CN115047427A - Interference event identification method, device, system, storage medium and electronic equipment - Google Patents
Interference event identification method, device, system, storage medium and electronic equipment Download PDFInfo
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- CN115047427A CN115047427A CN202210661566.3A CN202210661566A CN115047427A CN 115047427 A CN115047427 A CN 115047427A CN 202210661566 A CN202210661566 A CN 202210661566A CN 115047427 A CN115047427 A CN 115047427A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
Abstract
The application discloses a method for identifying an interference event in laser radar detection, which comprises the following steps: for a detection process of a plurality of laser light sources by emitting laser beams, respectively, obtaining echo signals generated by the reflection of laser pulses emitted by the laser light sources; generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; determining the detection distance of each detection event based on the corresponding delay time of each detection event; determining a distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source; and for each detection event, if the distance difference smaller than a preset threshold value does not exist, determining the detection event as an interference event. By the method and the device, the interference event can be effectively identified in laser radar detection, and the detection performance of a laser radar detection system in a complex environment is improved.
Description
Technical Field
The present application relates to laser radar detection technologies, and in particular, to a method, an apparatus, a system, a storage medium, and an electronic device for identifying an interference event in laser radar detection.
Background
With the progress of laser technology, systems for realizing radar detection by using laser are more and more widely applied.
At present, a laser radar detection system generally includes a laser light source, a detector and a processor, wherein the laser light source is used for emitting a laser beam, the detector is used for receiving an echo signal generated by the laser beam reflected by a detected object, and the processor is used for controlling the emission of the laser beam and the reception of the echo signal, and analyzing information such as the position of the reflected object according to information such as the time of receiving the echo signal and emitting the laser beam.
However, in the existing lidar detection system, in a special environment, such as a weather environment like rain and snow, the laser beam may be reflected by an object to be detected to generate an echo signal, and may also be reflected by an interfering object like raindrops and snowflakes to generate an echo signal.
Disclosure of Invention
The application provides a method, a device, a system, a storage medium and an electronic device for identifying an interference event in laser radar detection, which can identify the interference event in the detection process, thereby improving the detection performance of a laser radar detection system in a complex environment.
In order to achieve the purpose, the following technical scheme is adopted in the application:
a method of interference event identification in lidar detection, comprising:
for a detection process of a plurality of laser light sources by emitting laser beams, respectively, obtaining echo signals generated by the reflection of the laser beams emitted by the laser light sources;
generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; each detection event corresponds to a delay time length, and the delay time length is a time difference between the receiving time of the echo signal and the transmitting time of the laser beam corresponding to the echo signal;
determining the detection distance of each detection event based on the corresponding delay time of each detection event; wherein the detection distance represents the relative distance between the reflection position where the laser beam is reflected to generate the echo signal and a pre-calibrated reference position;
determining a distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source;
and for each detection event, if the distance difference smaller than a preset threshold value does not exist, determining the detection event as an interference event.
Preferably, one detection process of each laser light source is to generate and emit one laser beam,
the generating a plurality of detection events corresponding to each laser light source based on all the echo signals corresponding to each laser light source comprises: a detection event is generated for each echo signal.
Preferably, one detection process of each of the laser light sources is to generate and emit a plurality of laser beams,
the generating a plurality of detection events corresponding to each laser light source based on all the echo signals corresponding to each laser light source comprises:
corresponding to each laser light source, determining the time delay between the receiving time of each echo signal corresponding to the laser light source and the transmitting time of the corresponding laser beam;
and counting the number of echo signals with the same delay time length corresponding to each laser light source, selecting a plurality of delay time lengths based on a counting result, and generating one detection event corresponding to each selected delay time length.
Preferably, the statistical result is represented by a histogram.
Preferably, the maximum value of the preset threshold is: pulse width of the laser beam light speed.
Preferably, the beam divergence angle of the laser light sources ensures that the laser beams emitted by the laser light sources do not overlap each other within a set farthest distance.
Preferably, the distance between the adjacent laser light sources is in the order of centimeters.
Preferably, the detection process of different laser light sources is carried out in a time-sharing manner, and the corresponding laser light source is determined according to the receiving time of the echo signal; alternatively, the first and second electrodes may be,
and simultaneously carrying out detection processes of different laser light sources, and determining the corresponding laser light source according to the receiving position of the echo signal.
An interference event recognition apparatus in lidar detection, comprising: the device comprises a receiving unit, a detection event generating unit and an interference event identifying unit;
the receiving unit is used for acquiring echo signals generated by reflection of laser pulses emitted by the laser light sources in a detection process which is performed by the plurality of laser light sources through emitting laser beams;
the detection event generating unit is used for generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; each detection event corresponds to a delay time length, and the delay time length is a time difference between the receiving time of the echo signal and the transmitting time of the laser beam corresponding to the echo signal;
the interference event identification unit is used for determining the detection distance of each detection event based on the corresponding delay time of each detection event; detecting a distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source; for each detection event, if the distance difference smaller than a preset threshold value does not exist, determining the detection event as an interference event;
wherein the detection distance represents a relative distance of a reflection position where the laser beam is reflected to generate the echo signal compared with a pre-calibrated reference position.
Preferably, one detection process of each laser light source is to generate and emit one laser beam,
in the detection event generating unit, the generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source includes: a detection event is generated for each echo signal.
Preferably, one detection process of each of the laser light sources is to generate and emit a plurality of laser beams,
in the detection event generating unit, the generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source includes:
corresponding to each laser light source, determining the time delay between the receiving time of each echo signal corresponding to the laser light source and the transmitting time of the corresponding laser beam;
and counting the number of echo signals with the same delay time length corresponding to each laser light source, selecting a plurality of delay time lengths based on a counting result, and generating one detection event corresponding to each selected delay time length.
Preferably, the statistical result is represented by a histogram.
Preferably, the maximum value of the preset threshold is: pulse width of the laser beam light speed.
Preferably, the beam divergence angle of the laser light sources ensures that the laser beams emitted by the laser light sources do not overlap each other within a set farthest distance.
Preferably, the distance between the adjacent laser light sources is in the order of centimeters.
Preferably, in the receiving unit, the laser light source corresponding to the echo signal is determined according to the receiving time of the echo signal; wherein, the detection processes of different laser light sources are carried out in a time-sharing way;
alternatively, the first and second electrodes may be,
in the receiving unit, the corresponding laser light source is determined according to the receiving position of the echo signal; wherein, the detection processes of different laser light sources are carried out simultaneously.
A lidar detection system comprising: a plurality of laser light sources, detectors, and processors;
each laser light source is used for carrying out a detection process by emitting a laser beam;
the detector is used for acquiring echo signals generated by reflecting the laser beams emitted by the laser light sources;
the processor is used for controlling the laser light source to emit the laser beams and controlling the detector to acquire the echo signals; the echo detector is also used for generating a plurality of detection events corresponding to each laser light source based on all the echo signals corresponding to each laser light source; determining the detection distance of each detection event based on the corresponding delay time of each detection event; determining a distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source; for each detection event, if the distance difference smaller than a preset threshold value does not exist, determining the detection event as an interference event;
each detection event corresponds to a delay time length, and the delay time length is a time difference between the receiving time of the echo signal and the transmitting time of the laser beam corresponding to the echo signal; the detection distance represents the relative distance of the reflection position of the laser beam which is reflected to generate the echo signal compared with a pre-calibrated reference position.
Preferably, the one detection process performed by the laser light source is to generate and emit a laser beam;
in the processor, the generating a number of detection events for each of the laser light sources based on all echo signals for each of the laser light sources includes: a detection event is generated for each echo signal.
Preferably, one detection process of the laser light source is to generate and emit a plurality of laser beams,
in the processor, the generating a number of detection events for each of the laser light sources based on all echo signals for each of the laser light sources includes:
corresponding to each laser light source, determining the time delay between the receiving time of each echo signal corresponding to the laser light source and the transmitting time of the corresponding laser beam;
and counting the number of echo signals with the same delay time length corresponding to each laser light source, selecting a plurality of delay time lengths based on a counting result, and generating one detection event corresponding to each selected delay time length.
Preferably, the statistical result is represented by a histogram.
Preferably, the maximum value of the preset threshold is: pulse width of the laser beam light speed.
Preferably, the beam divergence angle of the laser light sources ensures that the laser beams emitted by the laser light sources do not overlap each other within a set farthest distance.
Preferably, the distance between the adjacent laser light sources is in the order of centimeters.
Preferably, in the processor, the laser light source corresponding to the detector is determined according to the receiving time of the echo signal by the detector; wherein, the detection processes of different laser light sources are carried out in a time-sharing way;
alternatively, the first and second electrodes may be,
in the processor, determining a corresponding laser light source according to the receiving position of the detector for the echo signal; wherein, the detection processes of different laser light sources are carried out simultaneously.
A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement any of the above-mentioned interference event identification methods in lidar detection.
An electronic device comprising at least a computer-readable storage medium, further comprising a processor;
the processor is configured to read the executable instructions from the computer-readable storage medium and execute the instructions to implement any one of the above interference event identification methods in lidar detection.
According to the technical scheme, in the application, for one detection process of each of the plurality of laser light sources, echo signals generated by the reflection of the laser beams emitted by each laser light source are obtained; generating a plurality of detection events corresponding to each laser light source based on all the echo signals corresponding to each laser light source; each detection event corresponds to a delay duration; determining the detection distance of each detection event based on the corresponding delay time of each detection event; the detection distance represents the relative distance between the reflection position of the laser beam which is reflected to generate the echo signal and a reference position calibrated in advance; detecting a distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source; for each detection event, if there is no distance difference smaller than a preset threshold, the detection event is determined as an interference event. Through the processing, when the laser radar is detected, the laser light sources are respectively detected, the interference detection object corresponding to the interference event is very small, so that the interference detection object cannot be reflected by the laser beams of the adjacent laser light sources at the same time, and the target detection object is usually very large and reflected by the laser beams of the adjacent laser light sources at the same time. Therefore, the interference event can be effectively identified, the identified interference event is removed from the detection result, and the detection performance and robustness of the detection system in a complex environment can be improved.
Drawings
FIG. 1a is a diagram illustrating an exemplary arrangement of two laser sources and a detector in a laser radar;
FIG. 1b is a diagram illustrating an exemplary arrangement of three laser sources and detectors in a laser radar;
FIG. 2a is a schematic diagram of a lidar detecting an interferer;
FIG. 2b is a schematic diagram of a lidar detecting an expected probe;
fig. 3 is a schematic flow chart of a method for identifying an interference event in lidar detection according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an interference event recognition apparatus in lidar detection provided by the present application;
FIG. 5 is a schematic diagram of a lidar detection system provided by the present application;
fig. 6 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
For the purpose of making the objects, technical means and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings.
The lidar generally includes a light emitting module, a light receiving module, and a control module. During detection, the light emitting module emits laser beams, the laser beams are transmitted forwards until the laser beams are reflected by objects on a transmission path to generate echo signals, the echo signals are received by the light receiving module and detected to generate detection events, and the control module analyzes the detection events to generate detection results.
When laser radar carries out laser detection under some special environment, interference objects with small sizes may exist, the interference objects can reflect laser beams to generate echo signals, a detector of the laser radar receives the echo signals, if extra processing is not carried out, the echo signals generated by the reflection of the interference objects can be utilized to carry out detection processing, and therefore the interference objects are mistakenly used as detected target objects to influence the accuracy of the laser detection.
Most typically, in rainy or snowy weather, raindrops or snowflakes may reflect laser beams to produce echo signals, which may cause undesirable detection events, resulting in increased system false alarm rates. Particularly, when raindrops or snowflakes are close to the laser radar, the problem that the false alarm rate of the system is increased due to the fact that the echo signals generated by reflection are strong is more obvious.
The basic idea of the application is that: and detecting the plurality of laser light sources, and identifying the interference events by utilizing the characteristic that the interferents corresponding to the interference events are very small and cannot be reflected by adjacent laser beams at the same time.
Specific implementations of the present application are described below by specific examples.
First, the principle of identifying a disturbing event and a disturbing object in the present application will be described.
The laser radar in the application comprises a plurality of laser light sources, wherein the distance between the adjacent laser light sources can be set to be in the centimeter magnitude, so that the interference events can be identified by utilizing the information of the corresponding echo signals of the adjacent laser light sources. The laser radar also comprises a laser detector, the field of view of which is large, and the laser detector can simultaneously receive echo signals generated by laser beams emitted by the laser light sources. The laser light sources may be distributed around the detector, for example, the arrangement of two laser light sources and the detector may be as shown in fig. 1a, and the arrangement of three laser light sources and the detector may be as shown in fig. 1 b.
When there is a small size interfering object such as raindrop/snowflake in the detection area, the interfering object will not be detected by the adjacent laser beams at the same time because of its small diameter (typically less than centimeter magnitude, e.g. raindrop/snowflake is typically less than 5mm in diameter), as shown in fig. 2 a; for the desired detection object, since its size is typically over centimeter, it will be detected by multiple adjacent laser beams at the same time, resulting in multiple detection events of the same distance, as shown in fig. 2 b. Based on this, whether a disturbing object or a desired detecting object is detected can be identified based on whether the interfering object or the desired detecting object is detected simultaneously by the laser beams emitted from the adjacent laser light sources, and accordingly, whether the disturbing event or the desired detecting event is identified. Meanwhile, in order to effectively ensure that the interfering object is not detected by the adjacent laser beams at the same time, preferably, the beam divergence angle of the laser light sources ensures that the laser beams emitted by the respective laser light sources do not overlap each other within a set farthest distance, and the set farthest distance may be generally set as the farthest distance at which the echo signal generated by the reflection of the interfering object can be definitely received and identified. For example, raindrops/snowflakes may be used as the interfering substance, and the farthest distance may be set to 0.5m to 1.5m, and the divergence angle of the laser beam may be set to 0.5 ° to 1 °.
Fig. 3 is a schematic flow chart of a method for identifying an interference event in lidar detection according to an embodiment of the present disclosure. As shown in fig. 3, the method includes:
The plurality of laser light sources respectively perform a detection process by emitting laser beams. As mentioned above, the laser radar in the present application includes a plurality of laser light sources, each of which performs detection, and the detector in the laser radar receives an echo signal generated by reflecting a laser beam emitted by the laser light source. Of course, since the probe size is limited, it is possible that the laser beam is not reflected and does not produce a corresponding echo signal. In this step, all echo signals generated by reflecting the laser beams emitted by the laser light sources in one detection process are obtained.
In this case, the detector may determine the laser beam corresponding to the receiving position of the echo signal (e.g., the pixel position of the received echo signal), that is, determine the corresponding laser source; or, the detection processes of different laser light sources may also be performed in a time-division multiplexing manner, that is, different laser light sources respectively emit laser beams at different time intervals, and the detector may determine the corresponding laser beam according to the receiving time interval of the echo signal and determine the corresponding laser light source.
In more detail, for each laser light source, one detection process can be divided into the following two cases:
a) each laser light source only generates one laser beam (specifically, one pulse) and transmits the laser beam, the detector receives an echo signal, records time information (for example, time stamp data) of the echo signal, and does not record the echo signal if the echo signal is not received;
b) each laser light source generates a plurality of laser beams and transmits the laser beams in sequence, the detector receives the multi-echo signals, records time information (for example, time stamp data) of the multi-echo signals, and does not record the time information if the echo signals are not received.
An echo signal generated by the reflected laser beam is obtained through step 301, and the corresponding laser light source can be determined. In this case, the detection event is generated corresponding to the laser light source generating the echo signal, and of course, if the echo signal corresponding to a certain laser light source is not received, the detection event does not need to be generated corresponding to the laser light source.
And for each laser light source, generating a detection event according to all received echo signals corresponding to the laser light source for subsequent processing. As mentioned above, one detection process of the laser source can be divided into two different cases, and the detection events are generated in different ways for the two different cases.
Specifically, when the detection process generates and emits a laser beam for the laser light source, a detection event is generated corresponding to each echo signal. That is to say, after the laser light source emits the laser light beam, the detector receives the echo signal generated by the reflection of the laser light beam, generates a detection event corresponding to each received echo signal, and records the time difference between the receiving time of the echo signal and the emitting time of the corresponding laser light beam, wherein the time difference is called delay time, and the delay time corresponds to the detection event. In fact, since the laser beam has a certain divergence angle, one laser beam may be partially reflected by one detection object and the other reflected by the other detection objects, and based on this, one laser beam may be reflected to generate a plurality of echo signals, and then a corresponding detection event is generated for each received echo signal, and the time delay duration is recorded.
When the detection process is that the laser light source generates and sequentially emits a plurality of laser beams, corresponding to each laser light source, determining the time delay duration between the receiving time of each echo signal corresponding to the laser light source and the emitting time of the corresponding laser beam; then, the number of echo signals with the same delay time is counted corresponding to each laser light source, a plurality of delay times are selected based on the counting result, and a detection event is generated corresponding to each selected delay time.
The number of statistical echo signals can be represented by a histogram. For example, the abscissa of the histogram may be set as the delay time (specifically, the timestamp information of the echo signal), and the ordinate of the histogram is the number of the echo signals, assuming that 100 laser beams are emitted in one detection process of the laser light source a, after receiving an echo signal, determining the delay time between the receiving time of the echo signal and the emitting time of the corresponding laser beam, and adding 1 to the number of the echo signals corresponding to the same delay time in the histogram until all the echo signals of the laser light source a are received. Although the laser light source emits 100 laser beams, some laser beams may not be reflected and corresponding echo signals may not be received, and some laser beams may be reflected multiple times to generate multiple echo signals, based on which more than 100 echo signals may be received and less than 100 echo signals may be received. And after all the echo signals are received, selecting a plurality of delay time lengths according to the statistical result of the histogram, and correspondingly generating a detection event. The specific selection mode may be set as required, and may be various existing selection modes in the field of histograms, for example, selecting a delay time length for which the number of corresponding echo signals is greater than a set value.
Each detection event corresponds to a delay time length, and the detection distance of each detection event is determined based on the delay time length. The detection distance represents the relative distance between the reflection position where the laser beam is reflected to generate the echo signal and a pre-calibrated reference position.
More specifically, the delay time represents the time difference between the receiving time of the corresponding echo signal and the emitting time of the corresponding laser beam, and since the echo signal is generated after the laser beam is reflected when encountering a detection object, the product of the delay time and the speed of light can represent the detection distance.
At step 304, a distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source is determined.
Through the processing, corresponding detection events are generated corresponding to one detection process of all the laser light sources, and a detection distance is calculated corresponding to each detection event. As described above, whether the detection object is an interfering object or not and whether the corresponding detection event is an interfering event or not are identified according to whether the adjacent laser light sources simultaneously detect the same detection object or not. And the adjacent laser light sources detect the same detection object at the same time, that is, the detection events generated by the adjacent laser light sources correspond to the same detection distance. Therefore, in order to identify the interference event, the distance difference between the detection distances needs to be determined for the detection events corresponding to the adjacent laser light sources.
Based on the above analysis, in this step, for each detection event corresponding to all the laser light sources, the detection events of the adjacent laser light sources are determined, and the distance difference between the detection distances between the two is determined. For each laser light source, the detection events of a certain adjacent laser light source may be multiple, for example, a laser light source generates multiple detection events correspondingly, or the adjacent laser light source does not generate a detection event, and in addition, there may be multiple adjacent laser light sources, so that for a certain detection event of a certain laser light source, the detection events of the adjacent laser light sources may be 0 or more, and based on this, the distance difference calculated for the detection event may also be 0 or more.
For each detection event, if there is no distance difference smaller than a preset threshold, the detection event is determined as an interference event, step 305.
For any detection event B, assuming that an adjacent laser light source corresponds to a certain detection event C, if the distance difference between the detection distance of the detection event B and the detection distance of the detection event C is smaller than a preset threshold value, considering that the two detection distances are equal, thereby determining that the adjacent laser light sources detect the same detection object, and determining that the detection event B is an expected detection object; if the distance difference between the detection distances of all the adjacent laser light sources of the laser light source corresponding to the detection event B is not smaller than the preset threshold, it indicates that for the detection event B, the adjacent laser light sources do not simultaneously detect the detected object generating the detection event B, the detected object is a very small interfering object, the detection event B is an interfering event, and the detected object can be removed in the subsequent radar detection for the detection event.
Here, a threshold is set, and when the distance difference is smaller than the preset threshold, the two detection distances are considered to be equal, mainly considering that: in practical application, because the pulse of the laser beam has a certain pulse width, the time of the adjacent laser light sources reflected by the same detecting object may have a certain deviation, and the deviation is usually the maximum pulse width, and because the reflection time has a certain deviation, the time delay corresponding to the generated echo signal also has a certain deviation, so that the deviation between the two detection distances is considered to be equal in a certain range. The preset threshold is used to define a deviation range, and the maximum deviation range may be set as the pulse width light speed of the laser beam, i.e. the maximum value of the preset threshold is the pulse width light speed of the laser beam. In practical applications, the set deviation range may also be smaller than the maximum deviation range (i.e. pulse width × light speed), that is, the preset threshold may be smaller than the maximum deviation range, which may cause part of the echo signals generated by the desired detected object to be excluded, but may further exclude the possibility that two nearby raindrops are respectively irradiated by adjacent light sources to generate two nearby echo signals, thereby possibly increasing the overall detection signal-to-noise ratio.
In addition, as mentioned above, none of the neighboring laser light sources of a certain detection event a determined in step 304 generates detection events (i.e. the distance difference corresponding to the detection event a is 0), that is, there is no corresponding distance difference for the detection event, and this also means that there is no distance difference smaller than the preset threshold, that is, the detection event is an interference event.
So far, the flow of the interference event identification method in the embodiment of the present application is ended. The identification method can be applied to laser radar detection and is used for identifying unexpected detection events (namely interference events), determining the detection result corresponding to the interference events as an interference object, and eliminating the corresponding interference events in subsequent processing, so that the influence of the interference events on the final detection result is avoided, and the detection performance of the system in a complex environment is improved.
The foregoing is a specific implementation of the interference event identification method in laser radar detection according to the present application. The application also provides an interference event recognition device in laser radar detection, which can be used for realizing the interference event recognition method. Fig. 4 is a schematic diagram of the basic structure of the device. As shown in fig. 4, the apparatus includes: the device comprises a receiving unit, a detection event generating unit and an interference event identifying unit.
The receiving unit is used for acquiring echo signals generated by reflection of the laser beams emitted by the laser light sources in a detection process which is performed by the laser light sources through emitting the laser beams.
The detection event generation unit is used for generating a plurality of detection events corresponding to each laser light source based on all the echo signals corresponding to each laser light source; each detection event corresponds to a delay time, and the delay time is the time difference between the receiving time of an echo signal and the emitting time of a laser beam corresponding to the echo signal.
The interference event identification unit is used for determining the detection distance of each detection event based on the corresponding delay time of each detection event; detecting a distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source; and for each detection event, if the distance difference smaller than a preset threshold value does not exist, determining the detection event as an interference event. The detection distance represents the relative distance of the reflection position of the laser beam, which is reflected to generate the echo signal, compared with a pre-calibrated reference position.
Optionally, one detection process of each laser light source is to generate and emit one laser beam;
accordingly, in the detection event generating unit, the process of generating several detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source may include: a detection event is generated for each echo signal.
Optionally, one detection process of each laser light source is to generate and emit a plurality of laser beams;
accordingly, in the detection event generating unit, the processing of generating several detection events corresponding to each laser light source based on all the echo signals corresponding to each laser light source may include:
corresponding to each laser light source, determining the time delay between the receiving time of each echo signal corresponding to the laser light source and the transmitting time of the corresponding laser beam;
and counting the number of echo signals with the same delay time length corresponding to each laser light source, selecting a plurality of delay time lengths based on the counting result, and generating a detection event corresponding to each selected delay time length.
Wherein, the statistical result can be represented by a histogram.
Alternatively, the maximum value of the preset threshold may be set as: pulse width of the laser beam light speed.
Optionally, the beam divergence angle of the laser light sources ensures that the laser light beams emitted by the respective laser light sources do not overlap each other within a set distance.
Optionally, the distance between adjacent laser light sources is in the order of centimeters.
Optionally, in the receiving unit, determining a laser light source corresponding to the echo signal according to the receiving time of the echo signal; wherein, the detection processes of different laser light sources are carried out in a time-sharing manner;
alternatively, the first and second electrodes may be,
optionally, in the receiving unit, determining the laser light source corresponding to the echo signal according to the receiving position of the echo signal; wherein, the detection processes of different laser light sources are carried out simultaneously.
The application also provides a laser radar detection system which can be used for carrying out laser emission and interference event identification. Fig. 5 is a schematic diagram of the basic structure of the lidar detection system. As shown in fig. 5, the system includes: a plurality of laser light sources, a detector, and a processor.
Wherein each laser light source is used for carrying out a detection process by emitting a laser beam. And the detector is used for acquiring echo signals generated by reflecting the laser beams emitted by the laser light sources.
The processor is used for controlling the laser light source to emit the laser beam and controlling the detector to acquire the echo signal; the echo detector is also used for generating a plurality of detection events corresponding to each laser light source based on all the echo signals corresponding to each laser light source; determining the detection distance of each detection event based on the corresponding delay time of each detection event; determining a distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source; for each detection event, if the distance difference smaller than a preset threshold value does not exist, determining the detection event as an interference event;
in more detail, each detection event corresponds to a delay time, and the delay time is a time difference between the receiving time of an echo signal and the transmitting time of a laser beam corresponding to the echo signal; the detection distance represents the relative distance of the reflection position of the laser beam, which is reflected to generate the echo signal, compared with a pre-calibrated reference position.
Through the application of the laser radar detection system, the interference event can be detected in the detection event by the processor, and further, the influence of the interference event can be eliminated when the processor executes a subsequent detection task.
Optionally, one detection process performed by the laser light source is to generate and emit a laser beam;
generating, in the processor, a number of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source may include: a detection event is generated for each echo signal.
Alternatively, one detection process of the laser light source is to generate and emit a plurality of laser beams,
generating, in the processor, a number of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source may include:
corresponding to each laser light source, determining the time delay between the receiving time of each echo signal corresponding to the laser light source and the transmitting time of the corresponding laser beam;
and counting the number of echo signals with the same delay time length corresponding to each laser light source, selecting a plurality of delay time lengths based on the counting result, and generating a detection event corresponding to each selected delay time length.
Alternatively, the statistical results are represented using a histogram.
Optionally, the maximum value of the preset threshold is: pulse width of the laser beam light speed.
Optionally, the beam divergence angle of the laser light sources ensures that the laser light beams emitted by the respective laser light sources do not overlap each other within a set farthest distance.
Optionally, the distance between adjacent laser light sources is in the order of centimeters.
Optionally, in the processor, determining the laser light source corresponding to the detector according to the receiving time of the detector for the echo signal; wherein, the detection processes of different laser light sources are carried out in a time-sharing way; the processor can be used for controlling different laser light sources to perform a detection process in a time-sharing manner;
alternatively, the first and second electrodes may be,
in the processor, determining a corresponding laser light source according to the receiving position of the detector for the echo signal; wherein, the detection processes of different laser light sources are carried out simultaneously; the processor can specifically control different laser light sources to perform the detection process simultaneously.
The present application also provides a computer readable storage medium storing instructions that, when executed by a processor, may perform the steps of implementing the interference event identification method in lidar detection as described above. In practical applications, the computer readable medium may be included in each of the apparatuses/devices/systems of the above embodiments, or may exist separately and not be assembled into the apparatuses/devices/systems. Wherein instructions are stored in a computer readable storage medium, which stored instructions, when executed by a processor, may perform the steps in the method of interference event identification in lidar detection as described above.
According to embodiments disclosed herein, the computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, for example and without limitation: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing, without limiting the scope of the present disclosure. In the embodiments disclosed herein, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Fig. 6 is an electronic device according to still another embodiment of the present disclosure. As shown in fig. 6, a schematic structural diagram of an electronic device according to an embodiment of the present application is shown, specifically:
the electronic device may include a processor 601 of one or more processing cores, memory 602 of one or more computer-readable storage media, and a computer program stored on the memory and executable on the processor. A method of interference event identification in lidar detection may be performed while executing the program of the memory 602.
Specifically, in practical applications, the electronic device may further include a power supply 603, an input/output unit 604, and the like. Those skilled in the art will appreciate that the configuration of the electronic device shown in fig. 6 is not intended to be limiting of the electronic device and may include more or fewer components than shown, or some components in combination, or a different arrangement of components. Wherein:
the processor 601 is a control center of the electronic device, connects various parts of the whole electronic device by using various interfaces and lines, and performs various functions of the server and processes data by running or executing software programs and/or modules stored in the memory 602 and calling data stored in the memory 602, thereby performing overall monitoring of the electronic device.
The memory 602 may be used to store software programs and modules, i.e., the computer-readable storage media described above. The processor 601 executes various functional applications and data processing by executing software programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the server, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 602 may also include a memory controller to provide the processor 501 access to the memory 602.
The electronic device further includes a power supply 603 for supplying power to each component, and the power supply 603 may be logically connected to the processor 601 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system. The power supply 603 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.
The electronic device may also include an input-output unit 604, the input-unit output 604 being operable to receive entered numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control. The input unit output 604 may also be used to display information input by or provided to the user as well as various graphical user interfaces, which may be composed of graphics, text, icons, video, and any combination thereof.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (12)
1. A method of interference event identification in lidar detection, the method comprising:
for a detection process of a plurality of laser light sources by emitting laser beams, respectively, obtaining echo signals generated by the reflection of the laser beams emitted by the laser light sources;
generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; each detection event corresponds to a delay time length, and the delay time length is a time difference between the receiving time of the echo signal and the transmitting time of the laser beam corresponding to the echo signal;
determining the detection distance of each detection event based on the corresponding delay time of each detection event; wherein the detection distance represents the relative distance between the reflection position where the laser beam is reflected to generate the echo signal and a pre-calibrated reference position;
determining a distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source;
and for each detection event, if the distance difference smaller than a preset threshold value does not exist, determining the detection event as an interference event.
2. The method of claim 1, wherein one detection process of each of the laser light sources is generating and emitting one laser beam,
the generating a plurality of detection events corresponding to each laser light source based on all the echo signals corresponding to each laser light source comprises: a detection event is generated for each echo signal.
3. The method of claim 1, wherein one detection process of each of the laser light sources is to generate and emit a plurality of laser light beams,
the generating a plurality of detection events corresponding to each laser light source based on all the echo signals corresponding to each laser light source comprises:
corresponding to each laser light source, determining the time delay between the receiving time of each echo signal corresponding to the laser light source and the transmitting time of the corresponding laser beam;
and counting the number of echo signals with the same delay time length corresponding to each laser light source, selecting a plurality of delay time lengths based on a counting result, and generating one detection event corresponding to each selected delay time length.
4. The method of claim 3, wherein the statistical results are represented using a histogram.
5. The method according to claim 1, wherein the maximum value of the preset threshold is: pulse width of the laser beam light speed.
6. The method of claim 1, wherein the beam divergence angle of the laser light sources ensures that the laser light beams emitted by the respective laser light sources do not overlap each other within a set maximum distance.
7. The method of claim 1, wherein the distance between adjacent laser light sources is on the order of centimeters.
8. The method according to claim 1, wherein the detection process of different laser light sources is performed in a time-sharing manner, and the corresponding laser light source is determined according to the receiving time of the echo signal; alternatively, the first and second electrodes may be,
and simultaneously carrying out detection processes of different laser light sources, and determining the corresponding laser light source according to the receiving position of the echo signal.
9. An apparatus for identifying a confounding event in a lidar probe, the apparatus comprising: the device comprises a receiving unit, a detection event generating unit and an interference event identifying unit;
the receiving unit is used for acquiring echo signals generated by reflection of laser pulses emitted by the laser light sources in a detection process which is performed by the plurality of laser light sources through emitting laser beams;
the detection event generating unit is used for generating a plurality of detection events corresponding to each laser light source based on all echo signals corresponding to each laser light source; each detection event corresponds to a delay time length, and the delay time length is a time difference between the receiving time of the echo signal and the transmitting time of the laser beam corresponding to the echo signal;
the interference event identification unit is used for determining the detection distance of each detection event based on the corresponding delay time of each detection event; detecting a distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source; for each detection event, if the distance difference smaller than a preset threshold value does not exist, determining the detection event as an interference event;
wherein the detection distance represents a relative distance of a reflection position where the laser beam is reflected to generate the echo signal compared with a pre-calibrated reference position.
10. A lidar detection system, comprising: a plurality of laser light sources, detectors and processors;
each laser light source is used for carrying out a detection process by emitting laser beams;
the detector is used for acquiring echo signals generated by reflecting the laser beams emitted by the laser light sources;
the processor is used for controlling the laser light source to emit the laser beam and controlling the detector to acquire the echo signal; the echo detector is also used for generating a plurality of detection events corresponding to each laser light source based on all the echo signals corresponding to each laser light source; determining the detection distance of each detection event based on the corresponding delay time of each detection event; determining a distance difference between the detection distance of each detection event and the detection distance of the detection event corresponding to the adjacent laser light source; for each detection event, if the distance difference smaller than a preset threshold value does not exist, determining the detection event as an interference event;
each detection event corresponds to a delay time length, and the delay time length is a time difference between the receiving time of the echo signal and the transmitting time of the laser beam corresponding to the echo signal; the detection distance represents the relative distance of the reflection position of the laser beam which is reflected to generate the echo signal compared with a pre-calibrated reference position.
11. A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the method for interference event identification in lidar detection according to any of claims 1 to 8.
12. An electronic device, comprising at least a computer-readable storage medium, and further comprising a processor;
the processor is configured to read the executable instructions from the computer-readable storage medium and execute the instructions to implement the method for identifying a jamming event in lidar detection according to any of claims 1 to 8.
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