CN113050069B - Method, device, equipment and storage medium for acquiring interference signals of laser radar - Google Patents
Method, device, equipment and storage medium for acquiring interference signals of laser radar Download PDFInfo
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Abstract
The embodiment of the invention provides a method, a device, equipment and a storage medium for acquiring interference signals of a laser radar, wherein echo signals are acquired through a current channel of the laser radar; if the echo signals comprise a first echo signal in a target detection window and a second echo signal outside the target detection window, extracting signal characteristics of the first echo signal in the target detection window, and judging whether the first echo signal in the target detection window is an interference signal according to the signal characteristics; and if the first echo signal in the target detection window is determined to be the interference signal, outputting the interference signal and/or storing the interference signal. According to the embodiment of the invention, the interference signal can be extracted from the echo signal collected by the laser radar, so that the laser radar signal processing process can be optimized according to the interference signal, and the accuracy of laser radar ranging can be effectively improved.
Description
Technical Field
The present invention relates to the field of lidar technologies, and in particular, to a method, an apparatus, a device, and a storage medium for acquiring an interference signal of a lidar.
Background
The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, in terms of working principle, the laser radar emits detection signals to the target, then the received echo signals reflected from the target are compared with the emission signals, and after proper processing, relevant information of the target such as the distance, the intensity, the azimuth angle and the like of the target can be obtained, so that the target is detected, tracked and identified, and therefore, in the laser radar technology, the detection sensitivity and the detection precision of the laser radar on the echo signals determine the performance of the laser radar in principle.
Conventional lidar generally consists of a circuit part, a light path part and a mechanical structure, and due to the specificity of the light path and the complexity of the structure, interference signals cannot be avoided in the design and application process of the lidar, for example, stray light exists in a near-end detection blind area of the lidar, and for example, a detection signal emitted by the lidar at one time may strike a plurality of target objects, and a plurality of waveforms may be superimposed on a reflected echo signal, so that noise problems are caused. In the application process of the laser radar, the accuracy of laser radar ranging is greatly affected due to the existence of interference signals.
Disclosure of Invention
The invention provides a method, a device, equipment and a storage medium for acquiring interference signals of a laser radar so as to acquire the interference signals in echo signals acquired by the laser radar.
A first aspect of the present invention provides a method for acquiring an interference signal of a lidar, including:
collecting echo signals through a current channel of the laser radar;
if the echo signals comprise a first echo signal in a target detection window and a second echo signal outside the target detection window, extracting signal characteristics of the first echo signal in the target detection window, and judging whether the first echo signal in the target detection window is an interference signal according to the signal characteristics;
and if the first echo signal in the target detection window is determined to be the interference signal, outputting the interference signal and/or storing the interference signal.
A second aspect of the present invention provides an interference signal acquisition apparatus of a lidar, comprising:
the acquisition module is used for acquiring echo signals from the current channel of the laser radar;
the processing module is used for extracting signal characteristics from the first echo signal in the target detection window and judging whether the first echo signal in the target detection window is an interference signal according to the signal characteristics if the echo signal comprises the first echo signal in the target detection window and the second echo signal outside the target detection window;
and the output module is used for outputting the interference signal and/or storing the interference signal if the first echo signal in the target detection window is determined to be the interference signal.
A third aspect of the present invention provides an interference signal acquisition apparatus of a lidar, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method according to the first aspect.
A fourth aspect of the present invention is to provide a computer-readable storage medium having a computer program stored thereon;
the computer program, when executed by a processor, implements the method as described in the first aspect.
The invention provides a method, a device, equipment and a storage medium for acquiring interference signals of a laser radar, wherein echo signals are acquired through a current channel of the laser radar; if the echo signals comprise a first echo signal in a target detection window and a second echo signal outside the target detection window, extracting signal characteristics of the first echo signal in the target detection window, and judging whether the first echo signal in the target detection window is an interference signal according to the signal characteristics; and if the first echo signal in the target detection window is determined to be the interference signal, outputting the interference signal and/or storing the interference signal. According to the embodiment of the invention, the interference signal can be extracted from the echo signal collected by the laser radar, so that the laser radar signal processing process can be optimized according to the interference signal, and the accuracy of laser radar ranging can be effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a flowchart of a method for acquiring interference signals of a lidar according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for obtaining an interference signal of a lidar according to another embodiment of the present invention;
fig. 3 is a block diagram of an interference signal acquisition device of a lidar according to an embodiment of the present invention;
fig. 4 is a block diagram of an interference signal acquisition device of a lidar according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
After the detection signal is transmitted by the existing laser radar, the detection signal is reflected by the target object, the laser radar acquires an echo signal again, the echo signal comprises a real signal obtained by reflecting the detection signal by the target object, and also possibly comprises some interference signals, for example, the target object is positioned in a near-end detection blind area (0.5-5 m is different) of the laser radar, the interference signals can be some stray light signals existing in the near-end detection blind area, and the stray light signals are overlapped with the real signal, so that the phenomenon of inaccurate ranging in the near-end detection blind area is caused; if the target object is in the detection range of the laser radar, namely, when the target object is out of the near-end detection blind area, the stray light signal existing in the near-end detection blind area cannot be avoided, so that the stray light signal still exists in the echo signal of the laser radar at the moment, but the stray light signal is not overlapped with the real signal obtained by reflecting the target object, namely, the stray light signal is mutually separated from the real signal obtained by reflecting the target object, and the accuracy of distance measurement on the target object is not affected by the stray light signal; for another example, the target object is in the detection range of the laser radar, although the target object may not be affected by the stray light signal existing in the near-end detection blind area, the detection signal emitted by the laser radar at one time may strike a plurality of target objects, so that the reflected echo signal may have a situation that a plurality of waveforms are overlapped, the point may be inaccurate in ranging, the problem of noise of laser radar data occurs, and of course, only the noise signal may exist. In view of the above problems, the embodiment of the invention provides a method for acquiring an interference signal of a laser radar, which can acquire the interference signal from an echo signal acquired by the laser radar, so that the echo signal with the interference signal can be restored according to the interference signal to obtain a real signal, and the accuracy of laser radar ranging is improved. The interference signal acquisition process of the lidar will be described in detail with reference to specific embodiments.
Fig. 1 is a flowchart of a method for acquiring an interference signal of a lidar according to an embodiment of the present invention. The embodiment provides a method for acquiring interference signals of a laser radar, which comprises the following specific steps:
s101, acquiring echo signals through a laser radar current channel.
In this embodiment, the lidar may be a single-line lidar or a multi-line lidar, that is, the lidar of this embodiment may have at least one channel; for any one of the channels, after the channel transmits the detection signal, the channel acquires the echo signal.
S102, if the echo signals comprise a first echo signal in a target detection window and a second echo signal outside the target detection window, extracting signal characteristics of the first echo signal in the target detection window, and judging whether the first echo signal in the target detection window is an interference signal according to the signal characteristics.
In this embodiment, the target detection window is a window in which an interference signal exists, and the target detection window is a detection window corresponding to a near-end detection blind area of the laser radar, or a detection window corresponding to a section in which a noise exists in a detection range of the laser radar, or a detection window corresponding to a preset detection range.
The echo signals collected by the current channel of the laser radar may specifically include the following situations: the real signal reflected by the object is overlapped with the interference signal in the target detection window; or the real signal reflected by the object is not overlapped with the interference signal in the target detection window, namely the interference signal exists in the target detection window, and the real signal exists outside the target detection window.
In this embodiment, firstly, the echo signal collected by the current channel of the laser radar is determined, if the echo signal includes a first echo signal in the target detection window and a second echo signal outside the target detection window, whether the first echo signal in the target detection window is an interference signal is further determined, and if the first echo signal meets the characteristics of the interference signal, the first echo signal is considered to be the interference signal.
In an alternative embodiment, as shown in fig. 2, the extracting signal features from the first echo signal in the target detection window, and determining whether the first echo signal in the target detection window is an interference signal according to the signal features includes:
s1011, acquiring the initial point corresponding time and the peak point corresponding time of the first echo signal in the target detection window;
s1012, acquiring the number of rising edges included between the time corresponding to the starting point and the time corresponding to the peak point of the first echo signal;
and S1013, if the number of the rising edges is one, determining that the signal type of the echo signals acquired in the target detection window is an interference signal.
In this embodiment, the time from the start point corresponding to the first echo signal to the peak point corresponding to the first echo signal in the target detection window is a waveform front edge interval of the first echo signal, and if the number of rising edges in the waveform front edge interval is one, it is indicated that no inflection point occurs in the first echo signal in the waveform front edge interval, and the first echo signal in the target detection window can be considered as an interference signal; if the number of rising edges in the waveform leading edge interval exceeds one, it is explained that at least one inflection point appears in the first echo signal in the leading edge interval, and the first echo signal in the target detection window can be considered as a superposition signal of the interference signal and a certain real signal. The specific process can be as follows:
assuming that the target detection window is sigma epsilon [ t0, t3], extracting signal characteristics of a first echo signal in the target detection window sigma, obtaining the starting point corresponding time t1 and the peak point corresponding time t2 of the first echo signal in the target detection window sigma, and obtaining the waveform leading edge interval epsilon [ t1, t2] of the first echo signal in the target detection window sigma. Then, the number of rising edges included in the waveform leading edge interval epsilon is obtained, in this embodiment, the first echo signal can be sampled at a preset sampling frequency fs in the waveform leading edge interval epsilon to obtain a sampling signal sequence a, the depth of which is m= (t 2-t 1) x fs, and the number n of rising edges included in the waveform leading edge interval epsilon can be determined by the following formula:
wherein A [ i ]]For sampling the data of the ith sampling point in the signal sequence A, V th For the preset threshold, that is, if the (i+1) th sampling point data is judged to be lower than the (i) th sampling point data by the above formula, the drop amplitude is larger than V th It is explained that the waveform has an inflection point at the i-th sampling point, so that the number of rising edges is increased by 1. If n=1, determining that the signal type of the first echo signal in the target detection window is an interference signal, and storing a sampling signal sequence as a sampling signal sequence A1 of the target interference signal; if n > 1, determining that the first echo signal in the target detection window is a superposition signal of the interference signal and the real signal, and discarding (i.e. not continuing the acquisition process of the interference signal).
Of course, the above process may also use a waveform trailing edge interval to determine, that is, the time from the peak point of the first echo signal in the target detection window to the end point of the first echo signal is obtained as the waveform trailing edge interval, and the number of falling edges in the waveform trailing edge interval is used to determine whether the first echo signal in the target detection window is an interference signal, and if the number of falling edges is one, the first echo signal in the target detection window is determined to be an interference signal.
On the basis of the above embodiment, in order to improve the accuracy of acquiring the interference signal, to avoid the influence of the second echo signal on the first echo signal, a certain distance needs to exist between the first echo signal and the second echo signal. Specifically, when judging the echo signal collected by the current channel of the laser radar, the method specifically may also be as follows:
and if the echo signal comprises a first echo signal in the target detection window and a second echo signal outside the target detection window, the second distance information corresponding to the second echo signal is larger than the first distance information corresponding to the first echo signal, and the second distance information exceeds a preset distance threshold value, extracting signal characteristics from the first echo signal in the target detection window.
In this embodiment, after determining that the echo signal includes the first echo signal in the target detection window and the second echo signal outside the target detection window, the relationship between the second echo signal and the target detection window may also be determined, that is, it is required that the second distance information corresponding to the second echo signal is greater than the first distance information corresponding to the first echo signal, and the second distance information exceeds the preset distance threshold, where the second distance information is a distance between the second echo signal corresponding to the object and the laser radar, and no other object is blocked between the second echo signal corresponding to the object and the laser radar. For example, for a near-end detection blind zone (for example, the distance range of the blind zone is 0-0.5 m) of the laser radar, the first echo signal is located in a detection window corresponding to the near-end detection blind zone of 0-0.5m, it is required that the object corresponding to the second echo signal is more than a preset distance threshold (for example, 8 m) from the laser radar, and the second echo signal does not have any influence on the first echo signal.
And S103, if the first echo signal in the target detection window is determined to be the interference signal, outputting the interference signal and/or storing the interference signal.
In this embodiment, after determining that the first echo signal in the target detection window is an interference signal, the interference signal may be directly output, so as to be used for restoring the echo signal collected by the laser radar in the current channel and removing the interference signal to the real signal; the interference signal may also be stored.
Optionally, the interference signal is sampled at a preset sampling frequency to obtain a sampling signal sequence of the interference signal, and the sampling signal sequence of the interference signal is output and/or stored.
Alternatively, the lidar in this embodiment may be a multi-line lidar, that is, the lidar has a plurality of channels, and interference signals between each channel are independent, so that for each channel, the interference signal of the lidar may be obtained through the process in the foregoing embodiment. Further, when storing the interference signals, the interference signals may be stored according to the channel, the scanning period and the scanning angle, respectively.
Optionally, only one interference signal is stored in one scanning period of the laser radar, so as to update the interference signal stored in the previous scanning period, and considering that the interference signal may change the waveform characteristics such as amplitude, pulse width and the like along with the change of environmental factors such as weather, temperature and the like, the one scanning period of the laser radar is usually shorter, and the environmental factors will not be suddenly changed, so that the update of the interference signal in one scanning period is only required, which can approximately represent the situation of the interference signal in the whole scanning period, and system resources can be saved.
According to the interference signal acquisition method of the laser radar, echo signals are acquired through the current channel of the laser radar; if the echo signals comprise a first echo signal in a target detection window and a second echo signal outside the target detection window, extracting signal characteristics of the first echo signal in the target detection window, and judging whether the first echo signal in the target detection window is an interference signal according to the signal characteristics; and if the first echo signal in the target detection window is determined to be the interference signal, outputting the interference signal and/or storing the interference signal. In the embodiment, the interference signal can be extracted from the echo signal collected by the laser radar, so that the laser radar signal processing process can be optimized according to the interference signal, and the accuracy of laser radar ranging can be effectively improved.
On the basis of the above embodiment, the method for acquiring an interference signal of the lidar further includes:
and acquiring the target detection window, wherein the target detection window is a detection window corresponding to a near-end detection blind area of the laser radar, or a detection window corresponding to a section with a noise point in a detection range of the laser radar, or a detection window corresponding to a preset detection range.
In the present embodiment, the target detection window may be acquired in advance. The target detection window may be a detection window corresponding to a near-end detection blind area of the laser radar, or a detection window corresponding to a section where a noise exists in a detection range of the laser radar, or a detection window corresponding to a preset detection range, and may be selected according to actual requirements. Specifically, the process of acquiring the target detection window is as follows:
in an alternative embodiment, for a detection window corresponding to a near-end detection blind area, a light-emitting start time of the laser radar and a circuit delay time of the laser radar may be obtained, where the light-emitting start time to the circuit delay time are used as the detection window corresponding to the near-end detection blind area of the laser radar.
For example, the light emission starting time of the laser radar is t0, the circuit delay time of the laser radar is t3, that is, the detection window corresponding to the near-end detection blind area is sigma epsilon [ t0, t3].
In an optional embodiment, for a detection window corresponding to a section with noise in a detection range of the laser radar, whether a section with signal intensity exceeding a preset signal intensity threshold exists in an echo signal acquired by a current channel of the laser radar can be judged according to the preset signal intensity threshold; if so, the section is taken as a detection window corresponding to the section with noise in the detection range of the laser radar.
For example, the signal strength threshold V may be preset g Judging whether the signal intensity of an echo signal acquired by the current channel of the laser radar exceeds the preset signal intensity threshold V g Is a section of (2); if so, the section (t 4 to t 5) is used as a detection window corresponding to the section of the laser radar current channel with noise in the detection range. I.e. based on a preset signal strength threshold V in the present embodiment g The echo signal of the current channel at the angle alpha is identified at the moment, and a detection window theta= [ t4:t5 corresponding to the section with noise can be obtained]。
In an alternative embodiment, for a detection window corresponding to a preset detection range, a preset detection range input by a user may be acquired, and the detection window corresponding to the preset detection range is acquired according to the preset detection range.
For example, when the user compares the interference signals of the focused laser radar within a certain detection range, the process of this embodiment may be used to perform setting, specifically, if the user can input the preset detection range to be 5-8m, the time range of the echo signal corresponding to 5-8m is obtained, so as to obtain the detection window corresponding to the preset detection range.
By the acquisition of the target detection window, the window range for acquiring the interference signal can be limited, so that the interference signal can be acquired for a near-end detection blind area of the laser radar and certain areas with noise points.
Fig. 3 is a block diagram of an interference signal acquisition device of a lidar according to an embodiment of the present invention. The interference signal acquisition device of the lidar provided in this embodiment may execute a processing flow provided in an embodiment of an interference signal acquisition method of the lidar, as shown in fig. 3, where the interference signal acquisition device 200 of the lidar includes an acquisition module 201, a processing module 202, and an output module 203.
The acquisition module 201 is used for acquiring echo signals by the current channel of the laser radar;
the processing module 202 is configured to extract signal characteristics from the first echo signal in the target detection window if the echo signal includes the first echo signal in the target detection window and the second echo signal outside the target detection window, and determine whether the first echo signal in the target detection window is an interference signal according to the signal characteristics;
and the output module 203 is configured to output the interference signal and/or store the interference signal if it is determined that the first echo signal in the target detection window is the interference signal.
On the basis of any of the above embodiments, the processing module 202 is configured to:
acquiring the initial point corresponding time and the peak point corresponding time of the first echo signal in the target detection window;
acquiring the number of rising edges included between the time corresponding to the starting point and the time corresponding to the peak point of the first echo signal;
and if the number of the rising edges is one, determining that the signal type of the echo signal acquired in the target detection window is an interference signal.
On the basis of any of the above embodiments, the processing module 202 is configured to:
and if the echo signal comprises a first echo signal in the target detection window and a second echo signal outside the target detection window, the second distance information corresponding to the second echo signal is larger than the first distance information corresponding to the first echo signal, and the second distance information exceeds a preset distance threshold value, extracting signal characteristics from the first echo signal in the target detection window.
On the basis of any one of the foregoing embodiments, the apparatus further includes an acquisition module configured to:
and acquiring the target detection window, wherein the target detection window is a detection window corresponding to a near-end detection blind area of the laser radar, or a detection window corresponding to a section with a noise point in a detection range of the laser radar, or a detection window corresponding to a preset detection range.
On the basis of any one of the above embodiments, the obtaining module is configured to:
acquiring a luminescence starting time of a laser radar and a circuit delay time of the laser radar, and taking the luminescence starting time to the circuit delay time as a detection window corresponding to a near-end detection blind area of the laser radar; or alternatively
Judging whether an echo signal acquired by the current channel of the laser radar has a section with signal intensity exceeding a preset signal intensity threshold value or not according to the preset signal intensity threshold value; if the detection window exists, the section is used as a detection window corresponding to the section with the noise in the detection range of the laser radar; or alternatively
Acquiring a preset detection range input by a user, and acquiring a detection window corresponding to the preset detection range according to the preset detection range.
On the basis of any one of the above embodiments, the output module 203 is configured to:
and storing the interference signals respectively according to a channel, a scanning period and a scanning angle.
The interference signal acquisition device of the lidar provided in the embodiment of the present invention may be specifically used to execute the method embodiments provided in fig. 1-2, and specific functions are not described herein.
According to the interference signal acquisition device of the laser radar, provided by the embodiment of the invention, echo signals are acquired through the current channel of the laser radar; if the echo signals comprise a first echo signal in a target detection window and a second echo signal outside the target detection window, extracting signal characteristics of the first echo signal in the target detection window, and judging whether the first echo signal in the target detection window is an interference signal according to the signal characteristics; and if the first echo signal in the target detection window is determined to be the interference signal, outputting the interference signal and/or storing the interference signal. In the embodiment, the interference signal can be extracted from the echo signal collected by the laser radar, so that the laser radar signal processing process can be optimized according to the interference signal, and the accuracy of laser radar ranging can be effectively improved.
Fig. 4 is a schematic structural diagram of an interference signal acquisition device of a lidar according to an embodiment of the present invention. The interference signal acquisition device of the lidar provided by the embodiment of the present invention may execute the processing flow provided by the embodiment of the interference signal acquisition method of the lidar, as shown in fig. 4, the interference signal acquisition device 300 of the lidar includes a memory 3011, a processor 302, a computer program and a communication interface 303; wherein a computer program is stored in the memory 301 and configured to be executed by the processor 302 for the interfering signal acquisition method of the lidar described in the above embodiment.
The interference signal acquisition device of the lidar of the embodiment shown in fig. 4 may be used to implement the technical solution of the above method embodiment, and its implementation principle and technical effects are similar, and are not repeated here.
In addition, the present embodiment also provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor to implement the interference signal acquisition method of the lidar described in the above embodiment.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform part of the steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working process of the above-described device may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (12)
1. The method for acquiring the interference signal of the laser radar is characterized by comprising the following steps of:
collecting echo signals through a current channel of the laser radar;
if the echo signals comprise a first echo signal in a target detection window and a second echo signal outside the target detection window, extracting signal characteristics of the first echo signal in the target detection window, and judging whether the first echo signal in the target detection window is an interference signal according to the signal characteristics;
if the first echo signal in the target detection window is determined to be an interference signal, outputting the interference signal and/or storing the interference signal;
the target detection window is a detection window corresponding to a near-end detection blind area of the laser radar, and the detection window corresponding to the near-end detection blind area of the laser radar is a circuit delay time from the light-emitting starting time of the laser radar to the circuit delay time of the laser radar;
or alternatively, the process may be performed,
the target detection window is a detection window corresponding to a section with a noise point in the detection range of the laser radar, and the detection window corresponding to the section with the noise point in the detection range of the laser radar is a section with the echo signal acquired by the current channel of the laser radar and having the signal intensity exceeding a preset signal intensity threshold;
or alternatively, the process may be performed,
the target detection window is a detection window corresponding to a preset detection range;
the extracting signal characteristics from the first echo signal in the target detection window, and judging whether the first echo signal in the target detection window is an interference signal according to the signal characteristics, including:
acquiring the initial point corresponding time and the peak point corresponding time of the first echo signal in the target detection window;
acquiring the number of rising edges included between the time corresponding to the starting point and the time corresponding to the peak point of the first echo signal;
and if the number of the rising edges is one, determining that the signal type of the echo signal acquired in the target detection window is an interference signal.
2. The method of claim 1, wherein extracting signal features for the first echo signal within the target detection window if the echo signal includes the first echo signal within the target detection window and the second echo signal outside the target detection window, comprises:
and if the echo signal comprises a first echo signal in the target detection window and a second echo signal outside the target detection window, the second distance information corresponding to the second echo signal is larger than the first distance information corresponding to the first echo signal, and the second distance information exceeds a preset distance threshold value, extracting signal characteristics from the first echo signal in the target detection window.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
and acquiring the target detection window.
4. A method according to claim 3, wherein said obtaining said target detection window comprises:
acquiring a luminescence starting time of a laser radar and a circuit delay time of the laser radar, and taking the luminescence starting time to the circuit delay time as a detection window corresponding to a near-end detection blind area of the laser radar; or alternatively
Judging whether an echo signal acquired by the current channel of the laser radar has a section with signal intensity exceeding a preset signal intensity threshold value or not according to the preset signal intensity threshold value; if the detection window exists, the section is used as a detection window corresponding to the section with the noise in the detection range of the laser radar; or alternatively
Acquiring a preset detection range input by a user, and acquiring a detection window corresponding to the preset detection range according to the preset detection range.
5. The method of claim 1, wherein storing the interfering signal comprises:
and storing the interference signals respectively according to a channel, a scanning period and a scanning angle.
6. An interfering signal acquisition device of a laser radar, comprising:
the acquisition module is used for acquiring echo signals from the current channel of the laser radar;
the processing module is used for extracting signal characteristics from the first echo signal in the target detection window and judging whether the first echo signal in the target detection window is an interference signal according to the signal characteristics if the echo signal comprises the first echo signal in the target detection window and the second echo signal outside the target detection window;
the output module is used for outputting the interference signal and/or storing the interference signal if the first echo signal in the target detection window is determined to be the interference signal;
the target detection window is a detection window corresponding to a near-end detection blind area of the laser radar, and the detection window corresponding to the near-end detection blind area of the laser radar is a circuit delay time from the light-emitting starting time of the laser radar to the circuit delay time of the laser radar;
or alternatively, the process may be performed,
the target detection window is a detection window corresponding to a section with a noise point in the detection range of the laser radar, and the detection window corresponding to the section with the noise point in the detection range of the laser radar is a section with the echo signal acquired by the current channel of the laser radar and having the signal intensity exceeding a preset signal intensity threshold;
or alternatively, the process may be performed,
the target detection window is a detection window corresponding to a preset detection range;
the processing module is further configured to obtain a start point corresponding time and a peak point corresponding time of the first echo signal in the target detection window; acquiring the number of rising edges included between the time corresponding to the starting point and the time corresponding to the peak point of the first echo signal; and if the number of the rising edges is one, determining that the signal type of the echo signal acquired in the target detection window is an interference signal.
7. The apparatus of claim 6, wherein the processing module is to:
and if the echo signal comprises a first echo signal in the target detection window and a second echo signal outside the target detection window, the second distance information corresponding to the second echo signal is larger than the first distance information corresponding to the first echo signal, and the second distance information exceeds a preset distance threshold value, extracting signal characteristics from the first echo signal in the target detection window.
8. The apparatus according to claim 6 or 7, further comprising an acquisition module for:
and acquiring the target detection window.
9. The apparatus of claim 8, wherein the acquisition module is configured to:
acquiring a luminescence starting time of a laser radar and a circuit delay time of the laser radar, and taking the luminescence starting time to the circuit delay time as a detection window corresponding to a near-end detection blind area of the laser radar; or alternatively
Judging whether an echo signal acquired by the current channel of the laser radar has a section with signal intensity exceeding a preset signal intensity threshold value or not according to the preset signal intensity threshold value; if the detection window exists, the section is used as a detection window corresponding to the section with the noise in the detection range of the laser radar; or alternatively
Acquiring a preset detection range input by a user, and acquiring a detection window corresponding to the preset detection range according to the preset detection range.
10. The apparatus of claim 6, wherein the output module is to:
and storing the interference signals respectively according to a channel, a scanning period and a scanning angle.
11. An interference signal acquisition apparatus of a laser radar, characterized by comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-5.
12. A computer-readable storage medium, characterized in that a computer program is stored thereon;
the computer program implementing the method according to any of claims 1-5 when executed by a processor.
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