Data processing method and apparatus based on lidar

Abstract

Embodiments of the present application provide a data processing method and apparatus based on a lidar. The method comprises: acquiring signal characteristic parameters; and on the basis of the signal characteristic parameters, determining an extended echo intensity value of a target echo signal.

Description

A data processing method and apparatus based on lidar

[0001] Cross-reference of related applications

[0002] This application claims priority to Chinese Patent Application No. 202510246305.9, filed on February 28, 2025, entitled "A Data Processing Method and Apparatus Based on LiDAR", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of radar technology, and in particular to a data processing method and apparatus based on lidar. Background Technology

[0004] Currently, the echo intensity of the target echo signal of lidar is the key information for distinguishing different targets. Since the laser intensity follows an inverse square law with distance during propagation, the echo signal will attenuate rapidly with the fourth power of the distance. Usually, a large laser power is required to ensure ranging performance.

[0005] However, a large laser power will cause the echo energy of nearby targets to be too large, resulting in echo intensity saturation. This leads to the loss of echo intensity information of nearby targets, making it difficult to distinguish nearby targets and exacerbating crosstalk phenomena in the sensors of lidar. Summary of the Invention

[0006] In view of the above problems, this application proposes a data processing method and apparatus based on lidar to overcome or at least partially solve the above problems, comprising:

[0007] A data processing method based on lidar, the method includes:

[0008] Obtain signal characteristic parameters;

[0009] Based on the signal characteristic parameters, determine the extended echo intensity value of the target echo signal.

[0010] In some embodiments, determining the extended echo intensity value of the target echo signal based on signal characteristic parameters includes:

[0011] Based on the signal characteristic parameters, the saturation depth of the target echo signal is determined; whereby the saturation depth is a quantization parameter of the pixel saturation level of the sensor in the lidar.

[0012] The extended echo intensity value of the target echo signal is determined based on the saturation depth.

[0013] In some embodiments, the signal characteristic parameters include echo half-width start position parameters, echo half-width end position parameters, and echo peak position parameters. Determining the saturation depth of the target echo signal based on these signal characteristic parameters includes:

[0014] The saturation depth of the target echo signal is determined based on the echo half-width start position parameter, echo half-width end position parameter, echo peak position parameter, and average echo half-width parameter.

[0015] In some embodiments, determining the saturation depth of the target echo signal based on the echo half-width start position parameter, the echo half-width end position parameter, the echo peak position parameter, and the average echo half-width parameter includes:

[0016] Determine the first position difference between the echo half-width end position parameter and the echo half-width start position parameter;

[0017] Determine the second position difference between the echo peak position parameter and the echo half-width starting position parameter;

[0018] The saturation depth of the target echo signal is determined based on the first position difference, the second position difference, and the average echo half-width parameter.

[0019] In some embodiments, determining the extended echo intensity value of the target echo signal based on the saturation depth includes:

[0020] Obtain the mapping control parameters set for the sensor;

[0021] Based on the mapping control parameters, the saturation depth is mapped to the extended echo intensity value of the target echo signal.

[0022] In some embodiments, the mapping control parameters include: mapping speed control parameters and mapping range control parameters.

[0023] In some embodiments, mapping the saturation depth to the extended echo intensity value of the target echo signal according to mapping control parameters includes:

[0024] Determine the echo half-width threshold parameters;

[0025] Based on the mapping control parameters and the echo half-width threshold parameters, the saturation depth is mapped to the extended echo intensity value of the target echo signal.

[0026] In some embodiments, the signal characteristic parameters further include the minimum echo intensity value and the original echo intensity value, and the parameters for determining the echo half-width threshold include:

[0027] The echo half-width threshold parameter is determined based on the minimum echo intensity value and the original echo intensity value.

[0028] In some embodiments, before determining the saturation depth of the target echo signal based on signal characteristic parameters, the method further includes:

[0029] When the target echo signal reaches saturation, the saturation depth of the target echo signal is determined based on the signal characteristic parameters.

[0030] In some embodiments, saturation state is the state when the sensor in the lidar reaches the upper limit of photon count.

[0031] In some embodiments, the lidar is a forward-facing lidar for the vehicle.

[0032] In some embodiments, the sensor in the lidar is a single-photon avalanche diode sensor.

[0033] A data processing device based on lidar, the device is used for:

[0034] Obtain the signal characteristic parameters output by the sensor in the lidar in response to the target echo signal;

[0035] Based on the signal characteristic parameters, determine the extended echo intensity value of the target echo signal.

[0036] An electronic device includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method described above.

[0037] A vehicle that includes the above-described device, or includes the above-described electronic equipment.

[0038] A computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method described above.

[0039] A computer program product includes a computer program that, when executed by a processor, implements the method described above.

[0040] The embodiments of this application have the following advantages:

[0041] In this embodiment, by acquiring signal characteristic parameters and determining the extended echo intensity value of the target echo signal based on the signal characteristic parameters, the laser radar can extend the echo intensity of the target echo signal, improve the distinguishability of near-range targets, and reduce the crosstalk phenomenon in the sensor of the laser radar, so that the real target and the false target with crosstalk phenomenon can be effectively distinguished. Attached Figure Description

[0042] To more clearly illustrate the technical solution of this application, the drawings used in the description of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 is a flowchart of a data processing method based on lidar provided in some embodiments of this application;

[0044] Figure 2a is a scene diagram before intensity expansion provided by some embodiments of this application;

[0045] Figure 2b is a scene diagram with intensity expansion provided by some embodiments of this application;

[0046] Figure 2c is a scene diagram before intensity expansion provided by some embodiments of this application;

[0047] Figure 2d is a scene diagram with intensity expansion provided by some embodiments of this application;

[0048] Figure 2e is a schematic diagram of an intensity expansion effect provided by some embodiments of this application;

[0049] Figure 2f is a schematic diagram of an intensity mapping function provided in some embodiments of this application;

[0050] Figure 3 is a flowchart of another data processing method based on lidar provided in some embodiments of this application;

[0051] Figure 4 is a flowchart of another data processing method based on lidar provided in some embodiments of this application;

[0052] Figure 5 is a flowchart of another data processing method based on lidar provided in some embodiments of this application;

[0053] Figure 6 is a flowchart of another data processing method based on lidar provided in some embodiments of this application;

[0054] Figure 7 is a schematic diagram of an electronic device provided in some embodiments of this application. Detailed Implementation

[0055] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0056] In one related technology, the global echo intensity is expanded by improving the laser detection control circuit and combining it with a special illumination strategy. The main idea is as follows:

[0057] 1. Control the laser power, such as by obtaining an estimate of the target's echo intensity through multiple trial illuminations, and then adjusting the emitted laser power accordingly. However, this approach has two problems: firstly, it requires a longer time to determine the laser emission power, making it unsuitable for dynamic vehicle-mounted scenarios; secondly, while reducing the laser power lowers the possibility of sensor saturation, it also reduces the ranging range.

[0058] 2. To ensure ranging capability, echoes from distant and near targets are obtained by applying strong and weak illumination sequentially over time. However, this approach requires multiple measurements, which is not suitable for dynamic scenes. Furthermore, it requires stitching together the distant and near measurement results, increasing computational complexity due to the sensor's nonlinear response and motion bias.

[0059] 3. A special sensor control circuit is designed to control the response characteristics of the SPAD (Single Photon Avalanche Diode) sensor, thereby altering the sensor's sensitivity and expanding the overall echo intensity. However, this approach requires specialized circuit design, is difficult to implement, and cannot be effectively applied to pre-packaged sensors. Furthermore, changes in sensor sensitivity can affect ranging capabilities.

[0060] Another related technology utilizes specialized optical design to extend the overall echo intensity. This approach employs optical field-of-view reception to separate strong and weak laser echo signals. However, this method requires specialized optical design and calibration processes, resulting in large size, high cost, and significant challenges in mass production.

[0061] In another related technology, grayscale information from a camera is used to supplement the intensity information of a LiDAR. This approach assumes that saturated intensity information has been lost and uses visual grayscale information from observing the same scene to supplement the LiDAR echo reflection intensity. However, on the one hand, this approach relies on an additional camera, and this sensor needs to be mounted on a sensor platform (such as a vehicle) with the LiDAR and undergo extrinsic parameter calibration. On the other hand, this approach assumes that road targets have the same reflectivity relationship in the visible light and infrared bands. This approach requires additional sensors and calibration work that varies for different vehicle models, and it ignores the difference between visible light and LiDAR echo intensity, which may lead to information distortion.

[0062] It is evident that related technologies focus on specialized optical designs, control circuit designs, illumination control strategies, or the introduction of reference information from other sensors, achieving a trade-off between ranging range and near-range intensity discrimination through stitching and fusion techniques. However, these solutions are insufficient for automotive applications in terms of adapting to dynamic motion scenarios and the complexity and cost of mass production.

[0063] In this embodiment, the saturation depth is calculated based on the signal characteristics output by the SPAD sensor in the lidar to quantitatively describe the difference in saturation states. Then, the saturation depth is mapped to echo intensity according to the intensity mapping function. This calculation is then performed on each pixel to obtain the expanded intensity result. As shown in Figure 2a (scene before intensity expansion) and Figure 2b (scene after intensity expansion), the originally saturated near-range scene is expanded, increasing discriminability and expanding the dynamic range. For crosstalk false targets, as shown in Figure 2c (scene before intensity expansion) and Figure 2d (scene after intensity expansion), in addition to improving the dynamic range, it also effectively distinguishes real targets from crosstalk false targets.

[0064] Specifically, the embodiments of this application have the following effects:

[0065] 1. No special optical design or sensor control circuitry is required. It has low implementation complexity and excellent adaptability to mass-produced sensor solutions from different manufacturers.

[0066] 2. No external sensor reference information is required, which can meet the requirements of mass production, debugging and calibration.

[0067] 3. It does not require complex lighting strategies, avoids multiple measurements and data stitching, and can adapt well to dynamic vehicle scenarios.

[0068] The embodiments of this application are further described below:

[0069] Referring to Figure 1, a flowchart of a data processing method based on lidar provided in some embodiments of this application is shown, which may specifically include the following steps:

[0070] Step 101: Obtain signal characteristic parameters.

[0071] Among them, the signal characteristic parameters are the output of the sensor in the lidar in response to the target echo signal.

[0072] In some embodiments of this application, the lidar can be a forward-facing lidar for a vehicle, and the sensor in the lidar can be a single-photon avalanche diode (SPAD) sensor.

[0073] In scenarios such as vehicle driving, including autonomous driving, LiDAR can be used to detect targets in the environment and acquire their echo signals. In some examples, the target echo signals contain various information such as the target's distance, speed, and angle. By extracting and processing these signal feature parameters, accurate identification and localization of targets in the environment can be achieved. In scenarios such as autonomous driving, this data processing method can greatly improve the vehicle's perception of its surroundings, thereby enhancing vehicle safety and the reliability of autonomous driving.

[0074] The signal characteristic parameters output by the sensor in response to the target echo signal may include those shown in Table 1 below:

[0075] Table 1

[0076] Step 102: Determine the extended echo intensity value of the target echo signal based on the signal characteristic parameters.

[0077] In some embodiments of this application, before determining the saturation depth of the target echo signal based on signal characteristic parameters, the method further includes:

[0078] When the target echo signal reaches saturation, the saturation depth of the target echo signal is determined based on the signal characteristic parameters.

[0079] The saturation state refers to the state in a lidar sensor when it reaches the upper limit of photon counting.

[0080] In practical applications, the raw echo intensity value output by the LiDAR sensor is determined by reading the photon count of the sensor. When the echo carries too many photons, the sensor reaches the upper limit of the photon count, which will cause the sensor to saturate and the output raw echo intensity value will also reach the maximum value. However, this sensor saturation is limited by the saturation of the sensor hardware. In reality, there will be even larger echo intensity values, but the sensor cannot output larger echo intensity values.

[0081] Based on this, the echo intensity value can be extended according to the signal characteristic parameters output by the sensor for the target echo signal, thus overcoming the hardware limitations of the sensor and obtaining the extended echo intensity value of the target echo signal. The extended echo intensity value is greater than the maximum value of the original echo intensity value that the sensor can output.

[0082] As shown in Figure 2e, the horizontal axis represents the time unit, the vertical axis represents the echo intensity value, and the curve is the actual echo intensity change curve (i.e., without considering sensor hardware limitations). The four circles in the figure represent the original echo intensity values ​​of the sensor output sampling points. It can be seen that the original echo intensity value when the sensor reaches saturation is less than 150, that is, the sensor cannot output an echo intensity greater than 150. However, by calculating and expanding the echo intensity, an echo intensity greater than 150 can be obtained, thereby expanding the range of echo intensity.

[0083] In some examples, performing this calculation for each pixel yields an expanded intensity result, i.e., an expanded echo intensity value. As shown in Figure 2a (scene before intensity expansion) and Figure 2b (scene after intensity expansion), the originally intensity-saturated near-field scene is expanded, increasing discriminative power and extending the dynamic range. For crosstalk decoys, as shown in Figure 2c (scene before intensity expansion) and Figure 2d (scene after intensity expansion), in addition to improving the dynamic range, it also effectively distinguishes real targets from crosstalk decoys.

[0084] In this embodiment, the extended echo intensity value of the target echo signal is determined by signal characteristic parameters, thereby enabling the lidar to extend the echo intensity of the target echo signal, improving the distinguishability of near-range targets, and reducing crosstalk phenomena in the lidar sensor, thus effectively distinguishing real targets from false targets caused by crosstalk.

[0085] In some embodiments of this application, determining the extended echo intensity value of the target echo signal based on signal characteristic parameters includes:

[0086] Sub-step 11: Determine the saturation depth of the target echo signal based on the signal characteristic parameters; wherein, the saturation depth is a quantization parameter of the pixel saturation degree of the sensor in the lidar.

[0087] In practical applications, even if the sensor enters saturation, its output histogram waveform is still related to the echo intensity. Since targets with higher reflectivity return more photons, the sensor will enter saturation faster, and the overall rising edge of the waveform will be steeper, meaning that the degree to which the sensor enters saturation varies.

[0088] Based on this, the saturation depth of the target echo signal can be determined according to the signal characteristic parameters, and thus the difference in this saturation state can be quantitatively described.

[0089] In some embodiments of this application, the signal characteristic parameters include echo half-width start position parameters, echo half-width end position parameters, and echo peak position parameters. Determining the saturation depth of the target echo signal based on these signal characteristic parameters includes:

[0090] The saturation depth of the target echo signal is determined based on the echo half-width start position parameter, echo half-width end position parameter, echo peak position parameter, and average echo half-width parameter.

[0091] In some embodiments of this application, the saturation depth of the target echo signal is determined based on the echo half-width start position parameter, the echo half-width end position parameter, the echo peak position parameter, and the average echo half-width parameter, including:

[0092] Determine the first position difference between the echo half-width end position parameter and the echo half-width start position parameter; determine the second position difference between the echo peak position parameter and the echo half-width start position parameter; and determine the saturation depth of the target echo signal based on the first position difference, the second position difference, and the average echo half-width parameter.

[0093] In some examples, the saturation depth x can be calculated using the following formula:

[0094] Among them, the echo half-width start position parameter hvs, echo half-width end position parameter hve, and echo peak position parameter pp are parameters directly output by the sensor, while the average half-width parameter hw0 is determined by the system's transmitted waveform or based on effective echo statistics.

[0095] Sub-step 12: Determine the extended echo intensity value of the target echo signal based on the saturation depth.

[0096] After obtaining the saturation depth, since the saturation depth is a quantization parameter of the pixel saturation level of the sensor, even if the sensor enters saturation, the saturation depth is different for different echo intensities. Therefore, the corresponding echo intensity can be determined based on the saturation depth as the extended echo intensity value.

[0097] In some embodiments of this application, determining the extended echo intensity value of the target echo signal based on the saturation depth includes:

[0098] Obtain the mapping control parameters set for the sensor; based on the mapping control parameters, map the saturation depth to the extended echo intensity value of the target echo signal.

[0099] In some embodiments of this application, the mapping control parameters include: mapping speed control parameters and mapping range control parameters. The mapping speed control parameter controls the mapping speed (e.g., the sensitivity of different sensors to saturation depth depends on the saturation characteristics of the sensor), and the mapping range control parameter controls the mapping range to normalize the intensity. In some examples, the values ​​of the mapping control parameters can be determined based on empirical values ​​or in conjunction with intensity calibration experiments.

[0100] In some embodiments of this application, mapping the saturation depth to the extended echo intensity value of the target echo signal according to mapping control parameters includes:

[0101] Determine the echo half-width threshold parameter; based on the mapping control parameter and the echo half-width threshold parameter, map the saturation depth to the extended echo intensity value of the target echo signal.

[0102] In practical applications, an intensity mapping function can be used to map the saturation depth to the extended echo intensity value of the target echo signal based on the mapping control parameters and the echo half-width threshold parameter.

[0103] In some examples, the intensity mapping function can be expressed as follows:

[0104] Where f(x,l,k) is the intensity mapping function, X is the saturation depth, L is the mapping velocity control parameter, K is the mapping range control parameter, and hv th The echo half-width threshold parameter is shown in Figure 2f, where the horizontal axis represents the saturation depth and the vertical axis represents the echo half-width threshold parameter.

[0105] In some embodiments of this application, the signal characteristic parameters further include the minimum echo intensity value and the original echo intensity value. Determining the echo half-width threshold parameter includes:

[0106] The echo half-width threshold parameter is determined based on the minimum echo intensity value and the original echo intensity value.

[0107] In some examples, the echo half-width threshold parameter hv th The following formula can be used to determine it:

[0108] Referring to Figure 3, a flowchart of another data processing method based on lidar provided in some embodiments of this application is shown, which may specifically include the following steps:

[0109] Step 301: Obtain signal characteristic parameters.

[0110] Step 302: Determine the saturation depth of the target echo signal based on the signal characteristic parameters; wherein, the saturation depth is a quantization parameter of the pixel saturation degree of the sensor in the lidar.

[0111] Step 303: Determine the extended echo intensity value of the target echo signal based on the saturation depth.

[0112] Referring to Figure 4, a flowchart of another data processing method based on lidar provided in some embodiments of this application is shown, which may specifically include the following steps:

[0113] Step 401: Obtain signal characteristic parameters; wherein, the signal characteristic parameters include echo half-width start position parameter, echo half-width end position parameter, and echo peak position parameter.

[0114] Step 402: Determine the saturation depth of the target echo signal based on the echo half-width start position parameter, echo half-width end position parameter, echo peak position parameter, and average echo half-width parameter; wherein, the saturation depth is a quantization parameter of the pixel saturation degree of the sensor in the lidar.

[0115] Step 403: Determine the extended echo intensity value of the target echo signal based on the saturation depth.

[0116] Referring to Figure 5, a flowchart of another data processing method based on lidar provided in some embodiments of this application is shown, which may specifically include the following steps:

[0117] Step 501: Obtain signal characteristic parameters.

[0118] Step 502: Determine the saturation depth of the target echo signal based on the signal characteristic parameters; wherein, the saturation depth is a quantization parameter of the pixel saturation degree of the sensor in the lidar.

[0119] Step 503: Obtain the mapping control parameters set for the sensor.

[0120] Step 504: Determine the echo half-width threshold parameter.

[0121] Step 505: Based on the mapping control parameters and the echo half-width threshold parameters, map the saturation depth to the extended echo intensity value of the target echo signal.

[0122] Referring to Figure 6, a flowchart of another data processing method based on lidar provided in some embodiments of this application is shown, which may specifically include the following steps:

[0123] Step 601: Obtain signal characteristic parameters.

[0124] Step 602: Determine the saturation depth of the target echo signal based on the signal characteristic parameters; wherein, the saturation depth is a quantization parameter of the pixel saturation degree of the sensor in the lidar.

[0125] Step 603: Obtain the mapping control parameters set for the sensor.

[0126] Step 604: Determine the echo half-width threshold parameter based on the minimum echo intensity value and the original echo intensity value.

[0127] Step 605: Based on the mapping control parameters and the echo half-width threshold parameters, map the saturation depth to the extended echo intensity value of the target echo signal.

[0128] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all examples, and the actions involved are not necessarily required for the embodiments of this application.

[0129] Some embodiments of this application also provide a data processing device based on lidar, used for:

[0130] Obtain signal characteristic parameters;

[0131] Based on the signal characteristic parameters, determine the extended echo intensity value of the target echo signal.

[0132] In some embodiments of this application, determining the extended echo intensity value of the target echo signal based on signal characteristic parameters includes:

[0133] Based on the signal characteristic parameters, the saturation depth of the target echo signal is determined; whereby the saturation depth is a quantization parameter of the pixel saturation level of the sensor in the lidar.

[0134] The extended echo intensity value of the target echo signal is determined based on the saturation depth.

[0135] In some embodiments of this application, the signal characteristic parameters include echo half-width start position parameters, echo half-width end position parameters, and echo peak position parameters. Determining the saturation depth of the target echo signal based on these signal characteristic parameters includes:

[0136] The saturation depth of the target echo signal is determined based on the echo half-width start position parameter, echo half-width end position parameter, echo peak position parameter, and average echo half-width parameter.

[0137] In some embodiments of this application, the saturation depth of the target echo signal is determined based on the echo half-width start position parameter, the echo half-width end position parameter, the echo peak position parameter, and the average echo half-width parameter, including:

[0138] Determine the first position difference between the echo half-width end position parameter and the echo half-width start position parameter;

[0139] Determine the second position difference between the echo peak position parameter and the echo half-width starting position parameter;

[0140] The saturation depth of the target echo signal is determined based on the first position difference, the second position difference, and the average echo half-width parameter.

[0141] In some embodiments of this application, determining the extended echo intensity value of the target echo signal based on the saturation depth includes:

[0142] Obtain the mapping control parameters set for the sensor;

[0143] Based on the mapping control parameters, the saturation depth is mapped to the extended echo intensity value of the target echo signal.

[0144] In some embodiments of this application, the mapping control parameters include: mapping speed control parameters and mapping range control parameters.

[0145] In some embodiments of this application, mapping the saturation depth to the extended echo intensity value of the target echo signal according to mapping control parameters includes:

[0146] Determine the echo half-width threshold parameters;

[0147] Based on the mapping control parameters and the echo half-width threshold parameters, the saturation depth is mapped to the extended echo intensity value of the target echo signal.

[0148] In some embodiments of this application, the signal characteristic parameters further include the minimum echo intensity value and the original echo intensity value. Determining the echo half-width threshold parameter includes:

[0149] The echo half-width threshold parameter is determined based on the minimum echo intensity value and the original echo intensity value.

[0150] In some embodiments of this application, before determining the saturation depth of the target echo signal based on signal characteristic parameters, the method further includes:

[0151] When the target echo signal reaches saturation, the saturation depth of the target echo signal is determined based on the signal characteristic parameters.

[0152] In some embodiments of this application, saturation state refers to the state in a lidar when the sensor reaches the upper limit of photon counting.

[0153] In some embodiments of this application, the lidar is a forward-facing lidar for a vehicle.

[0154] In some embodiments of this application, the sensor in the lidar is a single-photon avalanche diode sensor.

[0155] In this embodiment, by acquiring the signal characteristic parameters of the sensor outputting the target echo signal in the lidar, and determining the extended echo intensity value of the target echo signal based on the signal characteristic parameters, the lidar expands the echo intensity of the target echo signal, improves the distinguishability of near-range targets, and reduces the crosstalk phenomenon in the lidar sensor, so that the real target and the false target caused by crosstalk can be effectively distinguished.

[0156] Some embodiments of this application also provide an electronic device, as shown in FIG7. FIG7 is a schematic diagram of an electronic device provided in some embodiments of this application. The electronic device includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the method described above.

[0157] Some embodiments of this application also provide a vehicle that includes the above-described device, or includes the above-described electronic equipment.

[0158] Some embodiments of this application also provide a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, it implements the method described above.

[0159] Some embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the method described above.

[0160] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0161] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0162] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0163] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0164] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0165] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0166] These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal equipment, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0167] Although some embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make further changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including some embodiments as well as all changes and modifications falling within the scope of the embodiments of this application.

[0168] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the aforementioned element.

[0169] The above provides a detailed description of a data processing method and apparatus based on lidar. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A data processing method based on lidar, wherein, The method includes: Obtain signal characteristic parameters; Based on the signal characteristic parameters, the extended echo intensity value of the target echo signal is determined.

2. The method according to claim 1, wherein, Determining the extended echo intensity value of the target echo signal based on the signal characteristic parameters includes: Based on the signal characteristic parameters, the saturation depth of the target echo signal is determined; wherein, the saturation depth is a quantization parameter of the pixel saturation degree of the sensor in the lidar; The extended echo intensity value of the target echo signal is determined based on the saturation depth.

3. The method according to claim 2, wherein, The signal characteristic parameters include echo half-width start position parameters, echo half-width end position parameters, and echo peak position parameters. Based on these signal characteristic parameters, the saturation depth of the target echo signal is determined, including: The saturation depth of the target echo signal is determined based on the echo half-width start position parameter, echo half-width end position parameter, echo peak position parameter, and average echo half-width parameter.

4. The method according to claim 3, wherein, Determining the saturation depth of the target echo signal based on the echo half-width start position parameter, echo half-width end position parameter, echo peak position parameter, and average echo half-width parameter includes: Determine the first position difference between the echo half-width end position parameter and the echo half-width start position parameter; Determine the second position difference between the echo peak position parameter and the echo half-width starting position parameter; The saturation depth of the target echo signal is determined based on the first position difference, the second position difference, and the average echo half-width parameter.

5. The method according to any one of claims 2 to 4, wherein, Determining the extended echo intensity value of the target echo signal based on the saturation depth includes: Obtain the mapping control parameters set for the sensor; According to the mapping control parameters, the saturation depth is mapped to the extended echo intensity value of the target echo signal.

6. The method according to claim 5, wherein, The mapping control parameters include: mapping speed control parameters and mapping range control parameters.

7. The method according to any one of claims 5 to 6, wherein, The step of mapping the saturation depth to the extended echo intensity value of the target echo signal according to the mapping control parameters includes: Determine the echo half-width threshold parameters; Based on the mapping control parameters and the echo half-width threshold parameters, the saturation depth is mapped to the extended echo intensity value of the target echo signal.

8. The method according to claim 7, wherein, The signal characteristic parameters also include the minimum echo intensity value and the original echo intensity value. The method for determining the echo half-width threshold parameter includes: The echo half-width threshold parameter is determined based on the minimum echo intensity value and the original echo intensity value.

9. The method according to any one of claims 2 to 8, wherein, Before determining the saturation depth of the target echo signal based on the signal characteristic parameters, the method further includes: When the target echo signal reaches saturation, the saturation depth of the target echo signal is determined based on the signal characteristic parameters.

10. The method according to claim 9, wherein, The saturation state refers to the state in which the sensor in the lidar reaches the upper limit of photon counting.

11. The method according to any one of claims 1 to 10, wherein, The lidar mentioned is a forward-facing lidar for vehicles.

12. The method according to any one of claims 1 to 11, wherein, The sensor in the lidar is a single-photon avalanche diode sensor.

13. A data processing device based on lidar, wherein, The device is used for: Obtain signal characteristic parameters; Based on the signal characteristic parameters, the extended echo intensity value of the target echo signal is determined.

14. An electronic device, wherein, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method as described in any one of claims 1 to 12.

15. The electronic device according to claim 14, wherein, The electronic device is a vehicle.

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