CN107884780B - Distance measuring method, laser radar and vehicle - Google Patents
Distance measuring method, laser radar and vehicle Download PDFInfo
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- CN107884780B CN107884780B CN201610872223.6A CN201610872223A CN107884780B CN 107884780 B CN107884780 B CN 107884780B CN 201610872223 A CN201610872223 A CN 201610872223A CN 107884780 B CN107884780 B CN 107884780B
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- 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
Abstract
The disclosure relates to a distance measuring method, a laser radar and a vehicle. The method comprises the following steps: emitting a first laser beam and a second laser beam to a measured object at a preset time interval; receiving a plurality of light beams; processing each received light beam to obtain a voltage signal corresponding to a target light beam; determining a time of flight for each of the target beams; according to the time interval, determining the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam from the determined flight time; and determining the distance between the laser radar and the measured object according to the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam. From this, not only can filter the interfering beam who is launched by the isomorphism laser radar who installs on other vehicles to can accurately calculate the distance between laser radar and the measured object, promote laser radar's interference killing feature and detection precision.
Description
Technical Field
The disclosure relates to the field of vehicles, in particular to a distance measuring method, a laser radar and a vehicle.
Background
With the rapid development of electronic technology, vehicle electronic application is becoming more and more extensive, and vehicle driving safety is also receiving more and more attention from people. The vehicle-mounted laser radar is an active modern optical remote sensing technology, is a product combining the traditional radar technology and the modern laser technology, and plays an important role in the aspect of vehicle auxiliary driving safety. The laser radar has the characteristics of high angular resolution, high distance resolution, high speed resolution, wide speed measurement range, capability of obtaining various images of a target, strong anti-interference capability and the like. Meanwhile, the volume of the laser radar is smaller than that of the traditional radar, the weight of the laser radar is lighter than that of the traditional radar, and the laser radar is more convenient and flexible to use.
Although invisible light safe to human eyes is adopted in the vehicle-mounted laser radar technology at the present stage, the filtering effect on ambient light is poor. In addition, if adjacent vehicles or other nearby vehicles are provided with laser radars of the same type, the mutual interference of light beams can occur, and the laser radars cannot distinguish self light beams and interference light beams, so that the distance between the laser radars and the measured object cannot be accurately detected. The existing method for filtering the interference light beams mainly reduces the number of the interference light beams by reducing the receiving field angle of the laser radar, but has high requirements on design and production precision and high cost, and the method cannot completely filter the interference light beams. In addition, in the prior art, a filtering unit of a hardware circuit is also used to eliminate a part of interference, but the filtering unit can only filter out interference waves in the non-local waveband in the ambient light, and the interference waves in the local waveband are difficult to eliminate.
Disclosure of Invention
The disclosure aims to provide a distance measuring method, a laser radar and a vehicle, aiming at the problem that the distance between the laser radar and a measured object cannot be accurately detected due to poor interference beam eliminating effect of the laser radar in the prior art.
In order to achieve the above object, the present disclosure provides a ranging method, which is applied to a laser radar, and includes:
emitting a first laser beam and a second laser beam to a measured object at a preset time interval;
receiving a plurality of light beams, wherein the plurality of light beams at least comprise a first echo light beam obtained by reflecting the first laser light beam by the measured object and a second echo light beam obtained by reflecting the second laser light beam by the measured object;
processing each received light beam to obtain a voltage signal corresponding to a target light beam, wherein the target light beam is a light beam meeting a preset light beam condition;
determining the flight time of each target light beam, wherein the flight time is the time difference between the moment when the voltage signal corresponding to the target light beam is acquired and the moment when the first laser light beam is emitted;
according to the time interval, determining the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam from the determined flight time;
and determining the distance between the laser radar and the measured object according to the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam.
Optionally, the beam condition includes that the beam wavelength is within a preset wavelength range; and
the processing of each received light beam to obtain a voltage signal corresponding to a target light beam includes:
filtering each received light beam to filter out light beams having wavelengths not within the wavelength range;
and carrying out photoelectric conversion on the light beam with the wavelength within the wavelength range obtained after filtering to obtain a corresponding voltage signal.
Optionally, the light beam condition further includes that a voltage value of a voltage signal corresponding to the light beam is less than or equal to a preset voltage threshold; and
the processing of each received light beam to obtain a voltage signal corresponding to the target light beam further comprises:
and after the light beam with the wavelength within the wavelength range obtained after filtering is subjected to photoelectric conversion to obtain a corresponding voltage signal, filtering the obtained voltage signal to filter out the voltage signal with the voltage value larger than the voltage threshold value.
Optionally, the determining, according to the time interval, a flight time corresponding to the first laser beam and/or a flight time corresponding to the second laser beam from the determined flight times includes:
determining the smaller of the two flying times with the difference value of the time interval in the determined flying times as the flying time corresponding to the first laser beam; and/or
And determining the larger of the two flying times with the difference value of the determined flying times as the flying time corresponding to the second laser beam.
The present disclosure further provides a laser radar, which includes a control unit, a laser transmitter, and a receiving unit, wherein the control unit is connected to the laser transmitter, and is configured to control the laser transmitter to transmit a first laser beam and a second laser beam to a measured object at a preset time interval;
the receiving unit is used for receiving a plurality of light beams and processing each received light beam to obtain a voltage signal corresponding to a target light beam, wherein the plurality of light beams at least comprise a first echo light beam obtained by reflecting the first laser light beam by the object to be measured and a second echo light beam obtained by reflecting the second laser light beam by the object to be measured, and the target light beam is a light beam meeting a preset light beam condition;
the control unit is further connected with the receiving unit and is further configured to determine a flight time of each target beam, where the flight time is a time difference between a time when the receiving unit acquires a voltage signal corresponding to the target beam and a time when the laser transmitter transmits the first laser beam; according to the time interval, determining the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam from the determined flight time; and determining the distance between the laser radar and the measured object according to the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam.
Optionally, the beam condition includes that the beam wavelength is within a preset wavelength range; and, the receiving unit includes:
the filter plate is used for filtering each received light beam so as to filter out the light beams with the wavelengths not in the wavelength range;
and the photoelectric converter is used for performing photoelectric conversion on the light beam with the wavelength within the wavelength range, which is obtained after the light beam is filtered by the infrared narrow-band filter, so as to obtain a corresponding voltage signal.
Optionally, the filter is an infrared narrow-band filter.
Optionally, the light beam condition further includes that a voltage value of a voltage signal corresponding to the light beam is less than or equal to a preset voltage threshold; and, the receiving unit further includes:
and the filter circuit is connected with the photoelectric converter and used for filtering the voltage signal obtained by the photoelectric converter so as to filter out the voltage signal of which the voltage value is greater than the voltage threshold value.
Optionally, the control unit is configured to determine, of the determined flight times, the smaller of the two flight times whose difference is the time interval as the flight time corresponding to the first laser beam; and/or determining the larger of the two flying times with the difference value of the determined flying times as the flying time corresponding to the second laser beam.
The present disclosure also provides a vehicle provided with at least one of the above-mentioned lidar.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the method comprises the steps of transmitting a first laser beam and a second laser beam to a measured object at preset time intervals, processing each received beam, screening out target beams meeting preset beam conditions, then determining the flight time of each target beam, and distinguishing self beams and interference beams by combining the time intervals, so that the calculation error of the distance between a laser radar and the measured object caused by the interference beams is avoided. Through above-mentioned technical scheme, not only can filter the interference light beam of the emission of the same model laser radar who is installed on by other vehicles to can accurately calculate the distance between laser radar and the measured object, promote laser radar's interference killing feature and detection precision.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a block diagram illustrating a lidar according to an exemplary embodiment.
Fig. 2 is a schematic diagram illustrating a lidar configured to detect a distance between the lidar and a target object according to an exemplary embodiment.
Fig. 3A is a schematic diagram illustrating a location of an interfering beam according to another exemplary embodiment.
Fig. 3B is a schematic diagram illustrating a location of an interfering beam according to another exemplary embodiment.
Fig. 3C is a schematic diagram illustrating a location of an interfering beam according to another exemplary embodiment.
Fig. 4 is a flow chart illustrating a ranging method according to an example embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a block diagram illustrating a lidar according to an exemplary embodiment. As shown in fig. 1, the laser radar 100 may include: a control unit 101, a laser transmitter 102 and a receiving unit 103. The control unit 101 may be connected to the laser transmitter 102, and configured to control the laser transmitter 102 to transmit the first laser beam and the second laser beam to the object 120 to be measured as shown in fig. 2 at preset time intervals.
The receiving unit 103 may be configured to receive a plurality of light beams, and process each received light beam to obtain a voltage signal corresponding to a target light beam, where the plurality of light beams at least include a first echo light beam obtained by reflecting a first laser light beam by a measured object, and a second echo light beam obtained by reflecting a second laser light beam by the measured object. The target beam is a beam that meets a predetermined beam condition.
In the present disclosure, the preset time interval may be preset or may be a default empirical value. As shown in fig. 2, the control unit 101 of the laser radar 100 controls the laser transmitter 102 to transmit the first laser beam and the second laser beam to the object 120 at preset time intervals, that is, the laser transmitter 102 is controlled to transmit the first laser beam first and then transmit the second laser beam after the preset time intervals. The first laser beam and the second laser beam are reflected by the object 120 to be measured onto the laser radar 100 and received by the receiving unit 103. In addition, the light beam received by the receiving unit 103 may include a light beam emitted by a laser radar of the same model mounted on another vehicle, which is an interference light beam. Therefore, the light beam received by the receiving unit 103 of the laser radar 100 may include not only the first echo light beam obtained by reflecting the first laser light beam by the object 120 to be measured and the second echo light beam obtained by reflecting the second laser light beam by the object 120 to be measured, but also the above-mentioned interference light beam.
The receiving unit 103 may process each received light beam to obtain a voltage signal corresponding to the target light beam. In the present disclosure, the target beam is a beam that meets a preset beam condition. The receiving unit 103 may screen out a target light beam according to a preset light beam condition, and obtain a voltage signal corresponding to the target light beam through photoelectric conversion.
In one embodiment of the present disclosure, the beam condition may include a beam wavelength being within a preset wavelength range. In this case, as shown in fig. 2, the receiving unit 103 may include: a filter 1031, which filter 1031 may be used to filter each received light beam to filter out light beams having wavelengths not within said wavelength range.
In the present disclosure, the filter 1031 may be, for example, an infrared narrow band filter. The filtering of the received light beams by the laser radar 100 is mainly to filter out ambient light in a non-local wavelength range and prevent interference, but does not affect the light beams in the local wavelength range, and the light beams can continue to propagate through the filter 1031. Thus, at least both the first echo beam wavelength and the second echo beam will continue to propagate through the filter 1031.
In addition, as shown in fig. 2, the receiving unit 103 may further include a photoelectric converter 1032, which may be configured to perform photoelectric conversion on the light beam filtered by the filter 1031 and having a wavelength within a preset wavelength range to obtain a corresponding voltage signal.
In another embodiment of the present disclosure, the beam condition may further include that a voltage value of a voltage signal corresponding to the beam is less than or equal to a preset voltage threshold, and the voltage threshold may be a voltage value of a voltage signal corresponding to the returned beam when laser radar 100 is able to detect the farthest distance. In this case, as shown in fig. 2, the receiving unit 103 may further include a filter circuit 1033 connected to the photoelectric converter 1032 for filtering the voltage signal obtained by the photoelectric converter 1032 to filter out the voltage signal having a voltage value greater than the voltage threshold. Thus, after two filtering processes, most of the interference signals are filtered by the receiving unit 103, and the voltage signal corresponding to the target light beam is finally obtained.
As shown in fig. 1 and 2, the control unit 101 may be further connected to the receiving unit 103 for determining a flight time of each target beam, where the flight time of the target beam is a time difference between a time when the voltage signal corresponding to the target beam is acquired by the receiving unit 103 and a time when the first laser beam is emitted by the laser emitter 102. For example, the control unit 101 may include a TDC (time-to-digital converter) in which each timer is triggered to start timing when the laser transmitter 102 emits the first laser beam. After the receiving unit 103 acquires a voltage signal, the receiving unit 103 may trigger one of timers of the TDC to stop timing, where a time length from timing start to timing end of the timer is a flight time of the target beam corresponding to the voltage signal.
Next, the control unit 101 is configured to determine a flight time corresponding to the first laser beam and/or a flight time corresponding to the second laser beam from the determined flight times according to the time interval.
Theoretically, the time of flight of the first laser beam and the second laser beam should differ by the time interval described above. Therefore, the control unit 101 may make a difference between two determined times of flight and compare it with the time interval, and may determine which difference between two times of flight is equal to the time interval. Since the emission time of the first laser beam is earlier than the emission time of the second laser beam, the flight time of the first laser beam is smaller than the flight time of the second laser beam. In this way, the control unit 101 may determine that the smaller of the two flight times having the difference in the time interval is the flight time corresponding to the first laser beam, and the larger is the flight time corresponding to the second laser beam.
The above process of determining the time-of-flight for the first laser beam and the time-of-flight for the second laser beam is explained below by taking an interference beam as an example.
There are three possible cases of the disturbance light beam, as shown in fig. 3A to 3C, respectively. In FIG. 3A, the interfering beam appears before the first echo beam, in FIG. 3B, the interfering beam appears between the first and second echo beams, and in FIG. 3C, the interfering beam appears after the second echo beam.
Since three light beams are received, the control unit 101 may obtain the flight times corresponding to the three light beams, and the three flight times are respectively recorded as t according to the sequence of the time from the morning to the evening0、t1And t2. The control unit 101 performs a difference on each pair of the signals to obtain three time differences T1、T2And T3As shown in equation (1):
the three time differences are compared with the time interval Δ T described above, respectively. If T1 ≠ Δ T, T2 ≠ Δ T, and T3 ≠ Δ T, it is said that T0、t1The time of flight corresponding to the first laser beam and the time of flight, t, corresponding to the second laser beam2Corresponding is the interference beam, as in the case shown in fig. 3C.
If T1 ≠ Δ T, T2 ≠ Δ T, and T3 ≠ Δ T, it is determined that T1、t2The time of flight corresponding to the first laser beam and the time of flight, t, corresponding to the second laser beam0Corresponding is the interference beam, as in the case shown in fig. 3A.
If T1 ≠ Δ T, T2 ≠ Δ T, and T3 ═ Δ T, it indicates T0、t2The time of flight corresponding to the first laser beam and the time of flight, t, corresponding to the second laser beam1Corresponding is the interference beam, as in the case shown in fig. 3B.
After determining the flight times of the first laser beam and the second laser beam, the control unit 101 may determine the distance between the laser radar 100 and the object 120 to be measured according to the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam.
In an embodiment of the present disclosure, the control unit 101 may determine the distance between the laser radar 100 and the measured object 120 according to the determined flight time of the first laser beam by the following formula (2):
wherein S is the distance between the laser radar and the measured object; c is the speed of light; t is the time of flight of the first laser beam.
Alternatively, in another embodiment of the present disclosure, the control unit 101 may determine the distance between the laser radar 100 and the measured object 120 according to the determined flight time of the second laser beam by the following formula (3):
where τ is the time of flight of the second laser beam.
Alternatively, in another embodiment of the present disclosure, after determining the distance between the laser radar and the measured object according to the flight time of the first laser beam and determining the distance between the laser radar and the measured object according to the flight time of the second laser beam, the control unit 101 may process (e.g., weight average) the two distances to obtain the final distance between the laser radar and the measured object, respectively.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the method comprises the steps of emitting a first laser beam and a second laser beam to a measured object at preset time intervals, processing each received laser beam to screen out a target beam meeting preset beam conditions, then determining the flight time of each target beam, and distinguishing a self beam and an interference beam by combining the time intervals, so that the calculation error of the distance between a laser radar and the measured object caused by the interference beam is avoided. Through above-mentioned technical scheme, not only can filter the interference light beam of the emission of the same model laser radar who is installed on by other vehicles to can accurately calculate the distance between laser radar and the measured object, promote laser radar's interference killing feature and detection precision.
Fig. 4 is a flow chart illustrating a ranging method applied to a lidar, such as lidar 100 shown in fig. 1 or 2, according to an exemplary embodiment. As shown in fig. 4, the method may include:
in step 401, a first laser beam and a second laser beam are emitted to a measured object at a preset time interval.
In step 402, a plurality of light beams are received, wherein the plurality of light beams at least include a first echo light beam obtained by reflecting a first laser light beam by a measured object and a second echo light beam obtained by reflecting a second laser light beam by the measured object.
In step 403, each received light beam is processed to obtain a voltage signal corresponding to a target light beam, where the target light beam is a light beam meeting a preset light beam condition.
In step 404, a flight time of each target beam is determined, where the flight time is a time difference between a time when the voltage signal corresponding to the target beam is acquired and a time when the first laser beam is emitted.
In step 405, a time-of-flight corresponding to the first laser beam and/or a time-of-flight corresponding to the second laser beam is determined from the determined time-of-flight according to the time interval.
In step 406, the distance between the lidar and the object to be measured is determined according to the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam.
Optionally, the beam condition may include the beam wavelength being within a preset wavelength range; and
processing each received light beam to obtain a voltage signal corresponding to the target light beam may include:
filtering each received light beam to filter out light beams having wavelengths not within the wavelength range;
and carrying out photoelectric conversion on the light beam with the wavelength within the wavelength range obtained after filtering to obtain a corresponding voltage signal.
Optionally, the light beam condition may further include that a voltage value of a voltage signal corresponding to the light beam is less than or equal to a preset voltage threshold; and
processing each received light beam to obtain a voltage signal corresponding to the target light beam, and may further include:
and after the light beam with the wavelength within the wavelength range obtained after filtering is subjected to photoelectric conversion to obtain a corresponding voltage signal, filtering the obtained voltage signal to filter out the voltage signal with the voltage value larger than the voltage threshold value.
Optionally, determining a flight time corresponding to the first laser beam and/or a flight time corresponding to the second laser beam from the determined flight times according to the time interval includes:
determining the smaller of the two flying times with the difference value as the time interval in the determined flying times as the flying time corresponding to the first laser beam; and/or
And determining the larger of the two flight times with the difference value of the time intervals in the determined flight times as the corresponding flight time of the second laser beam.
With regard to the method in the above-described embodiment, the specific implementation manner of each step has been described in detail in the laser radar related embodiment, and will not be elaborated herein.
The present disclosure also provides a vehicle provided with at least one of the above-mentioned lidar.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (8)
1. A distance measurement method is characterized by being applied to a vehicle-mounted laser radar, and comprises the following steps:
emitting a first laser beam and a second laser beam to a measured object at a preset time interval;
receiving a plurality of light beams, wherein the plurality of light beams at least comprise a first echo light beam obtained by reflecting the first laser light beam by the measured object and a second echo light beam obtained by reflecting the second laser light beam by the measured object;
processing each received light beam to obtain a voltage signal corresponding to a target light beam, wherein the target light beam is a light beam meeting a preset light beam condition, the light beam condition comprises that the voltage value of the voltage signal of the target light beam is smaller than or equal to a voltage threshold, and the voltage threshold is the voltage value of the voltage signal corresponding to the returned light beam when the laser radar can detect the farthest distance;
determining the flight time of each target light beam, wherein the flight time is the time difference between the moment when the voltage signal corresponding to the target light beam is acquired and the moment when the first laser light beam is emitted;
according to the time interval, determining the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam from the determined flight time;
determining the distance between the laser radar and the measured object according to the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam;
determining the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam from the determined flight times according to the time interval, including:
determining the smaller of the two flying times with the difference value of the time interval in the determined flying times as the flying time corresponding to the first laser beam; and/or
And determining the larger of the two flying times with the difference value of the determined flying times as the flying time corresponding to the second laser beam.
2. The method of claim 1, wherein the beam condition comprises a beam wavelength within a preset wavelength range; and
the processing of each received light beam to obtain a voltage signal corresponding to a target light beam includes:
filtering each received light beam to filter out light beams having wavelengths not within the wavelength range;
and carrying out photoelectric conversion on the light beam with the wavelength within the wavelength range obtained after filtering to obtain a corresponding voltage signal.
3. The method of claim 2, wherein processing each received beam to obtain a voltage signal corresponding to a target beam further comprises:
and after the light beam with the wavelength within the wavelength range obtained after filtering is subjected to photoelectric conversion to obtain a corresponding voltage signal, filtering the obtained voltage signal to filter out the voltage signal with the voltage value larger than the voltage threshold value.
4. The vehicle-mounted laser radar is characterized by comprising a control unit, a laser transmitter and a receiving unit, wherein the control unit is connected with the laser transmitter and is used for controlling the laser transmitter to transmit a first laser beam and a second laser beam to a measured object at preset time intervals;
the receiving unit is used for receiving a plurality of light beams and processing each received light beam to obtain a voltage signal corresponding to a target light beam, wherein the light beams at least comprise a first echo light beam obtained by reflecting the first laser light beam by the object to be measured and a second echo light beam obtained by reflecting the second laser light beam by the object to be measured, the target light beam is a light beam meeting a preset light beam condition, the light beam condition comprises that the voltage value of the voltage signal of the target light beam is smaller than or equal to a voltage threshold value, and the voltage threshold value is the voltage value of the voltage signal corresponding to the returned light beam when the laser radar can detect the farthest distance;
the control unit is further connected with the receiving unit and is further configured to determine a flight time of each target beam, where the flight time is a time difference between a time when the receiving unit acquires a voltage signal corresponding to the target beam and a time when the laser transmitter transmits the first laser beam; according to the time interval, determining the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam from the determined flight time; determining the distance between the laser radar and the measured object according to the flight time corresponding to the first laser beam and/or the flight time corresponding to the second laser beam;
the control unit is further configured to determine, as the flight time corresponding to the first laser beam, the smaller of the two flight times of which the difference is the time interval, among the determined flight times; and/or determining the larger of the two flying times with the difference value of the determined flying times as the flying time corresponding to the second laser beam.
5. The vehicle lidar of claim 4, wherein the beam condition comprises a beam wavelength within a preset wavelength range; and, the receiving unit includes:
the filter plate is used for filtering each received light beam so as to filter out the light beams with the wavelengths not in the wavelength range;
and the photoelectric converter is used for performing photoelectric conversion on the light beam with the wavelength within the wavelength range, which is obtained after the light beam is filtered by the filter plate, so as to obtain a corresponding voltage signal.
6. The vehicle lidar of claim 5, wherein the filter is an infrared narrow band filter.
7. The vehicle lidar of claim 5, wherein the receiving unit further comprises:
and the filter circuit is connected with the photoelectric converter and used for filtering the voltage signal obtained by the photoelectric converter so as to filter out the voltage signal of which the voltage value is greater than the voltage threshold value.
8. A vehicle, characterized in that at least one vehicle-mounted lidar according to any of claims 4-7 is arranged thereon.
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| 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 |
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| WO2020239084A1 (en) * | 2019-05-31 | 2020-12-03 | 深圳市速腾聚创科技有限公司 | Anti-jamming processing method and device for multi-pulse lidar system |
| 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 |
| 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 |
| 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 |
| CN110456376B (en) * | 2019-07-25 | 2021-08-03 | 深圳奥锐达科技有限公司 | TOF ranging method and device |
| 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 |
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