CN112740075A - 一种基于探测信号的测距方法及装置 - Google Patents

一种基于探测信号的测距方法及装置 Download PDF

Info

Publication number
CN112740075A
CN112740075A CN201980060407.4A CN201980060407A CN112740075A CN 112740075 A CN112740075 A CN 112740075A CN 201980060407 A CN201980060407 A CN 201980060407A CN 112740075 A CN112740075 A CN 112740075A
Authority
CN
China
Prior art keywords
distance
determining
signal
data set
parameter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201980060407.4A
Other languages
English (en)
Other versions
CN112740075B (zh
Inventor
姜彤
李强
巫红英
李洪磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Publication of CN112740075A publication Critical patent/CN112740075A/zh
Application granted granted Critical
Publication of CN112740075B publication Critical patent/CN112740075B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G01S7/4876—Extracting wanted echo signals, e.g. pulse detection by removing unwanted signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

一种基于探测信号的测距方法及装置，涉及距离检测技术领域，用于提高测距的准确性和测距精度。该方法包括：基于时间数字转换(TDC)的测距方式对探测信号的回波信号进行处理，以确定第一数据集合(S501)，第一数据集合包括如下参数：至少一个第一距离或至少一个第一飞行时间；基于模拟数字转换(ADC)的测距方式对该回波信号进行处理，以确定第二数据集合(S502)，第二数据集合包括如下参数：至少一个第二距离或至少一个第二飞行时间；根据该探测信号的实际发射功率、至少一个估计距离、或者该回波信号的至少一个信号参数中的至少一项分别与预设的阈值之间的关系，根据该第一数据集合或该第二数据集合中的至少一个参数确定输出距离集合(S503)。

Description

PCT国内申请，说明书已公开。

Claims (32)

  1. PCT国内申请，权利要求书已公开。
CN201980060407.4A 2019-03-29 2019-03-29 一种基于探测信号的测距方法及装置 Active CN112740075B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/080678 WO2020199048A1 (zh) 2019-03-29 2019-03-29 一种基于探测信号的测距方法及装置

Publications (2)

Publication Number Publication Date
CN112740075A true CN112740075A (zh) 2021-04-30
CN112740075B CN112740075B (zh) 2022-05-13

Family

ID=72664879

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980060407.4A Active CN112740075B (zh) 2019-03-29 2019-03-29 一种基于探测信号的测距方法及装置

Country Status (5)

Country Link
US (1) US20220011414A1 (zh)
EP (1) EP3936896A4 (zh)
JP (1) JP2022528382A (zh)
CN (1) CN112740075B (zh)
WO (1) WO2020199048A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114814863A (zh) * 2022-04-22 2022-07-29 北京一径科技有限公司 一种基于sipm的回波检测方法、装置、设备及存储介质

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101001363A (zh) * 2006-06-29 2007-07-18 华为技术有限公司 一种数据单播的系统和方法
CN101005689A (zh) * 2006-06-23 2007-07-25 华为技术有限公司 用户终端的调度优先级的设置方法及基站节点
CA2857826A1 (en) * 2007-12-21 2009-07-02 Leddartech Inc. Detection and ranging methods and systems
CN101490579A (zh) * 2006-07-17 2009-07-22 莱卡地球系统公开股份有限公司 光学测距方法和相应的光学测距装置
CN106199622A (zh) * 2015-05-29 2016-12-07 赫克斯冈技术中心 时间测量电路和具有这种时间测量电路的光电测距仪
US20170242105A1 (en) * 2016-02-18 2017-08-24 Aeye, Inc. Adaptive Ladar Receiving Method
CN107589425A (zh) * 2017-10-17 2018-01-16 广州极飞科技有限公司 超声波测距设备及其回波信号检测方法、装置和飞行器
US20190063914A1 (en) * 2017-08-30 2019-02-28 Hexagon Technology Center Gmbh Total station or theodolite having scanning functionality and settable receving ranges of the receiver

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3504145B2 (ja) * 1998-06-12 2004-03-08 日本信号株式会社 物体検出装置
US7965384B2 (en) * 2007-09-27 2011-06-21 Omron Scientific Technologies, Inc. Clutter rejection in active object detection systems
JP2012122951A (ja) * 2010-12-10 2012-06-28 Denso Corp 距離測定装置および距離測定プログラム
JP6149506B2 (ja) * 2013-05-20 2017-06-21 株式会社デンソー レーダ装置
US11131756B2 (en) * 2015-09-29 2021-09-28 Qualcomm Incorporated LIDAR system with reflected signal strength measurement
US10890649B2 (en) * 2016-08-11 2021-01-12 Qualcomm Incorporated System and method for measuring reference and returned light beams in an optical system
US10598771B2 (en) * 2017-01-18 2020-03-24 Analog Devices Global Unlimited Company Depth sensing with multiple light sources
EP3415950B1 (de) * 2017-06-13 2020-05-27 Hexagon Technology Center GmbH Distanzmesser mit spad-anordnung und range walk kompensation
CN108732553B (zh) * 2018-06-01 2022-02-01 北京航空航天大学 一种激光雷达波形时刻鉴别方法与在线测距系统

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101005689A (zh) * 2006-06-23 2007-07-25 华为技术有限公司 用户终端的调度优先级的设置方法及基站节点
CN101001363A (zh) * 2006-06-29 2007-07-18 华为技术有限公司 一种数据单播的系统和方法
CN101490579A (zh) * 2006-07-17 2009-07-22 莱卡地球系统公开股份有限公司 光学测距方法和相应的光学测距装置
CA2857826A1 (en) * 2007-12-21 2009-07-02 Leddartech Inc. Detection and ranging methods and systems
CN106199622A (zh) * 2015-05-29 2016-12-07 赫克斯冈技术中心 时间测量电路和具有这种时间测量电路的光电测距仪
US20170242105A1 (en) * 2016-02-18 2017-08-24 Aeye, Inc. Adaptive Ladar Receiving Method
US20190063914A1 (en) * 2017-08-30 2019-02-28 Hexagon Technology Center Gmbh Total station or theodolite having scanning functionality and settable receving ranges of the receiver
CN107589425A (zh) * 2017-10-17 2018-01-16 广州极飞科技有限公司 超声波测距设备及其回波信号检测方法、装置和飞行器

Also Published As

Publication number Publication date
EP3936896A4 (en) 2022-02-23
WO2020199048A1 (zh) 2020-10-08
EP3936896A1 (en) 2022-01-12
JP2022528382A (ja) 2022-06-10
US20220011414A1 (en) 2022-01-13
CN112740075B (zh) 2022-05-13

Similar Documents

Publication Publication Date Title
US11802953B2 (en) Adaptive algorithms for interrogating the viewable scene of an automotive radar
EP3669246B1 (en) Detecting motion of an autonomous vehicle using radar technology
US11169261B2 (en) Radar based mapping and localization for autonomous vehicles
US11634153B2 (en) Identification of proxy calibration targets for a fleet of vehicles
WO2021077287A1 (zh) 一种检测方法、检测装置以及存储介质
US11630209B2 (en) Laser waveform embedding
US20220018943A1 (en) Ranging Method, Radar, and Vehicle-Mounted Radar
US11594037B1 (en) Vehicle sensor calibration and verification
CN115147796A (zh) 评测目标识别算法的方法、装置、存储介质及车辆
CN115315636A (zh) 一种雷达信号发射和接收方法及雷达
US20220244395A1 (en) Calibration and Localization of a Light Detection and Ranging (Lidar) Device Using a Previously Calibrated and Localized Lidar Device
CN112740075B (zh) 一种基于探测信号的测距方法及装置
CN113302519A (zh) 一种确定高程的方法、装置及雷达
CN112740067B (zh) 用于雷达测距的方法、设备、雷达和车载系统
WO2020164121A1 (zh) 一种雷达以及增益控制方法
CN115407344B (zh) 栅格地图创建方法、装置、车辆及可读存储介质
CN115179930B (zh) 车辆控制方法、装置、车辆及可读存储介质
US20230194676A1 (en) Two-Step Return Calibration for Lidar Cross-Talk Mitigation
CN112654889B (zh) 拍频信号处理方法及装置
EP4390448A1 (en) Differential methods for environment estimation, lidar impairment detection, and filtering
US20240201391A1 (en) Differential Methods for Environment Estimation, Lidar Impairment Detection, and Filtering
CN115685294A (zh) 一种信号干扰处理方法及装置

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant