CN109917408B - Echo processing method and distance measuring method of laser radar and laser radar - Google Patents
Echo processing method and distance measuring method of laser radar and laser radar Download PDFInfo
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- CN109917408B CN109917408B CN201910246377.8A CN201910246377A CN109917408B CN 109917408 B CN109917408 B CN 109917408B CN 201910246377 A CN201910246377 A CN 201910246377A CN 109917408 B CN109917408 B CN 109917408B
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Abstract
The invention provides an echo processing method, a distance measuring method and a laser radar of the laser radar, wherein the laser radar is suitable for emitting a plurality of laser beams to a target space, and the laser beams have the same or different emitting directions; and receiving a plurality of echoes corresponding to the plurality of laser beams; the echo processing method comprises the following steps: detecting whether a ranging signal exists in an echo received by the laser radar or not according to a first threshold value; if the distance measuring signals do not exist in the echoes and the laser beams corresponding to the echoes are located in a preset scanning angle range, performing data processing on the echoes to obtain corrected echoes; and correcting the first threshold according to the number of the echoes subjected to data processing, and detecting whether the distance measuring signal exists in the corrected echoes according to the corrected first threshold. The echo processing method and the range finding method improve the probability of the laser radar detecting the obstacle and improve the range finding capability of the laser radar.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to an echo processing method and a distance measuring method of a laser radar and the laser radar.
Background
Lidar is an advanced detection method that combines laser technology with photoelectric detection technology. Laser radar is widely applied to the fields of automatic driving, traffic communication, unmanned aerial vehicles, intelligent robots, energy safety detection, resource exploration and the like due to the advantages of high resolution, good concealment, strong active interference resistance, good low-altitude detection performance, small volume, light weight and the like.
The stronger the range finding ability of laser radar, the richer road surface information that obtains, just also can prevent getting into the bud more, guarantee vehicle and personal safety. The laser radar based on Time of Flight (TOF) ranging obtains the distance to a detection target by measuring the Time interval between the emission and the reception of light pulses, which is a prerequisite for the measurement method, in which the laser radar needs to detect light pulses from a waveform Time series received by a photodetector.
How to improve the capability of the laser radar for detecting light pulses and further improve the ranging capability of the laser radar is a problem to be solved urgently in the application of the laser radar at present.
Disclosure of Invention
In order to improve the capability of a laser radar in detecting light pulses and further improve the ranging capability of the laser radar, the embodiment of the invention provides an echo processing method of the laser radar.
In some embodiments, the lidar is adapted to: emitting a plurality of laser beams to a target space, the plurality of laser beams having the same or different emitting directions; and receiving a plurality of echoes corresponding to the plurality of laser beams; the echo processing method comprises the following steps: detecting whether a ranging signal exists in an echo received by the laser radar or not according to a first threshold value; if the distance measuring signals do not exist in the echoes and the laser beams corresponding to the echoes are located in a preset scanning angle range, performing data processing on the echoes to obtain corrected echoes; and correcting the first threshold according to the number of the echoes subjected to data processing, and detecting whether a ranging signal exists in the corrected echoes according to the corrected first threshold.
Optionally, the data processing the several echoes comprises: and averaging after the plurality of echoes are superposed.
Optionally, the correcting the first threshold according to the number of echoes subjected to data processing includes: dividing the first threshold by the square root of the number of echoes subjected to superposition processing.
Optionally, the laser beam is a pulse laser, and detecting whether a ranging signal exists in an echo received by the laser radar according to the first threshold includes: detecting whether a pulse signal with amplitude larger than the first threshold exists in the echo; if the echo exists, judging that a ranging signal exists in the echo, and determining a pulse signal with amplitude larger than the first threshold value in the echo as the ranging signal; and if the echo signal does not exist, judging that the ranging signal does not exist in the echo.
Optionally, the laser beam is a pulse laser, and detecting whether a ranging signal exists in the corrected echo according to the corrected first threshold includes: detecting whether a pulse signal with amplitude larger than the corrected first threshold exists in the corrected echo; if the echo exists, judging that a ranging signal exists in the corrected echo, and determining a pulse signal of which the amplitude is larger than a corrected first threshold value in the corrected echo as the ranging signal; and if the echo signal does not exist, judging that the ranging signal does not exist in the corrected echo.
Optionally, the preset scan angle range includes several scan angles having an angular offset within a preset range along a horizontal direction or a vertical direction of the target space.
Optionally, the preset scan angle range includes two scan angles having an angular offset within a preset range along a horizontal direction or a vertical direction of the target space, and the echo processing method includes: detecting whether a ranging signal exists in a first echo received by the laser radar according to the first threshold, wherein the first echo corresponds to a first laser beam emitted by the laser radar; if the first echo is detected to have no ranging signal, detecting whether a ranging signal exists in a second echo received by the laser radar, wherein the second echo corresponds to a second laser beam emitted by the laser radar, and the angle deviation between the second laser beam and the first laser beam is within the preset range; if the second echo is detected to have no ranging signal, the first echo and the second echo are superposed and then averaged to obtain a corrected echo; and dividing the first threshold by
And as the corrected first threshold, detecting whether the distance measuring signal exists in the corrected echo according to the corrected first threshold.
Optionally, the echo processing method further includes: if a ranging signal exists in the first echo according to the first threshold, the receiving time of the ranging signal is the receiving time of the first echo; or if a ranging signal is detected to exist in the corrected echo according to the corrected first threshold, the receiving time of the ranging signal is the receiving time of the first echo, the receiving time of the second echo, or any time between the receiving time of the first echo and the receiving time of the second echo.
Alternatively, the first threshold is determined according to ambient light noise and electronics system noise.
Correspondingly, the embodiment of the invention also provides a ranging method of the laser radar, which comprises the following steps: emitting a plurality of laser beams to a target space at a predetermined frequency, the plurality of laser beams having the same or different emission directions; receiving a plurality of echoes formed by obstacles in the target space reflecting a plurality of laser beams emitted by the lidar; processing a plurality of echoes received by the laser radar by adopting the echo processing method of the laser radar of the embodiment of the invention to detect a ranging signal; and calculating the distance between the laser radar and the obstacle according to the time interval between the receiving time of the detected ranging signal and the transmitting time of the laser beam corresponding to the ranging signal.
Optionally, the ranging signal includes a ranging signal detected in a plurality of echoes received by the laser radar, and calculating the distance between the laser radar and the obstacle according to a time interval between a receiving time of the detected ranging signal and a transmitting time of a laser beam corresponding to the ranging signal includes: and calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the receiving time of each echo and the transmitting time of the laser beam corresponding to each echo.
Optionally, the ranging signal includes a ranging signal detected in the corrected echo, where the corrected echo is obtained by superposing a first echo received by the lidar and a second echo received by the lidar and averaging, where the first echo corresponds to a first laser beam emitted by the lidar, the second echo corresponds to a second laser beam emitted by the lidar, and an angular offset of the first laser beam and the second laser beam is within a preset range.
Optionally, the lidar is adapted to detect whether a ranging signal exists in each echo received by the lidar in real time, where the first echo is an echo received by the lidar in the current measurement, and the second echo is an echo received by the lidar in a measurement before the current measurement; when a ranging signal is detected to exist in the corrected echo, the ranging method further comprises the following steps: and calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the receiving time of the first echo and the transmitting time of the first laser beam.
Optionally, the preset range is twice the angular resolution of the laser radar, and calculating the distance between the laser radar and the obstacle according to a time interval between a receiving time of the detected ranging signal and a transmitting time of the laser beam corresponding to the ranging signal includes: and calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the receiving time of the first echo and the transmitting time of the first laser beam, or calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the receiving time of the second echo and the transmitting time of the second laser beam.
Correspondingly, an embodiment of the present invention further provides a laser radar, where the laser radar includes: the device comprises an emitting module, a receiving module and a control module, wherein the emitting module is suitable for emitting a plurality of laser beams to a target space, and the laser beams have the same or different emitting directions; a scanning module adapted to change an exit direction of the plurality of laser beams; a detection module adapted to receive a plurality of echoes formed by obstacles in the target space reflecting a plurality of laser beams emitted by the lidar; the processing module is suitable for processing the echoes received by the detection module by adopting the echo processing method of the laser radar in the embodiment of the invention so as to detect the ranging signal; and calculating the distance between the laser radar and the obstacle according to the time interval between the receiving time of the detected ranging signal and the transmitting time of the laser beam corresponding to the ranging signal.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
by adopting the echo processing method of the laser radar of the embodiment of the invention, when the laser radar detects that no ranging signal exists in the echoes of a plurality of laser beams emitted by the laser radar within the preset scanning angle range, the echoes of the plurality of laser beams are subjected to data processing to obtain corrected echoes, the first threshold value is corrected according to the number of the echoes subjected to data processing, and then whether the ranging signal exists in the corrected echoes is detected according to the corrected first threshold value, so that the probability of detecting the ranging signal by the laser radar is increased, and the ranging capability of the laser radar is further improved.
Further, the preset scan angle range includes two scan angles having an angular deviation within a preset range in a horizontal direction or a vertical direction of the target space, and the echo processing method includes: detecting whether a ranging signal exists in a first echo received by the laser radar according to the first threshold, wherein the first echo corresponds to a first laser beam emitted by the laser radar; if the first echo is detected to be free of ranging signals, detecting whether ranging signals exist in second echoes received by the laser radar or not, wherein the second echoes correspond to second laser beams emitted by the laser radar, and the second laser beams are laser beams with minimum angle deviation with the first laser beams among a plurality of laser beams emitted by the laser radar; if the second echo is detected to have no ranging signal, the first echo and the second echo are superposed and then averaged to obtain a corrected echo; and dividing the first threshold by
And as the corrected first threshold, detecting whether the distance measuring signal exists in the corrected echo according to the corrected first threshold. According to the method, echo signals of two times of measurement with the smallest angle deviation are subjected to superposition processing, and a ranging signal is detected by adopting a corrected first threshold value, so that on one hand, the signal-to-noise ratio is improved, the probability that the laser radar detects an obstacle is increased, and the ranging capability of the laser radar is improved; on the other hand, the data size of the system is prevented from being greatly increased, and the complexity of calculation is reduced.
The ranging method of the laser radar in the embodiment of the invention comprises the step of processing the echoes of a plurality of laser beams received by the laser radar by adopting the echo processing method of the laser radar in the embodiment of the invention to detect ranging signals, so that the signal to noise ratio can be improved, the probability of the laser radar detecting obstacles can be increased, and the ranging capability of the laser radar can be improved.
According to the laser radar provided by the embodiment of the invention, the processing module is suitable for processing the echoes received by the detection module by adopting the echo processing method of the laser radar provided by the embodiment of the invention so as to detect the ranging signal, so that the signal-to-noise ratio can be improved, the probability of the laser radar detecting the obstacle is increased, and the ranging capability of the laser radar is improved.
Drawings
FIG. 1 is a flow chart of an echo processing method of a lidar according to one embodiment of the present invention;
FIG. 2 is a flow chart of an echo processing method of a lidar according to another embodiment of the present invention;
FIG. 3 is a schematic view of the directions of a first laser beam and a second laser beam emitted by a lidar in accordance with one embodiment of the present invention;
FIG. 4 is a schematic diagram of a waveform of an echo of a first laser beam received by a lidar in accordance with one embodiment of the invention;
FIG. 5 is a schematic diagram of a waveform of an echo of a second laser beam received by a lidar in accordance with one embodiment of the invention;
FIG. 6 is a schematic diagram showing a waveform of a corrected echo obtained by superimposing and averaging an echo of the first laser beam and an echo of the second laser beam;
FIG. 7 is a flow chart of a method of ranging of a lidar in accordance with one embodiment of the present invention;
fig. 8 is a block diagram of laser radar 100 according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.
Lidar based on time-of-flight measurement (TOF) ranging, where the range to a target is obtained by measuring the time interval between transmitted and received laser pulses, a measurement method that requires the lidar to detect a pulse signal from a waveform time sequence received by a photodetector. Generally, the farther away the distance, the darker the target, and the weaker the pulse signal returned. At present, most of detection pulses adopt a threshold value method, namely a voltage threshold value is set, and once a signal in a waveform exceeds the threshold value, a pulse signal is considered to be received once. The threshold value must be higher than the ambient light noise and the electronics noise of the waveform, otherwise false triggering may occur resulting in detection noise. Therefore, the waveform signal-to-noise ratio determines the detection capability of the laser radar, and the higher the signal-to-noise ratio is, the stronger the detection capability is. When the electronic noise of the system is optimized to the limit, the improvement of the distance measurement capability only depends on the improvement of the transmitting light power, and the increase of the aperture of the receiving lens is used for improving the signal-to-noise ratio of the signal, however, the problems of the increase of the power consumption of the system, the improvement of the safety risk of human eyes, the reduction of the reliability of a laser, the increase of the cost, the increase of the volume and the like are obviously caused.
Therefore, the embodiment of the invention provides an echo processing method and a distance measuring method of a laser radar and the laser radar, which can improve the capability of the laser radar for detecting laser pulses and further improve the distance measuring capability of the laser radar on the premise of not increasing the transmitting light power.
In order to make those skilled in the art better understand and implement the present invention, the echo processing method, the distance measuring method and the lidar according to the embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a flowchart of an echo processing method of a lidar according to an embodiment of the present invention.
In some embodiments, the lidar is adapted to: the method for processing the echoes of the laser radar comprises the following steps of emitting a plurality of laser beams to a target space, wherein the laser beams have the same or different emitting directions, and receiving a plurality of echoes corresponding to the laser beams: s11, detecting whether a ranging signal exists in the echo received by the laser radar according to a first threshold value; s13, if it is detected that no ranging signal exists in the echoes received by the laser radar and the laser beams corresponding to the echoes are located within a preset scanning angle range, performing data processing on the echoes to obtain corrected echoes; and S15, correcting the first threshold value according to the number of the echoes subjected to the data processing, and detecting whether the distance measuring signal exists in the corrected echoes according to the corrected first threshold value.
In some embodiments, the laser beam may be a pulse laser, and the detecting whether the ranging signal exists in the echo received by the laser radar according to the first threshold in step S11 may include: detecting whether a pulse signal with amplitude larger than the first threshold exists in the echo; if the echo exists, judging that a ranging signal exists in the echo, and determining a pulse signal with amplitude larger than the first threshold value in the echo as the ranging signal; and if the echo signal does not exist, judging that the ranging signal does not exist in the echo. In some embodiments, the first threshold may be determined based on ambient light noise and electronics system noise.
In some embodiments, the data processing of the several echoes in step S13 may include: and averaging after the plurality of echoes are superposed. Specifically, the amplitudes of the plurality of echoes may be obtained by dividing the sum of the amplitudes of the plurality of echoes by the number of the plurality of echoes, and the sum may be used as the amplitude of the corrected echo.
In some embodiments, the preset scan angle range in step S13 may include several scan angles having an angular offset within a preset range along the horizontal direction or the vertical direction of the target space.
In some embodiments, the modifying the first threshold according to the number of echoes subjected to the data processing in step S15 may include: dividing the first threshold by the square root of the number of echoes subjected to superposition processing; the step S15 of detecting whether the ranging signal exists in the corrected echo according to the corrected first threshold includes: detecting whether a pulse signal with amplitude larger than the corrected first threshold exists in the corrected echo; if the echo exists, judging that a ranging signal exists in the corrected echo, and determining a pulse signal of which the amplitude is larger than a corrected first threshold value in the corrected echo as the ranging signal; and if the echo signal does not exist, judging that the ranging signal does not exist in the corrected echo.
In some embodiments, the lidar may include a light source, a scanning module, and a detection module. In some embodiments, the light source may be a point light source adapted to emit a plurality of laser beams, and the scanning module may be a two-dimensional galvanometer adapted to vary a scanning direction of the plurality of laser beams along a two-dimensional direction of the target space. In particular, the laser beam may be a pulsed laser.
In other embodiments, the light source may include an array laser adapted to emit a plurality of laser beams to a target space according to a preset timing, and the scanning module may be a one-dimensional galvanometer adapted to change a scanning direction of the plurality of laser beams along a one-dimensional direction of the target space. In particular, the laser beam may be a pulsed laser.
In some embodiments, the lidar may be a mechanical rotary lidar comprising: the rotor is internally separated into a transmitting cavity and a receiving cavity; the transmitting module is arranged in the transmitting cavity and comprises an array laser, and the array laser is suitable for transmitting a plurality of laser beams along different directions of a target space according to a preset time sequence; and a detection module disposed within the receiving cavity. Wherein the rotor is adapted to change a scanning direction of the plurality of laser beams by rotation. In particular, the laser beam may be a pulsed laser.
Referring to fig. 2, in combination with fig. 3, fig. 2 is a flowchart of an echo processing method of a lidar according to another embodiment of the present invention, and fig. 3 is a schematic diagram of directions of a first laser beam and a second laser beam emitted by the lidar according to an embodiment of the present invention.
In some embodiments, the echo processing method of the lidar may include the steps of: s211, detecting whether a ranging signal exists in a first echo received by the laser radar according to a first threshold, wherein the first echo corresponds to a first laser beam emitted by the laser radar; s212, if it is detected that no ranging signal exists in the first echo, detecting whether a ranging signal exists in a second echo received by the laser radar, wherein the second echo corresponds to a second laser beam emitted by the laser radar, and the angle deviation between the second laser beam and the first laser beam is within a preset range; s23, if it is detected that the second echo does not have a ranging signal, superposing the first echo and the second echo and then averaging to obtain a corrected echo; and S25, dividing the first threshold value by
And as the corrected first threshold, detecting whether the distance measuring signal exists in the corrected echo according to the corrected first threshold.
In some embodiments, in step S212, when it is detected that the ranging signal is not present in the first echo, the echo processing method further includes: searching for the second echo, wherein the second echo can satisfy: the second laser beam corresponding to the second echo is a laser beam with the smallest angular deviation from the first laser beam among a plurality of laser beams emitted by the laser radar, that is, the angular deviation of the second laser beam relative to the first laser beam may be equal to the angular resolution of the laser radar.
In some embodiments, the second laser beam may precede the first laser beam in the emission timing. Specifically, the second laser beam may be immediately adjacent to the first laser beam in emission timing, or may be spaced from the first laser beam by a plurality of laser beams.
As shown in fig. 3, in some embodiments, the second laser beam may be either a laser beam having a minimum angular deviation from the first laser beam in a vertical direction of the target space (as shown in the upper diagram of fig. 3) or a laser beam having a minimum angular deviation from the first laser beam in a horizontal direction of the target space (as shown in the lower diagram of fig. 3). The first laser beam may correspond to a current measurement of the lidar (i.e., a measurement at a current time), and the second laser beam may correspond to a measurement of the lidar at a time prior to the current measurement (i.e., a measurement at a previous time).
It should be noted that the embodiment shown in fig. 2 may be regarded as a specific implementation of the embodiment shown in fig. 1, that is, whether a ranging signal exists in two echoes received by the laser radar is respectively detected according to a first threshold, two laser beams corresponding to the two echoes have a smaller angular offset in a target space, when it is detected that no ranging signal exists in the two echoes, the two echoes are averaged after being superimposed, and whether a ranging signal exists in a corrected echo is detected according to a new threshold.
In some embodiments, the averaging after the overlapping of the first echo and the second echo in step S23 may include: and summing the amplitude of the first echo and the amplitude of the second echo, and dividing the sum by 2 to obtain the amplitude of the corrected echo.
In some embodiments, the echo processing method of the lidar further comprises: if it is detected in step S211 that a ranging signal exists in a first echo received by the laser radar according to the first threshold, taking a receiving time of the first echo as a receiving time of the ranging signal; alternatively, when it is detected in step S25 that a ranging signal is present in the corrected echo based on the corrected first threshold value, the reception time of the first echo, the reception time of the second echo, or any time between the reception time of the first echo and the reception time of the second echo is set as the reception time of the ranging signal. In the second case, that is, when a ranging signal is detected in the corrected echo, if the reception time of the first echo is very close to the reception time of the second echo, the approximation algorithm may be used.
In some embodiments, the lidar is adapted to detect in real time whether a ranging signal exists in each echo received by the lidar, where the first echo may be an echo received by the lidar in a current measurement (i.e. at a current time), the second echo may be an echo received by the lidar in a measurement before the current measurement (i.e. at a previous time), and if a ranging signal exists in the modified echo detected according to the modified first threshold in step S25, the echo processing method of the lidar includes: and taking the receiving time of the first echo as the receiving time of the ranging signal.
The echo processing method of the laser radar of the embodiment shown in fig. 2 has the principles of waveform superposition, signal doubling and noise increase
Multiplication and thus increase of the signal-to-noise ratio of the ranging signal
And the detection distance can be increased. In this embodiment, echoes of two measurements of which the scanning angles are close (i.e., the scanning angle is shifted by a small amount) of the laser radar are superimposed and divided by 2 to be corrected echoes, and the first threshold value is divided by
As a modified first threshold to detect the presence of a ranging signal in the modified echo. Since the corrected first threshold is smaller than the first threshold, when no ranging signal exceeding the first threshold is found in the two measurements, the echo processing method can increase the probability that the ranging signal exceeding the corrected first threshold is detected in the corrected echoes. If the two measurements of the ranging signal, both of which are not found to exceed the first threshold value, are scanned on the same obstacle, the probability of detecting the obstacle is increased, thereby improving the detection capability of the laser radar.
Referring to fig. 4, 5 and 6, fig. 4 is a schematic waveform diagram of a first echo received by a laser radar according to an embodiment of the present invention, and fig. 5 is a schematic waveform diagram of a second echo received by the laser radar according to an embodiment of the present invention, referring to fig. 3, where the second echo corresponds to a second laser beam, the first echo corresponds to a first laser beam, and the second laser beam is a laser beam with a smallest angular deviation from the first laser beam among a plurality of laser beams emitted by the laser radar. Fig. 6 is a schematic waveform diagram of a corrected echo obtained by superimposing and averaging the first echo and the second echo.
In some embodiments, the first threshold may be set to 3.5, and as can be seen from fig. 4 and 5, the lidar measures that neither the received first echo nor the received second echo detects a ranging signal exceeding the first threshold twice, but adds the waveforms of the first echo and the second echo and divides by 2 to obtain a modified echo as shown in fig. 6, and uses the modified first threshold
The modified first threshold is less than the first threshold, and a ranging signal exceeding the modified first threshold can be detected.
In this embodiment, a situation that two echoes of which no ranging signal exceeding a first threshold is found are superposed to obtain an average is given, and two laser beams corresponding to the two echoes have relatively small angular offset in a target space, mainly because the existing laser radar performs operation by using a Field Programmable Gate Array (FPGA), the operation speed is high, but the capability of storing data is limited. Theoretically, the more the echoes are superimposed, the more the improvement of the signal-to-noise ratio becomes (averaging the echoes of the laser beam measured n times after superimposing, the first threshold after correction is set to be
The laser beam for n measurements can be set within a certain angular offset range), but because ofThe laser radar has a large number of lines, and requires more data to be stored in the system, which requires a corresponding increase in memory.
Referring to the following formula (1) to formula (5), the signal-to-noise ratio of the echo after correction obtained by superimposing the echoes of the laser beam measured n times is given.
SiFor each measured signal, SiContains noise, if the n measurement signals are summed to obtain a statistical average, the signal S is superimposed every time the summation is repeatediTotal signal S of n measurementsnComprises the following steps:
for noise, the variance is additive (standard deviation is non-additive), and the total variance of n measurements is:
the standard deviation, or total root mean square noise value, is:
signal-to-noise ratio (S/N) after N times of measurement signal superpositionnComprises the following steps:
as can be seen from the above, the SNR of the echo corrected by the superposition of the echoes of the laser beam measured n times is the SNR of the echo measured in a single time
Therefore, the echo processing method of the embodiment of the invention can improve the signal to noise ratioAnd further, the detection capability of the laser radar is improved.
The embodiment of the invention also provides a ranging method of the laser radar. Referring to fig. 7, fig. 7 is a flowchart of a ranging method of a lidar according to an embodiment of the present invention.
In some embodiments, the ranging method of the laser radar includes the steps of: s31, emitting a plurality of laser beams to a target space at a preset frequency, wherein the laser beams have the same or different emitting directions; s33, receiving a plurality of echoes formed by the obstacles in the target space reflecting the plurality of laser beams emitted by the laser radar; s35, processing a plurality of echoes received by the laser radar by adopting the echo processing method of the laser radar of the embodiment of the invention to detect ranging signals; and S37, calculating the distance between the laser radar and the obstacle according to the time interval between the receiving time of the detected ranging signal and the emitting time of the laser beam corresponding to the ranging signal.
In some embodiments, the ranging signal detected in step S35 may include a ranging signal detected in the echo received by the laser radar in step S33, and calculating the distance between the laser radar and the obstacle according to the time interval between the reception time of the detected ranging signal and the transmission time of the laser beam corresponding to the ranging signal in step S37 may include: and calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the receiving time of the echo and the transmitting time of the laser beam corresponding to the echo.
In some embodiments, the ranging signal detected in step S35 may include a ranging signal detected in a modified echo obtained by data processing of echoes received by the laser radar, the ranging signal is not detected before modification in the echoes, and laser beams corresponding to the echoes are within a preset scanning angle range, and calculating the distance between the laser radar and the obstacle according to a time interval between a reception time of the detected ranging signal and a transmission time of the laser beam corresponding to the ranging signal in step S37 may include: and calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the transmitting time of any laser beam in the laser beams and the receiving time of the echo corresponding to the laser beam. Specifically, the lidar is adapted to detect whether a ranging signal exists in each echo received by the lidar in real time, and the ranging method of the lidar may include calculating a distance between an obstacle detected by the ranging signal and the lidar according to a time interval between a receiving time of the echo measured by the lidar this time (i.e., a current time) and a transmitting time of the laser beam measured this time.
Specifically, the calculating the distance between the lidar and the obstacle according to the time interval between the receiving time of the detected ranging signal and the transmitting time of the laser beam corresponding to the ranging signal in step S37 may include: calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the receiving time of the first echo and the transmitting time of the first laser beam, or calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the receiving time of the second echo and the transmitting time of the second laser beam, or calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the third transmitting time and the third receiving time, wherein the third emission timing is any timing between the emission timing of the first laser beam and the emission timing of the second laser beam, the third reception time is any time between the reception time of the first echo and the reception time of the second echo. It should be noted that, when the emitting time of the first laser beam and the emitting time of the second laser beam are very close to each other, and/or the receiving time of the first echo and the receiving time of the second echo are very close to each other, the distance between the obstacle detected by the ranging signal and the laser radar may be approximately calculated by using any one of the three methods.
As described above, the second laser beam may be located before the first laser beam in emission timing, and specifically, the second laser beam may be located immediately adjacent to the first laser beam in emission timing or may be spaced from the first laser beam by several laser beams. For example, the lidar may detect whether a ranging signal exists in each echo received by the lidar in real time, the first echo may be an echo received by the lidar in the current measurement (i.e., at the current time), the second echo may be an echo received by the lidar in a measurement before the current measurement (i.e., at a previous time), and the ranging method may include calculating a distance between an obstacle detected by the ranging signal and the lidar according to a time interval between the time of receiving the first echo and the time of transmitting the first laser beam.
The embodiment of the invention also provides the laser radar. Referring to fig. 8, fig. 8 is a block diagram of a lidar 100 according to an embodiment of the present invention.
In some embodiments, the lidar 100 may include: a transmitting module 101, said transmitting module 101 being adapted to transmit a plurality of laser beams; a scanning module 102, wherein the scanning module 102 is adapted to change the emitting directions of the plurality of laser beams; a detection module 103, said detection module 103 adapted to receive a plurality of echoes formed by the reflection of a plurality of laser beams emitted by said lidar from obstacles in said target space; the processing module 104 is adapted to process the echoes received by the detection module 103 by using the echo processing method of the laser radar of the foregoing embodiment of the present invention, so as to detect a ranging signal; and calculating the distance between the laser radar and the obstacle according to the time interval between the receiving time of the detected ranging signal and the transmitting time of the laser beam corresponding to the ranging signal.
In some embodiments, the lidar 100 may further include a control module 105, wherein the control module 105 is adapted to control the transmitting module 101 to transmit a plurality of laser beams, control the scanning module 102 to change the emitting directions of the plurality of laser beams, control the detecting module 103 to receive a plurality of echoes, and/or control the processing module 104 to perform corresponding data processing.
In some embodiments, the processing module 104 may be integrated into the detection module 103 or provided separately from the detection module 103. The control module 105 may be integrated into the processing module 104 or provided separately from the processing module 104.
Similarly to the ranging method of the laser radar of the embodiment shown in fig. 7, the ranging signal detected by the processing module 104 may include a ranging signal detected in an echo received by the detection module 103, and the processing module 104 is adapted to calculate a distance between an obstacle detected by the ranging signal and the laser radar according to a time interval between a receiving time of the echo and a transmitting time of a laser beam corresponding to the echo.
In some embodiments, the ranging signal detected by the processing module 104 may also include a ranging signal detected in a modified echo, where the modified echo may be obtained by the processing module 104 performing data processing on a plurality of echoes received by the laser radar, where no ranging signal is detected in the plurality of echoes, and a plurality of laser beams corresponding to the plurality of echoes are located within a preset scanning angle range, and then the processing module 104 is further adapted to calculate a distance between an obstacle detected by the ranging signal and the laser radar according to a time interval between a transmission time of any one of the plurality of laser beams and a reception time of an echo corresponding to the any one of the plurality of laser beams.
Specifically, the corrected echo may be obtained by the processing module 104 by averaging a first echo received by the detection module 103 and a second echo received by the detection module 103 after superimposing the first echo and the second echo, where the first echo corresponds to a first laser beam emitted by the lidar, the second echo corresponds to a second laser beam emitted by the lidar, and the second laser beam is a laser beam with a smallest angle deviation from the first laser beam among the laser beams emitted by the emission module 101, and the processing module 104 is further adapted to calculate a distance between an obstacle detected by the ranging signal and the lidar according to a time interval between a receiving time of the first echo and a transmitting time of the first laser beam, or calculate a distance between a receiving time of the second echo and a transmitting time of the second laser beam, and calculating the distance between the obstacle detected by the ranging signal and the laser radar, or calculating the distance between the obstacle detected by the ranging signal and the laser radar according to a time interval between a third transmitting time and a third receiving time, wherein the third transmitting time is any time between the transmitting time of the first laser beam and the transmitting time of the second laser beam, and the third receiving time is any time between the receiving time of the first echo and the receiving time of the second echo. It should be noted that, when the difference between the time when the transmitting module 101 transmits the first laser beam and the time when the transmitting module 101 transmits the second laser beam is not large, and/or the difference between the time when the detecting module 103 receives the first echo and the time when the detecting module 103 receives the second echo is not large, the distance between the obstacle detected by the ranging signal and the laser radar may be approximately calculated by using any one of the three methods.
As described above, the second laser beam may be located before the first laser beam in emission timing, and specifically, the second laser beam may be located immediately adjacent to the first laser beam in emission timing or may be spaced from the first laser beam by several laser beams. For example, the processing module 104 may detect in real time whether a ranging signal exists in each echo received by the detection module 103, the first echo may be an echo received by the lidar in the current measurement (i.e. at the current time), the second echo may be an echo received by the lidar in a measurement before the current measurement (i.e. at a previous time), and the processing module 104 is further adapted to calculate a distance between an obstacle detected by the ranging signal and the lidar according to a time interval between a receiving time of the first echo and a transmitting time of the first laser beam.
In some embodiments, the emitting module 101 may comprise a light source. The light source may be a point light source adapted to emit a laser beam, and the scanning module 102 may include a two-dimensional galvanometer adapted to vary a scanning direction of the laser beam along a horizontal direction and a vertical direction of the target space; alternatively, the light source may include a plurality of lasers arranged in an array, the array laser may be adapted to emit a plurality of laser beams according to a preset time sequence, and the scanning module 102 may include a one-dimensional galvanometer adapted to change a scanning direction of the plurality of laser beams along a horizontal direction of the target space. In some embodiments, the laser beam emitted by the light source may be a pulsed laser.
In some embodiments, the lidar 100 may be a mechanical rotary lidar further comprising: the rotor is internally separated into a transmitting cavity and a receiving cavity; the emitting module 101 is arranged in the emitting cavity, and the emitting module 101 comprises an array laser which is suitable for emitting a plurality of laser beams according to a preset time sequence; the detection module 103 is disposed within the receiving cavity. The rotor is adapted to change the exit direction of the plurality of laser beams by rotation.
An embodiment of the present invention further provides a vehicle, including: a vehicle body, and a lidar of the foregoing embodiments of the invention.
In some embodiments, the lidar may be mounted to the vehicle body and adapted to detect information about objects surrounding the vehicle body. In particular, the lidar may be mounted on the roof of the vehicle. The information of the object around the vehicle body may include information of a distance, a speed, or an orientation of an obstacle around the vehicle body.
In summary, with the echo processing method of the laser radar according to the embodiment of the present invention, when the laser radar detects that no ranging signal exists in echoes of a plurality of laser beams emitted by the laser radar within a preset scanning angle range, the echoes of the plurality of laser beams are subjected to data processing to obtain modified echoes, the first threshold is modified according to the number of the data-processed echoes, and then whether a ranging signal exists in the modified echoes is detected according to the modified first threshold, so that a probability that the laser radar detects a ranging signal is increased, and a ranging capability of the laser radar is further improved.
Further, the preset scan angle range includes two scan angles having an angular deviation within a preset range in a horizontal direction or a vertical direction of the target space, and the echo processing method includes: detecting whether a ranging signal exists in a first echo received by the laser radar according to the first threshold, wherein the first echo corresponds to a first laser beam emitted by the laser radar; if the first echo is detected to be free of ranging signals, detecting whether ranging signals exist in second echoes received by the laser radar or not, wherein the second echoes correspond to second laser beams emitted by the laser radar, and the second laser beams are laser beams with minimum angle deviation with the first laser beams among a plurality of laser beams emitted by the laser radar; if the second echo is detected to have no ranging signal, the first echo and the second echo are superposed and then averaged to obtain a corrected echo; and dividing the first threshold by
And as the corrected first threshold, detecting whether the distance measuring signal exists in the corrected echo according to the corrected first threshold. The method is characterized in that echo signals of two times of measurement with minimum angular deviation are subjected to superposition processing, and new threshold detection is adoptedThe ranging signal improves the signal-to-noise ratio, increases the probability that the laser radar detects the obstacle and improves the ranging capability of the laser radar; on the other hand, the data size of the system is prevented from being greatly increased, and the complexity of calculation is reduced.
The ranging method of the laser radar in the embodiment of the invention comprises the step of processing the echoes of a plurality of laser beams received by the laser radar by adopting the echo processing method of the laser radar in the embodiment of the invention to detect ranging signals, so that the signal to noise ratio can be improved, the probability of the laser radar detecting obstacles can be increased, and the ranging capability of the laser radar can be improved.
The processing module of the laser radar provided by the embodiment of the invention is suitable for processing a plurality of echoes received by the detection module by adopting the echo processing method of the laser radar provided by the embodiment of the invention to detect ranging signals, so that the signal-to-noise ratio can be improved, the probability of the laser radar detecting obstacles is increased, and the ranging capability of the laser radar is improved.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (13)
1. A method of echo processing for a lidar, wherein the lidar is adapted to: emitting a plurality of laser beams to a target space, the plurality of laser beams having the same or different emitting directions; and receiving a plurality of echoes corresponding to the plurality of laser beams; the echo processing method comprises the following steps:
detecting whether a ranging signal exists in an echo received by the laser radar or not according to a first threshold value;
if the distance measuring signals do not exist in the echoes and the laser beams corresponding to the echoes are located in a preset scanning angle range, performing data processing on the echoes to obtain corrected echoes; and
correcting the first threshold according to the number of the echoes subjected to data processing, and detecting whether a ranging signal exists in the corrected echoes according to the corrected first threshold;
wherein, the fact that the plurality of laser beams corresponding to the plurality of echoes are located in a preset scanning angle range means that: the angular deviation of a plurality of laser beams corresponding to a plurality of echoes in a target space is within a preset range; the data processing of the plurality of echoes comprises: superposing the echoes and averaging; the correcting the first threshold according to the number of echoes subjected to data processing includes: dividing the first threshold by the square root of the number of echoes subjected to superposition processing.
2. An echo processing method according to claim 1, wherein said laser beam is a pulsed laser, and wherein detecting the presence or absence of a ranging signal in an echo received by said lidar based on said first threshold comprises:
detecting whether a pulse signal with amplitude larger than the first threshold exists in the echo;
if the echo exists, judging that a ranging signal exists in the echo, and determining a pulse signal with amplitude larger than the first threshold value in the echo as the ranging signal; and if the echo signal does not exist, judging that the ranging signal does not exist in the echo.
3. The echo processing method of claim 1, wherein the laser beam is a pulsed laser, and detecting whether a ranging signal is present in the modified echo based on the modified first threshold value comprises:
detecting whether a pulse signal with amplitude larger than the corrected first threshold exists in the corrected echo;
if the echo exists, judging that a ranging signal exists in the corrected echo, and determining a pulse signal of which the amplitude is larger than a corrected first threshold value in the corrected echo as the ranging signal; and if the echo signal does not exist, judging that the ranging signal does not exist in the corrected echo.
4. An echo processing method according to claim 1, wherein said preset scan angle range includes a number of scan angles whose angular offsets in a horizontal direction or a vertical direction of said target space are within a preset range.
5. An echo processing method according to claim 4, wherein the preset scan angle range includes two scan angles whose angular offsets in a horizontal direction or a vertical direction of the target space are within a preset range, the echo processing method including:
detecting whether a ranging signal exists in a first echo received by the laser radar according to the first threshold, wherein the first echo corresponds to a first laser beam emitted by the laser radar;
if the first echo is detected to have no ranging signal, detecting whether a ranging signal exists in a second echo received by the laser radar, wherein the second echo corresponds to a second laser beam emitted by the laser radar, and the angle deviation between the second laser beam and the first laser beam is within the preset range;
if the second echo is detected to have no ranging signal, the first echo and the second echo are superposed and then averaged to obtain a corrected echo; and
dividing the first threshold by
And as the corrected first threshold, detecting whether the distance measuring signal exists in the corrected echo according to the corrected first threshold.
6. An echo processing method according to claim 5, further comprising:
if a ranging signal exists in the first echo according to the first threshold, the receiving time of the ranging signal is the receiving time of the first echo; or
If a ranging signal is detected to exist in the corrected echo according to the corrected first threshold, the receiving time of the ranging signal is the receiving time of the first echo, the receiving time of the second echo, or any time between the receiving time of the first echo and the receiving time of the second echo.
7. An echo processing method according to claim 1, wherein the first threshold value is determined based on ambient light noise and electronics system noise.
8. A ranging method of a laser radar, comprising:
emitting a plurality of laser beams to a target space at a predetermined frequency, the plurality of laser beams having the same or different emission directions;
receiving a plurality of echoes formed by obstacles in the target space reflecting a plurality of laser beams emitted by the lidar;
processing a plurality of echoes received by the laser radar by using the echo processing method of the laser radar according to any one of claims 1 to 7 to detect ranging signals; and
and calculating the distance between the laser radar and the obstacle according to the time interval between the receiving time of the detected ranging signal and the transmitting time of the laser beam corresponding to the ranging signal.
9. The ranging method of claim 8, wherein the ranging signal comprises a ranging signal detected in an echo received by the lidar, and wherein calculating the distance between the lidar and the obstacle based on a time interval between a time of reception of the detected ranging signal and a time of transmission of a laser beam corresponding to the ranging signal comprises:
and calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the receiving time of the echo and the transmitting time of the laser beam corresponding to the echo.
10. The ranging method according to claim 8, wherein the ranging signal comprises a ranging signal detected in the modified echo obtained by averaging a first echo received by the lidar and a second echo received by the lidar after superimposing the first echo corresponding to a first laser beam emitted by the lidar and the second echo corresponding to a second laser beam emitted by the lidar, and an angular offset of the first laser beam and the second laser beam is within a preset range.
11. The method of claim 10, wherein the lidar is adapted to detect in real time whether a ranging signal is present in each echo received by the lidar, the first echo is an echo received by the lidar at a current measurement, and the second echo is an echo received by the lidar at a measurement before the current measurement;
when a ranging signal is detected to exist in the corrected echo, the ranging method further comprises the following steps: and calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the receiving time of the first echo and the transmitting time of the first laser beam.
12. A ranging method according to claim 10, wherein the preset range is twice the angular resolution of the lidar, and wherein calculating the distance between the lidar and the obstacle based on the time interval between the reception time of the detected ranging signal and the transmission time of the laser beam corresponding to the ranging signal comprises:
and calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the receiving time of the first echo and the transmitting time of the first laser beam, or calculating the distance between the obstacle detected by the ranging signal and the laser radar according to the time interval between the receiving time of the second echo and the transmitting time of the second laser beam.
13. A lidar, comprising:
the device comprises an emitting module, a receiving module and a control module, wherein the emitting module is suitable for emitting a plurality of laser beams to a target space, and the laser beams have the same or different emitting directions;
a scanning module adapted to change an exit direction of the plurality of laser beams;
a detection module adapted to receive a plurality of echoes formed by obstacles in the target space reflecting a plurality of laser beams emitted by the lidar; and
a processing module adapted to:
processing a plurality of echoes received by the detection module by using the echo processing method of the laser radar according to any one of claims 1 to 7 to detect ranging signals; and
and calculating the distance between the laser radar and the obstacle according to the time interval between the receiving time of the detected ranging signal and the transmitting time of the laser beam corresponding to the ranging signal.
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