CN110850428B

CN110850428B - Laser radar ranging method, device, equipment and storage medium

Info

Publication number: CN110850428B
Application number: CN201911274409.1A
Authority: CN
Inventors: 刘冰; 邓永强; 王泮义
Original assignee: Beijing Wanji Technology Co Ltd
Current assignee: Wuhan Wanji Photoelectric Technology Co Ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2021-11-23
Anticipated expiration: 2039-12-12
Also published as: CN110850428A

Abstract

The embodiment of the application provides a laser radar ranging method, a device, equipment and a storage medium, wherein the method comprises the following steps: acquiring current road condition information; respectively acquiring spatial distribution information of pulse laser beams emitted by each laser emitting unit in the laser radar; and determining the farthest distance measurement of the pulse laser beams emitted by the laser emission units according to the current road condition information and the spatial distribution information of the pulse laser beams emitted by the laser emission units. The method provided by the embodiment of the application can effectively obtain the farthest ranging distance of the transmitted pulse laser beam matched with each laser transmitting unit, and effectively and reasonably improves the overall ranging capability of the laser radar.

Description

Laser radar ranging method, device, equipment and storage medium

Technical Field

The embodiment of the application relates to the technical field of measurement, in particular to a laser radar ranging method, device, equipment and storage medium.

Background

The laser ranging technology has the advantages that due to the characteristics of good monochromaticity, strong directivity and the like of laser, and the electronic circuit is integrated in a semi-conductor mode, compared with photoelectric ranging, the laser ranging technology can be operated day and night, the ranging precision can be improved, the weight and the power consumption are obviously reduced, and the distance to a far target such as an artificial earth satellite and a moon is measured.

In order to ensure that adjacent laser pulse signals are not affected, a certain path of laser transmitting unit in the laser radar needs to wait until a laser receiving unit corresponding to the previous path of laser transmitting unit receives an echo signal before being allowed to emit laser. The distance measuring capability of the laser radar is closely related to the interval time of the two adjacent laser emitting units for emitting laser, and the longer the interval time of the two adjacent laser emitting units for emitting laser is, the longer the theoretical measuring distance is, namely, the stronger the distance measuring capability of the laser radar is. If the resolution in the vertical direction of the laser radar is to be increased, the interval time of laser emission must be shortened, thereby degrading the ranging capability of the laser radar. In the conventional laser radar, the laser ranging capability of each path is the same, and in practical applications, the same and remote ranging capability of each path is not necessary.

Therefore, the overall ranging capability of the laser radar cannot be effectively and reasonably improved in the prior art.

Disclosure of Invention

The embodiment of the application provides a laser radar ranging method, a laser radar ranging device, laser radar ranging equipment and a storage medium, and aims to solve the problem that the overall ranging capability of a laser radar cannot be effectively and reasonably improved in the prior art.

In a first aspect, an embodiment of the present application provides a laser radar ranging method, where the method includes:

acquiring current road condition information;

respectively acquiring spatial distribution information of pulse laser beams emitted by each laser emitting unit in the laser radar;

and determining the farthest distance measurement of the pulse laser beams emitted by the laser emission units according to the current road condition information and the spatial distribution information of the pulse laser beams emitted by the laser emission units.

In one possible design, current position information of the laser radar is obtained through a global positioning system, and the current position information comprises the height of the laser radar from the ground;

according to the current position information, acquiring the distance between each laser emitting unit in the laser radar and the level of the edge of the near end of the target and the distance between each laser emitting unit in the laser radar and the level of the edge of the far end of the target through a preset high-precision map;

collecting peripheral environment information of the laser radar through a camera;

wherein, the current traffic information includes: the system comprises the height of the laser radar from the ground, the distance between each laser emitting unit in the laser radar and the level of the edge of the near end of a target, the distance between each laser emitting unit in the laser radar and the level of the edge of the far end of the target and the information of the surrounding environment of the laser radar.

In one possible design, the separately acquiring spatial distribution information of the pulse laser beams emitted by the laser emitting units in the laser radar includes:

acquiring vertical angle resolution corresponding to each laser transmitting unit in the laser radar;

determining an included angle between the pulse laser beam emitted by each laser emission unit and the vertical direction of the ground according to the vertical angle resolution corresponding to each laser emission unit;

the spatial distribution information comprises vertical angle resolution corresponding to each laser emission unit and an included angle between a pulse laser beam emitted by each laser emission unit and the vertical direction of the ground.

In a possible design, the determining an included angle between the pulse laser beam emitted by each laser emitting unit and the ground vertical direction according to the vertical angle resolution corresponding to each laser emitting unit includes:

the laser emission unit with the smallest included angle with the ground vertical direction in each laser emission unit is used as a first laser emission unit, and the vertical angle resolution corresponding to the first laser emission unit is used as the included angle theta between the first laser emission unit and the ground vertical direction;

according to the corresponding position relation between each laser emission unit except the first laser emission unit and the first laser emission unit in each laser emission unit, sequentially identifying each laser emission unit except the first laser emission unit in each laser emission unit according to a preset sequence;

taking the vertical angle resolution corresponding to each laser emission unit carrying the identification as an included angle theta between pulse laser beams emitted by two adjacent laser emission units_n-1N is greater than or equal to 2, wherein n represents the identification of each laser emission unit except the first laser emission unit in each laser emission unit;

according to the included angle theta between the first laser emission unit and the vertical direction of the ground and the two adjacent laser emission unitsAngle theta between the emitted pulsed laser beams_n-1Obtaining the included angle theta + theta between each laser emission unit except the first laser emission unit and the ground vertical direction₁+…+θ_n-1。

In a possible design, the determining the farthest distance measuring distance of the pulse laser beam emitted by each laser emitting unit according to the current road condition information and the spatial distribution information of the pulse laser beam emitted by each laser emitting unit includes:

acquiring information of pulse laser beams emitted by each laser emission unit and emitted to the ground;

acquiring the horizontal angle of the pulse laser beam emitted by each laser emission unit;

determining a target ranging distance of the pulse laser beams emitted by each laser emitting unit from the height of the laser radar from the ground, the distance between each laser emitting unit and the level of the near end edge of a target and the distance between each laser emitting unit and the level of the far end edge of the target according to the surrounding environment information of the laser radar, the information that the pulse laser beams emitted by each laser emitting unit reach the ground and the horizontal angle of the pulse laser beams emitted by each laser emitting unit, wherein the target ranging distance is used for representing the highest vertical distance of the pulse laser beams emitted by each laser emitting unit on the ground or the farthest horizontal distance of the pulse laser beams emitted by each laser emitting unit on the ground;

and determining the farthest distance measuring distance of the pulse laser beam emitted by each laser emitting unit according to the target distance measuring distance corresponding to the pulse laser beam emitted by each laser emitting unit and the included angle between the pulse laser beam emitted by each laser emitting unit and the ground in the vertical direction.

In a possible design, if the surrounding environment information of the lidar is that the lidar is currently applied to an expressway or the lidar is currently applied to a four-phase intersection, determining a target ranging distance of the pulse laser beam emitted by each laser emitting unit from a height of the lidar from the ground, a distance between each laser emitting unit and a target near-end edge level, and a distance between each laser emitting unit and a target far-end edge level according to the surrounding environment information of the lidar, information that the pulse laser beam emitted by each laser emitting unit reaches the ground, and a horizontal angle at which each laser emitting unit emits the pulse laser beam, including:

determining whether at least one of a first type laser emission unit, a second type laser emission unit and a third type laser emission unit exists in each laser emission unit according to information that a pulse laser beam emitted by each laser emission unit reaches the ground, wherein the first type laser emission unit is a laser emission unit in which the pulse laser beam emitted by the laser emission unit is irradiated on the ground, the second type laser emission unit is a laser emission unit in which the pulse laser beam emitted by the laser emission unit is irradiated on the near-end edge of a target and is not irradiated on the far-end edge of the target, and the third type laser emission unit is a laser emission unit in which the pulse laser beam emitted by the laser emission unit is irradiated on the near-end edge of the target and is irradiated on the far-end edge of the target;

if the first type of laser emission unit exists, the height H of the laser radar from the ground is used as the highest vertical distance of the pulse laser beam emitted by the first type of laser emission unit to the ground by the pulse laser beam;

if a second type of laser emission unit exists, when the horizontal angle of the pulse laser beam emitted by the second type of laser emission unit is within a first preset angle range, taking the height H of the laser radar from the ground as the highest vertical distance of the pulse laser beam emitted by the second type of laser emission unit on the ground;

when the horizontal angle of the pulse laser beam emitted by the second type of laser emission unit is not within a first preset angle range, taking the distance L1 between the second type of laser emission unit and the target near-end edge level as the farthest horizontal distance of the pulse laser beam emitted by the second type of laser emission unit on the ground;

if a third type of laser emission unit exists, when the horizontal angle of the pulse laser beam emitted by the third type of laser emission unit is within a second preset angle range, taking the distance L1 between the third type of laser emission unit and the target near-end edge level as the farthest horizontal distance of the pulse laser beam emitted by the third type of laser emission unit on the ground;

when the horizontal angle of the pulse laser beam emitted by the third type of laser emission unit is within a third preset angle range, taking the distance L2 between the third type of laser emission unit and the target far-end edge level as the farthest horizontal distance of the pulse laser beam emitted by the third type of laser emission unit on the ground;

and when the horizontal angle of the pulse laser beam emitted by the third type of laser emission unit is not within the second preset angle range and is not within the third preset angle range, taking the height H of the laser radar from the ground as the highest vertical distance of the pulse laser beam emitted by the third type of laser emission unit on the ground.

In a possible design, the determining, according to a target ranging distance corresponding to a pulse laser beam emitted by each laser emission unit and an included angle between the pulse laser beam emitted by each laser emission unit and a vertical direction of the ground, a farthest ranging distance of the pulse laser beam emitted by each laser emission unit includes:

according to the first type of laser emission unit, by a first formula

Obtaining the farthest distance D of the pulse laser beams emitted by each laser emitting unit in the first type of laser emitting units_rR represents a mark belonging to the first type of laser emission unit in each laser emission unit carrying the mark;

according to the second type of laser emission unit, by a second formula

Obtaining the farthest distance measurement Ds of the pulse laser beams emitted by each laser emission unit in the second type of laser emission units, wherein s represents the identifier of the second type of laser emission units in each laser emission unit carrying the identifier;

according to the third type of laser emission unit, using a third formula

Obtaining the farthest distance Dt of the pulse laser beam emitted by each laser emission unit in the third type of laser emission unit, wherein t represents the identifier of the third type of laser emission unit in each laser emission unit carrying the identifier;

if the farthest distance D of the pulse laser beam emitted by each laser emission unit in the first class of laser emission units_rAnd when a first target laser emission unit corresponding to a preset farthest detection distance exists in the farthest distance Ds of the pulse laser beam emitted by each laser emission unit in the second type of laser emission unit and the farthest distance Dt of the pulse laser beam emitted by each laser emission unit in the third type of laser emission unit, taking the preset farthest detection distance as the farthest distance of the pulse laser beam emitted by the first target laser emission unit.

In a possible design, if the peripheral environment information of the lidar is that the lidar is currently applied to a t-junction, determining a target ranging distance of the pulse laser beam emitted by each laser emitting unit from a height of the lidar from the ground, a distance between each laser emitting unit and a target near-end edge level, and a distance between each laser emitting unit and a target far-end edge level according to the peripheral environment information of the lidar, information that the pulse laser beam emitted by each laser emitting unit reaches the ground, and a horizontal angle at which each laser emitting unit emits the pulse laser beam, includes:

determining whether at least one of a fourth type laser emission unit and a fifth type laser emission unit exists in each laser emission unit according to information that a pulse laser beam emitted by each laser emission unit is emitted to the ground, wherein the fourth type laser emission unit is a laser emission unit which is emitted by the laser emission unit and emits a pulse laser beam on the ground and does not emit on a target area, and the fifth type laser emission unit is a laser emission unit which is emitted by the laser emission unit and emits a pulse laser beam on a first side of a target far-end edge, a second side of the target far-end edge and does not emit on the target area;

if the fourth type of laser emission unit exists, when the horizontal angle of the pulse laser beam emitted by the fourth type of laser emission unit is within a fourth preset angle range, taking the height H of the laser radar from the ground as the highest vertical distance of the pulse laser beam emitted by the fourth type of laser emission unit on the ground;

when the horizontal angle of the pulse laser beam emitted by the fourth type of laser emission unit is not within a fourth preset angle range, the target ranging distance of the pulse laser beam emitted by the fourth type of laser emission unit is 0;

if the fifth type of laser emission unit exists, when the horizontal angle of the pulse laser beam emitted by the fifth type of laser emission unit is within a fifth preset angle range, taking the distance L1 between the fifth type of laser emission unit and the target near-end edge level as the farthest horizontal distance of the pulse laser beam emitted by the fifth type of laser emission unit on the ground;

when the horizontal angle of the pulse laser beam emitted by the fifth type of laser emission unit is within a sixth preset angle range, taking the distance L2 between the fifth type of laser emission unit and the target far-end edge level as the farthest horizontal distance of the pulse laser beam emitted by the fifth type of laser emission unit on the ground;

and when the horizontal angle of the pulse laser beam emitted by the fifth type of laser emission unit is not in a fourth preset angle range and is not in a fifth preset angle range, the target ranging distance of the pulse laser beam emitted by the fifth type of laser emission unit is 0.

according to the fourth type of laser emission unit, by a fourth formula

Obtaining the farthest distance D of the pulse laser beam emitted by each laser emission unit in the fourth type of laser emission unit_pP represents an identifier belonging to a fourth type of laser emission unit in each laser emission unit carrying the identifier;

according to the fifth type of laser emission unit, by a fifth formula

Obtaining the farthest distance D of the pulse laser beam emitted by each laser emission unit in the fifth type of laser emission unit_qQ represents a mark belonging to a fifth type of laser emission unit in each laser emission unit carrying a mark;

if the farthest distance D of the pulse laser beam emitted by each laser emission unit in the fourth type of laser emission unit_pAnd the farthest distance D of the pulse laser beam emitted by each laser emission unit in the fifth type of laser emission unit_qWhen a second target laser emitting unit corresponding to a longer detection distance than a preset longest detection distance exists, taking the preset longest detection distance as the longest distance measurement distance of the pulse laser beam emitted by the second target laser emitting unit.

In one possible design, after the determining the farthest ranging distance of the pulsed laser beam emitted by each of the laser emitting units, the method further includes:

determining the maximum flight time of the pulse laser beams emitted by the laser emission units according to the maximum ranging distance of the pulse laser beams emitted by the laser emission units and the function relationship between the distance and the time;

and allocating a transmission time interval to each laser transmitting unit in the laser radar according to the maximum flight time of the pulse laser beam transmitted by each laser transmitting unit, so that each laser transmitting unit in the laser radar transmits the pulse laser beam according to the correspondingly allocated transmission time interval.

In a second aspect, an embodiment of the present application provides a laser radar ranging apparatus, including:

the road condition information acquisition module is used for acquiring current road condition information;

the laser radar system comprises a spatial distribution information acquisition module, a spatial distribution information acquisition module and a spatial distribution information acquisition module, wherein the spatial distribution information acquisition module is used for respectively acquiring the spatial distribution information of pulse laser beams emitted by each laser emission unit in the laser radar;

and the farthest ranging distance determining module is used for determining the farthest ranging distance of the pulse laser beam emitted by each laser emitting unit according to the current road condition information and the spatial distribution information of the pulse laser beam emitted by each laser emitting unit.

In one possible design, the traffic information obtaining module is specifically configured to:

acquiring current position information of a laser radar through a global positioning system, wherein the current position information comprises the height of the laser radar from the ground;

In one possible design, the spatial distribution information obtaining module includes: a vertical angle resolution acquisition unit and an included angle determination unit;

the vertical angle resolution acquisition unit is used for acquiring the vertical angle resolution corresponding to each laser emission unit in the laser radar;

the included angle determining unit is used for determining an included angle between the pulse laser beam emitted by each laser emitting unit and the ground in the vertical direction according to the vertical angle resolution corresponding to each laser emitting unit;

In a possible design, the included angle determining unit is specifically configured to:

according to whatThe included angle theta between the first laser emission unit and the ground in the vertical direction and the included angle theta between the pulse laser beams emitted by the two adjacent laser emission units respectively_n-1Obtaining the included angle theta + theta between each laser emission unit except the first laser emission unit and the ground vertical direction₁+…+θ_n-1。

In one possible design, the farthest ranging distance determining module includes: the system comprises a ground information acquisition unit, a horizontal angle acquisition unit, a target ranging distance determination unit and a farthest ranging distance determination unit;

the ground information acquisition unit is used for acquiring information of the pulse laser beams emitted by the laser emission units and emitted to the ground;

the horizontal angle acquisition unit is used for acquiring the horizontal angle of the pulse laser beam emitted by each laser emission unit;

the target ranging distance determining unit is used for determining a target ranging distance of the pulse laser beams emitted by each laser emitting unit from the height of the laser radar from the ground, the distance between each laser emitting unit and the level of the near-end edge of a target and the distance between each laser emitting unit and the level of the far-end edge of the target according to the surrounding environment information of the laser radar, the information that the pulse laser beams emitted by each laser emitting unit reach the ground and the horizontal angle of the pulse laser beams emitted by each laser emitting unit, wherein the target ranging distance is used for indicating the highest vertical distance of the pulse laser beams emitted by each laser emitting unit on the ground or the farthest horizontal distance of the pulse laser beams emitted by each laser emitting unit on the ground;

and the farthest ranging distance determining unit is used for determining the farthest ranging distance of the pulse laser beam emitted by each laser emitting unit according to the target ranging distance corresponding to the pulse laser beam emitted by each laser emitting unit and the included angle between the pulse laser beam emitted by each laser emitting unit and the ground in the vertical direction.

In one possible design, the target ranging distance determining unit is specifically configured to:

when the surrounding environment information of the laser radar is that the laser radar is currently applied to the expressway or the laser radar is currently applied to the four-phase intersection, determining whether at least one of a first type laser emitting unit, a second type laser emitting unit and a third type laser emitting unit exists in each laser emitting unit according to the information that the pulse laser beam emitted by each laser emitting unit reaches the ground, the first type of laser emission unit is a laser emission unit which is irradiated on the ground in the pulse laser beam emitted by the laser emission unit, the second type of laser emission unit is a laser emission unit which emits pulse laser beams on the edge of the near end of the target but not on the edge of the far end of the target, the third type of laser emission unit is a laser emission unit, wherein pulse laser beams emitted by the laser emission unit are irradiated on the edge of the near end of the target and are irradiated on the edge of the far end of the target;

when a first type of laser emission unit exists, the height H of the laser radar from the ground is used as the highest vertical distance of the pulse laser beam emitted by the first type of laser emission unit to the ground by the pulse laser beam;

when a second type of laser emission unit exists and the horizontal angle of a pulse laser beam emitted by the second type of laser emission unit is within a first preset angle range, taking the height H of the laser radar from the ground as the highest vertical distance of the pulse laser beam emitted by the second type of laser emission unit on the ground;

when a third type of laser emission unit exists and the horizontal angle of the pulse laser beam emitted by the third type of laser emission unit is within a second preset angle range, taking the distance L1 between the third type of laser emission unit and the level of the near-end edge of the target as the farthest horizontal distance of the pulse laser beam emitted by the third type of laser emission unit on the ground;

In a possible design, the farthest ranging distance determining unit is specifically configured to:

according to the first type of laser emission unit, by a first formula

according to the second type of laser emission unit, by a second formula

according to the third type of laser emission unit, using a third formula

In a possible design, the target ranging distance determining unit is specifically configured to:

when the peripheral environment information of the laser radar is information that the laser radar is currently applied to a T-junction, determining whether at least one of a fourth type of laser emission unit and a fifth type of laser emission unit exists in each laser emission unit according to information that a pulse laser beam emitted by each laser emission unit is emitted to the ground, wherein the fourth type of laser emission unit is a laser emission unit that a pulse laser beam emitted by the laser emission unit is emitted to the ground and is not emitted to a target area, and the fifth type of laser emission unit is a laser emission unit that a pulse laser beam emitted by the laser emission unit is emitted to a first side of a target far-end edge, is emitted to a second side of the target far-end edge and is not emitted to the target area;

according to the fourth type of laser emission unit, by a fourth formula

according to the fifth type of laser emission unit, by a fifth formula

Obtaining each laser in the fifth type of laser emission unitFarthest distance D of the pulse laser beam emitted from the emitting unit_qQ represents a mark belonging to a fifth type of laser emission unit in each laser emission unit carrying a mark;

In one possible design, the apparatus further includes: the device comprises a maximum flight time determining module and a transmitting time interval distributing module;

the maximum flight time determining module is configured to determine, according to the farthest distance of the pulse laser beam emitted by each laser emitting unit, the maximum flight time of the pulse laser beam emitted by each laser emitting unit through a function relationship between the distance and the time after the farthest distance of the pulse laser beam emitted by each laser emitting unit is determined;

and the emission time interval distribution module is used for distributing emission time intervals for each laser emission unit in the laser radar according to the maximum flight time of the pulse laser beams emitted by each laser emission unit so as to enable each laser emission unit in the laser radar to emit the pulse laser beams according to the corresponding distributed emission time intervals.

In a third aspect, an embodiment of the present application provides a laser radar ranging apparatus, including: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executes computer-executable instructions stored by the memory to cause the at least one processor to perform the lidar ranging method as described above in the first aspect and various possible designs of the first aspect.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, where computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the lidar ranging method according to the first aspect and various possible designs of the first aspect is implemented.

According to the laser radar ranging method, the device, the equipment and the storage medium provided by the embodiment, the current road condition information and the spatial distribution information of the pulse laser beams emitted by each laser emission unit in the laser radar are firstly acquired, the farthest ranging distance of the pulse laser beams emitted by each laser emission unit is determined according to the current road condition information and the spatial distribution information of the pulse laser beams emitted by each laser emission unit, the farthest ranging distance of the pulse laser beams emitted by each laser emission unit can be effectively obtained, and the overall ranging capability of the laser radar is effectively and reasonably improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic flowchart of a laser radar ranging method according to an embodiment of the present disclosure;

fig. 2 is a schematic flowchart of a laser radar ranging method according to another embodiment of the present disclosure;

fig. 3 is a schematic flowchart of a laser radar ranging method according to another embodiment of the present disclosure;

fig. 4 is a schematic flowchart of a laser radar ranging method according to still another embodiment of the present disclosure;

fig. 5 is a schematic diagram of a distribution of a spatial relationship of a lidar according to an embodiment of the present disclosure;

fig. 6 is a schematic flowchart of a laser radar ranging method according to another embodiment of the present disclosure;

fig. 7 is a schematic view of an operation scene of a laser radar on a highway according to an embodiment of the present application;

fig. 8 is a schematic flowchart of a laser radar ranging method according to another embodiment of the present disclosure;

fig. 9 is a schematic view of an operation scenario of a laser radar on a highway according to still another embodiment of the present application;

FIG. 10 is a schematic flow chart illustrating a lidar ranging method according to yet another embodiment of the present disclosure;

fig. 11 is a schematic view of an operation scene of a laser radar on a highway according to still another embodiment of the present application;

fig. 12 is a schematic flowchart of a lidar ranging method according to another embodiment of the present disclosure;

fig. 13 is a schematic structural diagram of a lidar ranging device according to an embodiment of the present disclosure;

fig. 14 is a schematic structural diagram of a lidar ranging apparatus according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In order to solve the problem that the overall ranging capability of a laser radar cannot be effectively and reasonably improved in the prior art, embodiments of the present application provide a laser radar ranging method, apparatus, device, and storage medium.

Fig. 1 is a schematic flow chart of a laser radar ranging method according to an embodiment of the present application, where an execution main body of the embodiment may be a server, and the execution main body is not limited herein.

Referring to fig. 1, the laser radar ranging method includes:

and S101, acquiring current road condition information.

In this embodiment, the execution main body for implementing the laser radar ranging method is a laser radar or a controller in the laser radar. In practical applications, the lidar may be mounted on a moving vehicle or at a fixed location on a stationary object, such as a support at a road segment. The height between the laser radar and the ground is set to be H; the installation angle of the laser radar is parallel to the ground.

Because the laser ranging capability of each path is the same in the traditional laser radar, and the same and distant ranging capability of each path is unnecessary in practical application, in order to avoid useless information generated by ranging in the laser radar, the laser ranging capability of each path in the laser radar can be determined or distributed in real time based on the road condition information by acquiring the current road condition information of the laser radar in real time.

Specifically, how to obtain the current road condition information in real time is shown in fig. 2, and fig. 2 is a schematic flow chart of a laser radar ranging method according to another embodiment of the present application, and this embodiment describes S101 in detail on the basis of the above embodiment. The acquiring of the current traffic information includes:

s201, acquiring current position information of a laser radar through a global positioning system, wherein the current position information comprises the height of the laser radar from the ground;

s202, according to the current position information, obtaining the distance between each laser emitting unit in the laser radar and the level of the near-end edge of the target and the distance between each laser emitting unit in the laser radar and the level of the far-end edge of the target through a preset high-precision map;

s203, collecting peripheral environment information of the laser radar through a camera; wherein, the current traffic information includes: the system comprises the height of the laser radar from the ground, the distance between each laser emitting unit in the laser radar and the level of the edge of the near end of a target, the distance between each laser emitting unit in the laser radar and the level of the edge of the far end of the target and the information of the surrounding environment of the laser radar.

In practical application, the current geographic position of the laser radar, the distance L1 between the laser in the laser radar and the near road edge of the current road section to be scanned at the current geographic position, and the distance L2 between the laser in the laser radar and the far road edge of the current road section to be scanned at the current geographic position are determined through a global positioning system GPS and a high-precision map (the high-precision map is a pre-downloaded map). And then, acquiring the surrounding environment information of the current position of the laser radar through a camera, and further determining the current ranging application scene of the laser radar. For example, the ambient information may be that the lidar is currently applied to an expressway, that the lidar is currently applied to a quad intersection, or that the lidar is currently applied to a t intersection.

S102, spatial distribution information of pulse laser beams emitted by each laser emitting unit in the laser radar is respectively obtained.

In this embodiment, different laser emission units set up in the laser radar in the position of difference, can launch the pulse laser beam of different angles, and the space distribution information of the pulse laser beam of the different laser emission units of laser radar transmission under different angles can include each the vertical angle resolution ratio that the laser emission unit corresponds and each the pulse laser beam of laser emission unit transmission and the contained angle of ground vertical direction.

Specifically, how to obtain spatial distribution information of a pulse laser beam emitted by each laser emitting unit in a laser radar is shown in fig. 3, where fig. 3 is a schematic flow chart of a laser radar ranging method according to another embodiment of the present application, and this embodiment describes S102 in detail based on the above embodiment.

S301, acquiring vertical angle resolution corresponding to each laser transmitting unit in the laser radar;

s302, determining an included angle between the pulse laser beam emitted by each laser emitting unit and the vertical direction of the ground according to the vertical angle resolution corresponding to each laser emitting unit.

In this embodiment, each of the laser emitting units in the laser radar is disposed at different positions of the laser radar, the installation angles are also different, and the vertical angle resolution corresponding to each of the laser emitting units in the laser radar may also be different, where the vertical angle resolution corresponding to each of the laser emitting units may be an included angle between two adjacent laser emitting units, for example, an included angle between a first laser emitting unit and a second laser emitting unit may be used as the vertical angle resolution of the second laser emitting unit, an included angle between the second laser emitting unit and the second laser emitting unit may be used as the vertical angle resolution of a third laser emitting unit, and so on, where the vertical angle resolution of the first laser emitting unit may be an included angle between the first laser emitting unit and the ground in the vertical direction, an included angle between the first laser emission unit and the ground in the vertical direction is the vertical angle resolution of the first laser emission unit, an included angle between the second laser emission unit and the ground in the vertical direction is the sum of the vertical angle resolution of the first laser emission unit and the vertical angle resolution of the second laser emission unit, and an included angle between the third laser emission unit and the ground in the vertical direction is the sum of the vertical angle resolution of the first laser emission unit, the vertical angle resolution of the second laser emission unit and the vertical angle resolution of the third laser emission unit.

Specifically, how to determine an included angle between a pulse laser beam emitted by each laser emitting unit and a vertical direction of the ground is shown in fig. 4, where fig. 4 is a schematic flow chart of a laser radar ranging method according to yet another embodiment of the present application, and this embodiment describes S302 in detail on the basis of the above embodiment. The determining of the included angle between the pulse laser beam emitted by each laser emission unit and the ground vertical direction according to the vertical angle resolution corresponding to each laser emission unit includes:

s401, taking the laser emission unit with the smallest included angle with the vertical direction of the ground in each laser emission unit as a first laser emission unit, and taking the vertical angle resolution corresponding to the first laser emission unit as the included angle theta between the first laser emission unit and the vertical direction of the ground;

s402, according to the corresponding position relation between each laser emission unit except the first laser emission unit and the first laser emission unit in each laser emission unit, sequentially identifying each laser emission unit except the first laser emission unit in each laser emission unit according to a preset sequence;

s403, taking the vertical angle resolution corresponding to each laser emission unit with the mark as an included angle theta between pulse laser beams emitted by two adjacent laser emission units_n-1N is greater than or equal to 2, wherein n represents the identification of each laser emission unit except the first laser emission unit in each laser emission unit;

according to the included angle theta between the first laser emission unit and the ground in the vertical direction and the included angle theta between the pulse laser beams emitted by the two adjacent laser emission units respectively_n-1Obtaining the included angle theta + theta between each laser emission unit except the first laser emission unit and the ground vertical direction₁+…+θ_n-1。

In practical application, referring to fig. 5, fig. 5 is a schematic diagram of a distribution of a spatial relationship of a lidar according to an embodiment of the present disclosure. For each laser emission unit sequentially identifies according to a preset sequence, for example, the serial number (identification) of the laser radar laser emission unit is 1, 2, 3 … n sequentially from bottom to top, the angle distribution information (vertical angle resolution distribution or configuration information) of the laser emission unit of the laser radar in the vertical direction is as follows, the included angle between the 1 st laser emission unit and the ground vertical direction is theta, and the included angle between the 1 st laser emission unit and the 2 nd laser emission unit is theta₁By analogy, the included angle between the n-1 th laser emission unit and the n-th laser emission unit is theta_n-1And n is greater than or equal to 2, wherein n represents the identification of each laser emission unit except the first laser emission unit.

And obtaining the included angle between the pulse laser beam emitted by each laser emission unit and the vertical direction of the ground according to the angle distribution information of the laser emission units of the laser radar in the vertical direction. Specifically, the included angle between the pulse laser beam of the 1 st laser emission unit and the vertical direction of the ground is theta, and the included angle between the pulse laser beam of the 2 nd laser emission unit and the vertical direction of the ground is theta + theta₁In this way, the angle between the pulse laser beam of the nth laser emitting unit and the vertical direction of the ground is theta + theta₁+…+θ_n-1。

S103, determining the farthest distance measurement of the pulse laser beams emitted by the laser emission units according to the current road condition information and the spatial distribution information of the pulse laser beams emitted by the laser emission units.

In this embodiment, according to road condition information such as the height of the laser radar from the ground, the distance between each laser emission unit in the laser radar and the level of the near-end edge of the target, the distance between each laser emission unit in the laser radar and the level of the far-end edge of the target, and the surrounding environment information of the laser radar, which are obtained in real time, the farthest distance measurement distance between the laser beam emitted by each laser emission unit and the ground can be obtained by combining each included angle between the pulse laser beam emitted by each laser emission unit and the ground in the vertical direction.

In practical application, through different road conditions, the influence factor of the farthest ranging distance between the laser beam emitted by each laser emitting unit and the ground can be determined, or the decisive ranging distance (namely the target ranging distance) for generating useless ranging information and further improving the overall ranging capability of the laser radar can be avoided when one or some laser emitting units are used for ranging, such as the height of the laser radar from the ground, the distance between each laser emitting unit and the level of the near-end edge of the target in the laser radar, and the distance between each laser emitting unit and the level of the far-end edge of the target in the laser radar. According to the method, the farthest ranging distance of the pulse laser beams emitted by the laser emission units can be specifically calculated through the determined target ranging distance, so that the effective distribution of the farthest ranging distance corresponding to the laser emission units is realized, the problems that in the traditional laser radar, the laser ranging capacity of each line is the same, and in practical application, the same and farther ranging capacity of each line is unnecessary are solved, and the ranging capacity of the laser (or the laser emission units) is distributed by the largest ranging distance of different lasers at different angles is realized.

In this embodiment, the current road condition information and the spatial distribution information of the pulse laser beams emitted by each laser emitting unit in the laser radar are obtained first, and the farthest ranging distance of the pulse laser beams emitted by each laser emitting unit is determined according to the current road condition information and the spatial distribution information of the pulse laser beams emitted by each laser emitting unit, so that the farthest ranging distance of the pulse laser beams emitted by each laser emitting unit can be effectively obtained, and the overall ranging capability of the laser radar is effectively and reasonably improved.

Based on the current road condition information and the spatial distribution information of the pulse laser beams emitted by the laser emission units, how to determine the farthest distance measurement distance of the pulse laser beams emitted by the laser emission units is shown in fig. 6, where fig. 6 is a schematic flow diagram of a laser radar distance measurement method provided in another embodiment of the present application. In this embodiment, S103 is explained in detail based on the above embodiment. The determining the farthest distance measuring distance of the pulse laser beam emitted by each laser emitting unit according to the current road condition information and the spatial distribution information of the pulse laser beam emitted by each laser emitting unit includes:

s501, acquiring information of pulse laser beams emitted by each laser emitting unit and emitted to the ground;

s502, acquiring the horizontal angle of the pulse laser beam emitted by each laser emission unit;

s503, according to the surrounding environment information of the laser radar, the information that the pulse laser beams emitted by each laser emission unit reach the ground and the horizontal angle of the pulse laser beams emitted by each laser emission unit, determining a target ranging distance of the pulse laser beams emitted by each laser emission unit from the height of the laser radar from the ground, the distance between each laser emission unit and the level of the near-end edge of the target and the distance between each laser emission unit and the level of the far-end edge of the target, wherein the target ranging distance is used for representing the highest vertical distance of the pulse laser beams emitted by each laser emission unit on the ground or the farthest horizontal distance of the pulse laser beams emitted by each laser emission unit on the ground;

s504, determining the farthest distance measuring distance of the pulse laser beams emitted by the laser emitting units according to the target distance measuring distance corresponding to the pulse laser beams emitted by the laser emitting units and the included angle between the pulse laser beams emitted by the laser emitting units and the ground vertical direction.

In this embodiment, information that the pulse laser beam emitted by each laser emitting unit is emitted to the ground is obtained, for example, the one or some laser emitting units all hit the ground within a range of 360 °, or the one or some laser emitting units hit the near-end roadside fence or the ground within a range of 360 ° (i.e., the farthest distance that the one or some laser emitting units emit the pulse laser beams within a range of 360 ° is the distance from the laser emitting unit to the near-end roadside fence or the distance from the laser emitting unit to the ground), or the one or some laser emitting units hit the near-end roadside fence, the far-end roadside fence or the ground within a range of 360 ° (i.e., the farthest distance that the one or some laser emitting units emit the pulse laser beams within a range of 360 ° is the distance from the laser emitting unit to the near-end roadside fence or the distance from the laser emitting unit to the far-end roadside fence or the distance from the laser emitting unit to the ground).

Specifically, according to the obtained information that the pulse laser beams emitted by the laser emission units irradiate the ground, and by combining the surrounding environment information of the laser radar, the target ranging distance required by the laser emission units to be scanned and ranged, i.e., the farthest effective distance mapped on the horizontal direction or the vertical direction, is determined, and then the farthest ranging distance, i.e., the effective farthest ranging distance, of the pulse laser beams emitted by the laser emission units is obtained through the functional relationship between the farthest effective distance and the included angle between the pulse laser beams emitted by the laser emission units and the vertical direction of the ground, for example, the farthest ranging distances of the pulse laser beams of the laser emission units are respectively D1 and D2 … Dn. Therefore, the determining mode of the farthest ranging distance reasonably distributes the ranging capacity for each laser emitting unit to emit, and the overall ranging capacity of the laser radar is improved.

How to determine the target ranging distance of the pulse laser beam emitted by each laser emitting unit in real time based on different application scenarios on the premise of ensuring the overall ranging capability of the laser radar, refer to operation scenario diagrams of the laser radar in different application scenarios shown in fig. 7, 9 and 11.

In the scenario corresponding to fig. 7 and 9, the target ranging distance of the pulse laser beam emitted by each laser emitting unit is determined in a similar manner. Specifically, referring to fig. 8, fig. 8 is a schematic flowchart of a laser radar ranging method according to another embodiment of the present application. In this embodiment, on the basis of the above embodiment, when the ambient environment information of the lidar is that the lidar is currently applied to an expressway or that the lidar is currently applied to a scene of a four-phase intersection, S503 is described in detail. The determining, according to the surrounding environment information of the lidar, the information that the pulse laser beam emitted by each laser emitting unit reaches the ground, and the horizontal angle at which each laser emitting unit emits the pulse laser beam, the target ranging distance of the pulse laser beam emitted by each laser emitting unit from the height of the lidar from the ground, the distance between each laser emitting unit and the level of the near-end edge of the target, and the distance between each laser emitting unit and the level of the far-end edge of the target, includes:

s601, determining whether at least one of a first type laser emission unit, a second type laser emission unit and a third type laser emission unit exists in each laser emission unit according to information that a pulse laser beam emitted by each laser emission unit reaches the ground, wherein the first type laser emission unit is a laser emission unit which is irradiated on the ground in the pulse laser beam emitted by the laser emission unit, the second type laser emission unit is a laser emission unit which is irradiated on the near-end edge of a target and is not irradiated on the far-end edge of the target, and the third type laser emission unit is a laser emission unit which is irradiated on the near-end edge of the target and is irradiated on the far-end edge of the target by the pulse laser beam emitted by the laser emission unit;

s602, if a first-class laser emission unit exists, taking the height H of the laser radar from the ground as the highest vertical distance of a pulse laser beam emitted by the first-class laser emission unit on the ground;

s603, if a second type of laser emission unit exists, when the horizontal angle of the pulse laser beam emitted by the second type of laser emission unit is within a first preset angle range, taking the height H of the laser radar from the ground as the highest vertical distance of the pulse laser beam emitted by the second type of laser emission unit on the ground;

s604, when the horizontal angle of the pulse laser beam emitted by the second type of laser emission unit is not within a first preset angle range, taking the distance L1 between the second type of laser emission unit and the target near-end edge level as the farthest horizontal distance of the pulse laser beam emitted by the second type of laser emission unit on the ground;

s605, if a third type of laser emission unit exists, when the horizontal angle of the pulse laser beam emitted by the third type of laser emission unit is within a second preset angle range, taking the distance L1 between the third type of laser emission unit and the target near-end edge level as the farthest horizontal distance of the pulse laser beam emitted by the third type of laser emission unit on the ground;

s606, when the horizontal angle of the pulse laser beam emitted by the third type of laser emission unit is within a third preset angle range, taking the distance L2 between the third type of laser emission unit and the target far-end edge level as the farthest horizontal distance of the pulse laser beam emitted by the third type of laser emission unit on the ground;

and S607, when the horizontal angle of the pulse laser beam emitted by the third type of laser emission unit is not within the second preset angle range and is not within the third preset angle range, taking the height H of the laser radar from the ground as the highest vertical distance of the pulse laser beam emitted by the third type of laser emission unit on the ground.

Wherein, according to the target ranging distance corresponding to the pulse laser beam emitted by each laser emission unit and the included angle between the pulse laser beam emitted by each laser emission unit and the vertical direction of the ground, determining the farthest ranging distance of the pulse laser beam emitted by each laser emission unit comprises:

according to the first type of laser emission unit, by a first formula

Obtaining the farthest distance D of the pulse laser beams emitted by each laser emitting unit in the first type of laser emitting units_rAnd r represents a mark belonging to the first type of laser emitting unit in each of the laser emitting units carrying the mark(ii) a According to the second type of laser emission unit, by a second formula

Obtaining the farthest distance measurement Ds of the pulse laser beams emitted by each laser emission unit in the second type of laser emission units, wherein s represents the identifier of the second type of laser emission units in each laser emission unit carrying the identifier; according to the third type of laser emission unit, using a third formula

Obtaining the farthest distance Dt of the pulse laser beam emitted by each laser emission unit in the third type of laser emission unit, wherein t represents the identifier of the third type of laser emission unit in each laser emission unit carrying the identifier; if the farthest distance D of the pulse laser beam emitted by each laser emission unit in the first class of laser emission units_rAnd when a first target laser emission unit corresponding to a preset farthest detection distance exists in the farthest distance Ds of the pulse laser beam emitted by each laser emission unit in the second type of laser emission unit and the farthest distance Dt of the pulse laser beam emitted by each laser emission unit in the third type of laser emission unit, taking the preset farthest detection distance as the farthest distance of the pulse laser beam emitted by the first target laser emission unit.

In practical applications, the method for determining the target ranging distance of the pulsed laser beam emitted by each laser emitting unit can be applied to at least two of the following scenarios:

scene one: referring to fig. 7, fig. 7 is a schematic view of an operation scene of the laser radar on the expressway according to the embodiment of the present application.

In an application scenario of the laser radar on the expressway, the first type of laser emission unit is a laser emission unit in which pulse laser beams emitted by the laser emission unit all irradiate on the ground, for example, the r-th laser emission unit belongs to the first type of laser emission unit, that is, the r-th laser emission unit irradiates on the ground within a range of 360 °, so that a height H of the laser radar from the ground is taken as a highest vertical distance of the pulse laser beams emitted by the first type of laser emission unit irradiating on the ground, and at this time, the highest vertical distance of the pulse laser beams emitted by the first type of laser emission unit irradiating on the ground is a target ranging distance of the pulse laser beams emitted by the first type of laser emission unit, and therefore, a maximum ranging distance (farthest ranging distance) formula of the r-th laser emission unit is as follows:

wherein, the horizontal angle that pulse laser beam was sent to the r laser emission unit is at 0 ~ 360.

The second type of laser emission unit is a laser emission unit that emits pulse laser beams all emitted by the laser emission unit on the edge of the near end of the target and not on the edge of the far end of the target, that is, the pulse laser beams emitted by the second type of laser emission unit can hit both the fence at the near end side (the edge of the near end of the target under the scene of the second type of laser emission unit is the fence at the near end side) and the ground, therefore, when the horizontal angle of the pulse laser beam emitted by the second type laser emitting unit is within a first preset angle range, taking the height H of the laser radar from the ground as the highest vertical distance of the pulse laser beam emitted by the second type laser emission unit on the ground, wherein the highest vertical distance of the pulse laser beam emitted by the second type laser emission unit on the ground is the target ranging distance of the pulse laser beam emitted by the second type laser emission unit; when the horizontal angle of the pulse laser beam emitted by the second type laser emission unit is not within the first preset angle range, taking the distance L1 between the second type laser emission unit and the target near-end edge level as the farthest horizontal distance of the pulse laser beam emitted by the second type laser emission unit on the ground, and at this time, the farthest horizontal distance of the pulse laser beam emitted by the second type laser emission unit on the ground is the target ranging distance of the pulse laser beam emitted by the second type laser emission unit. For example, the s-th laser emitting unit belongs to the second type of laser emitting unit, where the farthest distance that the s-th laser emitting unit emits the pulse laser beam in the α angle range (i.e., in the first preset angle range) is the distance from the laser emitting unit to the near-end roadside fence, the farthest distance that the s-th laser emitting unit emits the pulse laser beam in the other angles than α (i.e., the horizontal angle is not in the first preset angle range) is the distance from the laser emitting unit to the road surface, and then the maximum ranging distance (farthest ranging distance) of the s-th laser emitting unit is expressed as:

the third type of laser emission unit is a laser emission unit which emits pulse laser beams on the edge of the near end of the target and on the edge of the far end of the target, namely the pulse laser beams emitted by the third type of laser emission unit can hit the fence at the near end side and the fence at the far end side and the ground, therefore, when the horizontal angle of the pulse laser beam emitted by the third type of laser emitting unit is within a second preset angle range, taking a distance L1 between the third type of laser emission unit and the level of the near-end edge of the target as the farthest horizontal distance of the pulse laser beam emitted by the third type of laser emission unit on the ground, wherein the farthest horizontal distance of the pulse laser beam emitted by the third type of laser emission unit on the ground is the target ranging distance of the pulse laser beam emitted by the third type of laser emission unit; when the horizontal angle of the pulse laser beam emitted by the third type of laser emission unit is within a third preset angle range, taking a distance L2 between the third type of laser emission unit and the far-end edge level of the target as the farthest horizontal distance of the pulse laser beam emitted by the third type of laser emission unit on the ground, wherein the farthest horizontal distance of the pulse laser beam emitted by the third type of laser emission unit on the ground is the target ranging distance of the pulse laser beam emitted by the third type of laser emission unit; when the third type laser emitting unitAnd when the horizontal angle for transmitting the pulse laser beam is not within the second preset angle range and is not within the third preset angle range, taking the height H of the laser radar from the ground as the highest vertical distance of the pulse laser beam transmitted by the third laser transmitting unit on the ground, wherein the highest vertical distance of the pulse laser beam transmitted by the third laser transmitting unit on the ground is the target ranging distance of the pulse laser beam transmitted by the third laser transmitting unit. For example, the t-th laser emitting unit is at₁The farthest distance of the pulse laser beam emitted in the angle range (i.e. in the second preset angle range) is the distance from the laser emitting unit to the near-end roadside fence, and the tth laser emitting unit is positioned in the beta direction₂The farthest distance of the pulse laser beam emitted in the angle range (namely, in the third preset angle range) is the distance from the laser emitting unit to the far-end roadside fence, and the tth laser emitting unit divides beta₁、β₂The farthest distance of the pulse laser beam emitted in the other angle ranges (i.e., the horizontal angle is not in the second preset angle range nor in the third preset angle range) is the distance between the laser emitting unit and the road surface, and therefore, the maximum ranging distance (farthest ranging distance) of the t-th laser emitting unit is expressed by the following formula:

when the farthest required ranging distance of the ith laser emitting unit is greater than the preset farthest detection distance, the farthest detection distance is the preset farthest detection distance, where i may represent any one of all laser emitting units in the laser radar.

Scene two: referring to fig. 9, fig. 9 is a schematic view of an operation scene of a laser radar on a highway according to still another embodiment of the present application.

In an application scenario where the laser radar operates in a city, for example, the laser radar is currently applied to a four-phase intersection, each laser emission unit in the laser radar may include at least one of a first-type laser emission unit, a second-type laser emission unit, and a third-type laser emission unit, where a calculation method of a target ranging distance and a farthest ranging distance of a pulse laser beam emitted by each laser emission unit in each laser emission unit is the same as that in the scenario one, and is not described herein again.

However, targets in the target near-end edge and the target far-end edge corresponding to various laser emitting units in the scene are different. Specifically, in this scenario, for the first type of laser emitting unit, for example, the r-th laser emitting unit belonging to the first type of laser emitting unit is all hit on the ground within a range of 360 °, and here, as in the first scenario, there is no target proximal edge and no target distal edge.

For the second type of laser emitting unit, for example, the s-th laser emitting unit belonging to the second type of laser emitting unit may be hit on the near-end house or on the ground, so that the target near-end edge of the second type of laser emitting unit in the scene is the near-end house. The farthest distance of the s laser emission unit for emitting the pulse laser beams in the alpha angle range is the distance from the laser emission unit to a near-end house, and the farthest distance of the s laser emission unit for emitting the pulse laser beams in angles except alpha is the distance from the laser emission unit to a road surface.

For the third type of laser emission unit, for example, the pulse laser beam emitted by the tth laser emission unit belonging to the third type of laser emission unit may be directed to both the near-end house and the far-end house and may be directed to the ground, so that the target near-end edge of the third type of laser emission unit in the scene is the near-end house, and the target far-end edge of the third type of laser emission unit in the scene is the far-end house. Wherein the t-th laser emitting unit is at₁The farthest distance within the angular range from which the pulsed laser beam is emitted is the distance from the laser emitting unit to the near-end premises, including non-motor lanes and sidewalks, up to the effective distance between the premises. The t-th laser emitting unit is at₂The farthest distance of the emitted pulse laser beam in the angular range is the distance from the laser emitting unit to the remote house, and the distance includes the opposite side maneuveringA driveway, an opposite non-motorized driveway, and an opposite sidewalk to an effective distance between the houses. The t-th laser emitting unit is dividing by beta₁、β₂The farthest distance for emitting the pulse laser beam in other angle ranges is the distance between the laser emitting unit and the road surface.

Scene three: referring to fig. 11, fig. 11 is a schematic view of an operation scene of a laser radar on a highway according to still another embodiment of the present application.

In an application scenario where the laser radar operates at a t-junction, for example, how to determine a target ranging distance of a pulse laser beam emitted by each laser emitting unit when the laser radar is currently applied to the t-junction, refer to fig. 10, where fig. 10 is a schematic flow chart of a laser radar ranging method provided in another embodiment of the present application. In this embodiment, based on the above embodiment, S503 is described in detail for a scene in which the laser radar is currently applied to the t-junction. The determining, according to the surrounding environment information of the lidar, the information that the pulse laser beam emitted by each laser emitting unit reaches the ground, and the horizontal angle at which each laser emitting unit emits the pulse laser beam, the target ranging distance of the pulse laser beam emitted by each laser emitting unit from the height of the lidar from the ground, the distance between each laser emitting unit and the level of the near-end edge of the target, and the distance between each laser emitting unit and the level of the far-end edge of the target, includes:

s701, determining whether at least one of a fourth type laser emission unit and a fifth type laser emission unit exists in each laser emission unit according to information that pulse laser beams emitted by each laser emission unit are emitted to the ground, wherein the fourth type laser emission unit is a laser emission unit that the pulse laser beams emitted by the laser emission units are emitted to the ground and do not emit to a target area, and the fifth type laser emission unit is a laser emission unit that the pulse laser beams emitted by the laser emission units are emitted to the first side of the far-end edge of the target, the second side of the far-end edge of the target and do not emit to the target area;

s702, if a fourth type of laser emission unit exists, when the horizontal angle of a pulse laser beam emitted by the fourth type of laser emission unit is within a fourth preset angle range, taking the height H of the laser radar from the ground as the highest vertical distance of the pulse laser beam emitted by the fourth type of laser emission unit on the ground;

s703, when the horizontal angle of the pulse laser beam emitted by the fourth type of laser emission unit is not within a fourth preset angle range, setting the target ranging distance of the pulse laser beam emitted by the fourth type of laser emission unit to be 0;

s704, if a fifth type of laser emission unit exists, when the horizontal angle of the pulse laser beam emitted by the fifth type of laser emission unit is within a fifth preset angle range, taking a distance L1 between the fifth type of laser emission unit and the target near-end edge level as the farthest horizontal distance of the pulse laser beam emitted by the fifth type of laser emission unit on the ground;

s705, when the horizontal angle of the pulse laser beam emitted by the fifth type of laser emission unit is within a sixth preset angle range, taking the distance L2 between the fifth type of laser emission unit and the target far-end edge level as the farthest horizontal distance of the pulse laser beam emitted by the fifth type of laser emission unit on the ground;

and S706, when the horizontal angle of the pulse laser beam emitted by the fifth type of laser emission unit is not within the fourth preset angle range and not within the fifth preset angle range, the target ranging distance of the pulse laser beam emitted by the fifth type of laser emission unit is 0.

according to the fourth type of laser emission unit, by a fourth formula

Obtaining the farthest distance D of the pulse laser beam emitted by each laser emission unit in the fourth type of laser emission unit_pP represents an identifier belonging to a fourth type of laser emission unit in each laser emission unit carrying the identifier; according to the fifth type of laser emission unit, by a fifth formula

Obtaining the farthest distance D of the pulse laser beam emitted by each laser emission unit in the fifth type of laser emission unit_qQ represents a mark belonging to a fifth type of laser emission unit in each laser emission unit carrying a mark; if the farthest distance D of the pulse laser beam emitted by each laser emission unit in the fourth type of laser emission unit_pAnd the farthest distance D of the pulse laser beam emitted by each laser emission unit in the fifth type of laser emission unit_qWhen a second target laser emitting unit corresponding to a longer detection distance than a preset longest detection distance exists, taking the preset longest detection distance as the longest distance measurement distance of the pulse laser beam emitted by the second target laser emitting unit.

In this embodiment, in an application scenario of the laser radar at the t-junction, the fourth type of laser emission unit is a laser emission unit in which pulse laser beams emitted by the laser emission unit are all incident on the ground and are not incident on a target area, that is, the pulse laser beams emitted by the fourth type of laser emission unit are all incident on the ground and are not incident on the target area (the target area is an area that is not interested by the laser radar), and therefore, when the horizontal angle at which the fourth type of laser emission unit emits the pulsed laser beam is within a fourth preset angle range, taking the height H of the laser radar from the ground as the highest vertical distance of the pulse laser beam emitted by the fourth laser emission unit on the ground, wherein the highest vertical distance of the pulse laser beam emitted by the fourth laser emission unit on the ground is the target ranging distance of the pulse laser beam emitted by the fourth laser emission unit; and when the horizontal angle of the pulse laser beam emitted by the fourth type of laser emission unit is not within the first preset angle range, the target ranging distance of the pulse laser beam emitted by the fourth type of laser emission unit is 0. For example, the p-th laser emitting unit belongs to a fourth type of laser emitting unit, where the farthest distance that the p-th laser emitting unit emits the pulse laser beam in the α angle range (in this scenario, the α angle is a fourth preset angle) is the distance from the laser emitting unit to the near-end roadside fence, the farthest distance that the p-th laser emitting unit emits the pulse laser beam in an angle other than α (i.e., the horizontal angle is not in the fourth preset angle range) is the distance from the laser emitting unit to the road surface, and then the maximum ranging distance (farthest ranging distance) formula of the p-th laser emitting unit is as follows:

the fifth type of laser emission unit is a unit that emits pulsed laser beams onto the first side of the far-end edge of the target, onto the second side of the far-end edge of the target, and not onto the target area, i.e. a unit that emits pulsed laser beams emitted by the fifth type of laser emission unit, and the pulsed laser beams emitted by the fifth type of laser emission unit can be directed onto the far-end side (i.e. the first side of the far-end edge of the target) in fig. 11, or onto the far-end house on the right side (i.e. the second side of the far-end edge of the target) and do not reach the target area, so that when the horizontal angle of the pulsed laser beams emitted by the fifth type of laser emission unit is within a fifth preset angle range, the distance L1 between the fifth type of laser emission unit and the near-end edge of the target is taken as the farthest horizontal distance of the pulsed laser beams emitted by the fifth type of laser emission unit onto the ground, and the horizontal distance of the pulsed laser beams emitted by the fifth type of laser emission unit is the fifth type of laser emission unit A target ranging distance of the emitted pulsed laser beam; when the horizontal angle of the pulse laser beam emitted by the fifth type of laser emission unit is within a sixth preset angle range, taking the distance L2 between the fifth type of laser emission unit and the target far-end edge as the pulse laser beam emitted by the fifth type of laser emission unit to be emitted on the groundThe farthest horizontal distance, at this time, the farthest horizontal distance, in which the pulse laser beam emitted by the fifth type of laser emission unit is irradiated on the ground, is the target ranging distance of the pulse laser beam emitted by the fifth type of laser emission unit; and when the horizontal angle of the pulse laser beam emitted by the fifth type of laser emission unit is not in a fourth preset angle range and is not in a fifth preset angle range, the target ranging distance of the pulse laser beam emitted by the fifth type of laser emission unit is 0. For example, the q-th laser emitting unit is at₁Within an angular range (in this scenario β)₁Angle, fifth preset angle) is the distance from the laser emitting unit to the distal end of the upper side, which includes a motor vehicle lane, a non-motor vehicle lane, and a sidewalk. The q-th laser emitting unit is at₂Within an angular range (in this scenario β)₂Angle, i.e., within a sixth preset angle range) is the distance from the laser emitting unit to the far right house, including the motor vehicle lane, the non-motor vehicle lane, and the sidewalk. Q laser emitting unit in the division of beta₁、β₂The farthest distance of the pulse laser beam emitted in the other angle range (i.e., the horizontal angle is neither in the fifth preset angle range nor in the sixth preset angle range) is 0, and thus, the maximum ranging distance (farthest ranging distance) of the qth laser emitting unit is expressed by the following formula:

when the farthest required ranging distance of the ith laser emitting unit is greater than the preset farthest detection distance, the farthest detection distance is the preset farthest detection distance, where i may represent any one of all laser emitting units in the laser radar. P may be represented by s in fig. 11, and q may be represented by t in fig. 11 in order to represent the identifier belonging to the fourth type of laser emitting unit in each of the laser emitting units carrying the identifier, so that the above or below letters are all identifiers and do not represent a specific laser emitting unit, and the letters are not limited herein.

After determining the farthest ranging distance of the pulse laser beam emitted by each laser emitting unit, how to reasonably emit a time interval for each laser emitting unit, and further allocate more timing time to the detection angle range of interest, refer to fig. 12, where fig. 12 is a schematic flow diagram of a laser radar ranging method provided in another embodiment of the present application, and this embodiment describes the laser radar ranging method in detail on the basis of the above embodiments. After the determining the farthest ranging distance of the pulse laser beam emitted by each laser emitting unit, the method further comprises:

s801, determining the maximum flight time of the pulse laser beams emitted by the laser emission units according to the maximum distance measurement distance of the pulse laser beams emitted by the laser emission units and the function relationship between the distance and the time;

s802, distributing a transmitting time interval for each laser transmitting unit in the laser radar according to the maximum flight time of the pulse laser beam transmitted by each laser transmitting unit, so that each laser transmitting unit in the laser radar transmits the pulse laser beam according to the correspondingly distributed transmitting time interval.

In practical application, the maximum flight time of the laser pulse beams emitted by the laser emitting units is obtained according to the farthest ranging distance, and the maximum flight time of the pulse laser beam of each laser emitting unit is respectively T1 and T2 … Tm, m represents the mark of the pulse laser beam emitted at any horizontal angle in the pulse laser beam of each laser emitting unit. Wherein the relationship between the farthest ranging distance and the maximum flight time (i.e., the distance-time function) for each road is:

where c is the speed of light.

The maximum timing time of the laser pulse beam emitted by the laser emitting unit can be determined according to the maximum flight time, wherein the maximum timing time comprises the maximumBesides large flight time, the system also comprises laser emission delay, laser receiving delay, circuit wiring delay and processor internal delay. Here, the maximum timing time of the laser pulse beam emitted from each laser emitting unit may be the sum of each flight time of each laser emitting unit

In order to improve the precision, the laser emission delay, the laser receiving delay, the circuit wiring delay and the processor internal delay can be respectively obtained, and then the sum of the laser emission delay, the laser receiving delay, the circuit wiring delay, the processor internal delay and each path of flight time is accumulated.

In this embodiment, in order to distribute the range finding ability of laser instrument according to the biggest range finding distance of different laser instruments under different angles, can be for the reasonable emission time interval of each laser emission unit, and then distribute more timing time to the detection angle within range of interest, make and allow more ways laser emission unit transmission laser in horizontal angle within range effectively, improve the whole range finding ability of laser radar, and then reach under the prerequisite of guaranteeing the whole range finding ability of laser radar, increase the purpose of the vertical angle resolution ratio in the region that laser radar is interested in.

In order to implement the laser radar ranging method, the embodiment provides a laser radar ranging device. Referring to fig. 13, fig. 13 is a schematic structural diagram of a laser radar distance measuring device according to an embodiment of the present disclosure; the lidar ranging device 130 includes: a road condition information obtaining module 1301, a spatial distribution information obtaining module 1302, and a farthest distance measuring distance determining module 1303; a traffic information obtaining module 1301, configured to obtain current traffic information; a spatial distribution information obtaining module 1302, configured to obtain spatial distribution information of pulse laser beams emitted by each laser emitting unit in the laser radar respectively; and a farthest distance measuring determining module 1303, configured to determine a farthest distance measuring distance of the pulse laser beam emitted by each laser emitting unit according to the current road condition information and the spatial distribution information of the pulse laser beam emitted by each laser emitting unit.

In this embodiment, the road condition information obtaining module 1301, the spatial distribution information obtaining module 1302, and the farthest distance measuring distance determining module 1303 are configured to obtain current road condition information and spatial distribution information of pulse laser beams emitted by each laser emitting unit in the laser radar, and determine the farthest distance measuring distance of the pulse laser beams emitted by each laser emitting unit according to the current road condition information and the spatial distribution information of the pulse laser beams emitted by each laser emitting unit, so that the farthest distance measuring distance of the emitted pulse laser beams matched with each laser emitting unit can be effectively obtained, and the overall distance measuring capability of the laser radar is effectively and reasonably improved.

The apparatus provided in this embodiment may be used to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.

according to the included angle theta between the first laser emission unit and the ground in the vertical direction and the included angle theta between the pulse laser beams emitted by the two adjacent laser emission units respectively_n-1Obtaining each laser emitting unit except the first laser emitting unit and the ground in each laser emitting unitAngle theta + theta in the direction perpendicular to the plane₁+…+θ_n-1。

according to the first type of laser emission unit, by a first formula

according to the second type of laser emission unit, by a second formula

according to the third type of laser emission unit, using a third formula

according to the fourth type of laser emission unit, by a fourth formula

according to the fifth type of laser emission unit, by a fifth formula

if each laser emission unit in the fourth type of laser emission unitMaximum distance D of pulse laser beam emitted by element_pAnd the farthest distance D of the pulse laser beam emitted by each laser emission unit in the fifth type of laser emission unit_qWhen a second target laser emitting unit corresponding to a longer detection distance than a preset longest detection distance exists, taking the preset longest detection distance as the longest distance measurement distance of the pulse laser beam emitted by the second target laser emitting unit.

In this embodiment, through the lidar range unit who sets up, in order to distribute the range finding ability of laser instrument according to the maximum range finding distance of different laser instruments under different angles, can be for the reasonable emission time interval of each laser emission unit, and then distribute more timing time in the detection angle scope of interest, make and allow more ways laser emission unit transmission laser in horizontal angle within range effectively, improve the whole range finding ability of lidar, and then reach under the prerequisite of guaranteeing the whole range finding ability of lidar, increase the purpose of the vertical angle resolution ratio in the region that lidar is interested in.

In order to implement the laser radar ranging method, the embodiment provides a laser radar ranging device. Fig. 14 is a schematic structural diagram of a lidar ranging apparatus according to an embodiment of the present application. As shown in fig. 14, the laser radar ranging apparatus 140 of the present embodiment includes: a processor 1401 and a memory 1402; a memory 1402 for storing computer-executable instructions; a processor 1401 for executing computer executable instructions stored in the memory to implement the various steps performed in the above-described embodiments. Reference may be made in particular to the description relating to the method embodiments described above.

An embodiment of the present application further provides a computer-readable storage medium, where a computer executing instruction is stored in the computer-readable storage medium, and when a processor executes the computer executing instruction, the lidar ranging method is implemented as described above.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form. In addition, functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus. The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A laser radar ranging method, comprising:

acquiring current road condition information;

determining the farthest distance measuring distance of the pulse laser beams emitted by the laser emitting units according to the current road condition information and the space distribution information of the pulse laser beams emitted by the laser emitting units;

allocating a transmission time interval to each laser transmitting unit in the laser radar according to the maximum flight time of the pulse laser beam transmitted by each laser transmitting unit, so that each laser transmitting unit in the laser radar transmits the pulse laser beam according to the correspondingly allocated transmission time interval;

wherein, the determining the farthest distance measuring distance of the pulse laser beam emitted by each laser emitting unit according to the current road condition information and the spatial distribution information of the pulse laser beam emitted by each laser emitting unit includes:

2. The method according to claim 1, wherein the obtaining the current traffic information comprises:

3. The method according to claim 2, wherein the separately acquiring the spatial distribution information of the pulsed laser beams emitted by the laser emitting units in the laser radar comprises:

4. The method according to claim 3, wherein the determining an included angle between the pulse laser beam emitted by each laser emitting unit and the vertical direction of the ground according to the vertical angle resolution corresponding to each laser emitting unit comprises:

5. The method of claim 1, wherein if the surrounding environment information of the lidar is that the lidar is currently applied to an expressway or the lidar is currently applied to a four-phase intersection, the determining the target ranging distance of the pulse laser beam emitted by each of the laser emitting units from the height of the lidar from the ground, the distance between each of the laser emitting units and the level of the near-end edge of the target, and the distance between each of the laser emitting units and the level of the far-end edge of the target according to the surrounding environment information of the lidar, the information that the pulse laser beam emitted by each of the laser emitting units reaches the ground, and the horizontal angle at which each of the laser emitting units emits the pulse laser beam comprises:

6. The method according to claim 5, wherein the determining the farthest distance of the pulse laser beam emitted by each laser emitting unit according to the target distance of the pulse laser beam emitted by each laser emitting unit and the included angle between the pulse laser beam emitted by each laser emitting unit and the vertical direction of the ground comprises:

according to the first type of laser emission unit, by a first formula

according to the second type of laser emission unit, by a second formula

according to the third type of laser emission unit, using a third formula

Obtaining the third type laser emission sheetThe farthest distance Dt of the pulse laser beam emitted by each laser emission unit in the element represents the identifier of the laser emission unit belonging to the third class in each laser emission unit carrying the identifier;

7. The method of claim 1, wherein if the surrounding environment information of the lidar is that the lidar is currently applied to a t-junction, determining the target ranging distance of the pulse laser beam emitted by each of the laser emitting units from the height of the lidar from the ground, the distance between each of the laser emitting units and the target proximal edge level, and the distance between each of the laser emitting units and the target distal edge level according to the surrounding environment information of the lidar, the information that the pulse laser beam emitted by each of the laser emitting units reaches the ground, and the horizontal angle at which each of the laser emitting units emits the pulse laser beam comprises:

8. The method according to claim 7, wherein the determining the farthest distance of the pulse laser beam emitted by each laser emitting unit according to the target distance of the pulse laser beam emitted by each laser emitting unit and the included angle between the pulse laser beam emitted by each laser emitting unit and the vertical direction of the ground comprises:

according to the aboveA fourth type of laser emitting unit using a fourth formula

The horizontal angle is within a fourth preset angle range, and the farthest distance D of the pulse laser beam emitted by each laser emission unit in the fourth type of laser emission units is obtained_pP represents an identifier belonging to a fourth type of laser emission unit in each laser emission unit carrying the identifier;

according to the fifth type of laser emission unit, by a fifth formula

9. A lidar ranging apparatus, comprising:

the farthest distance measurement determining module is used for determining the farthest distance measurement of the pulse laser beams emitted by the laser emitting units according to the current road condition information and the spatial distribution information of the pulse laser beams emitted by the laser emitting units;

the device further comprises: the device comprises a maximum flight time determining module and a transmitting time interval distributing module;

the emission time interval distribution module is used for distributing emission time intervals for each laser emission unit in the laser radar according to the maximum flight time of the pulse laser beams emitted by each laser emission unit so as to enable each laser emission unit in the laser radar to emit the pulse laser beams according to the corresponding distributed emission time intervals;

the farthest ranging distance determining module includes: the system comprises a ground information acquisition unit, a horizontal angle acquisition unit, a target ranging distance determination unit and a farthest ranging distance determination unit;

10. The apparatus according to claim 9, wherein the traffic information obtaining module is specifically configured to:

11. The apparatus of claim 10, wherein the spatial distribution information obtaining module comprises: a vertical angle resolution acquisition unit and an included angle determination unit;

12. The apparatus according to claim 11, wherein the angle determining unit is specifically configured to:

13. The apparatus of claim 9, wherein the target ranging distance determining unit is specifically configured to:

14. The apparatus according to claim 13, wherein the farthest ranging distance determining unit is specifically configured to:

according to the first type of laser emission unit, by a first formula

according to the second type of laser emission unit, by a second formula

according to the third type of laser emission unit, using a third formula

15. The apparatus of claim 9, wherein the target ranging distance determining unit is specifically configured to:

16. The apparatus of claim 15, wherein the farthest ranging distance determining unit is specifically configured to:

according to the fourth type of laser emission unit, by a fourth formula

according to the fifth type of laser emission unit, by a fifth formula

17. A lidar ranging apparatus, comprising: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the lidar ranging method of any of claims 1 to 8.

18. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the lidar ranging method of any one of claims 1 to 8.