CN115685137A - OPA laser radar and noise point identification method - Google Patents

OPA laser radar and noise point identification method Download PDF

Info

Publication number
CN115685137A
CN115685137A CN202110876217.9A CN202110876217A CN115685137A CN 115685137 A CN115685137 A CN 115685137A CN 202110876217 A CN202110876217 A CN 202110876217A CN 115685137 A CN115685137 A CN 115685137A
Authority
CN
China
Prior art keywords
noise
point
resolution
scanning
suspected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110876217.9A
Other languages
Chinese (zh)
Inventor
鲁富军
王振
徐洋
汝洪武
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan Wanji Photoelectric Technology Co Ltd
Original Assignee
Wuhan Wanji Photoelectric Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuhan Wanji Photoelectric Technology Co Ltd filed Critical Wuhan Wanji Photoelectric Technology Co Ltd
Priority to CN202110876217.9A priority Critical patent/CN115685137A/en
Priority to PCT/CN2022/107246 priority patent/WO2023005815A1/en
Publication of CN115685137A publication Critical patent/CN115685137A/en
Priority to US18/425,687 priority patent/US20240248209A1/en
Pending legal-status Critical Current

Links

Images

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04Systems determining the presence of a target
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • G01S17/32Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/34Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The application is suitable for radar technical field, provides an OPA laser radar and noise point identification method, can adjust the launch angle and the direction of transmission of detecting light through phased array control system, realizes right the adjustment of the formation position of scanning spot adjusts the launch angle and the direction of transmission of scanning detecting light when there being suspected noise point, improves angular resolution and scans the close region of suspected noise point, and then can discern effectively that this suspected noise point is the noise point or the barrier of true existence, solves present laser radar and exists the problem that can't discern effectively that the point in the scanning point cloud is the barrier of actual existence or the noise point that system self leads to, improves laser radar's measurement accuracy.

Description

OPA laser radar and noise point identification method
Technical Field
The application belongs to the technical field of radars, and particularly relates to an OPA laser radar and a noise point identification method.
Background
Laser radar is commonly used in the fields of automatic driving, logistics vehicles, robots, public intelligent transportation and the like due to the advantages of high resolution, high sensitivity, strong anti-interference capability, no influence of dark conditions and the like.
In the process of scanning an object in a road surface or a front scanning area by the laser radar, if an obstacle exists, a solitary point can be formed in scanned point cloud, in addition, due to the problem of a self system, a noise point can be generated in the scanning process, and the noise point can also form the solitary point in the scanned point cloud.
Therefore, the current laser radar has the problem that whether the isolated point in the scanning point cloud is an actually existing obstacle or a noise point caused by the system can not be effectively identified.
Disclosure of Invention
The embodiment of the application provides an OPA laser radar and a noise point identification method, and can solve the problem that the existing laser radar cannot effectively identify whether a isolated point in a scanning point cloud is an actually existing obstacle or a noise point caused by a system.
In a first aspect, a noise point identification method for an OPA lidar is provided, which includes:
scanning the scanning area to obtain a point cloud with a first resolution;
carrying out target detection on the point cloud with the first resolution, and identifying suspected noise points;
the angular resolution is improved, and scanning is carried out on the adjacent area of the suspected noise points in the scanning area to obtain point cloud with a second resolution;
and determining whether the suspected noise point is a noise point according to the point cloud of the second resolution.
In one possible implementation manner of the first aspect, determining whether the suspected noise point is noise according to the point cloud of the second resolution includes:
performing target detection on the point cloud with the second resolution;
and if the detection result of the target detection contains contour information, the suspected noise point is a non-noise point, otherwise, the suspected noise point is a noise point.
In a possible implementation manner of the first aspect, if contour information is detected, the suspected noise point is a non-noise point, otherwise is a noise point, including:
and if the detection result of the target detection is that the target is not detected or the result that the contour information is not contained is detected, judging the suspected noise point to be noise.
In a possible implementation manner of the first aspect, the increasing the angular resolution scans for isolated point positions in the scanning area to obtain a point cloud of a second resolution, and includes:
determining the adjacent area of suspected noise points;
and improving the angular resolution, and adjusting the scanning direction to enable the OPA laser radar to scan the area close to the suspected noise point.
In a possible implementation manner of the first aspect, the noise identification method for an OPA lidar further includes:
and removing the point cloud data corresponding to the noise point from the point cloud with the first resolution.
In a second aspect, an embodiment of the present application provides an OPA lidar including:
a light source for outputting a light signal;
the beam splitter is connected with the light source and is used for splitting the optical signal output by the light source;
the phase modulator is connected with the beam splitter and is used for performing phase modulation on an optical signal input into the phased array antenna;
the phased array antenna is connected with the phase modulator and used for emitting probe light, and the probe light can form a scanning light spot in space; and receiving the reflected echo in space;
the phased array control system is connected with the phase modulator and is used for adjusting the emission angle and the emission direction of the probe light so as to adjust the forming position of the scanning light spot;
the signal processing system is connected with the phased array antenna and used for processing the reflection echo to obtain a corresponding electric signal;
the master control system is respectively connected with the phased array control system and the signal processing system and is used for solving the distance value and the speed of a target object in a scanning area according to the electric signals; and when suspected noise points exist in the scanning area, sending a feedback adjusting instruction to the phased array control system so as to adjust the emission angle and the emission direction of the scanning detection light and improve the angular resolution to scan the adjacent area of the suspected noise points.
In a possible implementation manner of the second aspect, if the transmitted laser is a continuous frequency modulated wave, the OPA lidar further includes:
the frequency mixer is respectively connected with the beam splitter and the phased array antenna and is used for mixing the reflected echo and the reference light to obtain a difference frequency optical signal; the difference frequency optical signal is used for resolving a distance value and a speed.
In one possible implementation manner of the second aspect, the OPA lidar further includes: an upper computer;
the upper computer is in communication connection with the master control system;
the upper computer is used for forming a point cloud with a first resolution and a point cloud with a second resolution according to the distance value and the speed.
In a possible implementation manner of the second aspect, the upper computer is further configured to determine whether the suspected noise point is noise point based on the point cloud of the second resolution.
Compared with the prior art, the embodiment of the application has the beneficial effects that: can adjust the launch angle and the direction of transmission of detecting light through phased array control system, realize right the adjustment of the formation position of scanning light spot adjusts the launch angle and the direction of transmission of scanning detecting light when there is suspected noise point, improves angular resolution and scans the near-on region of suspected noise point, and then can discern this suspected noise point effectively and be the noise point or the real obstacle that exists, solve present laser radar and exist the problem that can't discern effectively that the isolated point in the scanning point cloud is the obstacle that actually exists or the noise point that system self leads to, improve laser radar's measurement accuracy.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an OPA lidar according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of another OPA lidar according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart illustrating an implementation of a noise point identification method for an OPA lidar according to an embodiment of the present application;
fig. 4 is a schematic view of an application scenario of a noise point identification method for an OPA lidar according to an embodiment of the present application;
fig. 5 is a schematic view of an application scenario of another noise point identification method for an OPA lidar according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Referring to fig. 1, an OPA lidar 10 is provided in an embodiment of the present disclosure. As shown in FIG. 1, OPA lidar 10 includes a light source 110, a beam splitter 120, a phase modulator 130, a phased array antenna 140, a phased array control system 150, a signal processing system 160, and a master control system 170
The optical source 110 is used to output an optical signal.
The beam splitter 120 is connected to the optical source 110, and is configured to split an optical signal output by the optical source 110.
And a phase modulator 130 connected to the beam splitter 120 for phase modulating the optical signal inputted to the phased array antenna 140.
A phased array antenna 140 connected to the phase modulator 130 for emitting probe light that forms a scanning spot in space; and receiving the reflected echoes in space.
And a phased array control system 150 connected to the phase modulator 130, for adjusting the emission angle and the emission direction of the probe light to adjust the formation position of the scanning spot.
And the signal processing system 160 is connected with the phased array antenna 140 and is used for processing the reflected echoes to obtain corresponding electric signals.
The main control system 170 is respectively connected with the phased array control system 150 and the signal processing system 160, and is used for calculating the distance value and the speed of the target object in the scanning area according to the electric signals; when suspected noise exists in the scanning area, a feedback adjustment instruction is sent to the phased array control system 150 to adjust the emission angle and the emission direction of the scanning detection light, so that the angular resolution is improved to scan the adjacent area of the suspected noise.
In the embodiment of the present application, the light source 110 may be a semiconductor light source.
The beam splitter 140 may split the input light.
The signal processing system 160 may be configured to convert the reflected echo, including photoelectric detection, signal filtering, amplification, and collection, so as to obtain an electrical signal corresponding to the reflected echo.
The main control system 170 may calculate the distance value and the speed of the target object in the scanning area according to the electrical signal based on the existing algorithm, which is not described herein again.
When the master control system 170 determines that suspected noise exists in the scanning area, a feedback instruction is sent to the phased array control system 150 to realize the emission angle and the emission direction of the probe light, so that the scanning light spot can be projected in the vicinity of the suspected noise to scan the vicinity of the suspected noise. Meanwhile, the angular resolution is improved, so that the scanning precision is improved, and the adjacent area of suspected noise points can be scanned more clearly.
Referring to fig. 2, in another embodiment of the present application, when the laser emitted by OPA lidar 10 is a continuous frequency modulated wave, OPA lidar 10 further includes a mixer 180.
The mixer 180 is connected to the beam splitter 120 and the phased array antenna 140, and configured to mix the reflected echo and the reference light to obtain a difference optical signal.
Correspondingly, the signal processing system 160 is connected to the mixer 180, and is configured to process the difference optical signal output by the mixer 180, so as to obtain an electrical signal corresponding to the difference optical signal.
The optical signal output from the light source 110 may be split by the beam splitter 120, and then the reference light and the detection light may be output.
With continued reference to fig. 2, the OPA lidar system may further include an upper computer 190.
The upper computer 190 is in communication connection with the main control system 170.
The upper computer 190 is used for forming a point cloud of a first resolution and a point cloud of a second resolution according to the distance value and the speed.
Specifically, the upper computer 190 is further configured to determine whether the suspected noise is noise based on the point cloud of the second resolution. How to determine whether the suspected noise point is noise based on the point cloud of the second resolution may refer to the description of the method embodiment, which is not repeated herein.
Above can see, the OPA laser radar that this application embodiment provided adjusts the emission angle and the direction of transmission of detecting light through phased array control system, and the realization is right the adjustment of the formation position of scanning light spot adjusts the emission angle and the direction of transmission of scanning detecting light when there is suspected noise point, improves angular resolution and scans the near-by region of suspected noise point, and then can discern effectively that this suspected noise point is the noise point or the real obstacle that exists, solves present laser radar and exists the problem that can't discern effectively that the isolated point in the scanning point cloud is the obstacle of actual existence or the noise point that system self leads to, improves laser radar's measurement accuracy.
Based on the OPA lidar provided in fig. 1 and 2, the embodiment of the present application further provides a noise point identification method of the OPA lidar.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating an implementation flow of a noise point identification method for an OPA lidar according to an embodiment of the present disclosure. As shown in fig. 3, the noise point identification method for the OPA lidar may include steps S11 to S14, which are detailed as follows:
s11: and scanning the scanning area to obtain a point cloud with a first resolution.
In the embodiment of the application, the phased array antenna of the OPA laser radar is controlled to emit the probe light to scan the scanning area, the reflection echo is received, and the point cloud of the first resolution ratio is obtained based on the reflection echo.
S12: and carrying out target detection on the point cloud with the first resolution ratio, and identifying suspected noise points.
In the embodiment of the application, whether isolated points exist in the point cloud with the first resolution is detected, and if isolated points exist, the isolated points are identified as suspected noisy points.
S13: and increasing the angular resolution to scan the adjacent area of the suspected noise points in the scanning area to obtain point cloud with a second resolution.
In the embodiment of the application, after suspicious noise is detected, a feedback instruction is sent to the phased array control system through the main control system of the OPA laser radar so as to adjust the emission angle and the emission direction of the scanning detection light, and the angular resolution is improved to scan the adjacent area of the suspicious noise.
In an embodiment of the present application, S13 may specifically include the following steps:
determining the adjacent area of suspected noise points;
and improving the angular resolution, and adjusting the scanning direction to enable the OPA laser radar to scan the area close to the suspected noise point.
In particular applications, the area of the cloud of points adjacent to the suspected noise point may be determined to be the vicinity of the suspected noise point. The vicinity of the suspected noise contains the location of the suspected noise.
In specific application, the angular resolution of the OPA laser radar is improved, then the phased array antenna is controlled by the phased array control system to adjust the scanning direction, so that the OPA laser radar scans the adjacent area of the suspected noise point with higher angular resolution, receives the reflected echo, and obtains the point cloud with the second resolution based on the reflected echo.
S14: and determining whether the suspected noise point is a noise point according to the point cloud with the second resolution.
In the embodiment of the application, the point cloud with the second resolution can accurately reflect the scene of the adjacent area of the suspicious noise point, if the suspicious noise point still exists in the point cloud with the second resolution, the suspicious noise point is an obstacle actually existing in the scanning area, namely, a non-noise point, and if the suspicious noise point does not exist in the point cloud with the second resolution, the suspicious noise point is due to the system noise of the OPA laser radar, namely, a noise point.
In an embodiment of the present application, S13 may specifically include the following steps:
performing target detection on the point cloud with the second resolution;
and if the detection result of the target detection contains contour information, the suspected noise point is a non-noise point, otherwise, the suspected noise point is a noise point.
Specifically, if the detection result of the target detection is that no target is detected, or a result that no contour information is included is detected, it is determined that the suspected noise is noise.
In the embodiment of the present application, if the target detection on the point cloud with the second resolution can be implemented based on an existing algorithm, which is not described herein again.
If the detection result of the target detection contains the contour information, it is indicated that the position of the suspicious noise point has an obstacle actually existing, and if the detection result of the target detection is that the target is not detected or that the detection result does not contain the contour information, the suspicious noise point is due to the system noise of the OPA lidar, namely, the noise point.
In order to more intuitively describe the beneficial effects of the noise point identification method provided by the embodiment of the present application, fig. 4 and fig. 5 show application scenarios of the noise point identification method provided by the embodiment of the present application.
Referring to fig. 4, (a) in fig. 4 is a scanning area where four letters "EPFL" exist and there is no stray object under the letter P. Fig. 4 (b) shows a first resolution point cloud obtained by scanning the scanning area with the OPA lidar. As can be seen from (b) in fig. 4, an abnormal isolated point (i.e., suspected noise) exists below the letter P, and the OPA lidar is adjusted to increase the resolution and adjust the scanning direction, so as to rescan the area (e.g., the rectangular area in (c) in fig. 4) near the suspected noise, and obtain the image of the point cloud with the second resolution as shown in (d) in fig. 4.
As can be seen from (d) in fig. 4, there is no detection target in the point cloud of the second resolution, so that it can be determined that the suspected noise is noise.
Referring to fig. 5, the front vehicle in fig. 5 (a) is a scanning area, and a protrusion is present at the rear end of the front vehicle. Fig. 5 (b) shows the first resolution point cloud obtained after the scanning area is scanned by the OPA lidar. As can be seen from fig. 5 (b), there is a raised point (suspected noise) at the rear end of the vehicle ahead, and the area (e.g., the circular area in fig. 5 (c)) near the suspected noise is rescanned by adjusting the OPA lidar to increase the resolution and adjusting the scanning direction, so as to obtain the image of the point cloud with the second resolution as shown in fig. 5 (d).
As can be seen from (d) in fig. 5, there is a target containing contour information in the point cloud of the second resolution, so it can be determined that the suspected noise is not noise but an obstacle actually existing.
In an embodiment of the present application, the noise point identification method further includes:
and removing the point cloud data corresponding to the noise point from the point cloud with the first resolution.
If it is determined that the suspected noise is noise, it needs to be removed from the point cloud at the first resolution to avoid affecting the actual measurement.
Above can see, the noise point identification method of the OPA lidar provided by the embodiment of the application can also adjust the emission angle and the emission direction of the probe light through the phased array control system, and realize the adjustment of the formation position of the scanning light spot, adjust the emission angle and the emission direction of the scanning probe light when the suspected noise point exists, improve the angular resolution to scan the near area of the suspected noise point, and further can effectively identify whether the suspected noise point is a noise point or a real obstacle, solve the problem that the existing lidar cannot effectively identify whether the isolated point in the scanning point cloud is an actually existing obstacle or a noise point caused by the system, and improve the measurement accuracy of the lidar.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal device, recording medium, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunication signals, and software distribution medium. Such as a usb-drive, a removable hard drive, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/node device and method may be implemented in other ways. For example, the above-described apparatus/node device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical function division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.

Claims (9)

1. A noise point identification method of an OPA laser radar is characterized by comprising the following steps:
scanning the scanning area to obtain a point cloud with a first resolution;
performing target detection on the point cloud with the first resolution ratio, and identifying suspected noise points;
the angular resolution is improved, and scanning is carried out on the adjacent area of the suspected noise points in the scanning area to obtain point cloud with a second resolution;
and determining whether the suspected noise point is a noise point according to the point cloud of the second resolution.
2. The method of claim 1, wherein determining whether the suspected noise is noise based on the point cloud at the second resolution comprises:
performing target detection on the point cloud with the second resolution;
and if the detection result of the target detection contains contour information, the suspected noise point is a non-noise point, otherwise, the suspected noise point is a noise point.
3. The method of claim 2, wherein if contour information is detected, the suspected noise is non-noise, otherwise noise, comprising:
and if the detection result of the target detection is that the target is not detected or the result that the contour information is not included is detected, judging the suspected noise point to be noise point.
4. The noise point identification method of claim 1, wherein the increasing the angular resolution scans for isolated point locations in the scan region to obtain a point cloud of a second resolution, comprising:
determining the adjacent area of suspected noise points;
and improving the angular resolution, and adjusting the scanning direction to enable the OPA laser radar to scan the adjacent area of the suspected noise point.
5. The noise point identification method according to any one of claims 1 to 4, further comprising:
and removing the point cloud data corresponding to the noise point from the point cloud with the first resolution.
6. An OPA lidar comprising:
a light source for outputting a light signal;
the beam splitter is connected with the light source and is used for splitting the optical signal output by the light source;
the phase modulator is connected with the beam splitter and is used for performing phase modulation on an optical signal input into the phased array antenna;
the phased array antenna is connected with the phase modulator and used for emitting probe light, and the probe light can form a scanning light spot in space; and receiving the reflected echo in space;
the phased array control system is connected with the phase modulator and is used for adjusting the emission angle and the emission direction of the detection light so as to adjust the formation position of the scanning light spot;
the signal processing system is connected with the phased array antenna and used for processing the reflection echo to obtain a corresponding electric signal;
the master control system is respectively connected with the phased array control system and the signal processing system and is used for solving the distance value and the speed of a target object in a scanning area according to the electric signals; when suspected noise exists in the scanning area, a feedback adjusting instruction is sent to the phased array control system so as to adjust the emission angle and the emission direction of the scanning detection light, and the angular resolution is improved to scan the adjacent area of the suspected noise.
7. The OPA lidar of claim 6, wherein if the transmitted laser light is a continuous frequency modulated wave, the OPA lidar further comprises:
the frequency mixer is respectively connected with the beam splitter and the phased array antenna and is used for mixing the reflected echo and the reference light to obtain a difference frequency optical signal; the difference frequency optical signal is used for resolving a distance value and a speed.
8. The OPA lidar of claim 6 or claim 7, further comprising: an upper computer;
the upper computer is in communication connection with the master control system;
the upper computer is used for forming a point cloud with a first resolution and a point cloud with a second resolution according to the distance value and the speed.
9. The OPA lidar of claim 8, wherein the host computer is further configured to determine whether the suspected noise is noise based on the point cloud at the second resolution.
CN202110876217.9A 2021-07-30 2021-07-30 OPA laser radar and noise point identification method Pending CN115685137A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202110876217.9A CN115685137A (en) 2021-07-30 2021-07-30 OPA laser radar and noise point identification method
PCT/CN2022/107246 WO2023005815A1 (en) 2021-07-30 2022-07-22 Opa laser radar and noise point identification method
US18/425,687 US20240248209A1 (en) 2021-07-30 2024-01-29 Target detection method and device based on laser scanning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110876217.9A CN115685137A (en) 2021-07-30 2021-07-30 OPA laser radar and noise point identification method

Publications (1)

Publication Number Publication Date
CN115685137A true CN115685137A (en) 2023-02-03

Family

ID=85059804

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110876217.9A Pending CN115685137A (en) 2021-07-30 2021-07-30 OPA laser radar and noise point identification method

Country Status (2)

Country Link
CN (1) CN115685137A (en)
WO (1) WO2023005815A1 (en)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107703517B (en) * 2017-11-03 2023-10-13 长春理工大学 Airborne multi-beam optical phased array laser three-dimensional imaging radar system
CN108897003B (en) * 2018-05-03 2021-05-04 北京理工大学 Dual-mode control phased array laser radar system and method
CN112147636B (en) * 2019-06-26 2024-04-26 华为技术有限公司 Laser radar and detection method thereof
US11592820B2 (en) * 2019-09-13 2023-02-28 The Boeing Company Obstacle detection and vehicle navigation using resolution-adaptive fusion of point clouds
CN111208491B (en) * 2020-01-17 2022-05-03 岭纬科技(厦门)有限公司 Method for eliminating miscellaneous points of high-resolution solid-state laser radar point cloud
CN111650601B (en) * 2020-06-01 2022-10-25 孙建锋 High-resolution 3D imaging method and device for vehicle-mounted coherent laser radar
CN112098974B (en) * 2020-09-16 2022-08-12 北京理工大学 Method and device for realizing variable scanning field of view and variable scanning density laser radar

Also Published As

Publication number Publication date
WO2023005815A1 (en) 2023-02-02

Similar Documents

Publication Publication Date Title
US20220026544A1 (en) Ranging Method, Apparatus, and Device
WO2020243962A1 (en) Object detection method, electronic device and mobile platform
CN107728131B (en) Laser radar and laser radar control method
JP2011232155A (en) Object recognition device and program
CN107678012A (en) Laser radar closed-loop control system, laser radar and laser radar control method
WO2023005986A1 (en) Sensing method of sensing system, and sensing system, device, and storage medium
CN115685220A (en) Target detection method, OPA laser radar and computer readable storage medium
CN112986945B (en) Radar target identification method, device, equipment and storage medium
JP2000009841A (en) Object detecting apparatus
CN115685137A (en) OPA laser radar and noise point identification method
CN116125479B (en) Phased array laser radar and fault detection method thereof
CN114966658B (en) Target detection method, computer device, computer-readable storage medium, and vehicle
CN111257907A (en) Polarization defogging detection device and method based on laser radar
CN113835100B (en) Multifunctional laser radar system based on electric pulse coding
CN114578316B (en) Method, device and equipment for determining ghost points in point cloud and storage medium
CN116413683A (en) Laser radar, scanning method thereof and readable storage medium
US20220026532A1 (en) Echo Signal Processing Method and Apparatus
KR102182502B1 (en) Prf selection of radar, computer-readable storage medium and computer program
US20240248209A1 (en) Target detection method and device based on laser scanning
US11808841B2 (en) Fusion of depth imager and radar system in a vehicle
US20230236290A1 (en) Lidar sensor for detecting an object and a method for a lidar sensor
WO2024152933A1 (en) Target detection method, apparatus and lidar
CN118731910A (en) Radar control method and device, terminal equipment and storage medium
EP4386434A1 (en) Lidar controlling method and apparatus, terminal device
CN118131186A (en) Echo signal processing method and device and roadside laser radar

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination