CN113625247A - Control method and device and laser radar - Google Patents
Control method and device and laser radar Download PDFInfo
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- CN113625247A CN113625247A CN202111179159.0A CN202111179159A CN113625247A CN 113625247 A CN113625247 A CN 113625247A CN 202111179159 A CN202111179159 A CN 202111179159A CN 113625247 A CN113625247 A CN 113625247A
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- 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
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- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The application discloses a control method, a control device and a laser radar, which can be applied to the field of automatic driving or intelligent driving. The control method comprises the following steps: obtaining amplitude values of a plurality of echo signals; determining a state switching strategy corresponding to the amplitude value aiming at each echo signal; and controlling the laser radar to be switched from the current state to the next state according to the state switching strategy, wherein the states of the laser radar comprise an Automatic Power Control (APC) state and an Automatic Gain Control (AGC) state. In the application, the ranging performance of the laser radar is improved through the state combination of different powers and different gains.
Description
Technical Field
The application relates to the technical field of laser radars, in particular to a control method and device and a laser radar.
Background
Lidar is a target detection technology. The laser is used as a signal light source, and the laser is emitted to a target object, so that a reflection signal of the target object is collected, and information such as the direction and the speed of the target object is obtained. The laser radar has the advantages of high measurement precision, strong anti-interference capability and the like, and is widely applied to the fields of remote sensing, measurement, intelligent driving, robots and the like.
The light receiving device of the laser radar generally uses a photodiode as a detector to receive an echo light beam and perform photoelectric conversion to obtain an echo signal. However, the echo beam may have a light spot of a part of the light beam falling into a gap between two adjacent photodiodes in the photodiode array, which causes a decrease in energy received by the photodiodes, so that the receiving efficiency of the laser radar is reduced, and an amplitude of the echo signal is reduced, thereby affecting the ranging performance of the laser radar.
Disclosure of Invention
The application provides a control method, a control device and a laser radar so as to improve the ranging performance of the laser radar.
In a first aspect, the present application provides a control method, which may be applied to a laser radar, which may be applied in the field of autonomous driving or intelligent driving. The control method may include: obtaining amplitude values of a plurality of echo signals; determining a state switching strategy corresponding to the amplitude value aiming at each echo signal; and controlling the laser radar to switch from the current state to the next state according to a state switching strategy, wherein the states of the laser radar comprise an Automatic Power Control (APC) state and an Automatic Gain Control (AGC) state.
In some possible embodiments, the APC status includes: high power, medium power, and low power; the AGC states include: high gain and low gain.
In some possible embodiments, for each echo signal, determining a state switching strategy corresponding to the amplitude value includes: obtaining a comparison result of the amplitude value of each echo signal and a preset threshold according to the scanning sequence of the laser radar; and determining a corresponding state switching strategy according to the comparison result.
In some possible embodiments, the preset threshold includes a first threshold, a second threshold and a third threshold, wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; according to the comparison result, determining a corresponding state switching strategy, which comprises the following steps: when the comparison result shows that the amplitude value is smaller than the first threshold value, determining that the state switching strategy is a first strategy, wherein the first strategy is used for increasing the transmitting power or receiving gain of the laser radar; or when the comparison result shows that the amplitude value is larger than the first threshold value and smaller than a second threshold value, determining that the state switching strategy is a second strategy, wherein the second strategy is used for increasing the transmitting power of the laser radar; or when the comparison result shows that the amplitude value is larger than the third threshold value, determining that the state switching strategy is a third strategy, wherein the third strategy is used for reducing the transmitting power of the laser radar or reducing the receiving gain of the laser radar.
In some possible embodiments, the first policy includes at least one of: switching from low power low gain to high power low gain, from medium power low gain to medium power high gain, from high power low gain to high power high gain, from medium power high gain to high power high gain, from low power high gain to high power high gain; or, the second policy includes at least one of: switching from low power low gain to medium power low gain, from medium power low gain to high power low gain, from medium power high gain to high power high gain, from low power high gain to high power high gain; or, the third policy includes at least one of: switching from medium power low gain to low power low gain, high power low gain to low power low gain, medium power high gain to high power low gain, high power high gain to high power low gain, low power high gain to medium power low gain.
In some possible embodiments, before obtaining the comparison result of the amplitude value of each echo signal with the preset threshold, the method further includes: obtaining the last state of the laser radar; when the last state is different from the current state, updating a preset threshold value; or when the last state is the same as the current state, keeping the preset threshold unchanged.
In some possible embodiments, the preset threshold includes a first threshold, a second threshold and a third threshold, wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; when the previous state is different from the current state, updating a preset threshold, including: when the current state is switched from the last state to the current state and a first strategy is met, increasing a first threshold, wherein the first strategy is used for increasing the transmitting power or receiving gain of the laser radar; or when the current state is switched from the last state to the current state and a second strategy is met, the first threshold is reduced and the second threshold is increased, wherein the second strategy is used for increasing the transmitting power of the laser radar; or when the last state is switched to the current state and a third strategy is met, the third threshold is reduced, and the third strategy is used for reducing the transmitting power of the laser radar or reducing the receiving gain of the laser radar.
In a second aspect, the present application provides a control device, which may be a chip or a system on a chip in a laser radar, and may also be a functional module in the laser radar for implementing the method described in each of the above embodiments. The control device may implement the functions performed by the laser radar in the above embodiments, and these functions may be implemented by hardware executing corresponding software. These hardware or software include one or more functionally corresponding modules. The control device may include: an obtaining module, configured to obtain amplitude values of a plurality of echo signals; the determining module is used for determining a state switching strategy corresponding to the amplitude value aiming at each echo signal; and the control module is used for controlling the laser radar to be switched from the current state to the next state according to the state switching strategy, wherein the states of the laser radar comprise an APC state and an AGC state.
In some possible embodiments, the APC status includes: high power, medium power, and low power; the AGC states include: high gain and low gain.
In some possible embodiments, the determining module is configured to obtain a comparison result between the amplitude value of each echo signal and a preset threshold according to a scanning sequence of the laser radar; and determining a corresponding state switching strategy according to the comparison result.
In some possible embodiments, the preset threshold includes a first threshold, a second threshold and a third threshold, wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; the determining module is specifically configured to determine that the state switching policy is a first policy when the comparison result indicates that the amplitude value is smaller than a first threshold, where the first policy is used to increase the transmission power or the reception gain of the laser radar; or when the comparison result shows that the amplitude value is larger than the first threshold value and smaller than a second threshold value, determining that the state switching strategy is a second strategy, wherein the second strategy is used for increasing the transmitting power of the laser radar; or when the comparison result shows that the amplitude value is larger than the third threshold value, determining that the state switching strategy is a third strategy, wherein the third strategy is used for reducing the transmitting power of the laser radar or reducing the receiving gain of the laser radar.
In some possible embodiments, the first policy includes at least one of: switching from low power low gain to high power low gain, from medium power low gain to medium power high gain, from high power low gain to high power high gain, from medium power high gain to high power high gain, from low power high gain to high power high gain; or, the second policy includes at least one of: switching from low power low gain to medium power low gain, from medium power low gain to high power low gain, from medium power high gain to high power high gain, from low power high gain to high power high gain; or, the third policy includes at least one of: switching from medium power low gain to low power low gain, high power low gain to low power low gain, medium power high gain to high power low gain, high power high gain to high power low gain, low power high gain to medium power low gain.
In some possible embodiments, the determining module is further configured to obtain a last state of the lidar before obtaining the comparison result; when the last state is different from the current state, updating a preset threshold value; or when the last state is the same as the current state, keeping the preset threshold unchanged.
In some possible embodiments, the preset threshold includes a first threshold, a second threshold and a third threshold, wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; the determining module is specifically used for increasing a first threshold when the current state is switched from the last state and meets a first strategy, and the first strategy is used for increasing the transmitting power or receiving gain of the laser radar; or when the current state is switched from the last state to the current state and a second strategy is met, the first threshold is reduced and the second threshold is increased, wherein the second strategy is used for increasing the transmitting power of the laser radar; or when the last state is switched to the current state and a third strategy is met, the third threshold is reduced, and the third strategy is used for reducing the transmitting power of the laser radar or reducing the receiving gain of the laser radar.
In a third aspect, the present application provides a lidar comprising: a memory storing computer-executable instructions; a processor, coupled to the memory, for implementing the control method according to the first aspect and possible embodiments thereof by executing computer-executable instructions.
In a fourth aspect, the present application provides a computer storage medium storing computer-executable instructions, which are executed by a processor to implement the control method according to the first aspect and possible embodiments thereof.
Compared with the prior art, the technical scheme provided by the application has the beneficial effects that:
in this application, through the state combination of different power, different gains for the signal (including transmission signal and echo signal) changes optional amplification or reduce the multiple more, and makes the change of signal more gentle, reduces the range error, improves the range finding uniformity, and then improves laser radar's range finding performance and laser radar detected signal's dynamic range. Furthermore, the preset threshold value is finely adjusted by comprehensively considering the state switching change of the scanning point at the previous moment, so that the increase of the ranging error caused by frequent switching of the amplitude value under the critical condition is avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the application.
Drawings
Fig. 1 is a schematic structural diagram of a lidar in the related art;
fig. 2 is a schematic structural diagram of a light emitting device in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a light receiving device in an embodiment of the present application;
fig. 4 is a schematic flow chart illustrating an implementation of a control method in an embodiment of the present application;
FIG. 5 is a schematic diagram of a distribution of scan points in an embodiment of the present application;
FIG. 6 is a state transition diagram according to an embodiment of the present application;
FIG. 7 is a state change block diagram in an embodiment of the present application;
FIG. 8 is a schematic flow chart illustrating another control method implemented in the present application;
FIG. 9 is a schematic flow chart illustrating an implementation of another control method in the embodiment of the present application;
fig. 10 is a schematic diagram of a control device in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Lidar is a target detection technology. The laser radar emits laser beams through the laser, the laser beams are subjected to diffuse reflection after encountering a target object, the reflected beams are received through the detector, and characteristic quantities such as the distance, the direction, the height, the speed, the posture and the shape of the target object are determined according to the emitted beams and the reflected beams.
The application field of laser radars is very wide. In addition to military applications, it is now widely used in the field of life, including but not limited to: the field of intelligent piloted vehicles, intelligent piloted aircraft, three-dimensional (3D) printing, virtual reality, augmented reality, service robots, and the like. Taking an intelligent home driving technology as an example, a laser radar is arranged in an intelligent driving vehicle, and the laser radar can scan the surrounding environment by rapidly and repeatedly emitting laser beams to acquire point cloud data and the like reflecting the appearance, position and motion of one or more target objects in the surrounding environment.
The intelligent driving technology may refer to unmanned driving, automatic driving, assisted driving, and the like.
Fig. 1 is a schematic structural diagram of a lidar in the related art. As shown in fig. 1, lidar 10 may include: a light emitting device 101, a light receiving device 102, and a processor 103. The light emitting device 101 and the light receiving device 102 are both connected to the processor 103.
The connection relationship among the above devices may be electrical connection or optical fiber connection. More specifically, in the light emitting device 101 and the light receiving device 102, it is also possible to include a plurality of optical devices, respectively, and the connection relationship between these optical devices may also be spatial light transmission connection.
The processor 103 is used to implement control of the light emitting device 101 and the light receiving device 102 so that the light emitting device 101 and the light receiving device 102 can operate normally. For example, the processor 103 may provide driving voltages for the light emitting device 101 and the light receiving device 102, respectively, and the processor 103 may also provide control signals for the light emitting device 101 and the light receiving device 102.
Illustratively, the processor 103 may be a general-purpose processor, such as a Central Processing Unit (CPU), a Network Processor (NP), or the like; the processor 103 may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like.
A light source (not shown in fig. 1) is also included in the light emitting device 101. It is understood that the light source may refer to a laser, and the number of lasers may be one or more. Alternatively, the laser may specifically include a Pulsed Laser Diode (PLD), a semiconductor laser, a fiber laser, and the like. The light source is used for emitting laser beams. In particular, the processor 103 may send an emission control signal to the light source, thereby triggering the light source to emit the laser beam.
It will be appreciated that the laser beam may also be referred to as a laser pulse, a laser, an emitted beam, etc.
Lidar 10 may further include: one or more beam shaping optics and a beam scanning device (not shown in fig. 1). In one aspect, beam shaping optics and a beam scanning device focus and project a laser beam toward a particular location (e.g., a target object) in a surrounding environment. In another aspect, a beam scanning device and one or more beam shaping optics direct and focus the return beam onto a detector. A beam scanning device is employed in the optical path between the beam shaping optics and the target object. The beam scanning arrangement in effect expands the field of view and increases the sampling density within the field of view of the lidar.
The detection process of the target object 104 by the lidar will be briefly described below with reference to the structure of the lidar shown in fig. 1.
Referring to fig. 1, the laser beam propagates in the emitting direction, and when the laser beam encounters the target object 104, the laser beam is reflected on the surface of the target object 104, and the reflected beam is received by the light receiving device 102 of the lidar. The beam of the laser beam reflected back by the target object 104 may be referred to herein as an echo beam (the laser beam and the echo beam are identified in fig. 1 by solid lines).
After receiving the echo light, the light receiving device 102 performs photoelectric conversion on the echo light, that is, the echo light is converted into an electrical signal, the light receiving device 102 outputs the electrical signal corresponding to the echo light to the processor 103, and the processor 103 can obtain the point cloud data of the morphology, the position, the motion, and the like of the target object 104 according to the electrical signal of the echo light.
It should be understood that the laser beam emitted from the light emitting device is partially absorbed by the target object after being irradiated onto the surface of the target object, and the remaining portion is reflected in all directions in a diffused reflection manner, and only a small portion can be returned. Therefore, in the laser radar ranging technology, the light emitting devices emit the same laser beam to measure target objects with different positions and different reflectivities. Then, there may be a large difference in the amplitude of the echo light beams received by the light receiving device.
In practical applications, the light receiving device generally uses a photodiode (e.g., an Avalanche Photodiode (APD), a silicon photomultiplier (SiPM), etc.) as a detector to receive the echo light beam and perform photoelectric conversion. In the photodiode array, a gap exists between receiving photosensitive surfaces of two adjacent photodiodes, and an echo beam has a gap between which a light spot of a part of the light beam falls. However, since the gap does not produce any photoelectric conversion, the energy of the light beam falling into the gap is wasted, which causes the energy received by the photodiode to decrease, so that the receiving efficiency decreases, and the amplitude of the echo signal (which can also be understood as a receiving signal, i.e., an output signal of the echo light beam received by the photodiode after photoelectric conversion) becomes smaller, thereby affecting the ranging performance of the laser radar.
In order to solve the above problem, the embodiments of the present application provide a lidar, which may refer to the structure of the lidar 10 in fig. 1. Further, a light emitting device and a light receiving device in the laser radar may be seen in fig. 2 and 3.
Fig. 2 is a schematic structural diagram of a light emitting device in an embodiment of the present application, and based on the lidar shown in fig. 1, referring to fig. 2, the light emitting device 101 may include: an Automatic Power Control (APC) circuit (e.g., a Power Amplifier (PA)) 211, a digital-to-analog converter (DAC) 212, and a laser 213. Among them, the laser 213 may be one or more.
It should be understood that the emission signal output from the processor 103 is amplified by the APC circuit 211, converted into an analog signal by the digital-to-analog converter 212, and then output to the laser 213, and the laser 213 emits a laser beam in response to the output signal.
Fig. 3 is a schematic structural diagram of a light receiving device in an embodiment of the present application, and based on the laser radar shown in fig. 1 and as shown in fig. 3, the light receiving device 102 may include: a detector 221, a transimpedance amplifier (TIA) 222, an Automatic Gain Control (AGC) circuit (e.g., a Variable Gain Amplifier (VGA)) 223, a comparator 224, and an analog-to-digital converter (ADC) 225. The detector 221 may be composed of one or more photodiodes, and one photodiode 221 is connected to one TIA 222.
It will be appreciated that the echo beam produces a weak photo-generated current via the detector 221; the TIA 222 converts the current signal into an echo signal (in this case, an analog signal); the AGC circuit 223 performs a second-stage amplification on the echo signal, and adjusts the number of feedback resistors connected in parallel to the AGC circuit 223 according to a comparison result between the amplitude value of the second-stage amplified echo signal output by the comparator 224 and a preset threshold value, so as to adjust gain (gain); finally, the echo signal is output to an analog-to-digital converter, and the echo signal (in this case, a digital signal) after analog-to-digital conversion is output to the processor 103 for processing.
In the embodiment of the present application, the states of the lidar may include a transmission power state of the laser (which may be understood as an APC state) and a reception gain state of the detector (which may be understood as an AGC state). Exemplary, the APC status may include: high power, medium power, and low power; the AGC states may include: high gain and low gain.
It will be appreciated that different APC states and/or AGC states may correspond to different power ranges of the laser and/or different gain ranges of the detector. For example, the high power may be 100% of full power, the medium power may be 50% of full power, and the low power may be 30% of full power; the high gain may be 20 times and the low gain may be 2 times. Of course, the power range and the gain range are only examples, and other values may exist, and this is not particularly limited in the embodiment of the present application.
In some possible embodiments, the lidar may have six states for the lidar as a whole, in combination with the APC state and the AGC state, namely: low power low gain (which may be referred to as M1), medium power low gain (which may be referred to as M2), high power low gain (which may be referred to as M3), low power high gain (which may be referred to as M4), medium power high gain (which may be referred to as M5), and high power high gain (which may be referred to as M6). In the working process of the laser radar, the laser radar can switch between the six states according to the strength of the echo signal.
In the embodiment of the present application, a control method is provided, which may be applied to the laser radar of fig. 1 to 3 to adjust the energy of the echo signal, so as to improve the ranging performance of the laser radar and the dynamic range of the detection signal of the laser radar.
Fig. 4 is a schematic implementation flow diagram of a control method in the embodiment of the present application, and referring to fig. 4, the control method may include:
s401, the laser radar obtains amplitude values of a plurality of echo signals.
It should be understood that a laser in a lidar transmits a laser beam to a target object, the target object reflects the laser beam, and a detector of the lidar begins scanning and receives an echo beam. The detector performs photoelectric conversion on the echo light beam, so that the laser radar obtains an echo signal and determines an amplitude value of the echo signal.
S402, aiming at each echo signal, the laser radar determines a state switching strategy corresponding to the amplitude value.
It will be appreciated that during scanning of the lidar, the lidar may acquire a plurality of scanning points. Then, the lidar may obtain the comparison result between the amplitude value of each echo signal and the preset threshold according to the scanning sequence (e.g. the serial number of the scanning point) of the lidar. The lidar may then determine a corresponding state switching strategy based on the comparison.
Fig. 5 is a schematic diagram of a distribution of scanning points in the embodiment of the present application, and see fig. 5, at an ith time (which may be referred to as "i-th time") in a scanning cyclet i I =1, 2, 3, and. -), the laser radar may scan n × m scanning points, the n × m scanning points are distributed in the direction of the dotted arrow in the figure, and n and m are integers greater than or equal to 1. Wherein, the serial number of the scanning point can be recorded ass k (k is 1 or more and nm-1 or less). In particular, the number of the first scanning spots 1 Is 0, and the number of the last scanning point iss nm Is nm-1. Further, the amplitude value of the echo signal corresponding to each scanning point may be understood as the maximum value of the amplitude value of the echo signal, which may be recorded asV(t i ，s k )。
Further, the number is given to the ith times k The corresponding APC state and AGC state can be expressed asA(t i ，s k )=M(A(t i ，s k )). Where M () represents the above state switching policy.
Exemplary, serial numbers 1 The initial state of the lidar corresponding to the scanning point of (a) may be set to low power and low gain.
In some possible embodiments, the preset threshold may include a plurality of thresholds. For example, the preset threshold may include a first threshold, a second threshold and a third threshold, wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold. Here, the first threshold value may be written asV minThe second threshold value can be recorded asV midThe third threshold value can be recorded asV max。
In the embodiment of the present application, the amplitude values of different echo signals may correspond to different state switching strategies. Then, in S402, when the comparison result indicates thatV(t i ，s k ) SmallIn thatV min(i.e., the amplitude value of the echo signal is too low), the state switching strategy may be determined as a first strategy (i.e., Rule a) to increase the transmitting power of the lidar or to increase the receiving gain of the lidar; when the comparison result showsV(t i ，s k ) Is greater thanV minAnd is less thanV midWhen the amplitude value of the echo signal is low, the state switching strategy can be determined as a second strategy (namely Rule B) to increase the transmitting power of the laser radar; when the comparison result showsV(t i ，s k ) Is greater thanV maxI.e., when the amplitude value of the echo signal is too high, the state switching strategy may be determined as the third strategy (i.e., Rule C) to reduce the transmitting power of the lidar or to reduce the receiving gain of the lidar.
Accordingly, the first strategy is used for increasing the transmitting power or receiving gain of the laser radar; the second strategy is used for increasing the transmitting power of the laser radar; the third strategy is to reduce the transmission power of the lidar or to reduce the receive gain of the lidar.
In some possible embodiments, if the amplitude value of the echo signal does not satisfy any of the above thresholds, e.g.V(t i ，s k ) Is greater thanV midAnd is less thanV max(i.e., the amplitude value of the echo signal is high), the status of the lidar remains unchanged from the current status.
Note that for weak signals (i.e. weak signals)V(t i ，s k ) Is less thanV minEcho signal) to increase the transmitting power of the laser radar, so that the signal-to-noise ratio of the echo signal can be improved, and the detection rate of the laser radar on the echo signal is further improved. In addition, when the transmission power is reduced, the signal-to-noise ratio of the echo signal is also reduced, and the detection rate of the laser radar on the echo signal is further reduced. Therefore, for strong signals (i.e. forV(t i ，s k ) Is greater thanV maxEcho signal of) priorityThe receiving gain of the laser radar is reduced.
And S403, controlling the laser radar to switch from the current state to the next state according to the state switching strategy.
It should be understood that the lidar can obtain the state of itself at the i-th time, that is, the APC state and the AGC state, after obtaining the echo signal through S401. Then, the laser radar determines the next state according to the state switching strategy and the current state determined in step S402. And finally, the laser radar controls the laser radar to switch from the current state to the next state.
Here, the next state may be a state different from the current state, or may be the same state as the current state.
In some possible embodiments, the lidar may determine the next state according to a state transition diagram. For example, fig. 6 is a schematic diagram of state transition in the embodiment of the present application (arrows in fig. 6 indicate directions of state transition), and referring to fig. 6, the state transition rules among the six states of the lidar (i.e., M1, M2, M3, M4, M5, and M6) may be, but are not limited to, as follows.
The state transition Rule corresponding to Rule a may include: m1 → M3, M2 → M5, M3 → M6, M5 → M6, M4 → M6. Here, "→" indicates a direction of the state transition.
The state transition Rule corresponding to Rule B may include: m1 → M2, M2 → M3, M5 → M6, M4 → M5.
The state transition Rule corresponding to Rule C may include: m2 → M1, M3 → M1, M5 → M3, M6 → M3, M4 → M2.
Suppose, referring to FIG. 6, if the state transition policy is the first policy, the scan point is scanneds k If the current state of the corresponding laser radar is M2, the next state can be determined to be M5; if the state transition strategy is the second strategy, scanning the points k If the current state of the corresponding laser radar is M2, the next state can be determined to be M3; if the state transition strategy is the third strategy, scanning the points k The current state of the corresponding lidar is M2, and the next state may be determined to be M1.
In some possible embodiments, in combination with the distribution of scanning points shown in fig. 5, the lidar may determine the next state according to a state change diagram. Fig. 7 is a block diagram of a state change in the embodiment of the present application, and referring to fig. 7, a next state is determined according to a current state and the Rule a, Rule B, or Rule C according to a serial number of a scanning point.
For example, referring to FIG. 7, if the state transition policy is the first policy, the scan point is scanneds k If the current state of the corresponding laser radar is M2, the next state can be determined to be M5; if the state transition strategy is the second strategy, scanning the points k If the current state of the corresponding laser radar is M2, the next state can be determined to be M3; if the state transition strategy is the third strategy, scanning the points k The current state of the corresponding lidar is M2, and the next state may be determined to be M1.
It should be noted that the state switching strategy inside the dashed box in fig. 7 does not theoretically occur, but in order to avoid dead loop of the algorithm due to occurrence of false switching, when the current state is M4, the laser radar may switch to the corresponding next state according to the state switching strategy.
Of course, according toV(t i ，s k ) The determined next state may also have other situations, and the embodiment of the present application is not particularly limited.
In some possible embodiments, since the states of the lidar may include an APC state and an AGC state, the switching of the lidar control itself from the current state to the next state in S403 may specifically include: the APC circuit is controlled to switch from the current APC state to the next APC state, and the AGC circuit is controlled to switch from the current AGC state to the next AGC state.
And the laser radar controls the APC circuit and the AGC circuit to switch the states so as to finish the self-adaptive switching of the states of the laser radar. Therefore, the state combinations with different powers and different gains enable the signal (including the transmitting signal and the echo signal) to change by more selectable amplification or reduction times, enable the signal to change more smoothly, reduce the ranging error, improve the ranging consistency and further improve the ranging performance of the laser radar and the dynamic range of the detection signal of the laser radar.
In some possible embodiments, the preset threshold may be configured as a fixed amplitude value threshold, which cannot be adjusted in real time. If the amplitude jitter of the echo signal is large, it is very easy to cause the signal amplitude value in the critical switching state to be over-bound, so that the AGC state is frequently switched, and the ranging error becomes large. Then, before performing the step of obtaining the comparison result of the amplitude value of each echo signal with the preset threshold in S402, the laser radar may further perform the following steps.
Fig. 8 is a schematic implementation flow diagram of another control method in the implementation of the present application, and referring to fig. 8, the method may further include:
s801: obtaining the last state of the laser radar; if the last state of the laser radar is different from the current state, jumping to S802; if the last state of the laser radar is the same as the current state, the process goes to S803.
Here, the last state of the laser radar may be understood as the APC state and the AGC state of the laser radar at the last time (i.e., the i-1 th time).
S802: and updating the preset threshold.
S803: keeping the preset threshold constant.
For example, the APC state and the AGC state can be expressed by expression (1).
In some possible embodiments, S802 may include: when the previous state is switched to the current state to meet the first strategy, the first threshold value is increased; or, when the current state is switched from the last state to the current state and the second strategy is met, the first threshold value is decreased and the second threshold value is increased; or, when the third strategy is satisfied by switching from the last state to the current state, the third threshold value is reduced. It should be noted that the adjustment of the preset threshold is only adjusted in the current state, and the updated threshold is not transmitted to the next state; the next state still uses the default threshold and performs the implementation flow of fig. 8.
For example, if the lidar is switched from M1 to M3, from M2 to M5, from M3 to M6, from M5 to M6, or from M4 to M6, it indicates that the last state is switched to the current state and Rule a is satisfied, and at this time, the lidar will switch to M3, M2 to M5, or M4 to M6V minAnd (5) adjusting the height.
If the laser radar is switched from M1 to M2, from M2 to M3, from M5 to M6 or from M4 to M5, it indicates that the last state is switched to the current state and Rule B is satisfied, and at this time, the laser radar will switch to the current stateV minIs turned down and willV midAnd (5) adjusting the height.
If the lidar is switched from M2 to M1, from M3 to M1, from M5 to M3, from M6 to M3, or from M4 to M2, it indicates that the last state is switched to the current state and Rule C is satisfied, and at this time, the lidar will switch to M1, from M3 to M1, or from M4 to M2V maxAnd (5) turning down.
Further, after performing S801 to S803, the lidar performs S402 and S403 to use the updated preset threshold or the original preset threshold and the updated preset thresholdV(t i ，s k ) And comparing, further determining a corresponding state switching strategy, and then switching the state according to the state switching strategy.
In one embodiment, the predetermined threshold isV min、V midAndV maxthe calculation can be performed according to the following expression (2).
Wherein the content of the first and second substances,
is a unit amplitude value which is preset,
the value range of (1) to (10). It is to be understood that, in the exemplary application example,
and (5). When the laser radar adjusts the prediction threshold, it can be adjusted each time
The method and the device can be used for fine adjustment of the preset threshold value, so that the increase of the ranging error caused by frequent switching of the echo under the critical condition is avoided.
The above control method is explained below by specific examples.
Fig. 9 is a schematic implementation flow diagram of another control method in the embodiment of the present application, and referring to fig. 9, the method may include:
s901, the laser radar emits laser beams;
s902, receiving the echo light beam by the laser radar, and obtaining a corresponding echo signal;
s903, the laser radar obtains point cloud data and an amplitude value of an echo signal through the echo signal;
s904, the laser radar judges whether the echo signal meets a state switching strategy or not; if the state switching strategy is met, jumping to S905; if the state switching strategy is not met, jumping to S907;
here, whether the echo signal complies with the state switching policy may be understood as whether an amplitude value of the echo signal satisfies a preset threshold, such as any one of a first threshold, a second threshold, and a third threshold.
S905, determining the next state by the laser radar according to the corresponding state switching strategy;
and S906, the laser radar control APC circuit and the AGC circuit are switched to the next state from the current state. At this time, the next state is different from the current state.
S907, the laser radar keeps the current state unchanged; at this time, the next state is the same as the current state.
Optionally, while performing S906 and S907, the lidar may further perform: s908, outputs the status of the lidar corresponding to each scanning point (i.e., each echo signal), i.e., the APC status and the AGC status.
Further, after S905, it may further perform: s909, judging whether the last state of the current scanning point is switched; if yes, go to S910; if not, S911 is executed.
And S910, updating the preset threshold value by the laser radar.
And S911, keeping the preset threshold value unchanged by the laser radar.
In the embodiment of the application, the states with different powers and different gains are combined, so that the selectable amplification or reduction times of the signal (including the transmitting signal and the echo signal) change are more, the change of the signal is more gradual, the ranging error is reduced, the ranging consistency is improved, and the ranging performance of the laser radar and the dynamic range of the laser radar detection signal are further improved. Furthermore, the preset threshold value is finely adjusted by comprehensively considering the state switching change of the scanning point at the previous moment, so that the increase of the ranging error caused by frequent switching of the amplitude value under the critical condition is avoided.
Based on the same inventive concept, the embodiments of the present application further provide a control device, which may be a chip or a system on a chip in a laser radar, or a functional module in the laser radar for implementing the methods described in the above embodiments. The control device may implement the functions performed by the laser radar in the above embodiments, and these functions may be implemented by hardware executing corresponding software. These hardware or software include one or more functionally corresponding modules. Fig. 10 is a schematic diagram of a control device in an embodiment of the present application, and referring to fig. 10, the control device 100 may include: an obtaining module 1001 configured to obtain amplitude values of a plurality of echo signals; a determining module 1002, configured to determine, for each echo signal, a state switching policy corresponding to the amplitude value; and the control module 1003 is configured to control the laser radar to switch from the current state to a next state according to a state switching policy, where the state of the laser radar includes an APC state and an AGC state.
In some possible embodiments, the APC status includes: high power, medium power, and low power; the AGC states include: high gain and low gain.
In some possible embodiments, the determining module 1002 is configured to obtain a comparison result between the amplitude value of each echo signal and a preset threshold according to a scanning sequence of the laser radar; and determining a corresponding state switching strategy according to the comparison result.
In some possible embodiments, the preset threshold includes a first threshold, a second threshold and a third threshold, wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; the determining module 1002 is specifically configured to determine, when the comparison result indicates that the amplitude value is smaller than the first threshold, that the state switching policy is a first policy, where the first policy is used to increase the transmission power or the reception gain of the laser radar; or when the comparison result shows that the amplitude value is larger than the first threshold value and smaller than a second threshold value, determining that the state switching strategy is a second strategy, wherein the second strategy is used for increasing the transmitting power of the laser radar; or when the comparison result shows that the amplitude value is larger than the third threshold value, determining that the state switching strategy is a third strategy, wherein the third strategy is used for reducing the transmitting power of the laser radar or reducing the receiving gain of the laser radar.
In some possible embodiments, the first policy includes at least one of: switching from low power low gain to high power low gain, from medium power low gain to medium power high gain, from high power low gain to high power high gain, from medium power high gain to high power high gain, from low power high gain to high power high gain; or, the second policy includes at least one of: switching from low power low gain to medium power low gain, from medium power low gain to high power low gain, from medium power high gain to high power high gain, from low power high gain to high power high gain; or, the third policy includes at least one of: switching from medium power low gain to low power low gain, high power low gain to low power low gain, medium power high gain to high power low gain, high power high gain to high power low gain, low power high gain to medium power low gain.
In some possible embodiments, the determining module 1002 is further configured to obtain a last state of the lidar before obtaining the comparison result; when the last state is different from the current state, updating a preset threshold value; or when the last state is the same as the current state, keeping the preset threshold unchanged.
In some possible embodiments, the preset threshold includes a first threshold, a second threshold and a third threshold, wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; the determining module 1002 is specifically configured to increase a first threshold when the current state is switched from the previous state, and the first policy is satisfied, where the first policy is used to increase the transmission power or the reception gain of the lidar; or when the current state is switched from the last state to the current state and a second strategy is met, the first threshold is reduced and the second threshold is increased, wherein the second strategy is used for increasing the transmitting power of the laser radar; or when the last state is switched to the current state and a third strategy is met, the third threshold is reduced, and the third strategy is used for reducing the transmitting power of the laser radar or reducing the receiving gain of the laser radar.
It should be noted that, for the specific implementation processes of the obtaining module 1001, the determining module 1002 and the control module 1003, reference may be made to the detailed description of the embodiments in fig. 4 to 9, and for brevity of the description, no further description is given here.
The obtaining module 1001, the determining module 1002, and the controlling module 1003 mentioned in the embodiments of the present application may be one or more processors.
Based on the same inventive concept, the embodiment of the present application further provides a laser radar, including: a memory storing computer-executable instructions; and the processor is connected with the memory and is used for realizing the control method according to one or more of the embodiments by executing the computer-executable instructions.
Based on the same inventive concept, embodiments of the present application further provide a computer storage medium, where computer-executable instructions are stored, and the computer-executable instructions are executed by a processor to implement the control method according to one or more of the above embodiments.
It should be understood by those skilled in the art that the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The above examples are only for illustrating the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that the technical solutions described in the foregoing embodiments may be modified or some technical features may be replaced. Such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (16)
1. A control method, comprising:
obtaining amplitude values of a plurality of echo signals;
determining a state switching strategy corresponding to the amplitude value aiming at each echo signal;
and controlling the laser radar to be switched from the current state to the next state according to the state switching strategy, wherein the states of the laser radar comprise an Automatic Power Control (APC) state and an Automatic Gain Control (AGC) state.
2. The method of claim 1, wherein the APC states comprise: high power, medium power, and low power; the AGC states include: high gain and low gain.
3. The method according to claim 1 or 2, wherein the determining, for each echo signal, the state switching strategy corresponding to the amplitude value comprises:
obtaining a comparison result of the amplitude value of each echo signal and a preset threshold according to the scanning sequence of the laser radar;
and determining the corresponding state switching strategy according to the comparison result.
4. The method of claim 3, wherein the preset threshold comprises a first threshold, a second threshold and a third threshold, wherein the first threshold is smaller than the second threshold, and wherein the second threshold is smaller than the third threshold;
the determining the corresponding state switching strategy according to the comparison result includes:
when the comparison result shows that the amplitude value is smaller than a first threshold value, determining that the state switching strategy is a first strategy, wherein the first strategy is used for increasing the transmitting power or receiving gain of the laser radar; or the like, or, alternatively,
when the comparison result shows that the amplitude value is larger than the first threshold value and smaller than a second threshold value, determining that the state switching strategy is a second strategy, wherein the second strategy is used for increasing the transmitting power of the laser radar; or the like, or, alternatively,
and when the comparison result shows that the amplitude value is larger than a third threshold value, determining that the state switching strategy is a third strategy, wherein the third strategy is used for reducing the transmitting power of the laser radar or reducing the receiving gain of the laser radar.
5. The method of claim 4, wherein the first policy comprises at least one of: switching from low power low gain to high power low gain, from medium power low gain to medium power high gain, from high power low gain to high power high gain, from medium power high gain to high power high gain, from low power high gain to high power high gain; or the like, or, alternatively,
the second policy includes at least one of: switching from low power low gain to medium power low gain, from medium power low gain to high power low gain, from medium power high gain to high power high gain, from low power high gain to high power high gain; or the like, or, alternatively,
the third policy includes at least one of: switching from medium power low gain to low power low gain, high power low gain to low power low gain, medium power high gain to high power low gain, high power high gain to high power low gain, low power high gain to medium power low gain.
6. The method according to claim 3, wherein before the obtaining of the comparison result of the amplitude value of each echo signal with the preset threshold, the method further comprises:
obtaining a last state of the laser radar;
when the last state is different from the current state, updating the preset threshold; or the like, or, alternatively,
and when the last state is the same as the current state, keeping the preset threshold unchanged.
7. The method of claim 6, wherein the preset threshold comprises a first threshold, a second threshold and a third threshold, wherein the first threshold is smaller than the second threshold, and wherein the second threshold is smaller than the third threshold;
when the previous state is different from the current state, updating the preset threshold value, including:
when the last state is switched to the current state and a first strategy is met, the first threshold is increased, and the first strategy is used for increasing the transmitting power or receiving gain of the laser radar; or the like, or, alternatively,
when the last state is switched to the current state and a second strategy is met, the first threshold is adjusted down and the second threshold is adjusted up, wherein the second strategy is used for increasing the transmitting power of the laser radar; or the like, or, alternatively,
and when the current state is switched from the last state to the current state and a third strategy is met, reducing the third threshold, wherein the third strategy is used for reducing the transmitting power of the laser radar or reducing the receiving gain of the laser radar.
8. A control device, comprising:
an obtaining module, configured to obtain amplitude values of a plurality of echo signals;
the determining module is used for determining a state switching strategy corresponding to the amplitude value aiming at each echo signal;
and the control module is used for controlling the laser radar to be switched from the current state to the next state according to the state switching strategy, wherein the states of the laser radar comprise an Automatic Power Control (APC) state and an Automatic Gain Control (AGC) state.
9. The apparatus of claim 8, wherein the APC state comprises: high power, medium power, and low power; the AGC states include: high gain and low gain.
10. The apparatus according to claim 8 or 9, wherein the determining module is configured to obtain a comparison result between the amplitude value of each echo signal and a preset threshold according to a scanning order of the lidar; and determining the corresponding state switching strategy according to the comparison result.
11. The apparatus of claim 10, wherein the preset threshold comprises a first threshold, a second threshold and a third threshold, wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; the determining module is specifically configured to determine that the state switching policy is a first policy when the comparison result indicates that the amplitude value is smaller than a first threshold, where the first policy is used to increase the transmission power or the reception gain of the lidar; or, when the comparison result indicates that the amplitude value is greater than the first threshold and smaller than a second threshold, determining that the state switching policy is a second policy, where the second policy is used to increase the transmission power of the lidar; or when the comparison result shows that the amplitude value is larger than a third threshold value, determining that the state switching strategy is a third strategy, wherein the third strategy is used for reducing the transmitting power of the laser radar or reducing the receiving gain of the laser radar.
12. The apparatus of claim 11, wherein the first policy comprises at least one of: switching from low power low gain to high power low gain, from medium power low gain to medium power high gain, from high power low gain to high power high gain, from medium power high gain to high power high gain, from low power high gain to high power high gain; or, the second policy includes at least one of: switching from low power low gain to medium power low gain, from medium power low gain to high power low gain, from medium power high gain to high power high gain, from low power high gain to high power high gain; or, the third policy includes at least one of: switching from medium power low gain to low power low gain, high power low gain to low power low gain, medium power high gain to high power low gain, high power high gain to high power low gain, low power high gain to medium power low gain.
13. The apparatus of claim 10, wherein the determining module is further configured to obtain a last state of the lidar before obtaining the comparison result; when the last state is different from the current state, updating the preset threshold; or, when the last state is the same as the current state, keeping the preset threshold unchanged.
14. The apparatus of claim 13, wherein the preset threshold comprises a first threshold, a second threshold and a third threshold, wherein the first threshold is smaller than the second threshold, and wherein the second threshold is smaller than the third threshold; the determining module is specifically configured to increase the first threshold when the current state is switched from the previous state, and the first policy is satisfied, where the first policy is used to increase the transmission power or the reception gain of the lidar; or, when the last state is switched to the current state and a second strategy is met, the first threshold is decreased and the second threshold is increased, wherein the second strategy is used for increasing the transmitting power of the laser radar; or, when the last state is switched to the current state and a third strategy is satisfied, the third threshold is reduced, and the third strategy is used for reducing the transmitting power of the laser radar or reducing the receiving gain of the laser radar.
15. A lidar, comprising:
a memory storing computer-executable instructions;
a processor coupled to the memory for implementing the control method of any of claims 1 to 7 by executing the computer-executable instructions.
16. A computer storage medium having stored thereon computer-executable instructions capable, when executed by a processor, of carrying out the method of any one of claims 1 to 7.
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