CN114019486A

CN114019486A - Laser radar parameter calibration device and laser radar

Info

Publication number: CN114019486A
Application number: CN202111315162.0A
Authority: CN
Inventors: 李洪鹏; 占顺宇; 张正杰; 王世玮
Original assignee: Tanway Technology Co ltd
Current assignee: Tanway Technology Co ltd
Priority date: 2021-11-08
Filing date: 2021-11-08
Publication date: 2022-02-08

Abstract

The utility model relates to a lidar parameter calibration device and lidar, the device includes: treat demarcation laser radar, displacement module, control module is used for: controlling the laser radar to carry out ranging before the first movement and after each movement, and recording the propagation time and the pulse width time before the first movement and after each movement; determining each propagation time deviation between the propagation time after each movement and the propagation time before the first movement, and each pulse width time deviation between the pulse width time after each movement and the pulse width time before the first movement; and determining the correlation between each propagation time deviation and each pulse width time deviation. The calibration process of the embodiment of the disclosure is full-automatic, manual operation is not needed, the efficiency is high, the speed is high, the correlation between each propagation time deviation and each pulse width time deviation is determined, so as to calibrate the parameters of the laser radar to be calibrated, the precision is high, and the operation cost is low.

Description

Laser radar parameter calibration device and laser radar

Technical Field

The disclosure relates to the technical field of measurement, in particular to a laser radar parameter calibration device and a laser radar.

Background

In the current laser radar market, most products are TOF (time of flight) ranging schemes based on pulse laser, ranging accuracy/repeatability of the laser radar is one of the most important indexes of the laser radar, and timing accuracy of a laser radar system is directly related to the index.

However, the timing accuracy in the related art is generally low, which severely restricts the ranging accuracy of the laser radar.

Disclosure of Invention

According to an aspect of the present disclosure, there is provided a lidar parameter calibration apparatus, the apparatus including:

the laser radar to be calibrated comprises a transmitting unit, a receiving unit and a processing unit, wherein the transmitting unit is used for transmitting a laser signal to a calibration target for ranging, the receiving unit is used for receiving a reflected laser signal of the calibration target, and the processing unit is used for recording the propagation time from the transmitting unit for transmitting the laser signal to the receiving unit for receiving the reflected laser signal and the pulse width time of the reflected laser signal;

the displacement module is provided with an optical attenuation sheet, the optical attenuation sheet comprises a plurality of attenuation areas, each attenuation area has different light transmittance, and the displacement module is used for controlling the optical attenuation sheet to move so as to change the light transmittance of the transmitting unit and/or the receiving unit;

the control module is connected with the laser radar to be calibrated and the displacement module and is used for:

controlling the displacement module to enable the optical attenuation sheet to move for M times, controlling the laser radar to be calibrated to perform ranging before the first movement and after each movement, and recording the propagation time and the pulse width time before the first movement and after each movement, wherein M is a positive integer;

determining each propagation time deviation between the propagation time after each movement and the propagation time before the first movement, and each pulse width time deviation between the pulse width time after each movement and the pulse width time before the first movement;

and determining the correlation between each propagation time deviation and each pulse width time deviation so as to calibrate the parameters of the laser radar to be calibrated.

In a possible embodiment, the determining a correlation between each propagation time deviation and each pulse width time deviation for parameter calibration includes:

and carrying out cubic spline curve fitting on each propagation time deviation and each pulse width time deviation to obtain the correlation relation.

In a possible embodiment, the lidar to be calibrated is further configured to:

and during actual ranging, determining a target propagation time deviation according to the difference between the actual pulse width time and the pulse width time before the first movement and the correlation, and correcting the actual propagation time by using the target propagation time deviation.

In one possible embodiment, the control module is further configured to:

obtaining N standard pulse width time deviations from the minimum pulse width time deviation to the maximum pulse width time deviation according to the M pulse width time deviations by using the target time step;

acquiring N time deviation correction values according to the N standard pulse width time deviations and the correlation;

wherein the target time step is determined according to the maximum pulse width time deviation, the minimum pulse width time deviation and the number N of the standard pulse width time deviations.

In one possible embodiment, before obtaining N standard pulse width time deviations from a minimum pulse width time deviation to a maximum pulse width time deviation from M pulse width time deviations in a target time step, the control module is further configured to:

the M pulse width time offsets are ordered.

In one possible embodiment, the control module is further configured to:

storing the N standard pulse width time deviations, the N time deviation correction values and the mapping relation between each standard pulse width time deviation and each time deviation correction value in the laser radar to be calibrated;

and storing the pulse width time before the first movement in the laser radar to be calibrated.

In a possible embodiment, the lidar to be calibrated is further configured to:

during actual ranging, determining the actual pulse width time difference between the actual pulse width time and the pulse width time before the first movement;

determining the magnitude relation between the actual pulse width time difference and the minimum pulse width time deviation and/or the maximum pulse width time deviation in the N standard pulse width time deviations;

determining a target propagation time deviation according to the magnitude relation, the mapping relation, the minimum pulse width time deviation or the maximum pulse width time deviation;

and correcting the actual propagation time by using the target propagation time deviation.

In a possible embodiment, the determining a target propagation time deviation according to the magnitude relation, the mapping relation, the minimum pulse width time deviation or the maximum pulse width time deviation includes:

and if the actual pulse width time difference is smaller than the minimum pulse width time deviation, determining the target propagation time deviation according to the minimum pulse width time deviation and the mapping relation.

and if the actual pulse width time difference is larger than the maximum pulse width time deviation, determining the target propagation time deviation according to the maximum pulse width time deviation and the mapping relation.

and if the actual pulse width time difference is between the minimum pulse width time difference and the maximum pulse width time difference, determining the target propagation time difference according to the closest value of the N standard pulse width time differences and the actual pulse width time difference and the mapping relation.

According to another aspect of the present disclosure, a lidar is provided, in which a correlation between a propagation time deviation and a pulse width time deviation, a preset pulse width time is stored, and the lidar is configured to:

transmitting a laser signal to a target to be detected, and receiving a reflected laser signal of the target to be detected;

acquiring actual propagation time from the emission of the laser signal to the reception of the reflected laser signal and actual pulse width time of the reflected laser signal;

determining a target propagation time deviation according to the actual pulse width time difference between the actual pulse width time and the preset pulse width time and the correlation, and correcting the actual propagation time by using the target propagation time deviation;

and determining the target distance according to the corrected actual propagation time.

In one possible embodiment, the lidar further stores N standard pulse width time deviations, N time deviation correction values, and a mapping relationship between each standard pulse width time deviation and each time deviation correction value, and the lidar is further configured to: determining the magnitude relation between the actual pulse width time difference and the minimum standard pulse width time deviation and/or the maximum standard pulse width time deviation in the N standard pulse width time deviations;

The embodiment of the present disclosure provides a laser radar parameter calibration apparatus, including: the laser radar to be calibrated, the displacement module and the control module are controlled by the control module to enable the optical attenuation sheet to move for M times, the laser radar to be calibrated is controlled to carry out distance measurement before the first movement and after each movement, and the propagation time and the pulse width time before the first movement and after each movement are recorded; determining each propagation time deviation between the propagation time after each movement and the propagation time before the first movement, and each pulse width time deviation between the pulse width time after each movement and the pulse width time before the first movement; and determining the correlation between each propagation time deviation and each pulse width time deviation so as to calibrate the parameters of the laser radar to be calibrated. The laser radar parameter calibration device disclosed by the embodiment of the disclosure is full-automatic in calibration process, does not need manual operation, is high in efficiency and high in speed, determines the correlation between each propagation time deviation and each pulse width time deviation to calibrate the parameter of the laser radar to be calibrated, and has high precision and low operation cost.

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 disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

Fig. 1 shows a schematic diagram of lidar timing error.

Fig. 2 shows a schematic diagram of a lidar parameter calibration apparatus according to an embodiment of the present disclosure.

Fig. 3 shows a flowchart of the operation of the lidar parameter calibration apparatus according to an embodiment of the present disclosure.

Fig. 4 illustrates a time schematic of a one-time ranging record according to an embodiment of the present disclosure.

FIG. 5 shows a block diagram of an electronic device in accordance with an embodiment of the present disclosure.

FIG. 6 shows a block diagram of an electronic device in accordance with an embodiment of the present disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

In the description of the present disclosure, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and, therefore, should not be taken as limiting the present disclosure.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.

In the present disclosure, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

For pulsed lidar, the timing procedure is typically: the transmitting end sends out distance measuring light pulse and triggers a timing chip as a START signal at the same time, and the time is recorded as t₀(ii) a After the light pulse is reflected by the diffuse reflection of the measured target, the echo pulse is detected and received by the receiving end, and after photoelectric conversion, the echo pulse is used as a STOP (STOP) signal to trigger a timing chip and is recorded as t₁(ii) a This completes a ranging (timing) operation, where Δ t ═ t₁-t₀That is, in this timing, the propagation time of the light pulse is subjected to "time-distance conversion" by using the speed of light, and the final ranging result can be obtained, as shown in formula 1:

where c represents the speed of light in the current medium and l represents the distance.

It can be seen that the key to the range accuracy of pulsed lidar is t₀And t₁The accurate recording of the time is not only required to depend on the hardware performance of the transmitting end, the receiving end and the timing chip, but also needs to be specifically analyzed for the timing method of the timing chip. The timing method of the timing chip commonly used in the pulse laser radar at present is to select a fixed trigger threshold value for the electric signals sent by the transmitting end and the receiving end, and to perform timing at the moment when the amplitude of the signal is higher than the threshold value. Since the transmitting end START signal usually directly uses the same electrical trigger signal as the transmitting end laser, the amplitude and the waveform of the electrical trigger signal are relatively stable, i.e. t₀The timing error of (2) is usually very small, so the STOP signal after the photoelectric conversion of the receiving end is mainly considered here.

Due to the uncertainty of the parameters such as the distance, the surface shape, the reflectivity and the like of the measured target, after the same measuring pulse is subjected to diffuse reflection and is received by a receiving end, the waveform has relatively large uncertainty, which is generally referred to as the pulse width and the amplitude of an echo signal. Because the timing chip selects a fixed trigger threshold for timing, the uncertainty has a great influence on the timing accuracy. Even if the distances of various measured targets are the same, the difference of the pulse widths of the echoes is large due to the difference of the surface types, the reflectivity and the like of the targets, so that the final timing result delta t (ranging result l) has large difference, the ranging error reaches the order of cm (centimeter) or even dm (decimeter), and the ranging (timing) error of the order is unacceptable for the laser radar.

Fig. 1 shows a schematic diagram of lidar timing error.

As shown in fig. 1, for two echo pulses with different pulse widths at the same central position (i.e. the same distance of the measured target), if the same trigger threshold is used for timing, t is obtained₁And t' is₁The two timing results with a difference of several ns are converted into distance values, and the difference is tens of centimeters.

Therefore, in order to improve the ranging accuracy of the laser radar, the echo pulse width of the laser radar (such as a pulse type) is calibrated, and it is an indispensable link to ensure that the ranging accuracy meets the expected requirement (such as cm or even mm magnitude), however, the calibration process of the related technical scheme needs manual adjustment, the efficiency is low, the speed is low, and large manpower and material resources are consumed, and meanwhile, the determined kernel function (exponential function and linear function) is used for fitting the relation between the distance and the pulse width.

As shown in fig. 2, the apparatus includes:

the laser radar 10 to be calibrated comprises a transmitting unit 110, a receiving unit 120 and a processing unit 130, wherein the transmitting unit 110 is used for transmitting a laser signal to a calibration target 50 for ranging, the receiving unit 120 is used for receiving a reflected laser signal of the calibration target 50, and the processing unit 130 is used for recording propagation time between the transmission of the laser signal from the transmitting unit 110 and the reception of the reflected laser signal by the receiving unit 120 and pulse width time of the reflected laser signal;

a displacement module 20, provided with an optical attenuation sheet 40, wherein the optical attenuation sheet 40 includes a plurality of attenuation regions, each attenuation region has a different light transmittance, and the displacement module 20 is configured to control the optical attenuation sheet 40 to move so as to change the light transmittance of the transmitting unit 110 and/or the receiving unit 120;

a control module 30 connected to the laser radar 10 to be calibrated and the displacement module 20, as shown in fig. 3, wherein the control module 30 is configured to:

step S11, controlling the displacement module 20 to make the optical attenuation sheet 40 move M times, controlling the laser radar 10 to be calibrated to perform ranging before the first movement and after each movement, and recording the propagation time and the pulse width time before the first movement and after each movement, wherein M is a positive integer;

step S12, determining each propagation time deviation between the propagation time after each movement and the propagation time before the first movement, and each pulse width time deviation between the pulse width time after each movement and the pulse width time before the first movement;

and step S13, determining the correlation between each propagation time deviation and each pulse width time deviation so as to calibrate the parameters of the laser radar 10 to be calibrated.

The specific type and implementation manner of the lidar 10 to be calibrated and the specific implementation manner of each included unit are not limited in the embodiment of the present disclosure, and a person skilled in the art may use a pulsed lidar or the like in the related art to perform parameter calibration on the employed lidar, for example, the processing unit 130 may include a timing chip, the transmitting unit 110 may include a laser generating component and a transmitting component, and the receiving unit 120 may include a signal receiving circuit or the like. It should be noted that the processing unit of the laser radar may further include other processing components (such as an FPGA, etc.) for performing other operations and control, for example, a chip for performing distance operations, and of course, the processing components may also be separately arranged in the laser radar as a control unit, which is not limited in the embodiment of the present disclosure.

The embodiment of the present disclosure does not limit the specific implementation manner of the displacement module 20, for example, the displacement module 20 may include a single-action displacement table, the electric displacement table includes a motor, a connection and transmission mechanism (such as a lead screw), the optical attenuation sheet 40 may be disposed on the lead screw, the control module 30 may control the step distance of the motor, and the transmission mechanism is controlled by the motor to move, so that the optical attenuation sheet 40 gradually shields the transmitting unit 110 and/or the receiving unit 120 from 0 displacement (the transmitting unit 110 and the receiving unit 120 are not shielded, in this case, the light transmittance of the transmitting unit 110 and the receiving unit 120 is 1).

The possible implementation manner of the control module 30 is not limited in the embodiment of the present disclosure, and in an example, the control module 30 may be implemented by using a processing component, or an electronic device such as a terminal, a server, and the like including the processing component.

In one example, a processing component includes, but is not limited to, a single processor, or discrete components, or a combination of a processor and discrete components. The processor may comprise a controller having functionality to execute instructions in an electronic device, which may be implemented in any suitable manner, e.g., by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components. Within the processor, the executable instructions may be executed by hardware circuits such as logic gates, switches, Application Specific Integrated Circuits (ASICs), programmable logic controllers, and embedded microcontrollers.

In one example, a Terminal, also referred to as a User Equipment (UE), a Mobile Station (MS), a Mobile Terminal (MT), etc., is a device that provides voice and/or data connectivity to a User, such as a handheld device with wireless connection capability, a vehicle-mounted device, etc. Currently, some examples of terminals are: a Mobile Phone (Mobile Phone), a tablet computer, a notebook computer, a palm computer, a Mobile Internet Device (MID), a wearable device, a Virtual Reality (VR) device, an Augmented Reality (AR) device, a wireless terminal in Industrial Control (Industrial Control), a wireless terminal in unmanned driving (self driving), a wireless terminal in Remote Surgery (Remote medical Surgery), a wireless terminal in Smart Grid, a wireless terminal in Transportation Safety, a wireless terminal in Smart City (Smart City), a wireless terminal in Smart Home (Smart Home), a wireless terminal in car networking, and the like.

Referring to fig. 4, fig. 4 is a schematic diagram illustrating a time of a one-time ranging record according to an embodiment of the disclosure.

As mentioned above, the echo pulse width of the pulse laser radar may have a large variation under the influence of parameters such as the reflectivity of the target to be measured and the surface type, and further, when the timing chip uses a fixed threshold value, an unacceptable distance measurement error occurs. The key to solve this problem is to calibrate the echo pulse width, and the following exemplary description is provided for the process of calibrating the echo pulse width.

Illustratively, as shown in fig. 4, when the distance measurement value needs to be compensated by the pulse width calibration method, the processing unit 130 (e.g. a timing chip) is required to record the emitting time t of the laser signal emitted by the emitting unit 110₀The receiving unit 120 receives the reflected laser signal t₁Furthermore, in addition to recording t₀、t₁Besides two time values, the falling edge time t of the echo needs to be recorded again₂That is, in a ranging process, the propagation time (t) needs to be obtained by recording the three time values₁-t₀) And echo pulse width time (t)₂-t₁) It is noted as T and W, for example, in the timing process, the processing unit 130 uses the same threshold to trigger the timing action, and the specific size of the threshold is not limited in the embodiment of the present disclosure, and can be set by a person skilled in the art as needed.

The parameter calibration process of the laser radar 10 to be calibrated is described in the following.

In one example, as shown in fig. 2, when calibrating a plurality of laser radars, other parts of the whole set of device except the laser radar 10 to be calibrated can be kept fixed to reduce manual participation, reduce cost and improve measurement efficiency.

In one exampleStep S11 may be performed before the first movement, i.e. the first round of ranging is performed on the laser radar without being affected by the attenuation sheet, and the propagation time T before the first movement may be recorded_i,0And pulse width time W_i,0Is [ T ]_i,0,W_i,0]Wherein i represents the number of channels corresponding to the measured value, i ≡ 1 if the lidar 10 to be calibrated is a single-point lidar, and of course, the lidar may be a multi-channel radar, in which case i > 1 and is an integer.

In an example, in step S11, after the first ranging (ranging before the first movement) is completed, the displacement module 20 is used to control the optical attenuation sheet 40 to gradually block the receiving end according to a set step distance (for example, the light transmittance of the optical attenuation sheet 40 gradually decreases or gradually increases with the increase of the step distance), and at each step distance, the laser radar 10 to be calibrated is controlled to perform a round of ranging, and the propagation time T of each channel is recorded_i,jAnd pulse width time W_i,jIs [ T ]_i,j,W_i,j]Where j represents the number of distance measuring wheels corresponding to the measured value, and the number of distance measuring wheels corresponds to the number of stepping times of the displacement module 20. After the current round of measurement is completed, the displacement module 20 controls the optical attenuation sheet 40 to move, and performs the next measurement until the determined whole round of measurement is completed.

In one example, step S12 determines respective propagation time deviations Te between the propagation time after each movement and the propagation time before the first movement_i,jAnd the respective pulse width time deviations We between the pulse width time after the respective movement and the pulse width time before the first movement_i,jStep S12 is to process the measured values obtained in calibration, for example, first calculate the deviation data pair of each measurement by the following formula 2:

[Te_i,j,We_i,j]＝[T_i,j,W_i,j]-[T_i,0,W_i,0]equation 2

Wherein Te_i,j＝T_i,j-T_i,0，We_i,j＝W_i,j-W_i,0。

In one possible embodiment, the step S13 determines the correlation between each propagation time deviation and each pulse width time deviation for parameter calibration, which may include:

performing cubic spline curve fitting on each propagation time deviation and each pulse width time deviation to obtain the correlation relationship, wherein the correlation relationship can be represented by formula 3:

T_e＝f_i(We_i,j) Equation 3

The embodiment of the disclosure preferably utilizes cubic spline curve fitting to obtain the correlation relationship so as to improve the accuracy.

The embodiment of the present disclosure does not limit the specific implementation manner of fitting the cubic spline curve, and those skilled in the art can implement the fitting by using the related technology.

In a possible embodiment, the lidar 10 to be calibrated may be further configured to:

For example, when the correlation is obtained, the correlation and the pulse width time before the first movement may be stored in a memory of the laser radar, and called by a control unit (such as the aforementioned processing component, that is, FPGA, etc.) of the laser radar, so as to correct the actual propagation time, and improve the accuracy of the distance measurement. For example, during actual ranging, the laser radar 10 to be calibrated may obtain an actual propagation time and an actual pulse width time, determine a difference between the actual pulse width time and the pulse width time before the first movement, determine a target propagation time deviation by using the difference between the actual pulse width time and the pulse width time before the first movement and the correlation, correct the actual propagation time by using the target propagation time deviation, and determine a distance by using the corrected actual propagation time.

Of course, the correlation relationship may also be discretized in the embodiments of the present disclosure to reduce the operation cost of the laser radar control unit (such as the aforementioned processing component including the FPGA), which is described as an example below.

In one possible embodiment, the control module 30 may be further configured to:

obtaining N standard pulse width time deviations from the minimum pulse width time deviation to the maximum pulse width time deviation from the M pulse width time deviations according to the target time step;

In one example, the target time step can be represented by the maximum pulse width time deviation We_{i,j MAX}Time deviation We from the minimum pulse width_{i,j MIN}The ratio of the difference to the number N of standard pulse width time deviations determines, for example, the target time step Δ t according to equation 4:

the specific value of N in the embodiments of the present disclosure is not limited, and may be set by a person skilled in the art as needed.

The embodiment of the present disclosure may be implemented in various ways to obtain N standard pulse width time deviations from the minimum pulse width time deviation to the maximum pulse width time deviation from M pulse width time deviations in the target time step, for example, N standard pulse width time deviations may be directly screened from the minimum pulse width time deviation to the maximum pulse width time deviation in the target time step from M pulse width time deviations, or N standard pulse width time deviations from the minimum pulse width time deviation to the maximum pulse width time deviation may be obtained from the continuous variation function in accordance with M pulse width time deviations, and the target time step may be obtained from the continuous variation function.

In one possible embodiment, before obtaining N standard pulse width time deviations from the minimum pulse width time deviation to the maximum pulse width time deviation from M pulse width time deviations in the target time step, the control module 30 may be further configured to:

the M pulse width time offsets are ordered.

By sequencing the M pulse width time deviations, the screening efficiency of the standard pulse width time deviation can be improved.

Illustratively, M may be greater than N, and the embodiments of the present disclosure may directly screen the N standard pulse width time deviations from the M pulse width time deviations.

For example, the embodiments of the present disclosure may gradually obtain the standard pulse width time deviation from M pulse width time deviations with the target time step from the minimum pulse width time deviation until N standard pulse width time deviations are obtained.

In one example, embodiments of the disclosure may establish a standard pulse width error table Sta _ We_iStoring the N standard pulse width time deviations into a standard pulse width error table Sta _ We_iIn (1). In one example, M may also be smaller than N, in which case, the embodiment of the present disclosure may determine a variation trend function (a function of the pulse width time deviation and the time t) of the pulse width time deviation by using a small number of M pulse width time deviations, for example, obtained through a pre-established and trained neural network model or other types of models, or may adopt a fitting manner, in which case, the embodiment of the present disclosure may obtain N standard pulse width time deviations by using the variation trend function, for example, N standard pulse width time deviations including a minimum pulse width time deviation and a maximum pulse width time deviation may be obtained from the variation trend function gradually with a target time step from the minimum pulse width time deviation. The embodiment of the present disclosure does not limit the specific form of the variation trend function, and does not limit the model for obtaining the variation trend function, and those skilled in the art can set the variation trend function according to actual situations and needs. The embodiment of the disclosure can fit the pulse width time deviation and the propagation time through the pulse width time deviation of tens of orders of magnitude and through a cubic spline curve and other modesAnd (3) a relation curve of the deviation, wherein the curve can be infinitely subdivided in theory due to the existence of an expression, and further an arbitrary number (N) of standard pulse width time deviations can be obtained, for example, the value of N is selected as long as the accuracy of compensation and the calculation force of a radar control unit are satisfied.

In one example, in a case where N standard pulse width time deviations are obtained, the embodiment of the disclosure may obtain N time deviation correction values according to the N standard pulse width time deviations and the correlation, for example, the N standard pulse width time deviations are respectively substituted into the correlation to obtain N time deviation correction values.

Illustratively, the disclosed embodiments may establish a time offset correction table Sta _ Te_iAnd storing the N time deviation correction values into a time deviation correction table Sta _ Te_iIn (1).

In one possible embodiment, the control module 30 may be further configured to:

The embodiment of the disclosure may utilize a memory in the laser radar to be calibrated to store the N standard pulse width time deviations, the N time deviation correction values, and the mapping relationship between each standard pulse width time deviation and each time deviation correction value; and the pulse width time W before the first movement_i,0。

In one example, the memory may include a computer-readable storage medium, which may be a tangible device that may hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a programmable read-only memory (PROM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The above calibration processes of the embodiment of the disclosure can be automated, after the laser radar is fixed on the tool and connected with the power supply and the upper computer, the program on the upper computer is started, and the calibration process of 'measuring-motor stepping- … … -measuring-calculating, fitting, discretizing-writing laser radar into the lookup table' can be continuously performed.

The calibration process described above only relates to a typical calibration system based on the solution of the present invention, and in fact some modules in the system can be adjusted according to actual requirements:

the laser radar to be calibrated can be single-point detection, and can also be linear array or area array detection;

the shielding object of the uniform optical attenuation sheet 40 may be a receiving end, a transmitting end, or even the receiving end and the transmitting end can be shielded simultaneously, and depending on the specific tooling and the architecture of the laser radar, the arrangement of the radar receiving end and the transmitting end and whether the radar receiving end and the transmitting end share a light path or not can affect the final calibration system structure;

the calibration target 50 does not need to move a distance in the whole calibration process and has no special requirement, but the distance is ensured to be larger than the proximity of the laser radar 10 to be calibratedThe distance of the blind zone is not too large, the surface shape is not too rough, the reflectivity is not too small, and the aim of ensuring the T in the calibration process is mainly_i,0,W_i,0]The corresponding waveform is saturated or even approximate to a square wave, so that the stability and the accuracy of the reference value are ensured;

the error table length N is selected mainly in consideration of the balance between the corrected precision level and the memory space, theoretically, the larger the error table length is, the higher the corrected precision is, but after the expected precision level is reached, the error table length is continuously increased, so that more memory space on a radar is occupied, and more benefits cannot be brought, and therefore accurate evaluation and balance are needed, and setting is needed as needed.

The following is an exemplary description of the real-time correction of travel time using discrete correlations. In a possible embodiment, the lidar 10 to be calibrated may be further configured to:

The embodiment of the disclosure can directly obtain the discretization correlation, that is, directly call the N standard pulse width time deviations, the N time deviation correction values, and the mapping relationship between each standard pulse width time deviation and each time deviation correction value from the memory; and the pulse width time W before the first movement_i,0Determining the actual pulse width time difference between the actual pulse width time and the pulse width time before the first movement, and determining the size relation between the actual pulse width time difference and the minimum pulse width time deviation and/or the maximum pulse width time deviation in the N standard pulse width time deviationsAccording to the size relationship, the mapping relationship, the minimum pulse width time deviation or the maximum pulse width time deviation, the target propagation time deviation is determined, the occupation of the operation resources of a control unit of the laser radar is greatly reduced due to the fact that function operation is not needed, the operation resources are saved, the operation speed is increased, the target propagation time deviation can be quickly and efficiently used for correcting the actual propagation time, and the ranging precision is improved.

In a possible implementation, the determining a target propagation time deviation according to the magnitude relation, the mapping relation, the minimum pulse width time deviation or the maximum pulse width time deviation may include:

For example, in the actual measurement process of the laser radar, each round of measurement will obtain the actual propagation time Tm of each channel_iAnd actual pulse width time Wm_i，[Tm_i,Wm_i]Wherein i also represents the number of channels corresponding to the measured value, and the actual pulse width time difference We corresponding to the measured value is calculated by the following formula 5_i：

We_i＝W_i,0-Wm_iEquation 5

Exemplary, if We_i<We_{i,j MIN}The target propagation time deviation Te_iSelecting the minimum pulse width time deviation We_{i,j MIN}In the mapping relation (look-up time deviation correction table Sta _ Te)_iGet) the corresponding propagation time deviation value, denoted as Tc_i。

By way of example, if We_i>We_{i,j MAX}The target propagation time deviation Te_iSelecting the maximum pulse width time deviation We_{i,j MAX}In the mapping relation (look-up time deviation correction table Sta _ Te)_iGet) the corresponding propagation time deviation value, denoted as Tc_i。

Exemplary, if We_{i,j MIN}<We_i<We_{i,j MAX}According to We_iSelecting a standard pulse width error table Sta _ We_iThe value which is the closest to the actual pulse width time difference is searched, and the Sta _ Te corresponding to the value is searched_iTo determine the target propagation time deviation Te_iIs marked as Tc_i。

Through the mode, the embodiment of the disclosure can rapidly compare and look up the table to obtain the target propagation time deviation, so as to rapidly and efficiently calibrate the propagation time and improve the accuracy of ranging.

In one example, the actual propagation time may be corrected by the difference between the actual propagation time and the target propagation time deviation, for example, the actual propagation time measurement value may be corrected according to the following formula to obtain the final output propagation time value T_i：

T_i＝Tm_i-Tc_iEquation 6

The calibration process, the correction process has high efficiency, automatic characteristics, can satisfy the demand of producing the automatic pulse width calibration station of line of laser radar volume production, the calibration data that this scheme obtained simultaneously, can be in laser radar operation in-process, realize low-power consumption, efficient real-time distance value compensation function, it has important meaning to laser radar's consumption and performance index optimization, this disclosed embodiment uses the lookup table of writing into in control module 30 corresponding memory to carry out real-time distance value compensation, calibration process and real-time distance value compensation process's efficiency has been promoted, can satisfy the demand of high accuracy pulsed laser radar volume production demand and high-efficiency low-power consumption distance value compensation.

The embodiment of the present disclosure further provides a method for calibrating laser radar parameters, where the method is applied to a control module of a laser radar parameter calibration device, as shown in fig. 2, the device includes: the laser radar 10 to be calibrated comprises a transmitting unit 110, a receiving unit 120 and a processing unit 130, wherein the transmitting unit 110 is used for transmitting a laser signal to a calibration target 50 for ranging, the receiving unit 120 is used for receiving a reflected laser signal of the calibration target 50, and the processing unit 130 is used for recording propagation time between the transmission of the laser signal from the transmitting unit 110 and the reception of the reflected laser signal by the receiving unit 120 and pulse width time of the reflected laser signal; a displacement module 20, provided with an optical attenuation sheet 40, wherein the optical attenuation sheet 40 includes a plurality of attenuation regions, each attenuation region has a different light transmittance, and the displacement module 20 is configured to control the optical attenuation sheet 40 to move so as to change the light transmittance of the transmitting unit 110 and/or the receiving unit 120;

as shown in fig. 3, the method includes:

step S11, controlling the displacement module 20 to make the optical attenuation sheet 40 move M times, controlling the laser radar to be calibrated to perform ranging before the first movement and after each movement, and recording the propagation time and the pulse width time before the first movement and after each movement, wherein M is a positive integer;

According to the embodiment of the disclosure, the displacement module is controlled by the control module to enable the optical attenuation sheet to move for M times, the laser radar to be calibrated is controlled to perform ranging before the first movement and after each movement, and the propagation time and the pulse width time before the first movement and after each movement are recorded; determining each propagation time deviation between the propagation time after each movement and the propagation time before the first movement, and each pulse width time deviation between the pulse width time after each movement and the pulse width time before the first movement; and determining the correlation between each propagation time deviation and each pulse width time deviation so as to calibrate the parameters of the laser radar to be calibrated. The laser radar parameter calibration device disclosed by the embodiment of the disclosure is full-automatic in calibration process, does not need manual operation, is high in efficiency and high in speed, determines the correlation between each propagation time deviation and each pulse width time deviation to calibrate the parameter of the laser radar to be calibrated, and has high precision and low operation cost.

When the laser radar of the embodiment of the disclosure is used for ranging, the stored correlation relationship and the pulse width time before the preset pulse width time (for example, the first time) is moved can be called, so that the actual propagation time is corrected, and the accuracy of ranging is improved. For example, during actual ranging, the laser radar may obtain an actual propagation time and an actual pulse width time, determine a difference between the actual pulse width time and the pulse width time before the first movement, determine a target propagation time deviation by using the difference between the actual pulse width time and the pulse width time before the first movement and the correlation, correct the actual propagation time by using the target propagation time deviation, and determine a distance by using the corrected actual propagation time, so as to improve accuracy of ranging and accuracy of ranging.

The embodiment of the disclosure can directly obtain the discretization correlation, that is, directly call the N standard pulse width time deviations, the N time deviation correction values, and the mapping relationship between each standard pulse width time deviation and each time deviation correction value from the memory; and the pulse width time W before the first movement_i,0Determining the actual pulse width time difference between the actual pulse width time and the pulse width time before the first movement, determining the magnitude relation between the actual pulse width time difference and the minimum pulse width time deviation and/or the maximum pulse width time deviation in the N standard pulse width time deviations, and obtaining the minimum pulse width time deviation and/or the maximum pulse width time deviation according to the magnitude relation, the mapping relation and the minimum pulse width time deviationThe deviation or the maximum pulse width time deviation determines the target propagation time deviation, and as function operation is not needed, the occupation of operation resources of a control unit (such as an FPGA) in the laser radar is greatly reduced, the operation resources are saved, the operation speed is improved, the target propagation time deviation can be quickly and efficiently used for correcting the actual propagation time, and the ranging precision is improved.

It is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted. Those skilled in the art will appreciate that in the above methods of the specific embodiments, the specific order of execution of the steps should be determined by their function and possibly their inherent logic.

Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above-mentioned method. The computer readable storage medium may be a non-volatile computer readable storage medium.

An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.

The disclosed embodiments also provide a computer program product comprising computer readable code or a non-transitory computer readable storage medium carrying computer readable code, which when run in a processor of an electronic device, the processor in the electronic device performs the above method.

The control module of the embodiment of the present disclosure may be an electronic device, and the electronic device may be provided as a terminal, a server, or other forms of devices.

Referring to fig. 5, fig. 5 is a block diagram of an electronic device according to an embodiment of the disclosure.

For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.

Referring to fig. 5, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.

The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a Complementary Metal Oxide Semiconductor (CMOS) or Charge Coupled Device (CCD) image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as a wireless network (WiFi), a second generation mobile communication technology (2G) or a third generation mobile communication technology (3G), or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.

Referring to fig. 6, fig. 6 shows a block diagram of an electronic device according to an embodiment of the disclosure.

For example, the electronic device 1900 may be provided as a server. Referring to fig. 6, electronic device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the above-described method.

The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system, such as a micro-computer, stored in memory 1932Soft Server operating system (Windows Server)^TM) Apple Inc. of the present application based on the graphic user interface operating System (Mac OS X)^TM) Multi-user, multi-process computer operating system (Unix)^TM) Free and open native code Unix-like operating System (Linux)^TM) Open native code Unix-like operating System (FreeBSD)^TM) Or the like.

In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1932, is also provided that includes computer program instructions executable by the processing component 1922 of the electronic device 1900 for performing the above-described methods.

The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A laser radar parameter calibration device is characterized by comprising:

2. The apparatus of claim 1, wherein determining the correlation between each propagation time deviation and each pulse width time deviation for parameter calibration comprises:

3. The apparatus of claim 1 or 2, wherein the lidar to be calibrated is further configured to:

4. The apparatus of claim 1, wherein the control module is further configured to:

5. The apparatus of claim 4, wherein the control module is further configured to, prior to obtaining N standard pulse width time deviations from a minimum pulse width time deviation to a maximum pulse width time deviation from M pulse width time deviations at a target time step:

the M pulse width time offsets are ordered.

6. The apparatus of claim 4, wherein the control module is further configured to:

7. The apparatus of any of claims 6, wherein the lidar to be calibrated is further configured to:

8. The apparatus of claim 7, wherein determining a target propagation time deviation from the magnitude relationship, the mapping relationship, the minimum pulse width time deviation, or the maximum pulse width time deviation comprises:

9. The apparatus of claim 7, wherein determining a target propagation time deviation from the magnitude relationship, the mapping relationship, the minimum pulse width time deviation, or the maximum pulse width time deviation comprises:

10. The apparatus of claim 7, wherein determining a target propagation time deviation from the magnitude relationship, the mapping relationship, the minimum pulse width time deviation, or the maximum pulse width time deviation comprises:

11. A laser radar is characterized in that a preset pulse width time and a correlation relation between propagation time deviation and pulse width time deviation are stored in the laser radar, and the laser radar is used for:

12. The lidar of claim 11, wherein the lidar further has N standard pulse width time deviations, N time deviation correction values, and a mapping between each standard pulse width time deviation and each time deviation correction value, the lidar further configured to: determining the magnitude relation between the actual pulse width time difference and the minimum standard pulse width time deviation and/or the maximum standard pulse width time deviation in the N standard pulse width time deviations;

13. The lidar of claim 12, wherein said determining a target propagation time offset from said magnitude relationship, said mapping relationship, said minimum pulse width time offset, or said maximum pulse width time offset comprises:

14. The lidar of claim 12, wherein said determining a target propagation time offset from said magnitude relationship, said mapping relationship, said minimum pulse width time offset, or said maximum pulse width time offset comprises:

15. The lidar of claim 12, wherein said determining a target propagation time offset from said magnitude relationship, said mapping relationship, said minimum pulse width time offset, or said maximum pulse width time offset comprises: