CN114325631B - Laser radar control method and device, laser radar, vehicle and storage medium - Google Patents
Laser radar control method and device, laser radar, vehicle and storage medium Download PDFInfo
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Abstract
The embodiment of the disclosure relates to the technical field of laser radars, and provides a control method and device of a laser radar, a laser radar and a storage medium. The laser radar control method comprises the following steps: when the nth transmitting column of the laser radar transmits a laser signal, the nth to the (N + N) th receiving columns of the laser radar receive an echo signal of the laser signal; determining a receiving time window from the nth to the (N + N) th receiving columns, wherein the mth receiving time window of the mth receiving column is smaller than the (m + 1) th receiving time window of the (m + 1) th receiving column; the starting time of the m +1 th receiving time window is later than the starting time of the mth receiving time window and is earlier than the ending time of the mth receiving time window; m is a positive integer less than N + N; controlling the nth to the (N + N) th receiving columns to receive the echo signals in the corresponding receiving time windows respectively; and obtaining the receiving condition of the echo signal in the nth transmitting column ranging period according to the receiving signals of the nth to the (N + N) th receiving columns.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a control method and device of a laser radar, a flash laser radar, a vehicle and a storage medium.
Background
The laser radar emits laser signals, and the propagation direction of the laser signals is changed after the laser signals meet a measured object to form echo signals. After the returned echo signals are received by the laser radar, the ranging of the laser radar can be realized according to the transmitting parameters of the laser signals and the receiving parameters of the echo signals.
Flash lidar mainly uses a high-sensitivity area array receiver to measure the surrounding image of the environment by directly emitting a large laser covering a detection area in a short time. The laser emitting end of the Flash laser radar is a laser array, and the laser emitting end corresponds to each row of the receiving end array one by one.
In general, in order to improve the range finding capability of the flash lidar, the transmitting end drives only one transmitting column of the transmitting array to emit light at a time in an array driving mode, and the receiving end is matched with the rolling shutter to receive the light.
In the related art, the correspondence relationship between the transmission of the laser signal and the reception of the echo signal may be as shown in fig. 1, and when the transmission train 1 emits light, the reception train 1 starts to receive the echo signal of the laser signal emitted by the transmission train 1. And then, when the transmitting column 2 transmits the laser signals, the corresponding receiving column 2 starts to receive the echo signals of the laser signals transmitted by the transmitting column 2, and the analogy is carried out until all the transmitting columns finish the light emission, so that the distance measurement of the whole view field is completed.
But there may be problems: as the propagation distance of the laser increases, the echo signal of the laser signal may drift, and if only one receiving column is used to receive the echo signal of the laser signal transmitted by one transmitting column, there may be a problem of missing detection.
Disclosure of Invention
The embodiment of the invention provides a control method and device of a laser radar, a flash laser radar, a vehicle and a storage medium.
A first aspect of an embodiment of the present disclosure provides a method for controlling a laser radar, where the method includes:
when the nth transmitting column of the laser radar transmits a laser signal, the nth to nth + N receiving columns of the laser radar receive an echo signal of the laser signal; both N and N are positive integers;
determining a receiving time window of the nth to the (N + N) th receiving columns, wherein the mth receiving time window of the mth receiving column is smaller than the (m + 1) th receiving time window of the (m + 1) th receiving column; the starting time of the m +1 th receiving time window is later than the starting time of the m-th receiving time window and earlier than the ending time of the m-th receiving time window; m is a positive integer not less than N and less than N + N;
controlling the nth to nth + N receiving columns to receive the echo signals in the receiving time windows corresponding to the nth to nth + nth receiving columns respectively;
and obtaining the receiving condition of the echo signal in the nth transmitting column ranging period according to the receiving signals of the nth to (N + N) th receiving columns.
Based on the above scheme, the time domain overlapping part of the m +1 th receiving time window and the mth receiving time window is greater than or equal to the starting time length of the m +1 th receiving column.
Based on the above scheme, the obtaining the receiving condition of the echo signal in the nth transmit column ranging period according to the received signals of the nth to nth + nth receive columns includes:
and combining the received signals of the nth to (N + N) th receiving columns in the time domain to obtain the receiving condition of the echo signal in the nth transmitting column ranging period.
Based on the above-mentioned scheme, the method,
when m-n is equal to 0, the mth receive time window is:
；
when m-n is a positive integer, the mth receiving time window is:
and/or the presence of a gas in the gas,
the m +1 th receiving time window is as follows:
wherein the content of the first and second substances,
；
the above-mentioned
The starting time of transmitting the laser signal for the nth transmitting column;
the above-mentioned
The minimum ranging distance of the laser radar;
the above-mentioned
For the emitted light of the lidarA distance between an axis and a receive optical axis of the lidar;
the above-mentioned
An emission angle for emitting a laser signal for the nth emission column;
the above-mentioned
Is the propagation speed of the laser;
the above-mentioned
The receiving angle of the echo signal of one receiving column;
the described
Is the overlap duration between the mth receiving time window and the (m-1) th receiving time window;
the above-mentioned
Is the overlap duration between the m +1 th and the m-th receive time windows.
The embodiment of the present disclosure provides a control device for a laser radar, the device including:
the first determining module is used for receiving echo signals of the laser signals from the nth to the N + nth receiving columns of the laser radar when the nth transmitting column of the laser radar transmits the laser signals; both N and N are positive integers;
a second determining module, configured to determine receiving time windows of nth to N + nth receiving columns, where an mth receiving time window of the mth receiving column is smaller than an m +1 th receiving time window of the m +1 th receiving column; the starting time of the m +1 th receiving time window is later than the starting time of the m-th receiving time window and earlier than the ending time of the m-th receiving time window; the value of m is a positive integer less than or less than N + N;
the control module is used for controlling the nth to nth + nth receiving columns to receive the echo signals in the receiving time windows corresponding to the nth to nth + nth receiving columns respectively;
and the obtaining module is used for obtaining the receiving condition of the echo signal in the nth transmitting column ranging period according to the receiving signal of the target receiving column.
Based on the above scheme, the m +1 th receiving time window and the m-th receiving time window overlap in the time domain, and the time domain overlap is greater than or equal to the starting duration of the m +1 th receiving column.
Based on the above scheme, the lidar includes: the device comprises a transmitting array for transmitting laser signals and a receiving array for receiving echo signals;
the receiving array is as follows: single photon avalanche diode SPAD arrays.
Based on the scheme, the optical axes of the transmitting array and the receiving array are different.
Based on the above scheme, the obtaining module is configured to combine the received signals of the nth to nth + nth receiving columns in the time domain to obtain the receiving condition of the echo signal in the nth transmit column ranging period.
Based on the above-mentioned scheme, the method,
when m-n is equal to 0, the mth receive time window is:
；
when m-n is a positive integer, the mth receiving time window is:
and/or the presence of a gas in the atmosphere,
the m +1 th receiving time window is as follows:
wherein the content of the first and second substances,
；
the described
A starting time for transmitting a laser signal for the nth transmission column;
the above-mentioned
The minimum ranging distance of the laser radar;
the above-mentioned
The distance between the transmitting optical axis of the laser radar and the receiving optical axis of the laser radar is obtained;
the above-mentioned
An emission angle for emitting a laser signal for the nth emission column;
the described
Is the propagation speed of the laser;
the above-mentioned
A reception angle of an echo signal for one of the reception columns;
the described
Is the overlapping duration between the mth receiving time window and the (m-1) th receiving time window;
the above-mentioned
Is the overlap duration between the m +1 th reception time window and the m-th reception time window.
A third aspect of the embodiments of the present disclosure provides a laser radar, including:
the device comprises a transmitting array for transmitting laser signals and a receiving array for receiving echo signals;
the optical axes of the transmitting array and the receiving array are different; the transmitting array is a vertical cavity surface emitting VCSEL laser array, and the receiving array is a single photon avalanche diode SPAD array;
wherein a single transmit column of the transmit array sequentially transmits laser signals;
in a ranging period from the time when the single transmitting column transmits the laser signal to the time when the next transmitting column transmits the laser signal, the multiple receiving columns in the receiving array sequentially receive echo signals in the receiving time windows corresponding to the multiple receiving columns respectively; receiving time windows of any two adjacent receiving columns in the plurality of receiving columns are partially overlapped in a time domain; and obtaining echo signals in the single transmitting column ranging period in a time period overlapping and splicing mode according to the received signals of the multiple receiving columns.
Based on the scheme, the transmitting array comprises at least S transmitting columns;
the receiving array, comprising: s + N receiving columns;
the flash lidar further comprising:
the processing module is at least connected with the receiving array and used for receiving echo signals of the laser signals in the receiving time windows corresponding to the nth to nth + nth receiving columns of the laser radar when the nth transmitting column of the laser radar transmits the laser signals; obtaining the receiving condition of the echo signal in the nth transmitting column ranging period according to the receiving signals of the nth to the (N + N) th receiving columns; both N and N are positive integers; wherein, the mth receiving time window of the mth receiving column is smaller than the (m + 1) th receiving time window of the (m + 1) th receiving column; the starting time of the m +1 th receiving time window is later than the starting time of the m-th receiving time window and earlier than the ending time of the m-th receiving time window; and m is a positive integer not less than N and less than N + N.
Based on the above scheme, the m +1 th receiving time window and the m-th receiving time window overlap in the time domain, and the time domain overlap is greater than or equal to the starting duration of the m +1 th receiving column.
Based on the above-mentioned scheme, the method,
when m-n is equal to 0, the mth receive time window is:
；
when m-n is a positive integer, the mth receiving time window is:
and/or the presence of a gas in the gas,
the m +1 th receiving time window is:
wherein the content of the first and second substances,
；
the described
The starting time of transmitting the laser signal for the nth transmitting column;
the above-mentioned
The minimum ranging distance of the laser radar;
the above-mentioned
The distance between the transmitting optical axis of the laser radar and the receiving optical axis of the laser radar is obtained;
the above-mentioned
An emission angle for emitting a laser signal for the nth emission column;
the above-mentioned
Is the propagation speed of the laser;
the above-mentioned
The receiving angle of the echo signal of one receiving column; />
The above-mentioned
Is the overlap duration between the mth receiving time window and the (m-1) th receiving time window;
the above-mentioned
Is the overlap duration between the m +1 th and the m-th receive time windows.
A fourth aspect of an embodiment of the present disclosure provides a vehicle, including: any of the foregoing embodiments provide a flash lidar. A fifth aspect of the disclosed embodiments is a computer storage medium having computer-executable instructions stored thereon; the computer-executable instructions, when executed by the processor, may implement the method for controlling a lidar according to any of the aspects of the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following beneficial effects:
when one transmitting column transmits laser, the receiving columns are received by the N +1 receiving columns, so that on one hand, the missing detection caused by the drift of echo signals of laser signals is reduced; the receiving time windows of two adjacent receiving columns on the other hand have time overlap, so that when the next receiving column is started to enter the receiving condition of the echo signal, the previous receiving column is still in the receiving state, the missing detection of the echo signal when the two adjacent receiving columns are switched between the non-receiving state and the receiving state is reduced, and the receiving and detecting accuracy of the echo signal is improved at least from two aspects.
Drawings
Fig. 1 is a schematic diagram of a correspondence relationship between an emitting array and a laser array according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a laser radar control method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a mapping relationship between a transmitting array and a laser array according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a laser radar ranging apparatus according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a variation of a receiving angle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a variation of receiving angles and a variation of receiving columns according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a received signal in the time domain provided by an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a lidar control apparatus according to an embodiment of the present invention;
FIG. 9A is a schematic diagram of a flash lidar according to an embodiment of the invention;
fig. 9B is a schematic structural diagram of a lidar according to an embodiment of the present invention.
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 means of the present invention, the following description will be given by way of specific examples.
As shown in fig. 2, an embodiment of the present disclosure provides a method for controlling a laser radar, which may include:
s110: when the nth transmitting column of the laser radar transmits a laser signal, the nth to nth + N receiving columns of the laser radar receive an echo signal of the laser signal; both N and N are positive integers;
s120: determining a receiving time window of the nth to the (N + N) th receiving columns, wherein the mth receiving time window of the mth receiving column is smaller than the (m + 1) th receiving time window of the (m + 1) th receiving column; the starting time of the m +1 th receiving time window is later than the starting time of the m-th receiving time window and earlier than the ending time of the m-th receiving time window; m is a positive integer not less than N and less than N + N;
s130: controlling the nth to the (N + N) th receiving columns to receive the echo signals in the corresponding receiving time windows respectively;
s140: and obtaining the receiving condition of the echo signal in the nth transmitting column ranging period according to the receiving signals of the nth to the (N + N) th receiving columns.
The lidar includes a transmit array and a receive array. The emitting array constitutes an emitting surface. The receiving array constitutes a receiving surface.
The transmit array comprises a plurality of transmit columns; and the receive array includes a plurality of receive columns.
In the disclosed embodiment, in order to reduce the angle drift of the echo signal relative to the receiving array, a plurality of receiving columns are used to receive the echo signal of the laser signal transmitted by one transmitting column. Referring to fig. 4, when the same transmitting column of the transmitting array transmits a laser signal, as the laser signal is transmitted farther and farther, an incident position of the receiving array relative to an echo signal formed after the laser signal is reflected by an object to be measured may change, and the echo signal whose receiving angle has drifted may be received without omission by different receiving columns. Illustratively, referring to fig. 4 and 5, the receiving array receives the echo signal at an increasingly larger receiving angle Δ θ.
Determining a receiving column according to the transmitting column of the laser signal transmitted at the current time may include: and determining the serial number of a target receiving column for receiving the echo signal in the receiving surface according to the serial number of the transmitting column and the number of the echo signal receiving columns for receiving the laser signal transmitted by one transmitting column.
After determining the receiving column for receiving the laser signal transmitted by the nth transmitting column, the receiving time window of each receiving column is further determined. The reception time window here is a time when the echo signal is received when the reception column is in an on state (i.e., a reception state).
If the corresponding receiving row is in a receiving state, the circuit between the receiving row and the corresponding processing module is conducted, and therefore the electric signals generated by the receiving row due to the receiving of the echo signals can be detected and recorded.
In some embodiments, S120 may include:
and inquiring a configuration file of the laser radar, wherein the configuration file can record receiving configuration, and when the receiving configuration is inquired, the time information of a receiving time window corresponding to the column number of the nth transmitting column and the column number of the corresponding receiving column respectively can be inquired by taking the column number of the nth transmitting column and the column number of the corresponding receiving column as retrieval fields.
In some embodiments, S120 may further include: and dynamically calculating and determining the receiving time windows of the nth to the nth + N receiving columns according to the characteristic that the receiving angles of the laser signals transmitted by one transmitting column can be equally divided among the nth to the nth + N receiving columns and the starting moment of the laser signals transmitted by the nth transmitting column.
Of course, in another embodiment, the reception angle ranges of the nth to N + nth reception columns are different.
N can be any positive integer; the value of N may be 1, 2 or 3. Illustratively, fig. 3 shows a laser signal emitted by one transmit column, received by 3 receive columns, where N is equal to 2.
After the receiving time windows of the nth to nth + N receiving columns and the nth to nth + N receiving columns are determined, the nth to nth + N receiving columns are controlled to receive the echo signals of the laser signals in the corresponding time windows. And since N is a positive integer, echo signals are received through at least two receiving columns, so that omission can be reduced when the echo signals drift. The starting time of the m +1 th receiving time window is later than the starting time of the mth receiving time window, but is earlier than the ending time of the mth receiving time window, so that at least a period of time is that two adjacent receiving columns simultaneously keep a receiving state to receive the echo signal. The receiving array receives the echo signals in the mode, receiving omission of the echo signals can be reduced to the maximum extent, and the ranging accuracy of the laser radar is improved.
As shown in fig. 6 and 7, in the embodiment of the present disclosure, the m +1 th receiving time window is greater than the m-th receiving time window. If the m +1 th receiving time window is larger than the m-th receiving time window, in a scanning period of transmitting the laser signals by the transmitting column, the time length of receiving the echo signals by the m +1 th receiving column corresponding to the m +1 th receiving time window is longer than the time length of receiving the echo by the m-th receiving column corresponding to the m-th receiving time window. As the ranging distance is larger, the rate of change of the angle at which the echo signal returns to the receiving array is smaller, so that when the receiving angles of two adjacent receiving columns are equal, the receiving time of the corresponding receiving column receiving the echo signal later is longer.
In some embodiments, the N may be a positive integer equal to or greater than 2.
In some embodiments, the m +1 th receiving time window and the m-th receiving time window overlap in the time domain by a portion greater than or equal to the starting duration of the m +1 th receiving column.
In this embodiment of the present disclosure, an overlapping duration of the mth receiving time window and the (m + 1) th receiving time window is greater than a starting duration, which may ensure that the (m + 1) th receiving column corresponding to the (m + 1) th receiving time window is successfully switched from the off state to the on state within the overlapping duration, thereby ensuring the integrity of receiving the echo signal.
In some embodiments, the lidar comprises: the device comprises a transmitting array for transmitting laser signals and a receiving array for receiving echo signals;
the receiving array is as follows: single Photon Avalanche Diode (SPAD) array.
The SPAD array includes: receiving pixels, which are distributed in a matrix such that the SPAD array has receiving rows and receiving columns.
In some embodiments, the optical axes of the transmit array and the receive array are different.
Here, the optical axes of the transmitting array and the receiving array are different, that is: the transmitting optical axis of the transmitting array is different from the receiving optical axis of the receiving array, that is, the lidar is an off-axis lidar and can also be called a non-coaxial lidar.
In some embodiments, the S140 may include: and combining the received signals of the nth to the (N + N) th receiving columns in the time domain to obtain the receiving condition of the echo signal in the nth transmitting column ranging period.
And combining the received signals of the nth to (N + N) th receiving columns in the time domain to obtain the receiving condition of the echo signal in the ranging period of the nth transmitting column, so as to obtain the receiving condition of the echo signal in the whole scanning period of the laser signal transmitted by the nth transmitting column, and further accurately ranging the target according to the receiving condition of the echo signal.
Specifically, the combining the received signals of the nth to nth + nth received columns in the time domain may include:
obtaining a union set of received signals received by the nth to the (N + N) th receiving columns at different moments;
directly accumulating the received signals at the same moment to obtain accumulated signals aiming at the received signals at the same moment;
the receiving condition of the final echo signal is obtained in the process of adding the accumulated signal to the union of the received signals at different moments.
Referring to fig. 7, the final received signal to the echo signal of the multiple receive columns of the receive array provided by the embodiment of the present disclosure may be: r (t) = R1 (t 1) + R2 (t 2) + R3 (t 3).
In the scheme shown in fig. 7, t1, t2 and t3 represent the receiving time windows of three receiving columns distributed adjacently, respectively. It can be seen that there is an overlap of duration 1 between t2 and t 1; there is an overlap period of 2 between t3 and t 2. R1 (t 1) is a reception signal of reception column 1; r2 (t 2) is a reception signal of reception column 2; r3 (t 3) is a reception signal of reception column 3.
In some embodiments of the present invention, the,
when m-n is equal to 0, the m-th receiving timeThe window between is:
；/>
when m-n is equal to 0, the mth reception time window is:
；
when m-n is a positive integer, the mth receiving time window is:
and/or the presence of a gas in the gas,
the m +1 th receiving time window is as follows:
wherein the content of the first and second substances,
；
the described
The starting time of transmitting the laser signal for the nth transmitting column;
the above-mentioned
The minimum distance measurement distance of the laser radar is obtained;
the above-mentioned
The distance between the transmitting optical axis of the laser radar and the receiving optical axis of the laser radar is obtained;
the described
Emitting laser light for the n-th emission columnThe angle of emission of the signal;
the above-mentioned
Is the propagation speed of the laser;
the above-mentioned
A reception angle of an echo signal for one of the reception columns;
the above-mentioned
Is the overlap duration between the mth receiving time window and the (m-1) th receiving time window;
the above-mentioned
Is the overlap duration between the m +1 th and the m-th receive time windows.
In some embodiments of the present invention, the,
and the number of receiving columns for receiving the laser signal transmitted by one transmitting column.
D max The maximum ranging distance when the laser signal is transmitted for the nth transmission column; or, D max The maximum range distance of the laser radar.
The laser signals in the same transmitting column at the same transmitting angle change the angle θ between the corresponding receiving signal and the receiving optical axis less and less with the change of the distance D between the obstacle and the laser radar, and the approximate change trend can be shown in fig. 4. The receiving angle change value is increased sharply in short distance change, and changes more slowly and approaches to the limit change value with the distance increasing.
When receiving the angle limit change value
max and the limit range distance D of the radar max Simultaneous determination ofAnd (4) finally. The distance in the complete range [ D ] can be calculated min ，D max ]The number of required receive columns. The specific calculation method is as follows, assuming that the transverse receiving angle corresponding to each receiving column is theta, for a single transmitting column to transmit a laser signal, in order to receive an echo signal in the whole ranging period, the receiving array needs the column number ^ of the receiving column>
Can be as follows: />
Rounding up. />
To compensate for the loss of the received signal due to the offset of the receiving array, the method can be used
The value of (2) is that in a single ranging period of the radar, a working mode that one transmitting column corresponds to a plurality of receiving columns is selected, so that the radar is ensured not to have the situations of signal loss and missed detection in the whole ranging range. Taking an example that one transmitting column corresponds to three receiving columns, the correspondence between the transmitting column and the receiving column is shown in fig. 3. The receiving columns corresponding to the echo signals of the transmitting column 1 are receiving columns 1, 2 and 3, the receiving columns corresponding to the echo signals of the transmitting column 2 are receiving columns 2, 3 and 4, and so on, the number of the receiving columns is always 2 more than that of the transmitting columns. If a transmit column corresponds to N receive columns, then the number of receive columns is N-1 more than the transmit columns. According to the relation between the channel change angle and the distance, the range of the 3 rows of receiving ends can be determined. Taking the case of transmitting column 1 as an example, receiving columns 1, 2, and 3 are selected as corresponding receiving arrays, and obtaining the ranging ranges of receiving columns 1, 2, and 3 may include: it is assumed that the center of gravity of the spot of the echo signal moves in the reception columns (i.e., reception channels) 1 to 3 as the target distance becomes longer.
When at the nearest ranging point D min When the light spot of the echo signal completely falls on the receiving array 1, the light spot of the echo signal moves to an angle delta theta 1 along with the movement of the ranging point from near to far to D1,at this time, the spot of the echo signal falls on the boundary between the reception train 1 and the reception train 2, and thus the range of the reception train 1 is [ D ] min ，D1]By analogy, the range of the ranging for the receiving column 2 is [ D1, D2 ]]The range of the receiving 3 responsible for ranging is [ D2, D ] max ]。
Meanwhile, the output of the SPAD is a 1-bit (bit) digital signal, and both the ambient photon and the signal photon trigger the SPAD to respond to the same digital signal, so that the influence of the ambient photon needs to be reduced as much as possible when the SPAD is used as a receiving chip. And too long ranging time may result in increased power consumption. Therefore, in order to avoid the accumulation processing and the excessive power consumption of the ambient light signals in the same time period, the final ranging echo signal is formed by a seamless segmented splicing manner in the same scanning period of the emitted light, and the processing manner is shown in fig. 7.
At the same time, the distance measurement distance can be obtained DAnd the receiving angle
The relationship of (c) is as follows:
thus, T and
the relationship of (a) to (b) is as follows:
wherein the content of the first and second substances,
between the emission signal and the emission optical axisThe included angle, i.e. the launch angle.
Meanwhile, the output of the SPAD is a 1-bit digital signal, and both the ambient photon and the signal photon trigger the SPAD to respond to the same digital signal, so that the influence of the ambient photon needs to be reduced as much as possible when the SPAD is used as a receiving chip. And too long ranging time may result in increased power consumption. Therefore, in order to avoid accumulation processing and excessive power consumption of the ambient light signals in the same time period, a final ranging echo signal is formed by adopting a seamless segmented splicing mode in the same ranging period.
Since the receiving channels need to be turned on for a stable time, in order to ensure seamless splicing, an overlap region needs to be set in the acquisition time of each receiving channel, and the width of the overlap region needs to be slightly larger than the turn-on stable time of the receiving column (i.e., receiving channel). In addition, in order to improve the signal-to-noise ratio of long-distance ranging, it is necessary to collect the signal energy of long-distance echoes as much as possible, so that the acquisition sequences of the receiving array 2 and the receiving array 3 need to ensure the overlapping of the acquisition times, so as to ensure that the signals falling in the overlapping duration of the receiving channels can be completely acquired, thereby improving the signal-to-noise ratio.
The size of the overlapping duration can be dynamically configured to ensure the full distance range [ D min ，D max ]The detection rate of (2). Because the start of the receiving channels needs stable time, in order to ensure seamless splicing, an overlapping area needs to be set in the acquisition time of each receiving channel, and the width of the overlapping area needs to be slightly larger than the start time of the channels. The start-up duration here is: and a reception column for a time period required to switch from the non-reception state to the reception state and to be stabilized in the reception state.
In addition, in order to improve the signal-to-noise ratio of long-distance ranging, it is necessary to collect the signal energy of long-distance echoes as much as possible, so that the acquisition sequences of the receiving array 2 and the receiving array 3 need to ensure the overlapping of the acquisition times, so as to ensure that the signals falling in the overlapping duration of the receiving channels can be completely acquired, thereby improving the signal-to-noise ratio. The size of the overlapping duration can be dynamically configured to ensure the full distance range [ D ] min ，D max ]The detection rate of (2). For example, for close range receive columnsThe overlap time is short, and the overlap time is long for a long-distance receiving column. Signals within t1 time are selected in a receiving column 1, signals within t2 time are selected in a receiving column 2, signals within t3 time are selected in a receiving column 3, a margin is reserved at the time overlapping position, and a final echo signal R (t) is formed by splicing, wherein the calculation relation of the R (t) is as follows.
Referring to FIG. 6, will
Substituting into the relational expression, the corresponding time windows of each receiving column can be obtained as follows:
wherein the content of the first and second substances,
and &>
An overlap duration 1 and an overlap duration 2, respectively.
Signals within t1 time are selected in a receiving column 1, signals within t2 time are selected in a receiving column 2, signals within t3 time are selected in a receiving column 3, a margin is reserved at the time overlapping position, and a final echo signal R (t) is formed by splicing, wherein the calculation relation of the R (t) is as follows.
Is the minimum ranging distance; />
Is the maximum ranging distance. />
Is the launch angle. />
The maximum reception angle for reception column 1; />
The maximum reception angle for reception column 2; />
The maximum reception angle of the reception column 3. R (t) = R1 (t 1) + R2 (t 2) + R3 (t 3).
The problem of receiving array deviation caused by receiving angle change caused by distance measurement change of the flash laser radar is solved.
And forming a final ranging echo signal by adopting a multi-array seamless splicing mode in the same ranging period. Therefore, the situation that the FLASH laser radar is not lost in the whole ranging range is ensured.
As shown in fig. 8, an embodiment of the present disclosure provides a control apparatus for a laser radar, the apparatus including:
a first determining module 110, configured to receive, when an nth transmitting column of the lidar transmits a laser signal, echo signals of the laser signal from an nth receiving column to an N + nth receiving column of the lidar; both N and N are positive integers;
a second determining module 120, configured to determine receiving time windows of nth to nth + nth receiving columns, where an mth receiving time window of an mth receiving column is smaller than an m +1 th receiving time window of the m +1 th receiving column; the starting time of the m +1 th receiving time window is later than the starting time of the m-th receiving time window and earlier than the ending time of the m-th receiving time window; the value of m is a positive integer less than or less than N + N;
a control module 130, configured to control the nth to nth + nth receiving columns to receive the echo signal within the receiving time window corresponding to each receiving column;
an obtaining module 140, configured to obtain a receiving status of the echo signal in the nth transmit column ranging period according to the received signal of the target receive column.
In some embodiments, the first determining module 110, the second determining module 120, the controlling module 130, and the obtaining module 140 may be program modules; the program modules may be capable of performing the functions of the various modules described above when executed by a processor.
In other embodiments, the first determining module 110, the second determining module 120, the controlling module 130, and the obtaining module 140 may be a soft-hard combining module; the soft and hard combining module comprises but is not limited to various programmable arrays; the programmable array includes, but is not limited to: field programmable arrays and/or complex programmable arrays.
In still other embodiments, the first determining module 110, the second determining module 120, the controlling module 130, and the obtaining module 140 may be pure hardware modules; including but not limited to application specific integrated circuits.
In some embodiments, the m +1 th receiving time window and the m-th receiving time window overlap in the time domain by a portion greater than or equal to the starting duration of the m +1 th receiving column.
In some embodiments, the lidar comprises: the device comprises a transmitting array for transmitting laser signals and a receiving array for receiving echo signals;
the receiving array is as follows: single photon avalanche diode SPAD arrays.
In some embodiments, the optical axes of the transmit array and the receive array are different.
In some embodiments, the obtaining module 140 is configured to combine the received signals of the nth to nth + nth receiving columns in the time domain to obtain the receiving condition of the echo signal in the nth transmit column ranging period.
In some embodiments, when m-n is equal to 0, the mth receive time window is:
；
when m-n is equal to 0, the mth receive time window is:
；
when m-n is a positive integer, the mth receiving time window is:
and/or the presence of a gas in the gas,
the m +1 th receiving time window is as follows:
wherein, the first and the second end of the pipe are connected with each other,
；
the above-mentioned
The starting time of transmitting the laser signal for the nth transmitting column; />
The described
The minimum ranging distance of the laser radar;
the above-mentioned
The distance between the transmitting optical axis of the laser radar and the receiving optical axis of the laser radar is obtained;
the above-mentioned
Emitting the emission angle of the laser signal for the nth emission column;
the above-mentioned
Is the propagation speed of the laser;
the described
A reception angle of an echo signal for one of the reception columns;
the above-mentioned
Is the overlap duration between the mth receiving time window and the (m-1) th receiving time window;
the above-mentioned
Is the overlap duration between the m +1 th reception time window and the m-th reception time window.
As shown in fig. 9A, an embodiment of the present disclosure provides a laser radar including:
the device comprises a transmitting array for transmitting laser signals and a receiving array for receiving echo signals;
the optical axes of the transmitting array and the receiving array are different; the transmitting array is a vertical cavity surface emitting VCSEL laser array, and the receiving array is a single photon avalanche diode SPAD array;
wherein a single transmit column of the transmit array sequentially transmits laser signals;
in a ranging period from when the single transmitting column transmits the laser signal to before when the next transmitting column transmits the laser signal, the plurality of receiving columns in the receiving array sequentially receive the echo signals in the receiving time windows corresponding to the receiving columns respectively; receiving time windows of any two adjacent receiving columns in the plurality of receiving columns are partially overlapped in a time domain; and obtaining the echo signal in the single transmitting column ranging period in a time period overlapping and splicing mode according to the received signals of the plurality of receiving columns.
The receiving time window of the receiving column of the flash lidar provided by this embodiment can be referred to fig. 7.
Further, the VCSEL laser array includes at least S emission columns;
the SPAD array, comprising: s + N receiving columns;
the processing module is at least connected with the receiving array and used for receiving echo signals of the laser signals in the receiving time windows corresponding to the nth to the (N + N) th receiving columns of the laser radar when the nth transmitting column of the laser radar transmits the laser signals; obtaining the receiving condition of the echo signal in the nth transmitting column ranging period according to the receiving signals of the nth to the (N + N) th receiving columns; both N and N are positive integers; wherein, the mth receiving time window of the mth receiving column is smaller than the (m + 1) th receiving time window of the (m + 1) th receiving column; the starting time of the m +1 th receiving time window is later than the starting time of the m-th receiving time window and earlier than the ending time of the m-th receiving time window; and m is a positive integer not less than N and less than N + N.
The processing module may include various chips and/or circuits having control functions.
The processing module may include: the conversion circuit is used for converting a photocurrent generated by the receiving array based on the received echo signal into a photovoltage; the amplifying circuit is connected with the converting circuit and is used for amplifying the photovoltage; and a processing circuit connected to the amplifying circuit and determining information for ranging such as reception timing of the echo signal based on the converted photovoltage.
The processing module is connected with at least the SPAD array, and is also connected with the VCSEL laser array for controlling each emission row of the VCSEL laser array to emit laser signals.
In some embodiments of the present invention, the,
when m-n is equal to 0, the mth receiving time window is:
；/>
when m-n is equal to 0, the mth reception time window is:
；
when m-n is a positive integer, the mth receiving time window is:
and/or the presence of a gas in the atmosphere,
the m +1 th receiving time window is as follows:
wherein the content of the first and second substances,
；
the above-mentioned
The starting time of transmitting the laser signal for the nth transmitting column;
the above-mentioned
The minimum ranging distance of the laser radar;
the above-mentioned
The distance between the transmitting optical axis of the laser radar and the receiving optical axis of the laser radar is obtained;
the above-mentioned
An emission angle for emitting a laser signal for the nth emission column;
the described
Is the propagation speed of the laser;
the above-mentioned
A reception angle of an echo signal for one of the reception columns;
the described
Is the overlap duration between the mth receiving time window and the (m-1) th receiving time window;
the above-mentioned
Is the overlap duration between the m +1 th and the m-th receive time windows.
As shown in fig. 9B, an embodiment of the present disclosure provides a laser radar including:
a transmit array comprising at least S transmit columns;
a receive array comprising: s + N receiving columns;
the processing module is at least connected with the receiving array and used for receiving echo signals of the laser signals in the receiving time windows corresponding to the nth to the (N + N) th receiving columns of the laser radar when the nth transmitting column of the laser radar transmits the laser signals; obtaining the receiving condition of the echo signal in the nth transmitting column ranging period according to the receiving signals of the nth to the (N + N) th receiving columns; both N and N are positive integers; wherein, the mth receiving time window of the mth receiving column is smaller than the m +1 receiving time window of the m +1 receiving column; the starting time of the m +1 th receiving time window is later than the starting time of the m-th receiving time window and earlier than the ending time of the m-th receiving time window; and m is a positive integer not less than N and less than N + N.
As shown in fig. 9B, the number of columns of the receive array is S more than the transmit array.
The processing module may include various chips and/or circuits having control functions.
The processing module may include: the conversion circuit is used for converting a photocurrent generated by the receiving array based on the received echo signal into a photovoltage; the amplifying circuit is connected with the converting circuit and is used for amplifying the photovoltage; and a processing circuit connected to the amplifying circuit and the like for determining information for ranging such as reception timing of the echo signal from the converted photovoltage.
The processing module is connected with at least the receiving array, and exemplarily, the processing module is further connected with the transmitting array to control each transmitting row of the transmitting array to transmit the laser signal.
In some embodiments, the m +1 th receiving time window and the m-th receiving time window overlap in the time domain by a portion greater than or equal to the start duration of the m +1 th target receiving column.
In some embodiments of the present invention, the,
when m-n is equal to 0, the mth receiving time window is:
；
when m-n is equal to 0, the mth receive time window is:
；
when m-n is a positive integer, the mth receiving time window is:
and/or the presence of a gas in the atmosphere,
the m +1 th receiving time window is as follows:
wherein the content of the first and second substances,
；
the above-mentioned
The starting time of transmitting the laser signal for the nth transmitting column;
the above-mentioned
The minimum ranging distance of the laser radar;
the above-mentioned
For the transmitting optical axis of the laser radar and the laserThe distance between the reception optical axes of the radars;
the above-mentioned
Emitting the emission angle of the laser signal for the nth emission column;
the above-mentioned
Is the propagation speed of the laser;
the described
The receiving angle of the echo signal of one receiving column;
the above-mentioned
Is the overlap duration between the mth receiving time window and the (m-1) th receiving time window;
the above-mentioned
Is the overlap duration between the m +1 th and the m-th receive time windows.
The disclosed embodiment provides a vehicle, including: any of the foregoing embodiments provide a flash lidar or lidar.
The vehicle may be an autonomous vehicle or a drive-assisted vehicle. The flash laser radar or the laser radar is used for ranging of the vehicle in the running process.
In some embodiments, the vehicle further comprises: drive systems, motion chassis and frames, etc.; the frame is installed on the motion chassis, and laser radar installs on the frame. And the driving system is used for controlling the distance measurement according to the laser radar or the flash laser radar and driving the motion chassis to move.
The disclosed embodiments also provide a computer storage medium having computer-executable instructions stored thereon; after being executed by a processor, the computer-executable instructions can implement the laser radar control method provided by any of the foregoing technical solutions, and for example, the processor can implement any method shown in fig. 2 by executing the executable instructions.
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-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. A method of controlling a lidar, wherein the lidar is an off-axis lidar, and wherein the method comprises:
in a ranging period of the laser radar in which an nth transmitting column transmits a laser signal, receiving echo signals of the laser signal by nth to N + nth receiving columns of the laser radar, wherein N and N are positive integers, wherein the gravity center of a light spot of the echo signal of the laser signal transmitted by the nth transmitting column moves from the nth receiving column to the N + nth receiving column as a target distance becomes farther, wherein N satisfies:
dynamically calculating and determining receiving time windows of nth to nth + N receiving columns according to receiving angles of laser signals transmitted by nth to nth + N receiving columns and the starting time of the laser signals transmitted by the nth transmitting column, wherein the mth receiving time window of the mth receiving column is smaller than the mth +1 receiving time window of the mth +1 receiving column; the starting time of the (m + 1) th receiving time window is later than the starting time of the (m) th receiving time window and is earlier than the ending time of the (m) th receiving time window; m is a positive integer not less than N and less than N + N; wherein an overlapping duration of the m +1 th receiving time window and the m-th receiving time window is greater than a starting duration of the m +1 th receiving channel, wherein:
when m-n is equal to 0, the mth reception time window is:
when m-n is a positive integer, the mth receiving time window is:
and/or the presence of a gas in the gas,
the m +1 th receiving time window is:
wherein the content of the first and second substances,
the T is 0 Is the firstThe starting time of emitting laser signals by the n emitting columns;
said D min The minimum ranging distance of the laser radar;
c is the propagation speed of the laser;
the Δ T m-1 Is the overlap duration between the mth receive time window and the m-1 receive time window;
the Δ T m Is the overlap duration between the m +1 th receiving time window and the m-th receiving time window;
controlling the nth to the (N + N) th receiving columns to receive the echo signals in the corresponding receiving time windows respectively;
and combining the received signals of the nth to (N + N) th receiving columns in the time domain to obtain the receiving condition of the echo signal in the nth transmitting column ranging period.
2. The lidar control method according to claim 1, wherein the overlap duration is positively correlated with a detection range of a corresponding receiving column.
3. The lidar control method according to claim 1, wherein the combining the received signals of the nth to (N + N) th receiving columns in the time domain to obtain the receiving condition of the echo signal in the nth transmitting column ranging period comprises:
obtaining a union set of received signals received by the nth to the (N + N) th receiving columns at different moments;
for the received signals at the same time, directly accumulating the received signals at the same time to obtain accumulated signals;
and adding the accumulated signals to the union set of the received signals at different moments to obtain the receiving condition of the final echo signal.
4. An apparatus for controlling a lidar, wherein the lidar is an off-axis lidar, the apparatus comprising:
a first determining module, configured to receive echo signals of laser signals in nth to nth + nth receiving columns of the lidar during a ranging period in which the nth transmitting column of the lidar transmits laser signals, where N and N are positive integers, where a center of gravity of a spot of an echo signal of a laser signal transmitted by the nth transmitting column moves from the nth receiving column to the nth + nth receiving column as a target distance becomes farther, where N satisfies:
a second determination module to: dynamically calculating and determining receiving time windows of nth to nth + N receiving columns according to receiving angles of laser signals transmitted by nth to nth + N receiving columns and the starting time of the laser signals transmitted by the nth transmitting column, wherein the mth receiving time window of the mth receiving column is smaller than the mth +1 receiving time window of the mth +1 receiving column; the starting time of the m +1 th receiving time window is later than the starting time of the m-th receiving time window and earlier than the ending time of the m-th receiving time window; the value of m is a positive integer less than or less than N + N; wherein an overlapping duration of the m +1 th receiving time window and the m-th receiving time window is greater than a starting duration of the m +1 th receiving channel, wherein:
when m-n is equal to 0, the mth receive time window is:
when m-n is a positive integer, the mth receiving time window is:
and/or the presence of a gas in the gas,
the m +1 th receiving time window is as follows:
wherein the content of the first and second substances,
the T is 0 The starting time of transmitting the laser signal for the nth transmitting column;
said D min The minimum ranging distance of the laser radar;
c is the propagation speed of the laser;
the Δ T m-1 Is the overlap duration between the mth receive time window and the m-1 receive time window;
the Δ T m Is the overlap duration between the m +1 th receiving time window and the m-th receiving time window;
the control module is used for controlling the nth to the (N + N) th receiving columns to receive the echo signals in the corresponding receiving time windows;
and the obtaining module is used for combining the received signals of the nth to the (N + N) th receiving columns on the time domain to obtain the receiving condition of the echo signal in the nth transmitting column ranging period.
5. A flash lidar, wherein the flash lidar is an off-axis lidar comprising: the device comprises a transmitting array for transmitting laser signals and a receiving array for receiving echo signals;
the optical axes of the transmitting array and the receiving array are different; the transmitting array is a vertical cavity surface emitting VCSEL laser array, and the receiving array is a single photon avalanche diode SPAD array;
wherein a single emitting column of the emitting array sequentially emits laser signals;
in a ranging period from when the single transmitting column transmits the laser signal to before when the next transmitting column transmits the laser signal, the plurality of receiving columns in the receiving array sequentially receive the echo signal in the corresponding receiving time windows; wherein the receiving time windows of any two adjacent receiving columns in the plurality of receiving columns are partially overlapped in the time domain; obtaining echo signals in the single transmitting column ranging period in a time period overlapping and splicing mode according to the received signals of the multiple receiving columns;
the transmitting array comprises at least S transmitting columns;
the receive array, comprising: s + N receiving columns;
the flash lidar further comprising:
a processing module, connected at least to the receiving array, for:
in a ranging period of the laser radar in which an nth transmitting column transmits laser signals, receiving echo signals of the laser signals in respective corresponding receiving time windows by nth to nth + nth receiving columns of the laser radar, wherein N and N are positive integers, a gravity center of a light spot of the echo signal of the laser signal transmitted by the nth transmitting column moves from the nth receiving column to the nth + nth receiving column as a target distance becomes farther, and N satisfies:
wherein, the mth receiving time window of the mth receiving column is smaller than the m +1 receiving time window of the m +1 receiving column; the starting time of the m +1 th receiving time window is later than the starting time of the m-th receiving time window and earlier than the ending time of the m-th receiving time window; m is a positive integer not less than N and less than N + N;
when m-n is equal to 0, the mth reception time window is:
when m-n is a positive integer, the mth receiving time window is:
and/or the presence of a gas in the gas,
the m +1 th receiving time window is as follows:
wherein, the first and the second end of the pipe are connected with each other,
said T is 0 A starting time for transmitting a laser signal for the nth transmission column;
said D m1n The minimum ranging distance of the laser radar;
c is the propagation speed of the laser;
the Δ T m-1 Is the overlap duration between the mth receive time window and the m-1 receive time window;
the Δ T m Is the overlap duration between the m +1 th receiving time window and the m-th receiving time window; and
and combining the received signals of the nth to (N + N) th receiving columns in the time domain to obtain the receiving condition of the echo signal in the nth transmitting column ranging period.
6. A vehicle, characterized in that it comprises a flash lidar according to claim 5.
7. A vehicle, characterized in that it comprises a lidar controlled by the apparatus of claim 4.
8. A computer storage medium having stored thereon computer-executable instructions; the computer-executable instructions, when executed by a processor, enable the method of lidar control of claim 1.
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