performed by an integrated circuit. In some embodiments, step SC may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or a field programmable gate array (FPGA). In some embodiments, step SC may be performed by a combination of an integrated circuit and a processor.

[0551] Step SD: determining the validity of the first detection signal based on the time parameter and the intensity parameter of the first detection signal and the time parameter and the intensity parameter of the second detection signal.

[0552] Determining the validity of the first detection signal is to determine whether the first detection signal is a valid signal. For example, the time parameters and intensity parameters of the first detection signal and the second detection signal are compared. If the difference between the time parameters and intensity parameters of the first detection signal and the second detection signal is small, that is, the time parameter difference and the intensity parameter difference are both within the preset range, then the first detection signal can be considered to be a signal to be verified. In some embodiments, the signal to be verified may include an invalid detection signal or a detection signal with low credibility. If there is an obvious difference between the time parameters or intensity parameters of the first detection signal and the second detection signal, that is, the time parameter difference and / or the intensity parameter difference are not within the preset range, then the first detection signal can be considered to be a valid signal or the credibility of the first detection signal is high.

[0553] In some embodiments of the present disclosure, step SD may be performed by an integrated circuit. In some embodiments, step SD may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or a field programmable gate array (FPGA). In some embodiments, step SD may be performed by a combination of an integrated circuit and a processor.

[0554] By adopting the method described in the above embodiment, the validity of the detection signal received by the laser radar can be determined, thereby improving the accuracy of the laser radar measurement. As previously mentioned, the first laser emits light within the first time window, and the validity of the first detection signal of the first detector needs to be determined. Since the third laser does not emit light within the first time window, the second detection signal can be used to determine the validity of the first detection signal. The method described in the embodiment of the present disclosure is simple and can be applied to various types of laser radars. In addition, since the method described in the embodiment of the present disclosure confirms the validity of the first detection signal based on two dimensions of time and intensity, some embodiments of the present disclosure can improve the accuracy of the detection signal validity determination result.

[0555] Optionally, the same laser may emit light in one time window and not emit light in another time window. Alternatively, the same laser may not emit light in one time window and may emit light in another time window.

[0556] For example, referring to FIG. 36 , which is a schematic diagram of steps of another exemplary lidar signal processing method consistent with some embodiments of the present disclosure, the lidar signal processing method may further include the following steps:

[0557] Step S11 : acquiring a second detection signal of the third detector within a second time window, wherein the third laser emits light within the second time window.

[0558] The second time window and the first time window are different time windows. The third laser does not emit light in the first time window, but emits light in the second time window.

[0559] Step S12: Acquire a first detection signal from the first detector within the second time window, wherein the first laser does not emit light within the second time window.

[0560] The first laser emits light in the first time window and does not emit light in the second time window.

[0561] Step S13: Determine the time parameter and intensity parameter of the second detection signal, and the time parameter and intensity parameter of the first detection signal.

[0562] Step S14: Determine the validity of the second detection signal based on the time parameter and the intensity parameter of the second detection signal and the time parameter and the intensity parameter of the first detection signal.

[0563] Alternatively, the validity of the detection signals of one or more channels that emit light may be determined based on the detection signals of one or more channels that do not emit light.

[0564] For example, the validity of a detection signal from a channel that emits light can be determined based on the detection signals from multiple channels that do not emit light. For another example, the validity of detection signals from multiple channels that emit light can be determined based on the detection signal from a channel that does not emit light.

[0565] For example, the laser radar may further include a third channel, the third channel including a fifth laser and a fifth detector. Referring to FIG37 , a schematic diagram of steps of another exemplary laser radar signal processing method consistent with some embodiments of the present disclosure, the laser radar signal processing method may further include the following steps:

[0566] Step S21 : Acquire a second detection signal of the third detector within a second time window, wherein the third laser emits light within the second time window.

[0567] Step S22: Acquire a fifth detection signal from the fifth detector within the second time window, wherein the fifth laser does not emit light within the second time window.

[0568] The fifth laser and the first laser may be different lasers, and within the second time window, neither the fifth laser nor the first laser emits light.

[0569] Step S23: Determine the time parameter and intensity parameter of the second detection signal, and the time parameter and intensity parameter of the fifth detection signal.

[0570] Step S24: Determine the validity of the second detection signal based on the time parameter and the intensity parameter of the second detection signal and the time parameter and the intensity parameter of the fifth detection signal.

[0571] Optionally, the validity of the detection signal of the same light-emitting channel may be jointly determined based on the detection signals of multiple channels that do not emit light.

[0572] For example, the laser radar signal processing method may further include the following steps:

[0573] Step S31 : acquiring a second detection signal of the third detector within a second time window, wherein the third laser emits light within the second time window.

[0574] Step S32: Acquire a first detection signal from the first detector and a fifth detection signal from the fifth detector within the second time window, wherein the first laser and the fifth laser do not emit light within the second time window.

[0575] The fifth laser and the first laser may be different lasers.

[0576] Step S33: Determine the time parameter and intensity parameter of the second detection signal, the time parameter and intensity parameter of the first detection signal, and the time parameter and intensity parameter of the fifth detection signal.

[0577] Step S34: Determine the validity of the second detection signal based on the time parameter and intensity parameter of the second detection signal, the time parameter and intensity parameter of the first detection signal, and the time parameter and intensity parameter of the fifth detection signal.

[0578] Optionally, a set of first comparison results and second comparison results is obtained by comparing the time parameters and intensity parameters of the first detection signal and the second detection signal; another set of first comparison results and second comparison results is obtained by comparing the time parameters and intensity parameters of the fifth detection signal and the second detection signal. Based on the two sets of first comparison results and the second comparison results, the validity of the second detection signal is determined. In some embodiments, when at least one of the two sets of first comparison results and the second comparison results satisfies that the first comparison result is within a first preset range and the second comparison result is within a second preset range, the second detection signal is determined to be a signal to be verified. In some embodiments, when both the two sets of first comparison results and the second comparison results satisfy that the first comparison result is within a first preset range and the second comparison result is within a second preset range, the second detection signal is determined to be a signal to be verified.

[0579] By adopting the above embodiment, the validity of the detection signal of the same light emitting channel is jointly determined by the detection signals of multiple channels that do not emit light, which can further improve the accuracy of the detection signal validity determination result.

[0580] In some embodiments of the present disclosure, the first detection signal may include one or more first echo signals, and the second detection signal may include one or more second echo signals. Step SD may include the following steps:

[0581] Step D0 : determining the validity of the one or more first echo signals based on the time parameters and intensity parameters of the one or more first echo signals and the time parameters and intensity parameters of the one or more second echo signals.

[0582] Optionally, if the first echo signal is a valid signal, the third detector should generally not receive a second echo signal having the same or similar time parameters and intensity parameters as the first echo signal. Therefore, the validity of the one or more first echo signals can be determined based on the time parameters and intensity parameters of the one or more first echo signals and the time parameters and intensity parameters of the one or more second echo signals.

[0583] In some embodiments of the present disclosure, referring to FIG. 38 , which is a schematic diagram of steps of an exemplary method for determining the validity of an echo signal consistent with some embodiments of the present disclosure, step D0 may include the following steps:

[0584] Step D11 : Compare the time parameter values ​​of the first echo signal and the second echo signal to obtain a first comparison result.

[0585] In some embodiments of the present disclosure, a difference between the time parameter values ​​of the first echo signal and the second echo signal may be used as the first comparison result.

[0586] In some embodiments of the present disclosure, the ratio of the time parameter values ​​of the first echo signal and the second echo signal may be used as the first comparison result.

[0587] In some embodiments of the present disclosure, the type of the time parameter of the first echo signal and the type of the time parameter of the second echo signal may be the same. For example, the time parameter of the first echo signal is the echo time of the first echo signal, and the time parameter of the second echo signal is the echo time of the second echo signal.

[0588] In some embodiments of the present disclosure, the type of the time parameter of the first echo signal and the type of the time parameter of the second echo signal may be different. For example, the time parameter of the first echo signal is the flight time of the first echo signal, and the time parameter of the second echo signal is the echo time of the second echo signal.

[0589] It is understandable that the embodiment of the present disclosure does not impose any specific restrictions on how to compare the time parameter values ​​of the first echo signal and the second echo signal, as long as the obtained comparison result can represent the difference between the time parameter values ​​of the first echo signal and the second echo signal.

[0590] Step D12: Compare the intensity parameter values ​​of the first echo signal and the second echo signal to obtain a second comparison result.

[0591] In some embodiments of the present disclosure, a difference between the intensity parameter values ​​of the first echo signal and the second echo signal may be used as the second comparison result.

[0592] In some embodiments of the present disclosure, a ratio of the intensity parameter values ​​of the first echo signal and the second echo signal may be used as the second comparison result.

[0593] In some embodiments of the present disclosure, the type of the intensity parameter of the first echo signal and the type of the intensity parameter of the second echo signal may be the same. For example, the intensity parameter of the first echo signal is the amplitude of the first echo signal, and the intensity parameter of the second echo signal is the amplitude of the second echo signal.

[0594] In some embodiments of the present disclosure, the type of the intensity parameter of the first echo signal and the type of the intensity parameter of the second echo signal may be different. For example, the intensity parameter of the first echo signal is the power of the first echo signal, and the intensity parameter of the second echo signal is the amplitude of the second echo signal.

[0595] It is understandable that the embodiment of the present disclosure does not impose any specific restrictions on how to compare the intensity parameter values ​​of the first echo signal and the second echo signal, as long as the obtained comparison result can characterize the difference between the intensity parameter values ​​of the first echo signal and the second echo signal.

[0596] In some embodiments of the present disclosure, in order to further improve the accuracy of the signal processing method, step D12 may include the following steps:

[0597] Step D121: Determine a first matchable coefficient of the first echo signal or a second matchable coefficient of the second echo signal.

[0598] In some embodiments of the present disclosure, the first configurable coefficient or the second configurable coefficient is determined based on the relative position of the preset channel and the first channel.

[0599] Because different channels are located at different locations and are affected to varying degrees by stray light from the same laser, a first matching coefficient is determined for the first echo signal, or a second matching coefficient is determined for the second echo signal, based on the relative position of the preset channel and the first channel. In this way, quantifying the varying degrees to which different channels are affected by stray light from the same laser can further improve the accuracy of signal processing results. In some embodiments, the second matching coefficient can be the weight of the second detection signal in the aforementioned embodiment.

[0600] Step D122: Determine the second comparison result based on the intensity parameter values ​​of the first echo signal and the second echo signal and the first matchable coefficient or the second matchable coefficient.

[0601] In some embodiments of the present disclosure, the difference between the intensity parameter value of the second echo signal multiplied by the second configurable coefficient and the intensity parameter value of the first echo signal may be used as the second comparison result.

[0602] In some embodiments of the present disclosure, the difference between the intensity parameter value of the first echo signal multiplied by the first configurable coefficient and the intensity parameter value of the second echo signal may be used as the second comparison result.

[0603] Step D13: Determine the validity of the first echo signal based on the first comparison result and the second comparison result.

[0604] By using the above embodiment, by comparing the time parameter values ​​of the first echo signal and the second echo signal, and comparing the intensity parameter values ​​of the first echo signal and the second echo signal, the first echo signal and the second echo signal are compared based on the two dimensions of time and intensity, which not only can determine the validity of the detection signal received by the laser radar, but also can improve the accuracy of the detection signal validity determination result.

[0605] In some embodiments of the present disclosure, step D13 may include the following steps:

[0606] Step D131 : When it is determined that the first comparison result is within a first preset range and the second comparison result is within a second preset range, determining that the first echo signal is a signal to be verified.

[0607] In some embodiments of the present disclosure, the first preset range may be determined according to a time parameter and a representation method of the first comparison result.

[0608] For example, the time of flight is used as the time parameter of the first echo signal and the second echo signal, and the difference in the time of flight between the first echo signal and the second echo signal is used as the first comparison result. If the first echo signal is the signal to be verified, the third detector will usually receive a second echo signal with the same or similar time of flight as the first echo signal. Accordingly, the difference in the time of flight between the first echo signal and the second echo signal should be very small. In this case, the first preset range can be a smaller range near 0. For example, the first preset range can be [-3ns, 3ns], and for another example, the first preset range can be [-10ns, 10ns].

[0609] For another example, if flight time is used as the time parameter of the first echo signal and the second echo signal, and the ratio of the flight time of the first echo signal and the second echo signal is used as the first comparison result, then the ratio of the flight time of the first echo signal and the second echo signal should be around 1. In this case, the first preset range can be a smaller range around 1. For example, the first preset range can be [0.7, 1.3]. For another example, the first preset range can be [0.8, 1.2]. The specific interval can be determined based on the usage requirements of the lidar.

[0610] In some embodiments of the present disclosure, the second preset range may be determined according to a representation method of the intensity parameter and the second comparison result.

[0611] For example, the amplitude is used as the intensity parameter of the first echo signal and the second echo signal, and the difference between the amplitudes of the first echo signal and the second echo signal is used as the second comparison result. If the first echo signal is the signal to be verified, the third detector will usually receive a second echo signal with the same or similar amplitude as the first echo signal. Accordingly, the difference between the amplitudes of the first echo signal and the second echo signal is small, and in this case the second preset range can be a smaller range near 0. For example, the second preset range can be [-10mW, 10mW], and for another example, the second preset range can be [-20mW, 20mW]. The specific interval can be determined according to the use requirements of the lidar.

[0612] For another example, if amplitude is used as the intensity parameter of the first echo signal and the second echo signal, and the ratio of the amplitudes of the first echo signal and the second echo signal is used as the second comparison result, then the ratio of the amplitudes of the first echo signal and the second echo signal should be around 1. In this case, the second preset range can be a smaller range around 1. For example, the second preset range can be [0.7, 1.5], or [0.5, 2]. The specific range can be determined based on the usage requirements of the lidar.

[0613] It should be noted that the selection of the time parameter and the selection of the intensity parameter are independent of each other and do not correspond to each other. In the above embodiments, the use of the flight time parameter as the time parameter and the amplitude as the intensity parameter is only for illustrative purposes. In some embodiments of the present disclosure, the flight time can be used as the time parameter and the pulse width can be used as the intensity parameter. In some embodiments of the present disclosure, the object distance can be used as the time parameter and the amplitude can be used as the intensity parameter.

[0614] In some embodiments of the present disclosure, after determining that the first echo signal is a signal to be verified, the signal to be verified can be directly processed as an invalid signal, thereby reducing or avoiding the accuracy of the laser radar operation being reduced by the signal to be verified with low credibility.

[0615] For example, in the point cloud image of the laser radar, the point corresponding to the signal to be verified is removed, or the point is not formed directly.

[0616] In some embodiments of the present disclosure, after determining that the first echo signal is a signal to be verified, the confidence level of the signal to be verified may be lowered, thereby improving the accuracy of the laser radar operation.

[0617] In some embodiments of the present disclosure, after determining that the first echo signal is the signal to be verified, the waveform portion corresponding to the first echo signal may be directly removed from the waveform of the first detection signal.

[0618] In some embodiments of the present disclosure, after determining that the first echo signal is the signal to be verified, a waveform portion corresponding to the first echo signal may be corrected in the waveform of the first detection signal.

[0619] In some embodiments of the present disclosure, step D13 may include the following steps:

[0620] Step D132: When it is determined that the first comparison result is not within a first preset range, or the second comparison result is not within a second preset range, determining that the first echo signal is a valid signal.

[0621] In some embodiments of the present disclosure, referring to FIG. 39 , which is a schematic diagram of steps of another exemplary method for determining the validity of an echo signal consistent with some embodiments of the present disclosure, step D0 may include the following steps:

[0622] Step D21 : Compare the time parameter values ​​of the first echo signal and the second echo signal to obtain a first comparison result.

[0623] The embodiment of obtaining the first comparison result can refer to the above-mentioned related embodiments and will not be described in detail here.

[0624] Step D22: Determine a second echo signal whose first comparison result with the first echo signal is within a first preset range.

[0625] The embodiment of determining the first preset range can refer to the above-mentioned related embodiments and will not be described in detail here.

[0626] Step D23: Compare the first echo signal and the determined intensity parameter value of the second echo signal to obtain a second comparison result.

[0627] The embodiment of obtaining the second comparison result can refer to the above-mentioned related embodiments and will not be described in detail here.

[0628] Step D24: Determine the validity of the first echo signal based on the second comparison result.

[0629] In some embodiments of the present disclosure, when it is determined that the second comparison result is within a second preset range, the first echo signal is determined to be a signal to be verified, and when it is determined that the second comparison result is not within the second preset range, the first echo signal is determined to be a valid signal.

[0630] The embodiment of determining the second preset range can refer to the above-mentioned related embodiments and will not be described in detail here.

[0631] In the above embodiment, the time parameter values ​​of the first echo signal and the second echo signal are first compared to obtain a first comparison result. A second echo signal is then determined to be within a first preset range of the first comparison result. The intensity parameter values ​​of the first echo signal and the determined second echo signal are then compared to obtain a second comparison result. This method not only accurately determines the validity of the first echo signal based on the second comparison result, but also is simple, requires little computation, and improves the real-time performance of signal processing.

[0632] In some embodiments of the present disclosure, referring to FIG. 40 , which is a schematic diagram of steps of another exemplary method for determining the validity of an echo signal consistent with some embodiments of the present disclosure, step D0 may include the following steps:

[0633] Step D31: Compare the intensity parameter values ​​of the first echo signal and the second echo signal to obtain a second comparison result.

[0634] The embodiment of obtaining the first comparison result can refer to the above-mentioned related embodiments and will not be described in detail here.

[0635] Step D32: Determine a second echo signal whose second comparison result with the first echo signal is within a second preset range.

[0636] The embodiment of determining the second preset range can refer to the above-mentioned related embodiments and will not be described in detail here.

[0637] Step D33: Compare the first echo signal and the determined time parameter value of the second echo signal to obtain a first comparison result.

[0638] The embodiment of obtaining the second comparison result can refer to the above-mentioned related embodiments and will not be described in detail here.

[0639] Step D34: Determine the validity of the first echo signal based on the first comparison result.

[0640] In some embodiments of the present disclosure, when it is determined that the first comparison result is within a first preset range, the first echo signal is determined to be a signal to be verified, and when it is determined that the first comparison result is not within the first preset range, the first echo signal is determined to be a valid signal.

[0641] The embodiment of determining the first preset range can refer to the above-mentioned related embodiments and will not be described in detail here.

[0642] In the above embodiment, the intensity parameter values ​​of the first echo signal and the second echo signal are first compared to obtain a second comparison result. A second echo signal is then determined to be within a second preset range relative to the second comparison result of the first echo signal. The time parameter values ​​of the first echo signal and the determined second echo signal are then compared to obtain a first comparison result. This method not only accurately determines the validity of the first echo signal based on the first comparison result, but also is simple, requires minimal computation, and improves the real-time performance of signal processing.

[0643] The present disclosure also provides a signal processing device, including:

[0644] The first receiver is configured to acquire a first detection signal of a first detector in a preset channel within a first time window, wherein the preset channel also includes a first laser corresponding to the first detector, and the first laser emits light within the first time window.

[0645] In some embodiments of the present disclosure, the first receiver may be implemented by an integrated circuit. In some embodiments, the first receiver may be implemented by a processor, such as a central processing unit (CPU), a microprocessor (microprocessor), or a field programmable gate array (FPGA). In some embodiments, the first receiver may be implemented by a combination of an integrated circuit and a processor.

[0646] The second receiver is configured to acquire a second detection signal of a third detector in the first channel within the first time window, wherein the first channel further includes a third laser corresponding to the third detector, and the third laser does not emit light within the first time window.

[0647] In some embodiments of the present disclosure, the second receiver may be implemented by an integrated circuit. In some embodiments, the second receiver may be implemented by a processor, such as a central processing unit (CPU), a microprocessor (microprocessor), or a field programmable gate array (FPGA). In some embodiments, the second receiver may be implemented by a combination of an integrated circuit and a processor.

[0648] The processing module is configured to determine the time parameters and intensity parameters of the first detection signal, as well as the time parameters and intensity parameters of the second detection signal; and determine the validity of the first detection signal based on the time parameters and intensity parameters of the first detection signal, as well as the time parameters and intensity parameters of the second detection signal.

[0649] In an embodiment of the present disclosure, the processing module can execute the lidar signal processing method described in any of the aforementioned embodiments to determine the validity of the first detection signal. The specific steps can be referred to the aforementioned embodiments and will not be repeated here.

[0650] In some embodiments of the present disclosure, the processing module may be implemented by an integrated circuit. In some embodiments, the processing module may be implemented by a processor, such as a central processing unit (CPU), a microprocessor (microprocessor), or a field programmable gate array (FPGA). In some embodiments, the processing module may be implemented by a combination of an integrated circuit and a processor.

[0651] Using the signal processing device of some embodiments of the present disclosure, a first receiver acquires a first detection signal from a first detector in a preset channel within a first time window, and a second receiver acquires a second detection signal from a third detector in the first channel within the first time window. A processing module can then determine the time and intensity parameters of the first detection signal, as well as the time and intensity parameters of the second detection signal, and can determine the validity of the first detection signal based on the time and intensity parameters of the first detection signal and the time and intensity parameters of the second detection signal. This device has good signal processing performance and a simple structure.

[0652] The present disclosure also provides a computer program product comprising computer instructions, wherein when executed by a processor, the computer instructions implement the lidar signal processing method described in any of the aforementioned embodiments. The specific steps can be found in the aforementioned embodiments and will not be repeated here.

[0653] The present disclosure also provides a non-volatile computer-readable storage medium having computer instructions stored thereon. When executed by a processor, the computer instructions implement the lidar signal processing method described in any of the aforementioned embodiments. The specific steps can be found in the aforementioned embodiments and will not be repeated here.

[0654] In some embodiments of the present disclosure, the non-volatile computer-readable storage medium may be any suitable computer-readable storage medium such as an optical disc, a mechanical hard disk, or a solid-state drive.

[0655] The present disclosure also provides a laser radar, including:

[0656] A preset channel, the preset channel comprising a first laser and a first detector;

[0657] a first channel comprising a third laser and a third detector;

[0658] a signal acquisition circuit configured to acquire a first detection signal from the first detector and a second detection signal from the third detector;

[0659] The processor is configured to execute the lidar signal processing method described in any of the foregoing embodiments.

[0660] Using the lidar described in the above embodiment, the first detection signal of the first detector and the second detection signal of the third detector are acquired by a signal acquisition circuit, and then signal processing is performed by a processor. Because the signal processing method executed by the processor can determine the validity of the first detection signal of the first detector, the accuracy of the lidar measurement results can be improved. It should be understood that the above example is merely illustrative and does not constitute any limitation on the embodiments of the present disclosure.

[0661] It should be noted that the modules in the embodiments of the present disclosure may be composed of discrete components or implemented by a single electrical chip.

[0662] It should be noted that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different channels, lasers, detectors, signals and comparison results, and are not used to impose any limitations on their specific structures, positions, or functions.

[0663] In the present disclosure, the laser may include a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), a distributed feedback laser (DFB), a fiber laser, or the like. The detector may include a light detection circuit, a single photon avalanche diode (SPAD), an avalanche photodiode (APD), a silicon photomultiplier (SiPM), or the like.

[0664] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the particular order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0665] In summary, after reading this detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure may be presented by way of example only and may not be limiting. Although not expressly stated herein, those skilled in the art will understand that this specification encompasses various reasonable changes, improvements, and modifications to the embodiments. Such changes, improvements, and modifications are intended to be suggested by this specification and are within the spirit and scope of the exemplary embodiments of this specification.

[0666] Furthermore, certain terms in this specification have been used to describe embodiments of this specification. For example, “one embodiment,” “an embodiment,” and / or “some embodiments” mean that a particular feature, structure, or characteristic described in connection with that embodiment may be included in at least one embodiment of this specification. Therefore, it is emphasized and should be understood that two or more references to “an embodiment,” “one embodiment,” or “an alternative embodiment” in various parts of this specification do not necessarily refer to the same embodiment. Furthermore, particular features, structures, or characteristics may be appropriately combined in one or more embodiments of this specification.

[0667] It should be understood that in the foregoing descriptions of the embodiments of this specification, to facilitate understanding of a feature and to simplify this specification, various features are combined in a single embodiment, figure, or description thereof. However, this does not necessarily mean that these features are combined. When reading this specification, a person skilled in the art may label some of the devices as separate embodiments. In other words, the embodiments of this specification can also be understood as the integration of multiple sub-embodiments. The content of each sub-embodiment is also valid even when it includes fewer than all the features of a single previously disclosed embodiment.

[0668] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, articles, and the like, cited herein, except to the extent that it is inconsistent or conflicting with this document or that it has a limiting effect on the broadest scope of the claims, is hereby incorporated by reference for all purposes now or hereafter connected with this document. In addition, in the event of any inconsistency or conflict between the description, definition, and / or use of a term in any material and the description, definition, and / or use of a term in this document, the term in this document shall control.

[0669] Finally, it should be understood that the embodiments of the application disclosed herein are illustrative of the principles of the embodiments of this specification. Other modified embodiments are also within the scope of this specification. Therefore, the embodiments disclosed in this specification are merely examples and not limitations. Those skilled in the art can adopt alternative configurations based on the embodiments in this specification to implement the application in this specification. Therefore, the embodiments of this specification are not limited to the embodiments precisely described in the application.

Claims

1. A laser radar signal processing method, characterized in that: The laser radar includes a preset channel and a reference detector, wherein the preset channel includes a first laser and a first detector; and the method includes: Acquiring a first detection signal of the first detector within a first time window, wherein the first laser emits detection light within the first time window; Acquire at least one second detection signal of at least one of the reference detectors within a first time window; Whether the first detection signal is a valid signal is determined according to the signal value of the first detection signal and the signal value of the at least one second detection signal.

2. The signal processing method according to claim 1, wherein: The reference detector includes a second detector without a corresponding laser.

3. The signal processing method according to claim 2, wherein: Acquiring at least one second detection signal of at least one reference detector within the first time window includes: acquiring the second detection signal of one reference detector within the first time window; The determining, based on the signal value of the first detection signal and the signal value of the at least one second detection signal, whether the first detection signal is a valid signal includes: comparing a signal value of the first detection signal with a signal value of the second detection signal, and obtaining a comparison result; Determine whether the first detection signal is a valid signal according to the comparison result.

4. The signal processing method according to claim 2, wherein: Acquiring at least one second detection signal of at least one reference detector within the first time window includes: acquiring multiple second detection signals of multiple reference detectors within the first time window; The determining, based on the signal value of the first detection signal and the signal value of the at least one second detection signal, whether the first detection signal is a valid signal includes: determining signal values of the plurality of second detection signals; determining weights of the plurality of second detection signals; determining a comparison result according to a signal value of the first detection signal, signal values of the plurality of second detection signals, and weights of the plurality of second detection signals; According to the comparison result, it is determined whether the first detection signal is a valid signal.

5. The signal processing method according to claim 4, wherein: The weight of the second detection signal is negatively correlated with the number of the plurality of reference detectors; or The weight of the second detection signal is negatively correlated with the distance between the reference detector and the first detector.

6. The signal processing method according to any one of claims 3 to 5, characterized in that: The determining whether the first detection signal is a valid signal according to the comparison result includes: When it is determined that the comparison result is less than or equal to the first preset threshold, the first detection signal is determined to be an invalid signal.

7. The signal processing method according to any one of claims 3 to 5, characterized in that: The determining whether the first detection signal is a valid signal according to the comparison result includes: When it is determined that the comparison result is greater than a second preset threshold, the first detection signal is determined to be a valid signal.

8. The signal processing method according to any one of claims 2 to 5, characterized in that: The signal value includes: amplitude or integration value.

9. The signal processing method according to claim 1, wherein: The amplitude of the first detection signal is greater than a third preset threshold or a preset threshold curve.

10. The signal processing method according to claim 1, wherein: The distance between the reference detector and the first detector is less than or equal to a fourth preset threshold.

11. The signal processing method according to claim 10, wherein: The reference detector is adjacent to the first detector.

12. The signal processing method according to claim 1, wherein: The first detector and the reference detector are located on the same detector chip; or, The first detector and the reference detector are located on different detector chips.

13. A signal processing device, characterized in that: include: a receiving module configured to acquire a first detection signal of a first detector and at least one second detection signal of at least one reference detector within a first time window; The processing module is configured to determine whether the first detection signal is a valid signal according to a signal value of the first detection signal and a signal value of the at least one second detection signal.

14. A laser radar, characterized in that: include: A preset channel, the preset channel comprising a first laser and a first detector; Reference detector; a signal acquisition circuit, configured to acquire a signal from the first detector and a signal from the reference detector; A processor configured to execute the lidar signal processing method described in any one of claims 1 to 13.

15. A laser radar signal processing method, characterized in that: The laser radar includes a preset channel and a first channel, the preset channel includes a first laser and a first detector, and the first channel includes a third laser and a third detector; the method includes: Acquiring a first detection signal of the first detector within a first time window, wherein the first laser emits detection light within the first time window; Acquiring at least one second detection signal from at least one of the third detectors within a first time window, wherein the third laser does not emit detection light within the first time window; Whether the first detection signal is a valid signal is determined according to the signal value of the first detection signal and the signal value of the at least one second detection signal.

16. The signal processing method according to claim 15, characterized in that: Acquiring at least one second detection signal of at least one of the third detectors within the first time window includes: acquiring the second detection signal of one of the third detectors within the first time window; The determining, based on the signal value of the first detection signal and the signal value of the at least one second detection signal, whether the first detection signal is a valid signal includes: comparing a signal value of the first detection signal with a signal value of the second detection signal, and obtaining a comparison result; Determine whether the first detection signal is a valid signal according to the comparison result.

17. The signal processing method according to claim 15, characterized in that: Acquiring at least one second detection signal of at least one third detector within the first time window includes: acquiring multiple second detection signals of multiple third detectors within the first time window; The determining, based on the signal value of the first detection signal and the signal value of the at least one second detection signal, whether the first detection signal is a valid signal includes: determining signal values of the plurality of second detection signals; determining weights of the plurality of second detection signals; determining a comparison result according to a signal value of the first detection signal, signal values of the plurality of second detection signals, and weights of the plurality of second detection signals; According to the comparison result, it is determined whether the first detection signal is a valid signal.

18. The signal processing method according to claim 17, wherein: The weight of the second detection signal is negatively correlated with the number of the plurality of third detectors; or, The weight of the second detection signal is negatively correlated with the distance between the third detector and the first detector.

19. The signal processing method according to any one of claims 16 to 18, characterized in that: The determining whether the first detection signal is a valid signal according to the comparison result includes: When it is determined that the comparison result is less than or equal to the first preset threshold, the first detection signal is determined to be an invalid signal.

20. The signal processing method according to any one of claims 16 to 18, characterized in that: The determining whether the first detection signal is a valid signal according to the comparison result includes: When it is determined that the comparison result is greater than a second preset threshold, the first detection signal is determined to be a valid signal.

21. The signal processing method according to any one of claims 16 to 18, characterized in that: The signal value includes: amplitude or integration value.

22. The signal processing method according to claim 16, wherein: The amplitude of the first detection signal is greater than a third preset threshold or a preset threshold curve.

23. The signal processing method according to claim 22, characterized in that: The signal processing method also includes lowering the third preset threshold or lowering the preset threshold curve, and the amplitude of the first detection signal is greater than the third preset threshold or the preset threshold curve, so that the amplitude of the first detection signal is greater than the adjusted third preset threshold or the preset threshold curve.

24. The signal processing method according to claim 16, wherein: The distance between the third detector and the first detector is less than or equal to a fourth preset threshold.

25. The signal processing method according to claim 24, characterized in that: The third detector is adjacent to the first detector.

26. The signal processing method according to claim 16, wherein: The first detector and the third detector are located on the same detector chip; or, The first detector and the third detector are located on different detector chips.

27. A signal processing device, characterized in that: include: a receiving module configured to acquire a first detection signal of a first detector and at least one second detection signal of at least one third detector within a first time window; The processing module is configured to determine whether the first detection signal is a valid signal according to a signal value of the first detection signal and a signal value of the at least one second detection signal.

28. A laser radar, characterized in that: include: A preset channel, the preset channel comprising a first laser and a first detector; a first channel comprising a third laser and a third detector; a signal acquisition circuit, configured to acquire a signal from the first detector and a signal from the third detector; A processor configured to execute the lidar signal processing method described in any one of claims 15-16.

29. A laser radar detection method, characterized in that: The laser radar includes at least one transceiver channel, each of the at least one transceiver channel includes a laser and a detector, and the method includes: Controlling the laser in a preset channel to emit a laser beam and obtaining a first detection signal received by the detector in the preset channel, wherein the preset channel is any channel in the at least one transceiver channel; Obtaining a third detection signal corresponding to a reference field of view, wherein the reference field of view has a preset offset relative to the detection field of view of the preset channel and overlaps with a portion of the detection field of view of the preset channel; Determining whether there is an object within the detection field of view of the preset channel based on the first detection signal and the third detection signal; and When an object exists in the detection field of view of the preset channel, information about the object is determined based on the first detection signal.

30. The method according to claim 29, wherein The determining, based on the first detection signal and the third detection signal, whether an object exists in the detection field of view of the preset channel includes: Based on the relative magnitude relationship between the first detection signal and the third detection signal, it is determined whether there is an object in the detection field of view of the preset channel.

31. The method according to claim 30, wherein The determining whether an object exists in the detection field of view of the preset channel based on the relative magnitude relationship between the first detection signal and the third detection signal includes: If the difference between the first detection signal and the third detection signal is greater than a preset threshold, it is determined that there is an object in the detection field of view of the preset channel; or If the difference between the first detection signal and the third detection signal is less than or equal to the preset threshold, it is determined that no object exists in the detection field of view of the preset channel.

32. The method according to claim 29, wherein The determining the information of the object based on the first detection signal includes: determining a difference between the first detection signal and the third detection signal; and Information about the object is determined based on the difference.

33. The method according to claim 29, wherein The laser radar further includes a reference detector, wherein the detection field of view of the reference detector corresponds to the reference field of view; The obtaining of a third detection signal corresponding to the reference field of view includes: The detection signal received by the reference detector is used as the third detection signal.

34. The method according to claim 29, wherein The laser radar further includes a plurality of reference detectors, wherein the detection fields of the plurality of reference detectors are different from the reference field of view; The obtaining of a third detection signal corresponding to the reference field of view includes: obtaining a plurality of fourth detection signals received by the plurality of reference detectors; as well as The third detection signal corresponding to the reference field of view is determined based on the plurality of fourth detection signals and a positional relationship between the reference field of view and the detection fields of view of the plurality of reference detectors.

35. The method according to claim 34, wherein The determining, based on the plurality of fourth detection signals and a positional relationship between the reference field of view and the detection fields of view of the plurality of reference detectors, the third detection signal corresponding to the reference field of view includes: interpolating the plurality of fourth detection signals to obtain detection distribution information; and The third detection signal corresponding to the reference field of view is determined based on the detection distribution information and a positional relationship between the reference field of view and the detection fields of view of the multiple reference detectors.

36. A laser radar, characterized in that: include: At least one transceiver channel, each of the at least one transceiver channel comprising a laser and a detector; as well as a processor, communicatively connected to the at least one transceiver channel, and configured to: Controlling the laser in a preset channel to emit a laser beam and obtaining a first detection signal received by the detector in the preset channel, wherein the preset channel is any channel in the at least one transceiver channel; Obtaining a third detection signal corresponding to a reference field of view, wherein the reference field of view has a preset offset relative to the detection field of view of the preset channel and overlaps with a portion of the detection field of view of the preset channel, determining whether an object exists within the detection field of the preset channel based on the first detection signal and the third detection signal, and When an object exists in the detection field of view of the preset channel, information about the object is determined based on the first detection signal.

37. The laser radar according to claim 36, characterized in that In order to determine whether there is an object within the detection field of view of the preset channel, the processor: Based on the relative magnitude relationship between the first detection signal and the third detection signal, it is determined whether there is an object in the detection field of view of the preset channel.

38. The laser radar according to claim 37, characterized in that In order to determine whether there is an object within the detection field of view of the preset channel, the processor: If the difference between the first detection signal and the third detection signal is greater than a preset threshold, it is determined that there is an object in the detection field of view of the preset channel; or If the difference between the first detection signal and the third detection signal is less than or equal to the preset threshold, it is determined that no object exists in the detection field of view of the preset channel.

39. The laser radar according to claim 36, characterized in that To determine the information of the object, the processor: determining a difference between the first detection signal and the third detection signal; and Information about the object is determined based on the difference.

40. The laser radar according to claim 36, characterized in that The laser radar further comprises: a reference detector, wherein the detection field of view of the reference detector corresponds to the reference field of view; In order to obtain a third detection signal corresponding to a reference field of view, the processor uses the detection signal received by the reference detector as the third detection signal.

41. The laser radar according to claim 40, characterized in that The reference detector is a detector other than the detector in the at least one transceiver channel in the laser radar.

42. The laser radar according to claim 40, characterized in that The at least one transceiver channel is divided into M groups, where M is an integer greater than 1, wherein the transceiver channels in the same group are configured to emit light in parallel, and the transceiver channels in different groups are configured to emit light in different detection rounds; The reference detector is a detector in a first channel, and the first channel and the preset channel are in a different group.

43. The laser radar according to claim 40, characterized in that The at least one transceiver channel is divided into M groups, where M is an integer greater than 1, wherein channels in the same group are configured to emit light in parallel, and channels in different groups are configured to emit light in different detection rounds; The at least one transceiver channel includes a second channel, a detection process of the second channel and a detection process of the preset channel share the reference detector, and the second channel and the preset channel are in the same group.

44. The laser radar according to claim 40, characterized in that The laser radar includes at least a first linear detector and a second linear detector, wherein a plurality of detectors in the first linear detector collectively correspond to laser No. 01, and a plurality of detectors in the second linear detector collectively correspond to laser No. 02, and the laser No. 01 and the laser No. 02 emit light in non-parallel manner, wherein: The detector in the preset channel corresponds to the i-th detector in the first linear array of detectors, and the reference detector corresponds to the i-th detector in the second linear array of detectors, where i is a positive integer.

45. The laser radar according to claim 40, characterized in that The laser radar includes a single photon avalanche diode (SPAD) array, wherein: The detector in the preset channel corresponds to the first part of SPADs in the SPAD array, The reference detector corresponds to a second portion of SPADs in the SPAD array.

46. The laser radar according to claim 36, characterized in that The laser radar further includes a plurality of reference detectors, wherein the detection fields of the plurality of reference detectors are different from the reference field of view; In order to obtain the third detection signal corresponding to the reference field of view, the processor: obtaining a plurality of fourth detection signals received by the plurality of reference detectors, and Based on the plurality of fourth detection signals and the positional relationship between the reference field of view and the detection fields of view of the plurality of reference detectors, Determine the third detection signal corresponding to the reference field of view.

47. The laser radar according to claim 46, characterized in that In order to determine the third detection signal corresponding to the reference field of view, the processor: interpolating the plurality of fourth detection signals to obtain detection distribution information; and The third detection signal corresponding to the reference field of view is determined based on the detection distribution information and a positional relationship between the reference field of view and the detection fields of view of the multiple reference detectors.

48. A laser radar signal processing method, characterized in that: The laser radar includes a preset channel and a first channel, the preset channel includes a first laser and a first detector, and the first channel includes a third laser and a third detector; the method includes: Acquiring a first detection signal of the first detector within a first time window, wherein the first laser emits light within the first time window; Acquiring a second detection signal from the third detector within the first time window, wherein the third laser does not emit light within the first time window; Determining a time parameter and an intensity parameter of the first detection signal, and a time parameter and an intensity parameter of the second detection signal; The validity of the first detection signal is determined based on the time parameter and the intensity parameter of the first detection signal and the time parameter and the intensity parameter of the second detection signal.

49. The signal processing method according to claim 48, characterized in that The first detection signal includes one or more first echo signals, and the second detection signal includes one or more second echo signals; and determining the validity of the first detection signal based on a time parameter and an intensity parameter of the first detection signal and a time parameter and an intensity parameter of the second detection signal includes: The validity of the one or more first echo signals is determined based on the time parameters and the intensity parameters of the one or more first echo signals and the time parameters and the intensity parameters of the one or more second echo signals.

50. The signal processing method according to claim 49, wherein: The determining the validity of the one or more first echo signals based on the time parameters and intensity parameters of the one or more first echo signals and the time parameters and intensity parameters of the one or more second echo signals includes: comparing time parameter values of the first echo signal and the second echo signal to obtain a first comparison result; comparing the intensity parameter values of the first echo signal and the second echo signal to obtain a second comparison result; The validity of the first echo signal is determined based on the first comparison result and the second comparison result.

51. The signal processing method according to claim 49, wherein: The determining the validity of the one or more first echo signals based on the time parameters and intensity parameters of the one or more first echo signals and the time parameters and intensity parameters of the one or more second echo signals includes: comparing time parameter values of the first echo signal and the second echo signal to obtain a first comparison result; determining a second echo signal within a first preset range of a first comparison result with the first echo signal; comparing the first echo signal and the determined intensity parameter value of the second echo signal to obtain a second comparison result; Based on the second comparison result, the validity of the first echo signal is determined.

52. The signal processing method according to claim 49, wherein: The determining the validity of the one or more first echo signals based on the time parameters and intensity parameters of the one or more first echo signals and the time parameters and intensity parameters of the one or more second echo signals includes: comparing the intensity parameter values of the first echo signal and the second echo signal to obtain a second comparison result; determining a second echo signal having a second comparison result with the first echo signal within a second preset range; comparing the first echo signal and the determined time parameter value of the second echo signal to obtain a first comparison result; Based on the first comparison result, the validity of the first echo signal is determined.

53. The signal processing method according to claim 50, characterized in that The comparing the intensity parameter values of the first echo signal and the second echo signal to obtain a second comparison result includes: determining a first configurable coefficient of the first echo signal or a second configurable coefficient of the second echo signal; The second comparison result is determined based on the intensity parameter values of the first echo signal and the second echo signal and the first adjustable coefficient or the second adjustable coefficient.

54. The signal processing method according to claim 53, characterized in that: The first matching coefficient or the second matching coefficient is determined based on a relative position of the preset channel and the first channel.

55. The signal processing method according to claim 50, characterized in that The determining, based on the first comparison result and the second comparison result, the validity of the first echo signal includes: When it is determined that the first comparison result is within a first preset range and the second comparison result is within a second preset range, the first echo signal is determined to be a signal to be verified.

56. The signal processing method according to claim 50, characterized in that The determining, based on the first comparison result and the second comparison result, the validity of the first echo signal includes: When it is determined that the first comparison result is not within a first preset range, or when it is determined that the second comparison result is not within a second preset range, the first echo signal is determined to be a valid signal.

57. The signal processing method according to claim 51, characterized in that The determining, based on the second comparison result, the validity of the first echo signal includes: When it is determined that the second comparison result is within a second preset range, the first echo signal is determined to be a signal to be verified.

58. The signal processing method according to claim 52, wherein: The determining, based on the first comparison result, the validity of the first echo signal includes: When it is determined that the first comparison result is within a first preset range, the first echo signal is determined to be a signal to be verified.

59. The signal processing method according to claim 48, characterized in that The time parameter includes any of the following: echo time; Flight time; Object distance.

60. The signal processing method according to claim 59, wherein: The flight time of the first detection signal or the object distance is determined based on the echo time of the first detection signal and the emission time of the first laser; The flight time or object distance of the second detection signal is determined based on the echo time of the second detection signal and the emission time of the first laser.

61. The signal processing method according to claim 48, wherein: The intensity parameter includes any of the following: amplitude; Pulse width; power; The reflectivity of the object.

62. The signal processing method according to claim 48, wherein: The method further comprises: acquiring a second detection signal from the third detector within a second time window, wherein the third laser emits light within the second time window; Acquiring a first detection signal from the first detector within the second time window, wherein the first laser does not emit light within the second time window; determining a time parameter and an intensity parameter of the second detection signal, and a time parameter and an intensity parameter of the first detection signal; The validity of the second detection signal is determined based on the time parameter and the intensity parameter of the second detection signal and the time parameter and the intensity parameter of the first detection signal.

63. The signal processing method according to claim 48, wherein: The laser radar further includes a third channel, the third channel including a fifth laser and a fifth detector, and the method further includes: acquiring a second detection signal from the third detector within a second time window, wherein the third laser emits light within the second time window; acquiring a fifth detection signal from the fifth detector within the second time window, wherein the fifth laser does not emit light within the second time window; determining a time parameter and an intensity parameter of the second detection signal, and a time parameter and an intensity parameter of the fifth detection signal; The validity of the second detection signal is determined based on the time parameter and the intensity parameter of the second detection signal and the time parameter and the intensity parameter of the fifth detection signal.

64. A signal processing device, characterized in that include: a first receiver configured to acquire a first detection signal from a first detector in a preset channel within a first time window, wherein the preset channel further includes a first laser corresponding to the first detector, and the first laser emits light within the first time window; a second receiver configured to acquire a second detection signal from a third detector in the first channel within the first time window, wherein the first channel further includes a third laser corresponding to the third detector, and the third laser does not emit light within the first time window; The processing module is configured to determine the time parameters and intensity parameters of the first detection signal, as well as the time parameters and intensity parameters of the second detection signal; and determine the validity of the first detection signal based on the time parameters and intensity parameters of the first detection signal, as well as the time parameters and intensity parameters of the second detection signal.

65. A computer program product comprising computer instructions, characterized in that When the computer instructions are executed by the processor, the laser radar signal processing method described in any one of claims 1-12, claims 15-26, or claims 48-63 is implemented.

66. A non-volatile computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by the processor, the laser radar signal processing method described in any one of claims 1-12, claims 15-26, or claims 48-63 is implemented.

67. A laser radar, characterized in that include: A preset channel, the preset channel comprising a first laser and a first detector; a first channel comprising a third laser and a third detector; a signal acquisition circuit configured to acquire a first detection signal from the first detector and a second detection signal from the third detector; A processor configured to execute the lidar signal processing method described in any one of claims 48-63.

68. A sensing device, characterized in that include: The laser radar as described in claim 14 or claim 28 or claim 67.

69. A vehicle, characterized in that: include: The laser radar as described in claim 14 or claim 28 or claim 67.

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