CN110703223B - Adjusting method applied to laser radar and electronic equipment - Google Patents
Adjusting method applied to laser radar and electronic equipment Download PDFInfo
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- CN110703223B CN110703223B CN201911103618.XA CN201911103618A CN110703223B CN 110703223 B CN110703223 B CN 110703223B CN 201911103618 A CN201911103618 A CN 201911103618A CN 110703223 B CN110703223 B CN 110703223B
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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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
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
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Abstract
The embodiment of the invention discloses a regulating method applied to a laser radar and electronic equipment. One embodiment of the method comprises the following steps: determining whether to adjust the resolution of the laser radar based on a preset triggering condition; determining a current resolution value and a target resolution value in response to determining to adjust the resolution of the lidar; according to the current resolution value and the target resolution value, the laser emission parameters of the laser radar are adjusted so that the resolution of the laser radar is the target resolution value, and therefore a new laser radar can be provided.
Description
Technical Field
The application relates to the technical field of laser detection, in particular to an adjusting method and electronic equipment applied to a laser radar.
Background
This section provides background information related to the present application, which does not necessarily constitute prior art.
In the automatic driving technology, an environment sensing system is a basic and crucial ring, is a guarantee of safety and intelligence of an automatic driving automobile, and has incomparable advantages in the aspects of reliability, detection range, ranging accuracy and the like. The laser radar analyzes the turn-back time of the laser when encountering the target object by transmitting and receiving the laser beam, and calculates the relative distance between the target object and the vehicle.
Existing lidars generally employ fixed parameters to detect and scan a space.
Disclosure of Invention
The embodiment of the disclosure provides an adjusting method and electronic equipment applied to a laser radar.
In a first aspect, an embodiment of the present disclosure provides an adjustment method applied to a lidar, including: determining whether to adjust the resolution of the laser radar based on a preset triggering condition; determining a current resolution value and a target resolution value in response to determining to adjust the resolution of the lidar; and adjusting the laser emission parameters of the laser radar according to the current resolution value and the target resolution value so as to enable the resolution of the laser radar to be the target resolution value.
In some embodiments, the laser emission parameters include the number of parallel light emission channels; and adjusting the laser emission parameters of the laser radar according to the current resolution value and the target resolution value, including: responsive to determining that the target resolution value is less than the current resolution value, increasing a number of parallel light emitting channels of the lidar; and reducing the number of parallel light emitting channels of the laser radar in response to determining that the target resolution value is greater than the current resolution value.
In some embodiments, adjusting the laser emission parameter of the laser radar according to the current resolution value and the target resolution value includes: determining the difference value between the number of the parallel light-emitting channels and the reduced number of the parallel light-emitting channels; and closing the differential number of receiving channels.
In some embodiments, the laser emission parameters include the number of enabled vertical emission channels; and adjusting the laser emission parameters of the laser radar according to the current resolution value and the target resolution value, including: in response to determining that the target resolution value is less than the current resolution value, reducing a number of enabled vertical direction emission channels; in response to determining that the target resolution value is greater than the current resolution value, increasing the number of enabled vertically-oriented emission channels.
In some embodiments, the laser emission parameters include an initial firing angle; and adjusting the laser emission parameters of the laser radar according to the current resolution value and the target resolution value, including: determining a second initial trigger angle according to a first initial trigger angle in the previous rotation process of the laser radar, wherein the first initial trigger angle corresponds to a first data frame; scanning according to the second initial trigger angle to obtain a second data frame; and generating a target data frame corresponding to the target resolution value according to the first data frame and the second data frame.
In some embodiments, the determining whether to adjust the resolution of the lidar based on the preset trigger condition includes: dividing a scanning area of the laser radar into at least two scanning subareas, wherein the scanning subareas correspond to the resolution value; in response to determining that the scan sub-region at which the trigger angle is located is changed, an adjustment resolution is determined.
In some embodiments, the dividing the scanning area of the laser radar into at least two scanning sub-areas includes: dividing a scanning area of the laser radar into at least two scanning subareas according to the running direction of a vehicle, wherein the laser radar is arranged on the vehicle.
In some embodiments, the channel activation duration of the light emitting channel of the laser radar is adjusted according to the operation environment information of the laser radar.
In a second aspect, embodiments of the present disclosure provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the adjustment method applied to lidar as described in the first aspect.
According to the adjusting method and the electronic device applied to the laser radar, whether the resolution of the laser radar is adjusted is determined based on the preset triggering condition, if the resolution is required to be adjusted, the laser emission parameters of the laser radar are adjusted according to the current resolution value and the target resolution value, and therefore the technical effects can include: a new lidar is provided.
Drawings
The foregoing and additional features and characteristics of the present application will be better understood from the following detailed description, taken in conjunction with the accompanying drawings, which are merely examples and are not necessarily drawn to scale. Like reference numerals are used to designate like parts throughout the accompanying drawings, in which:
FIG. 1 is a flow chart of one embodiment of a regulation method applied to a lidar according to the present disclosure;
FIG. 2 is a flow chart of yet another embodiment of a regulation method applied to lidar according to the present disclosure;
FIG. 3 is a schematic illustration of one manner of determining a scanning sub-region according to the present disclosure;
FIG. 4 is a schematic illustration of another manner of determining a scanning sub-region according to the present disclosure;
fig. 5 is a flow chart of yet another embodiment of an adjustment method applied to lidar according to the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
Referring to fig. 1, a flow of one embodiment of a regulation method applied to a lidar according to the present disclosure is shown. The adjusting method applied to the laser radar as shown in fig. 1 comprises the following steps:
In this embodiment, the execution body of the adjustment method provided in this embodiment may determine whether to adjust the resolution of the lidar based on a preset trigger condition. Here, the execution body may be an electronic device having a communication connection with the laser radar, for example, a controller of the laser radar itself, a control terminal of the laser radar, or an unmanned vehicle.
In this embodiment, the trigger condition may be used to determine whether to trigger adjustment of the resolution of the lidar. The trigger condition may be set according to the actual application scenario, which is not limited herein.
As an example, the trigger condition may include, but is not limited to, at least one of: the current time point is a preset trigger time point, the current trigger angle is a preset trigger angle, and the current detection environment is a predefined detection environment. The triggering angle refers to an angle at which the laser starts to emit light according to time sequence.
In the present embodiment, the resolution of the lidar may include, but is not limited to, at least one of: horizontal resolution and vertical resolution.
The resolution in the following description of the present application may be referred to as horizontal resolution unless otherwise specified. It will be appreciated that the method of vertical resolution may be adaptively implemented with reference to the horizontal resolution, and will not be described in detail herein.
In response to determining to adjust the resolution of the lidar, a current resolution value and a target resolution are determined, step 102.
In this embodiment, the execution body of the adjustment method provided in this embodiment may determine the current resolution value and the target resolution value in response to determining to adjust the resolution of the lidar.
In the present embodiment, the values of the current resolution value and the target resolution value are not limited; the number of the two is not limited.
For example, the current resolution value may be 0.1 degrees and the target resolution value may be 0.2 degrees.
For another example, the current resolution value may be 0.2 degrees and the target resolution value may be 0.1 degrees.
And step 103, adjusting the laser emission parameters of the laser radar according to the current resolution value and the target resolution value so as to enable the resolution of the laser radar to be the target resolution value.
In this embodiment, the execution body of the adjustment method provided in this embodiment may adjust the laser emission parameter of the laser radar according to the current resolution value and the target resolution value, so that the resolution of the laser radar is the target resolution value.
In this embodiment, the laser emission parameters may be some parameters of the laser emission end. Specific parameter items that the laser emission parameters may include are not limited. The specific laser emission parameter terms involved in the adjustment are not limited either.
As an example, the current resolution may be 0.2 degrees, the target resolution may be 0.1 degrees, and the lasing parameters of the lidar may be adjusted so that the resolution of the lidar is 0.1 degrees.
Here, the application scenario of the above adjustment method may be briefly described as follows: the triggering condition may be a change in the operating environment of the lidar, for example, a vehicle in which the lidar is located from a highway with fewer obstacles to a city street with more obstacles; the execution main body can judge whether the current condition of the laser radar meets the triggering condition, and if so, the resolution of the laser radar is determined to be adjusted; the executing entity may adjust the resolution of the lidar in response to determining, but the current resolution value and the target resolution value, e.g., the current resolution may be 0.2 degrees and the target resolution may be 0.1 degrees; finally, the execution body may adjust the laser emission parameters of the laser radar according to the current resolution value (e.g., 0.2 degrees) and the target resolution value (e.g., 0.1 degrees), so that the resolution of the laser radar is the target resolution value (e.g., 0.1 degrees).
It should be noted that, according to the adjusting method applied to the laser radar provided in the embodiment, whether to adjust the resolution of the laser radar is determined based on a preset triggering condition, if adjustment is required, the laser emission parameters of the laser radar are adjusted according to the current resolution value and the target resolution value, so that the technical effects may include:
first, a new lidar is provided. The prior laser radar has the problem that the general resolution is not adjustable. The laser radar provided by the application can change resolution.
Secondly, changing the resolution of the laser radar by adopting a technical means of adjusting laser emission parameters; since the laser emission parameters can be controlled and changed in real time by the main body, the resolution can be adjusted in real time in the operation process of the laser radar. Therefore, the adjusting method provided by the application can adjust the resolution in real time in the operation process of the laser radar.
In some embodiments, the laser emission parameters may include, but are not limited to, at least one of: the number of parallel light-emitting channels, the number of vertical light-emitting channels and the initial trigger angle.
In some embodiments, the laser emission parameters may include the number of parallel light emitting channels.
As an example, a 128-wire lidar may support simultaneous illumination of 8 lasers, it will be appreciated that since 8 lasers may be supported simultaneously, a number of lasers less than 8 may also be supported in parallel; the number of laser emission channels (e.g., 1, 4, 8) that the lidar emits light in parallel may be referred to as the number of parallel emission channels.
As an example, the 128-line laser radar can support 8-path lasers to emit light simultaneously, and correspondingly, can also support 8-path laser receiving channels to receive returned laser in parallel.
In some embodiments, the adjusting the laser emission parameter of the laser radar according to the current resolution value and the target resolution value may include: reducing the number of parallel light emitting channels of the laser radar in response to determining that the target resolution is less than the current resolution; and reducing the number of parallel light emitting channels of the laser radar in response to determining that the target resolution value is greater than the current resolution value.
In general, the lidar may set a number of laser activations, which may be the number of lasers used by the lidar during scanning. The number of laser activations may be equal to or less than the number of lasers installed by the recording radar. The lasers enable a number of lasers and need to be fully illuminated in one scan period.
It will be appreciated that the ratio between the number of laser enabled and the number of parallel light emitting channels of the lidar is positively correlated with the duration of the lidar scanning period.
Here, in the case where the number of laser enabled laser radars is unchanged, the number of parallel light emitting channels of the laser radars becomes large, and the duration of the scanning period of the laser radars becomes small; the number of parallel light-emitting channels of the laser radar becomes small, and the duration of the scanning period of the laser radar becomes large.
Here, the duration of the scanning period is positively correlated with the angle through which the lidar is rotated, with the rotational speed of the lidar unchanged. The longer the scanning period is, the larger the angle rotated in one scanning period is; the smaller the duration of the scan period, the smaller the angle rotated in one scan period.
Here, the angle rotated by the laser radar in one scanning period is positively correlated with the resolution of the laser radar; the larger the angle rotated in one scanning period, the larger the resolution value; the smaller the angle rotated in one scan period, the smaller the resolution value.
Thereby, the resolution value can be reduced by increasing the number of parallel light emitting channels; the resolution value can be increased by reducing the number of parallel light emitting channels.
In some embodiments, the adjusting the laser emission parameter of the laser radar according to the current resolution value and the target resolution value may include: reducing the number of parallel light emitting channels of the lidar in response to determining that the target resolution value is greater than the current resolution value; determining the difference value between the number of the parallel light-emitting channels and the reduced number of the parallel light-emitting channels; and closing the differential number of receiving channels.
When the resolution value becomes larger, the number of the receiving channels with the difference value is closed, so that the power consumption of the laser radar can be reduced.
Examples are as follows: in order to support 0.1 degree angle resolution, the radar laser emitting module needs to support multi-path laser parallel simultaneous light emission (for example, 128-line radar needs to support at least 8 paths of laser simultaneous light emission), then the receiving loop also needs to support multi-path parallel operation (for example, 128-line radar needs to support at least 8 paths of receiving loops of parallel operation), when the radar laser emitting module is switched to 0.2 degree horizontal angle resolution, a receiving ADC sampling channel is closed by half, then a signal is switched to the sampling channel of the other receiving ACD by an analog switch, for example, the 8 paths of laser emitting and receiving circuits are all fully functional parallel operation when the radar is set to 0.1 degree angle resolution, when the radar is switched to 0.2 degree angle resolution, the 4 paths of receiving ADC are closed on the circuit to reduce power consumption, the controller can adjust light emission time sequence, the laser emitting circuits 1-4 are firstly parallel operated in one sampling period, then the laser emitting circuits 5-8 are continuously kept in a closed state, and the sampling signal is switched to the receiving ADC channels 1-4 in parallel operation by the analog switch, so that the low-level angle resolution dynamic state can be realized, and the dynamic state can be quickly adjusted in a dynamic state when the radar is switched to 0.2 degree angle resolution. In some embodiments, the laser firing parameters may include the number of enabled vertical firing channels.
Here, the number of enabled vertical direction emission channels may be the number of vertical direction emission channels. In one scanning period, the emission channel in the vertical direction may be divided into a plurality of emission phases to emit light.
It can be appreciated that the number of transmit channels in the vertical direction, generally following the hardware design, is constant; and the number of the enabled vertical direction emission channels can be adjusted.
In some embodiments, the adjusting the laser emission parameter of the laser radar according to the current resolution value and the target resolution value may include: in response to determining that the target resolution value is less than the current resolution value, reducing the number of enabled vertical-direction light-emitting channels; in response to determining that the target resolution value is greater than the current resolution value, increasing the number of enabled vertical-direction light-emitting channels.
As an example, if the current resolution value is 0.2 and the target resolution value is 0.1, then the number of enabled vertical light emitting channels is reduced; the current resolution value is 0.1, the target resolution value is 0.2, and the number of enabled vertical-direction light-emitting channels is increased.
Here, decreasing the number of enabled vertical light emitting channels may decrease the duration of a scan period, the smaller the angle rotated within one scan period. Thereby, a smaller resolution value can be adjusted.
In some embodiments, the laser firing parameters may include an initial firing angle.
Here, the initial trigger angle may refer to an initial detection angle of a rotation period during rotation of the lidar.
In some embodiments, the step 103 may include: determining a second initial trigger angle according to a first initial trigger angle in the previous rotation process of the laser radar, wherein the first trigger angle corresponds to a first data frame; and scanning according to the second initial trigger angle to obtain a second data frame, and generating a target data frame corresponding to the target resolution value according to the first data frame and the second data frame.
As an example, the target resolution value is 0.2 degrees and the current resolution value is 0.1 degrees. The initial triggering angle in the rotation process of the nth turn is 0 degree (the 0 th degree position of the laser radar can be preset), and the triggering angles of the laser radar are 0 degree, 0.2 degree and 0.4 degree … … in sequence in the rotation process of the (n+1) th turn; scanning at 0, 0.2, and 0.4 degrees … … may result in a first data frame. The initial triggering angle of the laser radar in the rotation process of the (n+1) th turn is 0.1 degree (the 0 th degree position of the laser radar is unchanged relative to the (N) th turn), and the triggering angles of the laser radar in the rotation process of the (n+1) th turn are 0.1 degree, 0.3 degree and 0.5 degree … … in sequence; scanning at 0.1 degrees, 0.3 degrees, 0.5 degrees … … may result in a second data frame. The first data frame and the second data frame are spliced to generate a target data frame with resolution of 0.1 degree.
With continued reference to fig. 2, a flow of one embodiment of a regulation method applied to lidar according to the present disclosure is shown. The adjusting method applied to the laser radar as shown in fig. 2 comprises the following steps:
Here, the scanning sub-region corresponds to a resolution value.
As an example, referring to fig. 3, a 360-degree region of a transverse plane (perpendicular to the central axis) may be divided into two transverse sub-regions, for example, a first transverse sub-region is a region shown by an included angle α (for example, may be 120 degrees), and a second transverse sub-region is a region shown by an included angle β (for example, may be 240 degrees); then, the first transverse sub-region may be longitudinally extended in the direction of the central axis, to obtain a first scanning sub-region; and longitudinally extending the second transverse subarea in the direction of the central axis to obtain a second scanning subarea.
In some embodiments, the step 201 may include dividing the scanning area of the lidar into at least two scanning sub-areas according to a driving direction of the vehicle. Here, the lidar is mounted on the vehicle.
As an example, referring to fig. 4, an arrow labeled "traveling direction" shown in fig. 4 may indicate a traveling direction of a vehicle, and the traveling direction of the vehicle may be taken as an angular bisector of a corresponding included angle of the first scanning sub-region, thereby determining a range (e.g., a range corresponding to α) of the first scanning sub-region, and then determining a region other than the first scanning sub-region as a second scanning sub-region (e.g., a range corresponding to β).
It should be noted that, the scanning area is divided according to the running direction of the vehicle, so that the laser radar can realize switching of different resolutions in different running directions of the vehicle, thereby reducing the power consumption of the laser radar while ensuring that accurate reference data is provided for the vehicle.
In step 202, in response to determining that the scan sub-region at which the trigger angle is located is changed, an adjustment resolution is determined.
In other words, the switching resolution is determined if the scanning sub-area of the lidar changes.
In response to determining to adjust the resolution of the lidar, a current resolution value and a target resolution value are determined 203.
Here, the current resolution value and the target resolution value may be resolution values corresponding to different scan sub-regions.
As an example, if the trigger angle of the lidar is converted from the first scanning sub-region to the second scanning sub-region, it is determined that the current resolution value is a resolution value corresponding to the first scanning sub-region, and the target resolution value may be a resolution value corresponding to the second scanning sub-region. For example, the resolution value corresponding to the first scanning sub-region is 0.1 degree, and the resolution value corresponding to the second scanning sub-region is 0.2 degree; the current resolution value is 0.1 degrees and the target resolution value is 0.2 degrees.
And 204, adjusting the laser emission parameters of the laser radar according to the current resolution value and the target resolution value so as to enable the resolution of the laser radar to be the target resolution value.
It should be noted that, according to the adjustment method provided in this embodiment, the resolution may be switched in one rotation period of the laser radar, so that scanning with different resolutions may be implemented for different scanning areas of the laser radar. In other words, in a scanning area with low resolution requirement, a larger resolution value can be adopted for scanning, so that resources are saved, and the power consumption of the laser radar is reduced.
With continued reference to fig. 5, a flow of one embodiment of a regulation method applied to lidar according to the present disclosure is shown. The adjusting method applied to the laser radar as shown in fig. 5 comprises the following steps:
In response to determining to adjust the resolution of the lidar, a current resolution value and a target resolution are determined, step 502.
It should be noted that, the implementation details and technical effects of step 501, step 502 and step 503 may refer to the descriptions of step 101, step 102 and step 103, which are not described herein.
Here, the operation environment information of the lidar may be indicated by a predefined environmental parameter item. The specific content of the environmental parameter item is not limited herein.
As an example, the environmental parameter items may include, but are not limited to, at least one of: obstacle density in the environment, traffic indication information, etc.
Here, one scan period may be divided into a plurality of light emitting phases, and light emitting channels enabled by different light emitting phases are different.
In the prior art, the channel enabling duration is generally fixed and unchanged.
In this embodiment, the channel enabling duration of the light emitting channel may be adjusted according to the operating environment, and the adjustment may be performed by the radar control terminal through software or hardware adjustment.
As an example, the operation environment information indicates that the operation environment is a relatively clear expressway, and the channel activation time length of the light-emitting channel whose emission direction is horizontal may be increased, and the channel real time length of the light-emitting channel whose emission direction is large (vertical direction) is decreased, whereby a farther detection distance may be obtained.
As an example, the running environment information indicates that the running environment is an urban road with dense obstacles, the channel starting time of the light-emitting channel with the horizontal emission direction can be reduced, and the real time of the light-emitting channel with the large angle emission (in the vertical direction) can be prolonged, so that a larger field of view and more road condition information can be obtained.
In the application, the channel starting time length can be adjusted according to the running environment, and in general, the light-emitting channels in different stages can detect spaces in different vertical directions, so that the channel starting time length can be flexibly changed, different detection time lengths can be set for different vertical directions, and further, the detection accuracy can be improved.
It should be noted that, according to the adjustment method provided in this embodiment, an adjustment manner for multiple parameters applied to the laser radar may be provided, so that flexibility of use of the laser radar may be improved.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.
Claims (9)
1. An adjustment method applied to a lidar, comprising:
determining whether to adjust the angular resolution of the lidar based on a preset trigger condition;
determining a current angular resolution value and a target angular resolution value in response to determining to adjust the angular resolution of the lidar;
adjusting a laser emission parameter of the laser radar according to the current angle resolution value and the target angle resolution value so that the current angle resolution of the laser radar is the target angle resolution value, wherein the adjusting the laser emission parameter comprises at least one of increasing or decreasing the number of parallel light emitting channels, increasing or decreasing the number of enabled vertical direction emission channels and changing an initial trigger angle on the premise of not changing an angle trigger interval; the number of the transmitting channels of the laser radar is at least two; the number of the parallel light-emitting channels is at least two;
the number of the channels emitting light in parallel is the number of lasers emitting light simultaneously; the number of the enabled vertical direction emission channels is the number of lasers used by the laser radar in the scanning process, and the number of lasers used by the laser radar in the scanning process is smaller than or equal to the number of lasers installed by the laser radar; the initial triggering angle is an initial detection angle of a rotation period in the rotation process of the laser radar;
the increasing or decreasing the number of enabled vertical direction firing channels includes: in response to determining that the target angular resolution value is less than the current angular resolution value, reducing a number of enabled vertical-direction emission channels; in response to determining that the target angular resolution value is greater than the current angular resolution value, increasing a number of enabled vertical-direction emission channels.
2. The adjustment method of claim 1, the laser emission parameter comprising a number of parallel light emitting channels; and
the adjusting the laser emission parameters of the laser radar according to the current angle resolution value and the target angle resolution value comprises the following steps:
responsive to determining that the target angular resolution value is less than the current angular resolution value, increasing a number of parallel light emitting channels of the lidar;
and in response to determining that the target angular resolution value is greater than the current angular resolution value, reducing a number of parallel light emitting channels of the lidar.
3. The adjustment method according to claim 2, the adjusting the laser emission parameter of the laser radar according to the current angular resolution value and the target angular resolution value, comprising:
determining the difference value between the number of parallel light-emitting channels and the reduced number of parallel light-emitting channels;
and closing the differential number of receiving channels.
4. The adjustment method of claim 1, the laser emission parameter comprising an initial trigger angle; and
the adjusting the laser emission parameters of the laser radar according to the current angle resolution value and the target angle resolution value comprises the following steps:
in response to determining that the target angle resolution value is smaller than the current angle resolution value, determining a second initial trigger angle according to a first initial trigger angle in the previous rotation process of the laser radar, wherein the first initial trigger angle corresponds to a first data frame; scanning according to the second initial trigger angle to obtain a second data frame; generating a target data frame corresponding to the target angular resolution value according to the first data frame and the second data frame;
the first initial trigger angle is different from the second initial trigger angle.
5. The adjustment method according to claim 1, wherein the determining whether to adjust the angular resolution of the lidar based on the preset trigger condition comprises:
dividing a scanning area of the laser radar into at least two scanning subareas, wherein the scanning subareas correspond to the angle resolution value;
the adjustment angle resolution is determined in response to determining a change in the scan sub-region in which the trigger angle resides.
6. The adjustment method according to claim 5, the dividing the scanning area of the lidar into at least two scanning sub-areas, comprising:
dividing a scanning area of the laser radar into at least two scanning subareas according to the driving direction of a vehicle, wherein the laser radar is arranged on the vehicle.
7. The adjustment method according to claim 1, further comprising:
and adjusting the channel starting time length of the light-emitting channel of the laser radar according to the operation environment information of the laser radar.
8. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs,
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-7.
9. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-7.
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| CN111999720B (en) * | 2020-07-08 | 2022-08-16 | 深圳市速腾聚创科技有限公司 | Laser radar parameter adjustment method, laser radar system, and computer storage medium |
| CN112782720A (en) * | 2020-12-24 | 2021-05-11 | 东风商用车有限公司 | Automobile laser radar detection device and regulation and control method thereof |
| CN116884250B (en) * | 2023-07-12 | 2024-01-26 | 凉山州交通运输应急指挥中心 | Early warning method based on laser radar and expressway early warning system |
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