CN107884780A - Distance-finding method, laser radar and vehicle - Google Patents
Distance-finding method, laser radar and vehicle Download PDFInfo
- Publication number
- CN107884780A CN107884780A CN201610872223.6A CN201610872223A CN107884780A CN 107884780 A CN107884780 A CN 107884780A CN 201610872223 A CN201610872223 A CN 201610872223A CN 107884780 A CN107884780 A CN 107884780A
- Authority
- CN
- China
- Prior art keywords
- light beam
- flight time
- laser
- laser light
- determined
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
This disclosure relates to a kind of distance-finding method, laser radar and vehicle.This method includes：Launch first laser light beam and second laser light beam to measured object at predetermined intervals；Receive multiple light beams；The each light beam received is handled, obtains voltage signal corresponding to target beam；It is determined that the flight time of each target beam；According to the time interval, the flight time corresponding to flight time corresponding to the first laser light beam and/or the second laser light beam is determined from the flight time determined；According to the flight time corresponding to flight time corresponding to the first laser light beam and/or the second laser light beam, the distance between the laser radar and the measured object are determined.Thus, the interference light beam launched by the same model laser radar installed on other vehicles can be not only filtered out, and can accurately calculate the distance between laser radar and measured object, the antijamming capability and detection accuracy of improving laser radar.
Description
Technical field
This disclosure relates to vehicular field, in particular it relates to a kind of distance-finding method, laser radar and vehicle.
Background technology
With the rapid development of electronic technology, vehicle electric application is increasingly extensive, vehicle drive safety also increasingly by
The attention of people.Mobile lidar is a kind of active contemporary optics remote sensing technology, is to swash in conventional radar technology and modern times
The product that light technology is combined, it plays vital effect in vehicle assistant drive secure context.Laser radar has angle
High resolution, range resolution ratio are high, velocity resolution is high, the scope that tests the speed is wide, can obtain a variety of images, the antijamming capability of target
The characteristic such as strong.Meanwhile the volume ratio conventional radar of laser radar is small, weight is also lighter than conventional radar, more convenient to use
Flexibly.
Although what mobile lidar technology at this stage used is the black light of eye-safe, to ambient light
Filter effect is bad.In addition, if Adjacent vehicles or other neighbouring vehicles are provided with the laser radar of same model, it may appear that light beam
The situation interfered, laser radar cannot be distinguished by own beam and interference light beam, so, will be unable to accurate detecting laser radar
The distance between measured object.The mode of existing filtering interference light beam is mainly the field of view of receiver angle by reducing laser radar
To reduce the quantity of interference light beam, but its required precision to design and producing is higher, and cost is also very high, and which is not yet
It can be adequately filtered out disturbing light beam.In addition, a part of interference is also eliminated using the filter unit of hardware circuit in the prior art,
But it can only filter out the interference ripple of non-wave band in ambient light, it is difficult to eliminate the interference ripple of this wave band.
The content of the invention
The purpose of the disclosure be in the prior art due to laser radar eliminate interference beam effect it is bad and can not be accurate
The problem of it is really detected the distance between with measured object, there is provided a kind of distance-finding method, laser radar and vehicle.
To achieve the above object, the disclosure provides a kind of distance-finding method, and this method is applied to laser radar, this method bag
Include：
Launch first laser light beam and second laser light beam to measured object at predetermined intervals；
Multiple light beams are received, are reflected in the multiple light beam including at least the first laser light beam through the measured object
To the first echo beam and the second laser light beam the second echo beam for reflecting to obtain through the measured object；
The each light beam received is handled, obtains voltage signal corresponding to target beam, wherein, the target light
Beam is the light beam for meeting default beam condition；
It is determined that the flight time of each target beam, wherein, the flight time is to get the target beam pair
At the time of the voltage signal answered and launch the first laser light beam at the time of between time difference；
According to the time interval, when flight corresponding to the first laser light beam is determined from the flight time determined
Between and/or the second laser light beam corresponding to the flight time；
According to corresponding to flight time corresponding to the first laser light beam and/or the second laser light beam during flight
Between, determine the distance between the laser radar and the measured object.
Alternatively, the beam condition includes light beam wavelength in default wave-length coverage；And
The described pair of each light beam received is handled, and obtains voltage signal corresponding to target beam, including：
The each light beam received is filtered, to filter out light beam of the wavelength not in the wave-length coverage；
Opto-electronic conversion, voltage corresponding to acquisition are carried out to light beam of obtained after the filtering, wavelength in the wave-length coverage
Signal.
Alternatively, the beam condition also magnitude of voltage including voltage signal corresponding to light beam is less than or equal to default electricity
Press threshold value；And
The described pair of each light beam received is handled, and obtains voltage signal corresponding to target beam, in addition to：
Light beam of obtained after to the filtering, wavelength in the wave-length coverage carries out opto-electronic conversion, electricity corresponding to acquisition
After pressing signal, the voltage signal of acquisition is filtered, to filter out the voltage signal that magnitude of voltage is more than the voltage threshold.
Alternatively, it is described according to the time interval, the first laser light beam is determined from the flight time determined
Flight time corresponding to corresponding flight time and/or the second laser light beam, including：
By in the flight time determined, difference is defined as the smaller in two flight time of the time interval
It is the flight time corresponding to the first laser light beam；And/or
By in the flight time determined, difference is defined as the greater in two flight time of the time interval
It is the flight time corresponding to the second laser light beam.
The disclosure also provides a kind of laser radar, and the laser radar includes control unit, generating laser and receiving unit,
Wherein, described control unit is connected with the generating laser, for controlling the generating laser at predetermined intervals
Launch first laser light beam and second laser light beam to measured object；
The receiving unit is used to receive multiple light beams, and each light beam to receiving is handled, and obtains target light
Voltage signal corresponding to beam, wherein, reflected in the multiple light beam including at least the first laser light beam through the measured object
The second echo beam that obtained the first echo beam and the second laser light beam reflects to obtain through the measured object, and
And the target beam is the light beam for meeting default beam condition；
Described control unit is also connected with the receiving unit, when being additionally operable to determine the flight of each target beam
Between, wherein, the flight time be at the time of the receiving unit gets voltage signal corresponding to the target beam with it is described
Described in laser transmitter projects at the time of first laser light beam between time difference；According to the time interval, from what is determined
When flight corresponding to flight time corresponding to the first laser light beam and/or the second laser light beam is determined in the flight time
Between；According to the flight time corresponding to flight time corresponding to the first laser light beam and/or the second laser light beam, it is determined that
The distance between the laser radar and the measured object.
Alternatively, the beam condition includes light beam wavelength in default wave-length coverage；And the receiving unit bag
Include：
Filter plate, for being filtered to each light beam received, to filter out wavelength not in the wave-length coverage
Light beam；
Optical-electrical converter, for obtained after the infrared narrow band filter slice filtering, wavelength in the wave-length coverage
Interior light beam carries out opto-electronic conversion, voltage signal corresponding to acquisition.
Alternatively, the filter plate is infrared narrow band filter slice.
Alternatively, the beam condition also magnitude of voltage including voltage signal corresponding to light beam is less than or equal to default electricity
Press threshold value；And the receiving unit also includes：
Filter circuit, it is connected with the optical-electrical converter, the voltage signal for being obtained to the optical-electrical converter is carried out
Filtering, to filter out the voltage signal that magnitude of voltage is more than the voltage threshold.
Alternatively, described control unit was used in the flight time that will determine, and difference is two of the time interval
Smaller in flight time is determined as the flight time corresponding to the first laser light beam；And/or the flight that will be determined
In time, difference is determined as the second laser light beam for the greater in two flight time of the time interval and corresponded to
Flight time.
The disclosure also provides a kind of vehicle, and at least one above-mentioned laser radar is provided with the vehicle.
The technical scheme provided by this disclosed embodiment can include the following benefits：By at predetermined intervals
Launch first laser light beam and second laser light beam to measured object, each light beam received is handled, filters out and meets
The target beam of default beam condition, it is then determined that the flight time of each target beam, and binding time interval is distinguished
Own beam and interference light beam, the calculating for avoiding the distance between the laser radar caused by disturbing light beam and measured object miss
Difference.Pass through above-mentioned technical proposal, it can not only filter out the interference launched by the same model laser radar installed on other vehicles
Light beam, and can accurately calculate the distance between laser radar and measured object, the antijamming capability of improving laser radar and spy
Survey precision.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure together, but does not form the limitation to the disclosure.In the accompanying drawings：
Fig. 1 is a kind of structured flowchart of laser radar according to an exemplary embodiment.
Fig. 2 is the signal that a kind of laser radar according to an exemplary embodiment detects its distance between measured object
Figure.
Fig. 3 A are that a kind of interference light beam according to another exemplary embodiment the schematic diagram of position occurs.
Fig. 3 B are that a kind of interference light beam according to another exemplary embodiment the schematic diagram of position occurs.
Fig. 3 C are that a kind of interference light beam according to another exemplary embodiment the schematic diagram of position occurs.
Fig. 4 is a kind of flow chart of distance-finding method according to an exemplary embodiment.
Embodiment
The embodiment of the disclosure is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explained the disclosure, is not limited to the disclosure.
Fig. 1 is a kind of structured flowchart of laser radar according to an exemplary embodiment.As shown in figure 1, the laser
Radar 100 can include：Control unit 101, generating laser 102 and receiving unit 103.Wherein, control unit 101 can be with
Generating laser 102 connects, for controlling the generating laser 102 to be tested at predetermined intervals to as shown in Figure 2
Thing 120 launches first laser light beam and second laser light beam.
Receiving unit 103 can be used for receiving multiple light beams, and each light beam to receiving is handled, and obtain target
Voltage signal corresponding to light beam, wherein, comprise at least that first laser light beam reflects to obtain through measured object in multiple light beams first
The second echo beam that echo beam and second laser light beam reflect to obtain through measured object.Target beam is default to meet
The light beam of beam condition.
In the disclosure, default time interval can be empirical value pre-set or acquiescence.Such as Fig. 2
Shown, the control unit 101 of laser radar 100 controls generating laser 102 to launch at predetermined intervals to measured object 120
First laser light beam and second laser light beam, i.e. control generating laser 102 first launches first laser light beam, is then being separated by
Default time interval and then transmitting second laser light beam.First laser light beam and second laser light beam are anti-through measured object 120
It is mapped on laser radar 100, is received by receiving unit 103.In addition, it is also possible to wrap in light beam received by receiving unit 103
The light beam launched by the laser radar for the same model installed on other cars is included, the light beam is interference light beam.Therefore, laser radar
Light beam received by 100 receiving unit 103 not only includes first laser light beam and reflected first time obtained through measured object 120
Glistening light of waves beam and second laser light beam reflect the second obtained echo beam through measured object 120, it is also possible to including above-mentioned interference light
Beam.
Receiving unit 103 can be handled each light beam received, believed with obtaining voltage corresponding to target beam
Number.In the disclosure, target beam is the light beam for meeting default beam condition.Receiving unit 103 can be according to default light
Beam conditional filtering goes out target beam, by opto-electronic conversion, obtains voltage signal corresponding to target beam.
In a kind of embodiment of the disclosure, beam condition can include light beam wavelength in default wave-length coverage.
In this case, as shown in Fig. 2 receiving unit 103 can include：Filter plate 1031, the filter plate 1031 can be used for pair
The each light beam received is filtered, to filter out light beam of the wavelength not in the wave-length coverage.
In the disclosure, filter plate 1031 may, for example, be infrared narrow band filter slice.Laser radar 100 is to the light that receives
Shu Jinhang is filtered primarily to filter out the ambient light in non-wave-length coverage, its interference is prevented, without to this wavelength model
Light beam in enclosing has an impact, and these light beams can continue to propagate through the filter plate 1031.Therefore, at least the first echo beam
Both wavelength and the second echo beam can continue to propagate through filter plate 1031.
In addition, as shown in Fig. 2 receiving unit 103 can also include optical-electrical converter 1032, can be used for filtered
Light beam obtained after 1031 filterings, that wavelength is in default wave-length coverage carries out opto-electronic conversion, voltage signal corresponding to acquisition.
In the another embodiment of the disclosure, the beam condition can also include the electricity of voltage signal corresponding to light beam
Pressure value is less than or equal to default voltage threshold, when the voltage threshold can be that laser radar 100 can detect maximum distance
The magnitude of voltage of voltage signal corresponding to the light beam of return.In this case, as shown in Fig. 2 receiving unit 103 can also include
Filter circuit 1033, it is connected with optical-electrical converter 1032, the voltage signal for being obtained to optical-electrical converter 1032 filters,
To filter out the voltage signal that magnitude of voltage is more than the voltage threshold.So, by filter process twice, receiving unit 103 is
By filtering most interference signal, what is finally obtained is voltage signal corresponding to target beam.
As depicted in figs. 1 and 2, control unit 101 can also be connected with receiving unit 103, for determining each target light
The flight time of beam, wherein, the flight time of target beam gets voltage corresponding to the target beam for receiving unit 103 and believed
Number at the time of and generating laser 102 launch first laser light beam at the time of between time difference.Illustratively, control unit 101
TDC (time-to-digit converter) can be included, when generating laser 102 launches first laser light beam, each meter in the TDC
When device be triggered start timing.After receiving unit 103 gets a voltage signal, the can of receiving unit 103 is touched
The one of timer for sending out TDC stops timing, and the duration that the timer self clock starts between terminating timing is the electricity
Press the flight time of the target beam corresponding to signal.
Next, control unit 101 is used to, according to the time interval, determine that first swashs from the flight time determined
Flight time corresponding to flight time corresponding to light light beam and/or second laser light beam.
In theory, above-mentioned time interval should be differed between first laser light beam and the flight time of second laser light beam.
Therefore, control unit 101 can to being made the difference two-by-two between flight time for determining, and compared with above-mentioned time interval,
And then it can be determined that the difference between which is equal to above-mentioned time interval two flight time.Due to first laser light beam transmitting when
Between earlier than second laser light beam launch time, therefore, flight time of first laser light beam is less than flying for second laser light beam
The row time.So, control unit 101 can determine this difference for the smaller in two flight time of above-mentioned time interval
To be the flight time corresponding to first laser light beam, the greater is determined as the flight time corresponding to second laser light beam.
To swash flight time corresponding to above-mentioned determination first laser light beam and second so that one is disturbed light beam as an example below
The process of flight time is illustrated corresponding to light light beam.
The situation that interference light beam is likely to occur has three kinds, respectively as shown in Fig. 3 A to Fig. 3 C.In figure 3 a, interference light beam goes out
Before present first echo beam, in figure 3b, interference light beam is appeared between the first echo beam and the second echo beam,
In Fig. 3 C, interference light beam is appeared in after the second echo beam.
Due to receiving three light beams, therefore, control unit 101 can get the flight time corresponding to three light beams,
T is designated as respectively by early and evening order, these three flight time according to the time0、t1And t2.Control unit 101 respectively to it two-by-two
Make the difference, obtain three time differences, respectively T1、T2And T3, as shown in formula (1)：
By three time differences respectively compared with above-mentioned time interval Δ T.If T1=Δ T, T2 ≠ Δ T, T3 ≠
Δ T, then illustrate t0、t1Flight time, t corresponding to flight time and second laser light beam respectively corresponding to first laser light beam2
Corresponding is to disturb light beam, situation as shown in Figure 3 C.
If T1 ≠ Δ T, T2=Δ T, T3 ≠ Δ T, then illustrate t1、t2Respectively corresponding to first laser light beam during flight
Between and second laser light beam corresponding to the flight time, t0Corresponding is to disturb light beam, situation as shown in Figure 3A.
If T1 ≠ Δ T, T2 ≠ Δ T, T3=Δ T, then illustrate t0、t2Respectively corresponding to first laser light beam during flight
Between and second laser light beam corresponding to the flight time, t1Corresponding is to disturb light beam, situation as shown in Figure 3 B.
After the flight time of first laser light beam and second laser light beam is determined, control unit 101 can basis
Flight time corresponding to flight time corresponding to first laser light beam and/or second laser light beam, determine laser radar 100 and quilt
Survey the distance between thing 120.
In one embodiment of the disclosure, control unit 101 can be according to the flight for the first laser light beam determined
Time, the distance between laser radar 100 and measured object 120 are determined by below equation (2)：
Wherein, S is the distance between laser radar and measured object；C is the light velocity；T is the flight time of first laser light beam.
Or in another embodiment of the disclosure, control unit 101 can be according to the second laser light beam determined
Flight time, the distance between laser radar 100 and measured object 120 are determined by below equation (3)：
Wherein, τ is the flight time of second laser light beam.
Also or, in another embodiment of the disclosure, control unit 101 can be respectively according to first laser light beam
Flight time determine the distance between laser radar and measured object, and determined according to the flight time of second laser light beam
Go out after the distance between laser radar and measured object, (for example, weighted average) is handled to the two distances, to obtain most
The distance between whole laser radar and measured object.
The technical scheme provided by this disclosed embodiment can include the following benefits：By at predetermined intervals
Launch first laser light beam and second laser light beam to measured object, each light beam received is carried out processing filter out meet it is pre-
If beam condition target beam, it is then determined that the flight time of each target beam, and binding time interval come distinguish from
Body light beam and interference light beam, avoid the calculation error of the distance between the laser radar caused by disturbing light beam and measured object.
Pass through above-mentioned technical proposal, it can not only filter out the interference light launched by the same model laser radar installed on other vehicles
Beam, and can accurately calculate the distance between laser radar and measured object, the antijamming capability of improving laser radar and detection
Precision.
Fig. 4 is a kind of flow chart of distance-finding method according to an exemplary embodiment, and this method is applied to laser thunder
Reach, for example, the laser radar 100 shown in Fig. 1 or Fig. 2.As shown in figure 4, this method can include：
In step 401, first laser light beam and second laser light beam are launched to measured object at predetermined intervals.
In step 402, multiple light beams are received, are reflected in multiple light beams including at least first laser light beam through measured object
To the first echo beam and second laser light beam the second echo beam for reflecting to obtain through measured object.
In step 403, each light beam received is handled, obtains voltage signal corresponding to target beam, its
In, the target beam is the light beam for meeting default beam condition.
In step 404, it is determined that the flight time of each target beam, wherein, the flight time is gets the target light
Corresponding to beam at the time of voltage signal and transmitting first laser light beam at the time of between time difference.
In step 405, according to time interval, determine to fly corresponding to first laser light beam from the flight time determined
Flight time corresponding to row time and/or second laser light beam.
In a step 406, flown corresponding to flight time and/or second laser light beam according to corresponding to first laser light beam
Time, determine the distance between laser radar and measured object.
Alternatively, beam condition can include light beam wavelength in default wave-length coverage；And
The each light beam received is handled, voltage signal corresponding to acquisition target beam, can be included：
The each light beam received is filtered, to filter out light beam of the wavelength not in the wave-length coverage；
Opto-electronic conversion, voltage corresponding to acquisition are carried out to light beam of obtained after the filtering, wavelength in the wave-length coverage
Signal.
Alternatively, beam condition can also be less than or equal to default electricity including the magnitude of voltage of voltage signal corresponding to light beam
Press threshold value；And
The each light beam received is handled, voltage signal corresponding to acquisition target beam, can also be included：
Light beam of obtained after to the filtering, wavelength in the wave-length coverage carries out opto-electronic conversion, electricity corresponding to acquisition
After pressing signal, the voltage signal of acquisition is filtered, to filter out the voltage signal that magnitude of voltage is more than the voltage threshold.
Alternatively, according to time interval, when flight corresponding to first laser light beam is determined from the flight time determined
Between and/or second laser light beam corresponding to the flight time, including：
By in the flight time determined, difference is determined as for the smaller in two flight time of time interval
Flight time corresponding to one laser beam；And/or
By in the flight time determined, difference is determined as for the greater in two flight time of time interval
Flight time corresponding to dual-laser light beam.
On the method in above-described embodiment, wherein the specific executive mode of each step is in relevant laser radar
It is described in detail in embodiment, explanation will be not set forth in detail herein.
The disclosure also provides a kind of vehicle, and at least one above-mentioned laser radar is provided with the vehicle.
The preferred embodiment of the disclosure is described in detail above in association with accompanying drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical scheme of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought, it should equally be considered as disclosure disclosure of that.
Claims (10)
1. a kind of distance-finding method, it is characterised in that applied to laser radar, methods described includes：
Launch first laser light beam and second laser light beam to measured object at predetermined intervals；
Receive multiple light beams, reflect what is obtained through the measured object including at least the first laser light beam in the multiple light beam
The second echo beam that first echo beam and the second laser light beam reflect to obtain through the measured object；
The each light beam received is handled, obtains voltage signal corresponding to target beam, wherein, the target beam is
Meet the light beam of default beam condition；
It is determined that the flight time of each target beam, wherein, the flight time is to get corresponding to the target beam
At the time of voltage signal and launch the first laser light beam at the time of between time difference；
According to the time interval, the flight time corresponding to the first laser light beam is determined from the flight time determined
And/or the flight time corresponding to the second laser light beam；
According to the flight time corresponding to flight time corresponding to the first laser light beam and/or the second laser light beam, really
Fixed the distance between the laser radar and the measured object.
2. according to the method for claim 1, it is characterised in that the beam condition includes light beam wavelength in default wavelength
In the range of；And
The described pair of each light beam received is handled, and obtains voltage signal corresponding to target beam, including：
The each light beam received is filtered, to filter out light beam of the wavelength not in the wave-length coverage；
Opto-electronic conversion, voltage signal corresponding to acquisition are carried out to light beam of obtained after the filtering, wavelength in the wave-length coverage.
3. according to the method for claim 2, it is characterised in that the beam condition also includes voltage signal corresponding to light beam
Magnitude of voltage be less than or equal to default voltage threshold；And
The described pair of each light beam received is handled, and obtains voltage signal corresponding to target beam, in addition to：
Light beam of obtained after to the filtering, wavelength in the wave-length coverage carries out opto-electronic conversion, and voltage corresponding to acquisition is believed
After number, the voltage signal of acquisition is filtered, to filter out the voltage signal that magnitude of voltage is more than the voltage threshold.
4. according to the method any one of claim 1-3, it is characterised in that it is described according to the time interval, from true
Determined in the flight time made corresponding to flight time corresponding to the first laser light beam and/or the second laser light beam
Flight time, including：
By in the flight time determined, difference is determined as institute for the smaller in two flight time of the time interval
State the flight time corresponding to first laser light beam；And/or
By in the flight time determined, difference is determined as institute for the greater in two flight time of the time interval
State the flight time corresponding to second laser light beam.
A kind of 5. laser radar, it is characterised in that including control unit, generating laser and receiving unit, wherein, the control
Unit is connected with the generating laser, for controlling the generating laser at predetermined intervals to measured object transmitting the
One laser beam and second laser light beam；
The receiving unit is used to receive multiple light beams, and each light beam to receiving is handled, and obtains target beam pair
The voltage signal answered, wherein, reflect to obtain through the measured object including at least the first laser light beam in the multiple light beam
The first echo beam and the second laser light beam the second echo beam for reflecting to obtain through the measured object, and institute
It is the light beam for meeting default beam condition to state target beam；
Described control unit is also connected with the receiving unit, is additionally operable to determine the flight time of each target beam, its
In, the flight time is that the receiving unit is sent out at the time of getting voltage signal corresponding to the target beam with the laser
Time difference between at the time of the emitter transmitting first laser light beam；According to the time interval, from during the flight determined
Between middle determine the flight time corresponding to flight time corresponding to the first laser light beam and/or the second laser light beam；Root
According to the flight time corresponding to flight time corresponding to the first laser light beam and/or the second laser light beam, it is determined that described
The distance between laser radar and the measured object.
6. laser radar according to claim 5, it is characterised in that the beam condition includes light beam wavelength default
In wave-length coverage；And the receiving unit includes：
Filter plate, for being filtered to each light beam received, to filter out light of the wavelength not in the wave-length coverage
Beam；
Optical-electrical converter, for obtained after the infrared narrow band filter slice filtering, wavelength in the wave-length coverage
Light beam carries out opto-electronic conversion, voltage signal corresponding to acquisition.
7. laser radar according to claim 6, it is characterised in that the filter plate is infrared narrow band filter slice.
8. laser radar according to claim 6, it is characterised in that the beam condition also includes voltage corresponding to light beam
The magnitude of voltage of signal is less than or equal to default voltage threshold；And the receiving unit also includes：
Filter circuit, it is connected with the optical-electrical converter, the voltage signal for being obtained to the optical-electrical converter filters,
To filter out the voltage signal that magnitude of voltage is more than the voltage threshold.
9. according to the laser radar any one of claim 5-8, it is characterised in that described control unit is used to determine
In the flight time gone out, difference is determined as the first laser for the smaller in two flight time of the time interval
Flight time corresponding to light beam；And/or by the flight time determined, when difference is two flight of the time interval
Between in the greater be determined as the flight time corresponding to the second laser light beam.
10. a kind of vehicle, it is characterised in that be provided with the vehicle at least one according to any one of claim 5-9 institutes
The laser radar stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610872223.6A CN107884780B (en) | 2016-09-30 | 2016-09-30 | Distance measuring method, laser radar and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610872223.6A CN107884780B (en) | 2016-09-30 | 2016-09-30 | Distance measuring method, laser radar and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107884780A true CN107884780A (en) | 2018-04-06 |
| CN107884780B CN107884780B (en) | 2021-03-26 |
Family
ID=61770057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610872223.6A Active CN107884780B (en) | 2016-09-30 | 2016-09-30 | Distance measuring method, laser radar and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107884780B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108717182A (en) * | 2018-05-02 | 2018-10-30 | 深圳市速腾聚创科技有限公司 | Laser radar anti-disturbance method and anti-interference laser radar |
| CN109006555A (en) * | 2018-05-22 | 2018-12-18 | 东莞市莱诺实业有限公司 | The operation control method and device of pet toy |
| CN109407108A (en) * | 2018-12-17 | 2019-03-01 | 北京瑞特森传感科技有限公司 | A kind of laser radar system and distance measuring method |
| CN109655810A (en) * | 2019-03-05 | 2019-04-19 | 深圳市镭神智能系统有限公司 | A kind of laser radar anti-disturbance method, laser radar and vehicle |
| CN109884616A (en) * | 2019-03-13 | 2019-06-14 | 浙江吉利汽车研究院有限公司 | A kind of radar surveying is apart from fusion method, device and terminal |
| CN109917408A (en) * | 2019-03-28 | 2019-06-21 | 上海禾赛光电科技有限公司 | Echo processing techniques, distance measuring method and the laser radar of laser radar |
| CN110146868A (en) * | 2019-05-31 | 2019-08-20 | 深圳市速腾聚创科技有限公司 | The determination method of laser radar system and laser radar echo signal |
| CN110174664A (en) * | 2019-05-31 | 2019-08-27 | 深圳市速腾聚创科技有限公司 | The determination method of laser radar system and laser radar echo signal |
| CN110456376A (en) * | 2019-07-25 | 2019-11-15 | 深圳奥锐达科技有限公司 | TOF measurement method and apparatus |
| WO2020113559A1 (en) * | 2018-12-07 | 2020-06-11 | 深圳市大疆创新科技有限公司 | Ranging system and mobile platform |
| CN111580121A (en) * | 2020-05-21 | 2020-08-25 | 深圳市灵明光子科技有限公司 | Range finding method and device based on SiPM signal swing amplitude |
| CN112034471A (en) * | 2019-06-04 | 2020-12-04 | 精準基因生物科技股份有限公司 | Time-of-flight ranging device and time-of-flight ranging method |
| CN112740066A (en) * | 2019-05-31 | 2021-04-30 | 深圳市速腾聚创科技有限公司 | Anti-interference processing method and device for multi-pulse laser radar system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013098359A2 (en) * | 2011-12-28 | 2013-07-04 | St-Ericsson Sa | Charge-to-digital timer |
| CN103308921A (en) * | 2013-05-15 | 2013-09-18 | 奇瑞汽车股份有限公司 | Device and method for measuring object distance |
| CN104011560A (en) * | 2011-12-23 | 2014-08-27 | 莱卡地球系统公开股份有限公司 | Distance-measuring device alignment |
| CN105137443A (en) * | 2015-08-27 | 2015-12-09 | 苏州翌森光电科技有限公司 | Pulse-type laser range finding method |
-
2016
- 2016-09-30 CN CN201610872223.6A patent/CN107884780B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104011560A (en) * | 2011-12-23 | 2014-08-27 | 莱卡地球系统公开股份有限公司 | Distance-measuring device alignment |
| WO2013098359A2 (en) * | 2011-12-28 | 2013-07-04 | St-Ericsson Sa | Charge-to-digital timer |
| CN103308921A (en) * | 2013-05-15 | 2013-09-18 | 奇瑞汽车股份有限公司 | Device and method for measuring object distance |
| CN105137443A (en) * | 2015-08-27 | 2015-12-09 | 苏州翌森光电科技有限公司 | Pulse-type laser range finding method |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108717182B (en) * | 2018-05-02 | 2023-10-31 | 深圳市速腾聚创科技有限公司 | Anti-interference method of laser radar and anti-interference laser radar |
| CN108717182A (en) * | 2018-05-02 | 2018-10-30 | 深圳市速腾聚创科技有限公司 | Laser radar anti-disturbance method and anti-interference laser radar |
| CN109006555A (en) * | 2018-05-22 | 2018-12-18 | 东莞市莱诺实业有限公司 | The operation control method and device of pet toy |
| CN109006555B (en) * | 2018-05-22 | 2022-02-11 | 东莞市莱诺实业有限公司 | Work control method and device for pet toy |
| WO2020113559A1 (en) * | 2018-12-07 | 2020-06-11 | 深圳市大疆创新科技有限公司 | Ranging system and mobile platform |
| CN111542766A (en) * | 2018-12-07 | 2020-08-14 | 深圳市大疆创新科技有限公司 | Ranging system and mobile platform |
| CN109407108A (en) * | 2018-12-17 | 2019-03-01 | 北京瑞特森传感科技有限公司 | A kind of laser radar system and distance measuring method |
| CN109655810A (en) * | 2019-03-05 | 2019-04-19 | 深圳市镭神智能系统有限公司 | A kind of laser radar anti-disturbance method, laser radar and vehicle |
| CN109884616B (en) * | 2019-03-13 | 2021-09-14 | 浙江吉利汽车研究院有限公司 | Radar measurement distance fusion method and device and terminal |
| CN109884616A (en) * | 2019-03-13 | 2019-06-14 | 浙江吉利汽车研究院有限公司 | A kind of radar surveying is apart from fusion method, device and terminal |
| CN109917408A (en) * | 2019-03-28 | 2019-06-21 | 上海禾赛光电科技有限公司 | Echo processing techniques, distance measuring method and the laser radar of laser radar |
| CN110174664A (en) * | 2019-05-31 | 2019-08-27 | 深圳市速腾聚创科技有限公司 | The determination method of laser radar system and laser radar echo signal |
| CN112740066A (en) * | 2019-05-31 | 2021-04-30 | 深圳市速腾聚创科技有限公司 | Anti-interference processing method and device for multi-pulse laser radar system |
| CN110146868A (en) * | 2019-05-31 | 2019-08-20 | 深圳市速腾聚创科技有限公司 | The determination method of laser radar system and laser radar echo signal |
| CN112740066B (en) * | 2019-05-31 | 2023-08-04 | 深圳市速腾聚创科技有限公司 | Anti-interference processing method and device for multi-pulse laser radar system |
| CN112034471A (en) * | 2019-06-04 | 2020-12-04 | 精準基因生物科技股份有限公司 | Time-of-flight ranging device and time-of-flight ranging method |
| CN110456376A (en) * | 2019-07-25 | 2019-11-15 | 深圳奥锐达科技有限公司 | TOF measurement method and apparatus |
| CN110456376B (en) * | 2019-07-25 | 2021-08-03 | 深圳奥锐达科技有限公司 | TOF ranging method and device |
| CN111580121A (en) * | 2020-05-21 | 2020-08-25 | 深圳市灵明光子科技有限公司 | Range finding method and device based on SiPM signal swing amplitude |
| CN111580121B (en) * | 2020-05-21 | 2021-11-26 | 深圳市灵明光子科技有限公司 | Range finding method and device based on SiPM signal swing amplitude |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107884780B (en) | 2021-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107884780A (en) | Distance-finding method, laser radar and vehicle | |
| KR101775572B1 (en) | Radar system having arrangements and method for decoupling transmission and reception signals and suppression of interference radiation | |
| CN109254300B (en) | Emission signal design for optical ranging system | |
| KR102311559B1 (en) | Method for processing an echo signal of an ultrasonic transducer | |
| WO2021077287A1 (en) | Detection method, detection device, and storage medium | |
| EP2975428B1 (en) | Three-dimensional imaging radar system | |
| US20110001661A1 (en) | Method of detecting target object and target object detection device | |
| CN112639519A (en) | Apparatus and method for two-stage signal processing in radar systems | |
| JP6753755B2 (en) | Distance measuring device, vehicle and distance measuring method | |
| JP2015108557A (en) | Laser radar device | |
| CN109471112A (en) | It is a kind of can acoustic resistive wave interference ultrasonic distance-measuring sensor and its distance measuring method | |
| JP6858523B2 (en) | Distance measuring device, distance measuring method and vehicle | |
| CN112596042A (en) | Laser radar device and method for eliminating crosstalk | |
| US9285468B2 (en) | Extended angular resolution in sensor arrays using secondary echoes | |
| US7064704B2 (en) | Apparatus for radar | |
| CN114402225A (en) | Distance measuring method, distance measuring device and movable platform | |
| CN116804764B (en) | Laser radar ranging method and related equipment thereof | |
| JP2018059828A (en) | Range finder, vehicle, ranging method, and ranging system | |
| WO2008146046A1 (en) | Tracking waveform selection for multifunction radar | |
| KR20130113278A (en) | Jamming device and jamming method | |
| JP6893581B2 (en) | Methods and radar sensors for reducing the effects of interference when evaluating at least one received signal | |
| JP2018059831A (en) | Range finder, vehicle, and ranging method | |
| CN109709570B (en) | LIDAR signal processing device and method | |
| KR20230003237A (en) | Signal detection method and apparatus, and radar system | |
| Hata et al. | High resolution lidar based on single chip spad array |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |