CN114637016A - Laser radar signal transmitting and processing method - Google Patents
Laser radar signal transmitting and processing method Download PDFInfo
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Abstract
The invention provides a laser radar signal transmitting and signal processing method, which belongs to the technical field of laser radars and comprises the following steps: acquiring first detection target information; in a first environment parameter, carrying out signal transmission according to a plurality of different signal transmission parameters, carrying out laser radar detection on first detection target information, and obtaining a plurality of transmission signal information; based on laser radar detection, receiving and obtaining a plurality of corresponding received signal information; analyzing and judging the accuracy of the first detection target information under different transmission parameters according to the plurality of pieces of transmitted signal information and the plurality of pieces of received signal information to obtain a plurality of pieces of accuracy information; optimizing various different transmission parameters according to the information of the accuracy degrees to obtain optimal signal transmission parameters; and detecting the first detection target information based on the optimal signal emission parameters. The invention achieves the technical effect of improving the detection precision of the laser radar.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar signal transmitting and processing method.
Background
Laser radar realizes the detection of object distance, speed, composition etc. based on through transmitting laser signal, receiving object reflection's echo signal, and the wide application is in fields such as robot, unmanned aerial vehicle.
Because the laser radar carries out detection based on the optical principle, the interference of optical influence noise in the environment is easily received, and the detection result of the laser radar is inaccurate. At present, the echo signal is generally subjected to noise reduction by setting a noise reduction algorithm, the signal to noise ratio is improved, and the accuracy of laser radar detection is further improved.
In the prior art, the accuracy of laser radar detection is low due to the influence of noise, a related noise reduction algorithm is generally set in a targeted manner according to an environment or a laser radar signal detection method, the universality is poor, and the technical problem of low accuracy of laser radar detection exists.
Disclosure of Invention
The application provides a laser radar signal transmitting and signal processing method, which is used for solving the technical problem that the detection accuracy of laser radar signals is low in the prior art.
In view of the above problems, the present application provides a laser radar signal transmitting and signal processing method.
In a first aspect of the present application, a laser radar signal transmitting and signal processing method is provided, where the method includes: acquiring first detection target information; in a first environment parameter, carrying out signal transmission according to a plurality of different signal transmission parameters, carrying out laser radar detection on the first detection target information, and obtaining a plurality of transmission signal information; based on laser radar detection, receiving and obtaining a plurality of corresponding received signal information; analyzing and judging the accuracy of the first detection target information under different signal transmission parameters according to the plurality of pieces of transmission signal information and the plurality of pieces of receiving signal information to obtain a plurality of pieces of accuracy information; optimizing various different signal transmission parameters according to the information of the accuracy degrees to obtain optimal signal transmission parameters; and detecting the first detection target information based on the optimal signal emission parameters.
In a second aspect of the present application, a lidar signal transmitting and signal processing system is provided, the system comprising: a first obtaining unit configured to obtain first detection target information; a second obtaining unit, configured to perform signal transmission according to multiple different signal transmission parameters within the first environment parameter, perform laser radar detection on the first detection target information, and obtain multiple pieces of transmission signal information; a third obtaining unit, configured to receive and obtain multiple pieces of corresponding received signal information based on lidar detection; the first processing unit is used for analyzing and judging the accuracy of the first detection target information under different signal transmission parameters according to the plurality of pieces of transmitted signal information and the plurality of pieces of received signal information to obtain a plurality of pieces of accuracy information; the second processing unit is used for optimizing various different signal transmission parameters according to a plurality of accuracy information to obtain optimal signal transmission parameters; and the first execution unit is used for detecting the first detection target information based on the optimal signal transmission parameter.
In a third aspect of the present application, there is provided an electronic device including: a processor coupled to a memory for storing a program that, when executed by the processor, causes an electronic device to perform the steps of the method according to the first aspect.
In a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method according to the first aspect.
One or more technical solutions provided in the present application have at least the following technical effects or advantages:
the method and the device for detecting the laser radar signals have the advantages that the target information of the current laser radar detection is obtained, in the corresponding environment parameters, the laser radar signals are transmitted according to various different laser radar signal transmitting parameters, the laser radar detection of the target information is carried out, a plurality of pieces of transmitting signal information are obtained, a plurality of echo signals reflected and received are obtained based on the laser radar detection, a plurality of pieces of receiving signal information are obtained, the accuracy degree of the laser radar detection under different transmitting parameters is analyzed according to the plurality of pieces of transmitting signal information and the plurality of pieces of receiving signal information, a plurality of pieces of accuracy degree information are obtained, the plurality of sets of transmitting parameters are optimized according to the plurality of pieces of accuracy degree information, the optimal transmitting parameters are obtained, and then the current first detection target information is detected based on the optimal signal transmitting parameters. According to the method, signal transmission is carried out according to various different laser radar signal transmission parameters under the current detection purpose, corresponding transmission signals and receiving signals are obtained, the accuracy of laser radar detection of different laser radar signal transmission parameters under the current detection purpose and environment is analyzed and judged, a specific optimization searching method is established, the optimal signal transmission parameters are obtained through optimization searching in various transmission parameters according to the accuracy, the accuracy of laser radar signal detection is improved, the method is suitable for laser radar detection methods under different environments and different detection purposes, the universality is strong, the laser radar detection signal transmission parameters do not need to be supervised and adjusted, and the technical effect of improving the detection accuracy of the laser radar is achieved.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
Fig. 1 is a schematic flow chart of a laser radar signal transmitting and signal processing method provided in the present application;
fig. 2 is a schematic flow chart illustrating optimization and optimization of various signal transmission parameters in a laser radar signal transmission and signal processing method according to the present application;
fig. 3 is a schematic flow chart illustrating setting of optimization constraint conditions in a laser radar signal transmitting and processing method provided by the present application;
FIG. 4 is a schematic diagram of a laser radar signal transmitting and signal processing system according to the present application;
fig. 5 is a schematic structural diagram of an exemplary electronic device of the present application.
Description of reference numerals: a first obtaining unit 11, a second obtaining unit 12, a third obtaining unit 13, a first processing unit 14, a second processing unit 15, a first execution unit 16, an electronic device 300, a memory 301, a processor 302, a communication interface 303, and a bus architecture 304.
Detailed Description
The application provides a laser radar signal transmitting and signal processing method, which is used for solving the technical problem that the detection accuracy of laser radar signals is low in the prior art.
In view of the above technical problems, the technical solution provided by the present application has the following general idea:
the method and the device for detecting the laser radar signals have the advantages that the target information of the current laser radar detection is obtained, in the corresponding environment parameters, the laser radar signals are transmitted according to various different laser radar signal transmitting parameters, the laser radar detection of the target information is carried out, a plurality of pieces of transmitting signal information are obtained, a plurality of echo signals reflected and received are obtained based on the laser radar detection, a plurality of pieces of receiving signal information are obtained, the accuracy degree of the laser radar detection under different transmitting parameters is analyzed according to the plurality of pieces of transmitting signal information and the plurality of pieces of receiving signal information, a plurality of pieces of accuracy degree information are obtained, the plurality of sets of transmitting parameters are optimized according to the plurality of pieces of accuracy degree information, the optimal transmitting parameters are obtained, and then the current first detection target information is detected based on the optimal signal transmitting parameters.
Having described the basic principles of the present application, the following detailed description will be made in a clear and complete manner with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present application, and not all embodiments of the present application, and that the present application is not limited by the exemplary embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings.
Example one
As shown in fig. 1, the present application provides a laser radar signal transmitting and signal processing method, including:
s100: acquiring first detection target information;
the laser radar signal transmitting and signal processing method provided by the embodiment of the application is applied to any laser radar equipment in the prior art, such as a laser radar detection system in a robot, an unmanned vehicle and an unmanned aerial vehicle, and is based on a detection signal in a laser beam transmitting mode, and then receives an echo signal reflected from a target to detect parameters such as target speed, direction and distance so as to achieve the purpose of required detection.
In the embodiment of the present application, the first detection target information may be any laser radar detection target in the prior art, for example, the distance, speed, or direction of the detection target object, and preferably the distance of the detection target object.
Alternatively, the first detection target information may be specifically distance detection of a target object in a certain environment, for example, distance detection of a certain target object or a plurality of target objects in a certain area in an environment with relatively high noise that affects laser radar detection, such as a foggy day.
S200: in a first environment parameter, carrying out signal transmission according to a plurality of different signal transmission parameters, carrying out laser radar detection on the first detection target information, and obtaining a plurality of transmission signal information;
specifically, the first detection target information is detected by a specific environment, and the environment has an environmental parameter, which is a first environmental parameter.
The first environment parameter is an experience parameter set according to historical laser radar detection experience, and represents the influence degree of the current environment on the laser radar detection precision, and the influence degrees of different environments on the laser radar detection precision are different, so that the environment parameters are also different.
Further, under a first environment parameter of the current environment, laser beam signal transmission is carried out according to different signal transmission parameters of laser radar signals, detection of first detection target information is carried out, and a plurality of pieces of transmitted signal information are obtained.
In this embodiment, the signal transmission parameters include multidimensional parameters, such as waveform, center wavelength, spectral line width, intensity, frequency, power, divergence angle, pulse width, and the like, and specific parameters of different signal transmission parameters are different, thereby forming various signal transmission parameters.
Under different signal emission parameters, different laser beam signals can be emitted based on the laser radar system, so that various different emission signal information can be obtained and all the emission signal information can be used for detecting the first detection target information.
S300: based on laser radar detection, receiving and obtaining a plurality of corresponding received signal information;
in the embodiment of the application, based on the principle of laser radar detection, after a plurality of emission signal information are transmitted based on different signal emission parameters, the echo signals which are reflected by the measured object and returned and are influenced by the noise in the current first environmental parameter are received, the laser radar detection of the plurality of groups of preliminary signal emission parameters is completed, and a plurality of different kinds of received signal information are obtained.
The signal transmitting parameters, the transmitting signal information and the receiving signal information are in one-to-one correspondence.
Optionally, a plurality of different sets of signal transmission parameters, transmission signal information, and reception signal information may be stored as a triplet of < signal transmission parameters, transmission signal information, and reception signal information >, so as to obtain a plurality of triplets, and perform subsequent data processing.
S400: analyzing and judging the accuracy of the first detection target information under different signal transmission parameters according to the plurality of pieces of transmitted signal information and the plurality of pieces of received signal information to obtain a plurality of pieces of accuracy information;
in the embodiment of the application, the laser beam signals emitted by different signal emission parameters and the degree of influence of noise on the emission signal information in the current first environment parameter are different, so that the detection accuracy of the first detection target information performed by different signal emission parameters is different due to different parameters such as signal to noise ratio in the obtained received signal information.
Specifically, according to the multiple pieces of transmitted signal information and the multiple pieces of received signal information, the accuracy of detection based on different signal transmission parameters can be analyzed and obtained, so that different detection accuracies of the different signal transmission parameters under the current first detection target information and the first environment parameter can be obtained, and then the laser radar signal transmission parameters suitable for the current requirements can be selected.
Optionally, under the condition that different signal transmission parameters are analyzed and judged according to the plurality of transmission signal information and the plurality of reception signal information, before the accuracy of the detection of the first detection target information, noise reduction processing can be respectively performed on the plurality of reception signal information, so as to improve the parameters of the signal-to-noise ratio and the like of the reception signal information, so as to improve the precision, and better analyze the detection precision of the different signal transmission parameters on the first detection target information.
It should be noted that, the methods for performing noise reduction processing on multiple pieces of received signal information should be similar or identical, so that the degree of noise reduction processing is close to each other, and the accuracy and fairness of the analysis and judgment accuracy are not affected.
For example, the method of the denoising process may adopt any denoising method such as filtering, Empirical Mode Decomposition (EMD), Wavelet Transform (WT), and mode decomposition (VMD).
Furthermore, the accuracy of the first detection target information under different signal emission parameters is analyzed and judged, based on the principle of laser radar ranging in the prior art, ranging is carried out according to the emission signal information and the receiving signal information, the accuracy of the different signal emission parameters is analyzed and judged according to the actual distance of the ranging target object, and a plurality of accuracy information is obtained.
Although the distance of the ranging target object is actually obtained, the distance is only used as a data reference for analyzing and judging the accuracy, and after the method provided by the embodiment of the application is implemented, ranging of other different ranging target objects in the first detection target information and under the first environmental parameter can be performed, and the accuracy of laser radar ranging detection is improved.
S500: optimizing various different signal transmission parameters according to the information of the accuracy degrees to obtain optimal signal transmission parameters;
s600: and detecting the first detection target information based on the optimal signal emission parameters.
In the embodiment of the application, according to the plurality of accuracy degree information, the detection accuracy of different signal emission parameters to the first detection target information can be obtained, and then according to the plurality of accuracy degree information, the optimal signal emission parameters with the global optimum can be obtained through optimization and optimization, and the laser radar detection of the final first detection target information can be carried out.
Further, in the specific optimization process, a specific optimization method, such as a genetic algorithm and other methods, can be set to optimize the signal emission parameters and increase the rate of optimization, so that the signal emission parameters with higher accuracy can be obtained without manually adjusting and setting the signal emission parameters, the detection accuracy of the laser radar for the current detection purpose is improved, and the efficiency is higher.
According to the method, signal transmission is carried out according to various different laser radar signal transmission parameters under the current detection purpose, corresponding transmission signals and receiving information are obtained, the accuracy of laser radar detection of different laser radar signal transmission parameters under the current detection purpose and environment is analyzed and judged, a specific optimization searching method is established, the optimal signal transmission parameters are obtained through optimization searching in various transmission parameters according to the accuracy, the accuracy of laser radar signal detection is improved, the method is suitable for laser radar detection methods under different environments and different detection purposes, the universality is strong, the laser radar detection signal transmission parameters do not need to be supervised and adjusted, and the technical effect of improving the detection accuracy of the laser radar is achieved.
Step S400 in the method provided in the embodiment of the present application includes:
s410: setting a plurality of median filters based on a plurality of the received signal information;
s420: respectively carrying out noise filtering processing on the received signal information by adopting a plurality of median filters;
s430: and analyzing and judging the accuracy according to the processed multiple pieces of received signal information and the processed multiple pieces of transmitted signal information.
Specifically, a plurality of median filters are respectively and specifically arranged for a plurality of pieces of received signal information obtained based on laser radar detection, and the plurality of pieces of received signal information are respectively subjected to median filtering, so that noise in the received signal information is reduced, and features in the received signal information are not lost.
Optionally, for different received signal information, multiple median filters may be set to perform multiple median filtering processes, so as to improve the accuracy and signal-to-noise ratio of the received signal information.
Further, the number of median filters for different received signal information may be set according to the signal-to-noise ratio of the received signal information, specifically, the root mean square error and the signal-to-noise ratio of the received signal information may be calculated by the prior art, and the number of median filters may be set according to the root mean square error and the signal-to-noise ratio.
Optionally, a mapping relationship among the root-mean-square error, the signal-to-noise ratio, and the number of median filters may be constructed based on experience of previous laser radar detection, and different numbers of median filters may be set for different received signal information according to the mapping relationship, so as to perform multiple median filtering.
In this way, the plurality of median filters are respectively adopted to perform noise filtering processing on the plurality of pieces of received signal information, and optionally, multiple median filtering processing is performed on part of the received signal information for different times, so as to obtain a plurality of pieces of received signal information after noise filtering processing. And analyzing and judging the accuracy according to the plurality of processed received signal information and the plurality of transmitted signal information.
According to the embodiment of the application, the noise filtering processing is carried out on the multiple pieces of received signal information obtained under the multiple signal emission parameters, the signal-to-noise ratio and other parameters of the multiple pieces of received signal information are improved, and the accuracy of laser radar detection under different signal emission parameters can be more accurately analyzed and judged.
Step S400 in the method provided in the embodiment of the present application further includes:
s440: obtaining first accuracy requirement information according to the first detection target information;
s450: calculating to obtain a plurality of accuracy information according to the plurality of transmitting signal information and the plurality of processed receiving signal information;
s460: respectively judging whether the accuracy information meets the first accuracy requirement information or not, and obtaining a plurality of judgment results;
s470: according to the judgment results, further analyzing the degree that each accuracy information meets or does not meet the first accuracy requirement information to obtain a plurality of analysis results;
s480: and mapping and associating the plurality of judgment results and the plurality of analysis results to obtain a plurality of accuracy degree information.
Specifically, first, from the current first detection-purpose information, its requirement information for the lidar detection accuracy is obtained as first accuracy requirement information.
Illustratively, if the first detection target information is ranging, the accuracy requirement of the distance detection is set, for example, the accuracy needs to reach 95%, that is, the error of the ranging distance calculated according to the transmitted signal information and the received signal information should be no more than 5% of the actual accurate distance.
Based on the principle of laser radar detection, the accuracy of the detection result of laser detection is calculated and obtained under various signal emission parameters according to a plurality of emission signal information and a plurality of processed receiving signal information. Illustratively, the ratio of the ranging result to the actual accurate distance is calculated, and a plurality of accuracy information is obtained.
Further, whether a plurality of accuracy information meets the first accuracy requirement information is judged, and whether the judgment result meets or does not meet the first accuracy requirement information is judged to obtain a plurality of judgment results. Specifically, if the accuracy information is greater than or equal to the first accuracy requirement information, the determination result is satisfied, and if the accuracy information is less than the first accuracy requirement information, the determination result is not satisfied.
According to the judgment results, further analyzing the degree of the accuracy information meeting or not meeting the first accuracy requirement information, specifically, if the accuracy information meets the first accuracy requirement information, calculating the ratio of the part of the accuracy information exceeding the first accuracy requirement information to obtain the analysis result.
And if the accuracy information does not meet the first accuracy requirement information, calculating the ratio of the difference between the accuracy information and the first accuracy requirement information to obtain an analysis result. In this manner, a plurality of analysis results are obtained based on a plurality of determination results.
And mapping and storing the plurality of judgment results and the plurality of analysis results, namely storing the judgment results and the analysis results in a one-to-one correspondence manner to obtain a plurality of accuracy information.
According to the method and the device, accuracy degree information of multiple different signal emission parameters is analyzed and judged, the data base of the accuracy degree of laser radar detection can be carried out as evaluation on the different signal emission parameters, optimization of the multiple signal emission parameters can be carried out according to the accuracy degree information, optimization efficiency and optimization accuracy are improved, and accuracy of laser radar detection is improved.
As shown in fig. 2, step S500 in the method provided in real time in the present application includes:
s510: setting an optimization space according to various signal emission parameters;
s520: setting optimization constraint conditions;
s530: setting optimizing fitness information according to a plurality of accuracy information;
s540: adopting the optimizing constraint condition to constrain the optimizing space;
s550: and in the constrained optimizing space, optimizing and optimizing based on the optimizing fitness information to obtain the optimal signal transmitting parameter.
Specifically, an optimization space is set according to the various laser radar signal emission parameters, and signal emission parameter optimization is performed by selecting and comparing various signal emission parameters in the optimization space.
Further, in practice, since the signal transmission parameters include multi-dimensional parameter information, and different parameter values can be set in each dimension parameter information, in order to obtain the most optimal signal transmission parameters, as many different signal transmission parameters as possible should be set according to different parameter values and multi-dimensional parameter information as possible, and the optimization is performed.
Therefore, because the number of signal transmission parameters is large, optimization is required to be restricted, and restriction conditions are set, so that the optimization efficiency is improved, and unnecessary optimization calculation workload is reduced.
Specifically, the signal emission parameters which are easily affected by the first environmental parameters and cause accuracy reduction can be obtained according to the current first environmental parameters, the accuracy of the signal emission parameters is considered to be lower under the first environmental parameters, the signal emission parameters are restricted and removed from the optimization space, and the optimization efficiency is improved.
Optionally, other constraint conditions may be set according to actual service requirements of the laser radar, for example, a power constraint condition may be set according to hardware parameters of the laser radar device, and power dimension parameter information in the signal transmission parameter is constrained, so that it is avoided that the laser radar device transmits a laser beam signal at too high power, which affects the service life of the device, and the optimization efficiency is improved.
And in the constrained optimization space, optimizing and optimizing the signal transmission parameters based on the optimization fitness information, and finally completing optimization to obtain the optimal signal transmission parameters.
The fitness information can be calculated based on the accuracy information, that is, the accuracy information of the signal emission parameter is used as the fitness of the signal emission parameter in the optimizing process, and the higher the fitness is, the more optimal the signal emission parameter is, and the higher the accuracy of the laser radar detection is.
As shown in fig. 3, step S520 in the method provided in the embodiment of the present application includes:
s521: constructing a first constraint condition analysis model;
s522: inputting the first environment parameter into the first constraint condition analysis model to obtain an output result;
s523: obtaining a first constraint condition according to the output result;
s524: obtaining first accuracy requirement information according to the first detection target information;
s525: setting a non-satisfaction threshold value which does not satisfy the first accuracy requirement information as a second constraint condition according to the first accuracy requirement information;
s526: and taking the first constraint condition and the second constraint condition as the optimizing constraint condition.
In the embodiment of the application, the optimization constraint condition comprises two-dimensional constraint conditions, and the first constraint condition is set based on the first environment parameter and is used for constraining the signal transmission parameter with poor precision under the influence of the first environment parameter. The second constraint condition is set based on the above-mentioned first accuracy requirement information, and the signal transmission parameters for which the accuracy degree information does not satisfy the second constraint condition are constrained.
Wherein the first constraint condition is obtained based on neural network model prediction. Specifically, a first constraint condition analysis model for predicting and outputting a first constraint condition according to an environmental parameter is constructed based on an Artificial Neural Network (ANN) in machine learning.
The first constraint condition analysis model comprises an input layer for inputting input parameters, a hidden layer for analysis processing and an output layer for outputting output parameters, wherein the input parameters are specifically environment parameters, and the output parameters are specifically first constraint conditions. The hidden layer comprises a plurality of simple units similar to neurons of a human brain, the simple units are connected to form a network structure in the process of supervised training through training data, weights are formed in the connection, a trained first constraint condition analysis model can perform nonlinear logic operation according to input parameters, corresponding output parameters are obtained through calculation and prediction, manual participation is not needed, and the accuracy is high.
The training data is obtained based on historical data detected by the laser radar device, the accuracy influence degree of various signal emission parameters detected by the laser radar device under different environment parameters is acquired, the accuracy influence degree reaches a certain threshold value, the detection accuracy cannot be used for using the signal emission parameters, the part of the signal emission parameters are used as constraint conditions under the corresponding environment parameters, and the part of the signal emission parameters are not used as the signal emission parameters for optimizing.
Based on the above contents, acquiring and obtaining multiple sets of historical environment parameters and multiple sets of historical first constraint conditions, identifying and dividing to obtain training data, verification data and test data, then performing supervised training on the first constraint analysis model by using the training data, verifying and testing the first constraint analysis model by using the verification data and the test data after the output result of the first constraint analysis model converges or reaches a preset accuracy rate, ensuring the stability and accuracy of the first constraint analysis model, avoiding overfitting of the model, and if the accuracy rate of the model in verification and testing still meets the requirement, acquiring the first constraint analysis model for use.
And inputting the first environment parameter into the first constraint condition analysis model based on the obtained first constraint condition analysis model to obtain an output result, and obtaining a corresponding first constraint condition based on the identification work. The signal emission parameters which are influenced by the current first environmental parameters to a greater degree of accuracy can be constrained according to the first constraint condition, and the optimization efficiency is improved.
Further, as for the second constraint condition, the first accuracy requirement information in step S400 is obtained from the above-described first detection purpose information based on the foregoing.
Based on the first accuracy requirement information, an unsatisfied threshold that does not satisfy the first accuracy requirement information is set, and illustratively, if the first accuracy requirement information is a requirement that the ranging accuracy needs to reach 95%, the unsatisfied threshold may be that the ranging accuracy needs to reach 90%, as the second constraint condition. According to the second constraint condition and the information of the accuracy degrees, the various signal transmission parameters can be constrained, the signal transmission parameters of which the information of the accuracy degrees does not meet the second constraint condition are excluded and constrained, and the optimization efficiency is improved.
Therefore, the first constraint condition and the second constraint condition are used as the constraint conditions to constrain the signal transmission parameters in the optimization space, and the optimization efficiency is improved.
In addition, various signal emission parameters can be constrained according to the applicable parameter range of the laser radar equipment and the like.
According to the method and the device, the multidimensional constraint conditions are set according to the environmental parameters and the accuracy information, so that the signal emission parameters which are low in constraint precision and not suitable for the current environmental parameters can be restrained, the constraint precision is improved, and the efficiency of subsequent optimization is improved.
Step S550 in the method provided in the embodiment of the present application includes:
s551: randomly selecting a signal transmission parameter in the optimizing space as a first signal transmission parameter and a current optimal signal transmission parameter;
s552: calculating to obtain a first fitness of the first signal transmission parameter according to the optimizing fitness information;
s553: adjusting the first signal transmission parameter by adopting a first transmission parameter adjusting mode to obtain a first neighborhood, wherein the first neighborhood comprises a plurality of signal transmission parameters;
s554: calculating a plurality of second fitness degrees of a plurality of signal transmission parameters in the first neighborhood by adopting the optimizing fitness degree information;
s555: selecting a maximum value of the plurality of second fitness degrees to obtain a corresponding signal transmission parameter as a second signal transmission parameter, and judging whether the maximum value is greater than the first fitness degree, if so, taking the second signal transmission parameter as the current optimal signal transmission parameter, and if not, still taking the first signal transmission parameter as the current optimal signal transmission parameter;
s556: constructing a second neighborhood of the second signal transmission parameter by adopting a transmission parameter adjusting mode different from the first transmission parameter adjusting mode, and iterating;
s557: and when the iteration reaches the preset times, taking the current optimal signal transmission parameter as the optimal signal transmission parameter.
Wherein, step S556 further includes:
s556-1: if the maximum value of the fitness degrees in the second neighborhood is greater than the first fitness degree, adding the first transmission parameter adjustment mode into a taboo table;
s556-2: setting taboo iteration times according to the preset times;
s556-3: and when the iteration reaches the number of taboo iterations, deleting the first transmission parameter adjustment mode from the taboo table.
Specifically, in a constrained optimization space, optimization is performed based on the idea of a tabu search algorithm, and a signal transmission parameter is randomly selected as a first signal transmission parameter and is used as a current optimal signal transmission parameter in a current optimization process.
Further, a first fitness of the first signal transmission parameter is calculated based on the above optimizing fitness information, and specifically, a judgment result and an analysis result in the above accuracy information are used as the first fitness of the first signal transmission parameter.
Specifically, the first transmission parameter adjustment mode may include a plurality of specific adjustment modes for adjusting specific parameter values of a certain dimension parameter or parameters of certain dimensions within the first signal transmission parameter, so that the first signal transmission parameter is changed into a plurality of other signal transmission parameters which are similar to and different from the first signal transmission parameter. In the specific parameter value adjusting process, specific parameter values of all dimension parameters in all signal transmission parameters in the optimization space can be extracted, a certain dimension or parameters of certain dimensions are selected and adjusted to other parameter values which are closest to and different from the parameter values in the current first signal transmission parameter, adjustment is completed, and multiple signal transmission parameters which are different from and close to the first signal transmission parameter are obtained and serve as the first neighborhood.
And acquiring a plurality of second fitness of a plurality of signal transmission parameters in the first field based on the optimizing fitness information.
And selecting the maximum second fitness in the plurality of second fitness as the maximum value, obtaining the corresponding signal transmission parameter as the second signal transmission parameter, judging whether the maximum value is greater than the first fitness, and replacing the first signal transmission parameter with the second signal transmission parameter as the current optimal signal transmission parameter if the maximum value is greater than the first fitness. And if the current signal transmission parameter is smaller than the first signal transmission parameter, the first signal transmission parameter is still used as the current optimal signal transmission parameter.
If the maximum value is greater than the first fitness, the first signal transmission parameter is absolutely the local optimum, the second signal transmission parameter may be the local optimum, or may be the global optimum, in order to avoid the situation that the optimization stagnates at the second signal transmission parameter which may be the local optimum, the adjusting mode of the second signal transmission parameter obtained by adjusting the first signal transmission parameter adjusting mode is added into a taboo table, the taboo table comprises a taboo iteration number, in the optimization iteration within the taboo iteration number, the adjusting mode in the taboo iteration number can not be used for adjusting the transmission parameter, and the situation that the optimization falls into the local optimum is avoided.
For example, the number of tabu iterations may be set according to a preset number of iteration optimization, for example, the preset number is 100, and the number of tabu iterations is 5.
Thus, a second neighborhood of the second signal transmission parameter is continuously constructed in a transmission parameter adjusting mode different from the first transmission parameter adjusting mode, the second neighborhood comprises a plurality of signal transmission parameters which are similar to and different from the second signal transmission parameter, the fitness of the plurality of signal transmission parameters in the second neighborhood is continuously calculated, and optimization iteration is carried out. In addition, in the number of taboo iterations, the adjustment mode in the taboo table cannot be used, and after the number of taboo iterations of a certain adjustment mode is reached, the adjustment mode is deleted from the taboo table, and the adjustment mode can be adopted to adjust the signal transmission parameters and construct the neighborhood.
And after the optimization iteration reaches the preset times, outputting the current optimal signal transmission parameter as the optimal signal transmission parameter. The preset times can be set according to the number of signal transmission parameters in the constrained optimization space.
According to the method and the device, the optimizing efficiency is improved by setting the specific optimizing method and the specific constraint conditions, the signal emission parameters suitable for the current detection purpose and the environmental parameters can be quickly obtained under the condition of no need of manual participation, the detection precision of the laser radar is improved, the method and the device are suitable for being used under different laser radar devices and environmental parameters, the universality is strong, and the accuracy of laser radar detection can be comprehensively improved by combining other signal noise reduction methods.
In summary, in the embodiments of the present application, signal transmission is performed according to various different laser radar signal transmission parameters under the current detection purpose, corresponding transmission signals and reception signals are obtained, noise reduction processing is performed on the reception signals, then, accuracy of laser radar detection is analyzed and judged under the current detection purpose and environment for the various laser radar signal transmission parameters, a specific optimization method is set based on the taboo search idea, a specific optimization constraint condition is set, optimization efficiency and accuracy are improved, optimal signal transmission parameters are obtained according to the accuracy, accuracy of laser radar signal detection is improved, the method is suitable for laser radar detection methods under different environments and different detection purposes, universality is high, supervision adjustment of laser radar detection signal transmission parameters is not needed, and other signal noise reduction methods are combined, the detection accuracy of the laser radar can be effectively improved, and the technical effect of improving the detection precision of the laser radar is achieved.
Example two
Based on the same inventive concept as the laser radar signal transmitting and signal processing method in the foregoing embodiment, as shown in fig. 4, the present application provides a laser radar signal transmitting and signal processing system, wherein the system includes:
a first obtaining unit 11 configured to obtain first detection destination information;
a second obtaining unit 12, configured to perform signal transmission according to multiple different signal transmission parameters within the first environment parameter, perform laser radar detection on the first detection target information, and obtain multiple pieces of transmission signal information;
a third obtaining unit 13, configured to receive and obtain a plurality of corresponding received signal information based on the lidar detection;
a first processing unit 14, configured to analyze and judge accuracy of the first detection target information under different signal transmission parameters according to the multiple pieces of transmitted signal information and the multiple pieces of received signal information, so as to obtain multiple pieces of accuracy information;
the second processing unit 15 is configured to optimize multiple different signal transmission parameters according to multiple accuracy information, so as to obtain an optimal signal transmission parameter;
a first executing unit 16, configured to perform detection of the first detection target information based on the optimal signal transmission parameter.
Further, the system further comprises:
a third processing unit configured to set a plurality of median filters based on a plurality of pieces of the received signal information;
a fourth processing unit, configured to perform noise filtering processing on the multiple pieces of received signal information by using the multiple median filters, respectively;
and the fifth processing unit is used for analyzing and judging the accuracy according to the processed multiple pieces of received signal information and the processed multiple pieces of transmitted signal information.
Further, the system further comprises:
a fourth obtaining unit configured to obtain first accuracy requirement information based on the first detection target information;
a fifth obtaining unit, configured to obtain a plurality of accuracy information by calculation according to a plurality of pieces of the transmitted signal information and a plurality of pieces of the processed received signal information;
a first judging unit, configured to respectively judge whether the accuracy information satisfies the first accuracy requirement information, and obtain a plurality of judgment results;
the sixth processing unit is used for further analyzing the degree that each accuracy information meets or does not meet the first accuracy requirement information according to a plurality of judgment results to obtain a plurality of analysis results;
and the seventh processing unit is used for mapping and associating the plurality of judgment results and the plurality of analysis results to obtain a plurality of accuracy degree information.
Further, the system further comprises:
the eighth processing unit is used for setting an optimization space according to the various signal emission parameters;
the ninth processing unit is used for setting optimizing constraint conditions;
a tenth processing unit, configured to set optimization fitness information according to the multiple accuracy degree information;
the eleventh processing unit is used for adopting the optimizing constraint condition to constrain the optimizing space;
and the twelfth processing unit is used for performing optimization in the constrained optimization space based on the optimization fitness information to obtain the optimal signal transmission parameter.
Further, the system further comprises:
the first construction unit is used for constructing a first constraint condition analysis model;
a sixth obtaining unit, configured to input the first environmental parameter into the first constraint condition analysis model, and obtain an output result;
a seventh obtaining unit, configured to obtain a first constraint condition according to the output result;
an eighth obtaining unit configured to obtain first accuracy requirement information based on the first detection target information;
a thirteenth processing unit configured to set, as a second constraint condition, an unsatisfied threshold that does not satisfy the first accuracy requirement information, according to the first accuracy requirement information;
a fourteenth processing unit, configured to use the first constraint condition and the second constraint condition as the optimization constraint condition.
Further, the system further comprises:
a ninth obtaining unit, configured to randomly select a signal transmission parameter in the optimization space as a first signal transmission parameter and as a current optimal signal transmission parameter;
a fifteenth processing unit, configured to calculate and obtain the first fitness of the first signal transmission parameter according to the optimizing fitness information;
a sixteenth processing unit, configured to adjust the first signal transmission parameter in a first transmission parameter adjustment manner, so as to obtain a first neighborhood region, where the first neighborhood region includes multiple types of signal transmission parameters;
a seventeenth processing unit, configured to calculate multiple second fitness values of multiple types of signal transmission parameters in the first neighborhood by using the optimized fitness information;
an eighteenth processing unit, configured to select a maximum value of the multiple second fitness degrees, obtain a corresponding signal transmission parameter, use the signal transmission parameter as a second signal transmission parameter, and determine whether the maximum value is greater than the first fitness degree, if so, use the second signal transmission parameter as the current optimal signal transmission parameter, and if not, still use the first signal transmission parameter as the current optimal signal transmission parameter;
a nineteenth processing unit, configured to construct a second neighborhood of the second signal transmission parameter in a transmission parameter adjustment manner different from the first transmission parameter adjustment manner, and perform iteration;
and the twentieth processing unit is used for taking the current optimal signal transmission parameter as the optimal signal transmission parameter when iteration reaches a preset number of times.
Further, the system further comprises:
a twenty-first processing unit, configured to add the first transmission parameter adjustment manner to a tabu table if the maximum value of the plurality of fitness degrees in the second neighborhood is greater than the first fitness degree;
the twenty-second processing unit is used for setting the number of taboo iterations according to the preset number;
and the twenty-third processing unit is used for deleting the first transmission parameter adjustment mode from the taboo table when the iteration reaches the taboo iteration times.
EXAMPLE III
Based on the same inventive concept as the laser radar signal emitting and signal processing method in the previous embodiment, the present application further provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor implements the method in the first embodiment.
Exemplary electronic device
The electronic device of the present application is described below with reference to fig. 5.
Based on the same inventive concept as the laser radar signal transmitting and signal processing method in the foregoing embodiment, the present application also provides an electronic device, including: a processor coupled to a memory, the memory storing a program that, when executed by the processor, causes an electronic device to perform the steps of the method of embodiment one.
The electronic device 300 includes: processor 302, communication interface 303, memory 301. Optionally, the electronic device 300 may also include a bus architecture 304. Wherein, the communication interface 303, the processor 302 and the memory 301 may be connected to each other through a bus architecture 304; the bus architecture 304 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus architecture 304 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 5, but that does not indicate only one bus or one type of bus.
The communication interface 303 may be any device, such as a transceiver, for communicating with other devices or communication networks, such as an ethernet, a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), a wired access network, and the like.
The memory 301 may be, but is not limited to, a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, an electrically erasable Programmable read-only memory (EEPROM), a compact-read-only-memory (CD-ROM) or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be self-contained and coupled to the processor through a bus architecture 304. The memory may also be integral to the processor.
The memory 301 is used for storing computer-executable instructions for executing the present application, and is controlled by the processor 302 to execute. Processor 302 is configured to execute computer-executable instructions stored in memory 301, so as to implement a laser radar signal transmitting and signal processing method provided by the above-mentioned embodiments of the present application.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions described in accordance with the present application are generated, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device including one or more available media integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
Although the present application has been described in conjunction with specific features and embodiments thereof, it will be evident that various modifications and combinations can be made thereto without departing from the spirit and scope of the application. Accordingly, the specification and figures are merely exemplary of the application and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the present application and its equivalent technology, it is intended that the present application include such modifications and variations.
Claims (10)
1. A laser radar signal transmitting and signal processing method, the method comprising:
acquiring first detection target information;
in a first environment parameter, carrying out signal emission according to a plurality of different signal emission parameters, carrying out laser radar detection on the first detection target information, and obtaining a plurality of emission signal information;
based on laser radar detection, receiving and obtaining a plurality of corresponding received signal information;
analyzing and judging the accuracy of the first detection target information under different signal transmission parameters according to the plurality of pieces of transmission signal information and the plurality of pieces of receiving signal information to obtain a plurality of pieces of accuracy information;
optimizing various different signal transmission parameters according to the information of the accuracy degrees to obtain optimal signal transmission parameters;
and detecting the first detection target information based on the optimal signal emission parameters.
2. The method of claim 1, wherein said analyzing and determining the accuracy of the first detection objective information for different signal transmission parameters comprises:
setting a plurality of median filters based on a plurality of the received signal information;
respectively carrying out noise filtering processing on the received signal information by adopting a plurality of median filters;
and analyzing and judging the accuracy according to the processed multiple pieces of received signal information and the processed multiple pieces of transmitted signal information.
3. The method according to claim 2, wherein said analyzing and determining the accuracy according to the processed multiple pieces of received signal information and the processed multiple pieces of transmitted signal information comprises:
obtaining first accuracy requirement information according to the first detection target information;
calculating to obtain a plurality of accuracy information according to the plurality of transmitting signal information and the plurality of processed receiving signal information;
respectively judging whether the accuracy information meets the first accuracy requirement information or not, and obtaining a plurality of judgment results;
according to the judgment results, further analyzing the degree that each accuracy information meets or does not meet the first accuracy requirement information to obtain a plurality of analysis results;
and mapping and associating the plurality of judgment results and the plurality of analysis results to obtain a plurality of accuracy information.
4. The method of claim 1, wherein said optimizing a plurality of different signal transmission parameters based on a plurality of accuracy information comprises:
setting an optimization space according to various signal emission parameters;
setting optimization constraint conditions;
setting optimizing fitness information according to a plurality of accuracy information;
adopting the optimizing constraint condition to constrain the optimizing space;
and in the constrained optimizing space, optimizing and optimizing based on the optimizing fitness information to obtain the optimal signal transmitting parameter.
5. The method of claim 4, wherein setting the optimizing constraints comprises:
constructing a first constraint condition analysis model;
inputting the first environment parameter into the first constraint condition analysis model to obtain an output result;
obtaining a first constraint condition according to the output result;
obtaining first accuracy requirement information according to the first detection target information;
setting a non-satisfaction threshold value which does not satisfy the first accuracy requirement information as a second constraint condition according to the first accuracy requirement information;
and taking the first constraint condition and the second constraint condition as the optimizing constraint condition.
6. The method according to claim 4, wherein the optimizing based on the optimizing fitness information comprises:
randomly selecting a signal transmission parameter in the optimizing space as a first signal transmission parameter and a current optimal signal transmission parameter;
calculating to obtain a first fitness of the first signal transmission parameter according to the optimizing fitness information;
adjusting the first signal transmission parameter by adopting a first transmission parameter adjusting mode to obtain a first neighborhood, wherein the first neighborhood comprises a plurality of signal transmission parameters;
calculating a plurality of second fitness degrees of a plurality of signal transmission parameters in the first neighborhood by adopting the optimizing fitness degree information;
selecting a maximum value of the plurality of second fitness degrees to obtain a corresponding signal transmission parameter as a second signal transmission parameter, and judging whether the maximum value is greater than the first fitness degree, if so, taking the second signal transmission parameter as the current optimal signal transmission parameter, and if not, still taking the first signal transmission parameter as the current optimal signal transmission parameter;
constructing a second neighborhood of the second signal transmission parameter by adopting a transmission parameter adjusting mode different from the first transmission parameter adjusting mode, and iterating;
and when the iteration reaches the preset times, taking the current optimal signal transmission parameter as the optimal signal transmission parameter.
7. The method of claim 6, wherein said constructing a second neighborhood of said second signal transmission parameter using a different transmission parameter adjustment than said first transmission parameter adjustment comprises:
if the maximum value of the fitness in the second neighborhood is greater than the first fitness, adding the first transmission parameter adjustment mode into a tabu table;
setting taboo iteration times according to the preset times;
and when the iteration reaches the number of taboo iterations, deleting the first transmission parameter adjustment mode from the taboo table.
8. A lidar signal transmitting and signal processing system, the system comprising:
a first obtaining unit configured to obtain first detection target information;
a second obtaining unit, configured to perform signal transmission according to multiple different signal transmission parameters within the first environment parameter, perform laser radar detection on the first detection target information, and obtain multiple pieces of transmission signal information;
a third obtaining unit, configured to receive and obtain multiple pieces of corresponding received signal information based on lidar detection;
the first processing unit is used for analyzing and judging the accuracy of the first detection target information under different signal transmission parameters according to the plurality of pieces of transmitted signal information and the plurality of pieces of received signal information to obtain a plurality of pieces of accuracy information;
the second processing unit is used for optimizing various different signal transmission parameters according to a plurality of accuracy information to obtain optimal signal transmission parameters;
and the first execution unit is used for detecting the first detection target information based on the optimal signal transmission parameter.
9. An electronic device, comprising: a processor coupled to a memory for storing a program that, when executed by the processor, causes an electronic device to perform the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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Address after: 710065 5th floor, block B, productivity building, No. 3, electronics West Street, electronics industrial park, high tech Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an Shengxin Technology Co.,Ltd. Address before: 710065 5th floor, block B, productivity building, No. 3, electronics West Street, electronics industrial park, high tech Zone, Xi'an City, Shaanxi Province Patentee before: XI'AN SENSING TECHNOLOGY DEVELOPMENT CO.,LTD. |
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Address after: Room 810, Building C, 8th Floor, Chuangye Building, No. 16 Gaoxin 1st Road, Xi'an City, Shaanxi Province, 710065 Patentee after: Xi'an Shengxin Technology Co.,Ltd. Address before: 710065 5th floor, block B, productivity building, No. 3, electronics West Street, electronics industrial park, high tech Zone, Xi'an City, Shaanxi Province Patentee before: Xi'an Shengxin Technology Co.,Ltd. |
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