CN116047484B - Laser radar management method and device, storage medium and laser radar - Google Patents
Laser radar management method and device, storage medium and laser radar Download PDFInfo
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- CN116047484B CN116047484B CN202310316632.8A CN202310316632A CN116047484B CN 116047484 B CN116047484 B CN 116047484B CN 202310316632 A CN202310316632 A CN 202310316632A CN 116047484 B CN116047484 B CN 116047484B
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- 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
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The application provides a laser radar management method, a device, a storage medium and a laser radar, wherein the laser radar comprises a control unit, a detection unit, a transmitting module and a receiving module, and the control unit controls the transmitting module to transmit test laser in a working self-checking stage; the control unit determines whether the laser signal processing link of the laser radar is abnormal or not based on the first echo pulse width corresponding to the detection unit and the second echo pulse width corresponding to the receiving module. By diagnosing the state of the link processed by the laser signal, whether the link processed by the laser signal is abnormal or not is determined, so that the comprehensiveness and coverage rate of self-checking are improved.
Description
Technical Field
The present application relates to the field of radars, and in particular, to a laser radar management method, a device, a storage medium, and a laser radar.
Background
The intelligent driving technology is widely applied in the automobile industry, and the laser radar is widely applied as a core sensor of the intelligent driving technology.
The laser radar provides distance information of an environmental target for the whole vehicle, provides decision input data for intelligent driving of the whole vehicle, and is a product related to driving safety. Therefore, the safety of the lidar product itself needs to be sufficiently ensured. For a laser radar, providing reliable target distance information is the most important function, and once the function is at risk, a monitoring and fault diagnosis and reporting mechanism is needed to realize safe output.
Therefore, how to monitor and diagnose faults of the laser radar to ensure the reliable operation of the laser radar becomes a problem of concern for those skilled in the art.
Disclosure of Invention
An object of the present application is to provide a laser radar management method, apparatus, storage medium and laser radar, so as to at least partially improve the above-mentioned problems.
In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:
in a first aspect, an embodiment of the present application provides a laser radar management method, which is applied to a laser radar, where the laser radar includes a control unit, a detection unit, a transmitting module, and a receiving module, and the method includes:
in the working self-checking stage, the control unit controls the emitting module to emit test laser;
the control unit determines whether an abnormality exists in a laser signal processing link of the laser radar based on a first echo pulse width corresponding to the detection unit and a second echo pulse width corresponding to the receiving module.
And determining whether an abnormality exists in a laser signal processing link of the laser radar based on the first echo pulse width corresponding to the detection unit and the second echo pulse width corresponding to the receiving module. By diagnosing the state of the link processed by the laser signal, whether the link processed by the laser signal is abnormal or not is determined, so that the comprehensiveness and coverage rate of self-checking are improved.
Optionally, after the control unit controls the emission module to emit the test laser, the method further includes:
the control unit receives a first echo signal and a second echo signal;
the first echo signal is an echo signal detected by the detection unit, and the second echo signal is an echo signal detected by the receiving module;
the control unit acquires a first echo pulse width corresponding to the first echo signal and a second echo pulse width corresponding to the second echo signal.
It will be appreciated that accurately acquiring the first echo pulse width and the second echo pulse width helps to ensure accuracy of the results of subsequent inspection of the laser signal processing link of the lidar based on the first echo pulse width and the second echo pulse width.
Optionally, the step of determining, by the control unit, whether an abnormality exists in the laser signal processing link of the laser radar based on the first echo pulse width corresponding to the detection unit and the second echo pulse width corresponding to the receiving module includes:
the control unit acquires pulse width errors between the first echo pulse width and the second echo pulse widths;
and the control unit determines whether an abnormality exists in a laser signal processing link of the laser radar based on the pulse width error and a preset error threshold value.
It should be appreciated that the pulse width error should be small or close to 0. Optionally, the pulse width error is compared with an error threshold value, and whether the laser signal processing link of the laser radar is abnormal or not is determined based on the comparison result, so that the accuracy of the diagnosis result is ensured.
Optionally, the step of determining, by the control unit, whether an abnormality exists in a laser signal processing link of the laser radar based on the pulse width error and a preset error threshold includes:
the control unit obtains comparison results of the pulse width errors and the error threshold value;
the control unit determines that the receiving module is abnormal when the number of abnormal values is larger than a first preset number;
the abnormal value is a pulse width error corresponding to the pulse width error greater than the error threshold.
Optionally, the first preset number has a value of 0.
Optionally, in the working self-checking stage, the control unit controls the emitting module to emit the test laser, including:
and in the working self-checking stage, the control unit transmits a self-checking instruction to the transmitting module according to a preset period so as to control the transmitting module to transmit test laser.
It is understood that the functional state of the laser radar is identified through periodic self-checking, so that the reliability of the data acquired by the laser radar is ensured.
Optionally, the method further comprises: in the power-on self-checking stage, the control unit controls the emitting module to emit test laser;
the control unit determines that the receiving module is abnormal under the condition that the first echo signal acquired by the detecting unit is received and the second echo signal acquired by the receiving module is not received;
the control unit determines that the transmitting module is abnormal under the condition that the first echo signal and the second echo signal are not received.
It will be appreciated that the self-test is completed quickly during the power-up phase in the manner described above.
In a second aspect, an embodiment of the present application provides a laser radar management device, which is applied to a laser radar, where the laser radar includes a control unit, a detection unit, a transmitting module, and a receiving module, and the device includes:
the processing unit is used for controlling the emission module to emit test laser in a working self-checking stage;
the diagnosis unit is used for determining whether the laser signal processing link of the laser radar is abnormal or not based on the first echo pulse width corresponding to the detection unit and the second echo pulse width corresponding to the receiving module.
In a third aspect, embodiments of the present application provide a storage medium having stored thereon a computer program which, when executed by a processor, implements the method described above.
In a fourth aspect, embodiments of the present application provide a lidar, the lidar comprising: a processor and a memory for storing one or more programs; the above-described method is implemented when the one or more programs are executed by the processor.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting in scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a lidar according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a lidar management method according to an embodiment of the present application;
FIG. 3 is a second flow chart of a laser radar management method according to an embodiment of the present disclosure;
FIG. 4 is a third flow chart of a laser radar management method according to the embodiment of the present application;
fig. 5 is a schematic unit diagram of a lidar management device according to an embodiment of the present application.
In the figure: 10-a control unit; a 20-emission module; 30-a receiving module; 40-a detection unit; 501 a processing unit; 502-diagnostic unit.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that, the terms "upper," "lower," "inner," "outer," and the like indicate an orientation or a positional relationship based on the orientation or the positional relationship shown in the drawings, or an orientation or a positional relationship conventionally put in use of the product of the application, merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
The prior loading laser radar mainly monitors parameters such as power supply voltage, current, temperature and the like of key modules, and has the problem of incomplete diagnosis coverage for the problems of laser radar receiving and transmitting, rotating a loop and processing a whole link. In order to overcome the above problems, the embodiments of the present application provide a laser radar management method, which is used for monitoring and fault diagnosing a laser radar, where a monitored object covers a transmitting module, a receiving module and a control unit (also called a signal processing unit) of the laser radar, so that the diagnostic coverage of a laser radar transceiver link can be effectively improved, and the normal and usable functions of the laser radar are ensured.
Specifically, referring to fig. 1, fig. 1 is a schematic structural diagram of a lidar according to an embodiment of the present application. As shown in fig. 1, the lidar includes a control unit 10, a detection unit 40, a transmission module 20, and a reception module 30. The control unit 10 may transmit control information to the emission module 20 to control the emission module 20 to emit the test laser according to a preset pulse width. The detection unit 40 and the receiving module 30 may receive the reflected laser signal, generate a corresponding echo signal, and transmit the acquired echo signal to the control unit 10.
Optionally, the transmitting module 20 has an n_tx path laser transmitting unit, the receiving module 30 has an m_rx path receiving unit, the detecting unit 40 is provided with a k_test path receiving unit, and in order to achieve low cost and low failure rate, the detecting unit 40 is provided with 1 path receiving unit, that is, K is equal to 1.
Alternatively, the control unit 10 may be an integrated circuit chip with signal processing capabilities. In an implementation, the steps of the lidar management method may be performed by integrated logic circuits of hardware or instructions in the form of software in the control unit 10. The control unit 10 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
It should be understood that the structure shown in fig. 1 is only a schematic diagram of a portion of a lidar, which may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
The laser radar management method provided in the embodiment of the present application may be, but is not limited to, applied to the laser radar shown in fig. 1, and referring to fig. 2, where the laser radar management method includes: s121 and S124 are specifically described below.
S121, in the working self-checking stage, the control unit controls the emitting module to emit test laser.
Optionally, the control unit 10 sends a corresponding control signal or a control instruction to the emission module 20, so that the emission module 20 emits the test laser, and optionally, the pulse width of the test laser is a preset pulse width value.
The test laser light emitted from the emitting module 20 may strike the target object to generate reflected light, and the detecting unit 40 and the receiving module 30 may collect the reflected light, form an echo signal for the reflected light, and transmit the echo signal to the control unit 10.
S124, the control unit determines whether the laser signal processing link of the laser radar is abnormal or not based on the first echo pulse width corresponding to the detection unit and the second echo pulse width corresponding to the receiving module.
The first echo pulse width is the pulse width of the first echo signal collected by the detecting unit 40, and the second echo pulse width is the pulse width of the second echo signal collected by the receiving module 30.
Alternatively, the detection unit 40 is a single PIN tube that is packaged independently, which has the advantage of low price and low failure probability, and can be used as a reference unit.
It should be understood that the pulse widths of the echo signals generated by the reflected light of the same target object collected by the detection unit 40 and the receiving module 30 should be close to or the same as each other. Based on this condition, it may be determined whether or not there is an abnormality in the laser signal processing link of the laser radar based on the first echo pulse width corresponding to the detection unit 40 and the second echo pulse width corresponding to the reception module 30. By diagnosing the state of the link processed by the laser signal, whether the link processed by the laser signal is abnormal or not is determined, so that the comprehensiveness and coverage rate of self-checking are improved.
In summary, the embodiment of the application provides a laser radar management method, which is applied to a laser radar, wherein the laser radar comprises a control unit, a detection unit, a transmitting module and a receiving module, and the control unit controls the transmitting module to transmit test laser in a working self-checking stage; the control unit determines whether the laser signal processing link of the laser radar is abnormal or not based on the first echo pulse width corresponding to the detection unit and the second echo pulse width corresponding to the receiving module. By diagnosing the state of the link processed by the laser signal, whether the link processed by the laser signal is abnormal or not is determined, so that the comprehensiveness and coverage rate of self-checking are improved.
On the basis of fig. 2, regarding how to acquire the echo pulse width, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 3, after S121, the lidar management method further includes: s122 and S123 are specifically described below.
S122, the control unit receives the first echo signal and the second echo signal.
The first echo signal is an echo signal detected by the detecting unit 40, and the second echo signal is an echo signal detected by the receiving module 30.
Optionally, the detection unit 40 and the receiving module 30 convert the collected reflected light signals into electrical signals, i.e. a first echo signal and a second echo signal.
S123, the control unit acquires a first echo pulse width corresponding to the first echo signal and a second echo pulse width corresponding to the second echo signal.
Alternatively, the control unit 10 may count the duration of the output level signals of the detection unit 40 and the reception module 30, so as to obtain the corresponding first echo pulse width and second echo pulse width.
It will be appreciated that accurately acquiring the first echo pulse width and the second echo pulse width helps to ensure accuracy of the results of subsequent inspection of the laser signal processing link of the lidar based on the first echo pulse width and the second echo pulse width.
It should be noted that, the receiving module 30 is provided with an m_rx path receiving unit, so for the test laser emitted by a single emitting unit at a time, 1 path of first echo signals and m paths of second echo signals can be obtained, that is, 1 first echo pulse width and m second echo pulse widths can be obtained.
On the basis of fig. 2, regarding how to determine whether there is an abnormality in the laser signal processing link of the lidar in S124, the embodiment of the present application further provides a possible implementation, please refer to the following, S124 includes: S124A and S124B are specifically described below.
S124A, the control unit obtains pulse width errors between the first echo pulse width and each second echo pulse width.
Optionally, the first echo pulse width is t_test, and the second echo pulse width includes t_nx1, t_nx … … t_nxi … … t_nxm, where m is the number of receiving units, t_nxi is the echo pulse width of the second echo signal acquired by the ith receiving unit, and i is greater than or equal to 1 and less than or equal to m.
And sequentially calculating pulse width errors between the first echo pulse width and each second echo pulse width to obtain E_nx1 and E_nx … … E_nxi … … E_nxm, wherein E_nxi is the pulse width error corresponding to the second echo signal acquired by the ith receiving unit.
S124B, the control unit determines whether an abnormality exists in a laser signal processing link of the laser radar based on the pulse width error and a preset error threshold.
It should be appreciated that the pulse width error should be small or close to 0. Optionally, the pulse width error is compared with an error threshold value, and whether the laser signal processing link of the laser radar is abnormal or not is determined based on the comparison result.
Based on this, how to accurately identify whether the laser signal processing link of the laser radar is abnormal or not corresponds to the content in S124B, the embodiment of the present application further provides a possible implementation manner, please refer to the following, S124B includes: S124B-1 and S124B-2 are described in detail below.
S124B-1, the control unit 10 obtains comparison results of the pulse width errors and the error thresholds.
Optionally, the comparison result includes a recognition result of whether the pulse width error is an outlier.
Optionally, it is sequentially determined whether e_nx1, e_nx … … e_nxi … … e_nxm is smaller than e_test. If E_nxi is less than the error threshold E_test, E_nxi is not an outlier, otherwise, E_nxi is an outlier.
Optionally, the error threshold e_test is specified based on experimental data.
S124B-2, the control unit 10 determines that the receiving module is abnormal when the number of abnormal values is greater than the first preset number.
The abnormal value is a pulse width error corresponding to the pulse width error greater than the error threshold.
Optionally, the first preset number has a value of 0. The first preset number may also be set based on the number of receiving units, e.g. proportional to m.
In one possible implementation, after S124B-1, the receiving unit corresponding to the outlier may be determined as an outlier receiving unit, and the other receiving units may be determined as normal receiving units.
It should be noted that, in the case that no abnormal value exists, that is, all the second echo pulse widths are normal, it means that the laser signal processing link is normal and has no fault.
Optionally, on the basis of fig. 2, regarding ensuring that the lidar remains stable after a long period of operation, or monitoring a long period of operation state, the embodiment of the present application further provides a possible implementation manner, please refer to the following, S121 includes: S121A is specifically described below.
S121A, in the working self-checking stage, the control unit transmits a self-checking instruction to the transmitting module according to a preset period so as to control the transmitting module to transmit test laser.
It is understood that the functional state of the laser radar is identified through periodic self-checking, so that the reliability of the data acquired by the laser radar is ensured.
Regarding how to quickly complete self-checking in the power-on stage, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 4, and the lidar management method further includes: s111, S112, and S113 are specifically described below.
S111, in the power-on self-checking stage, the control unit controls the emitting module to emit test laser.
Optionally, after the test laser is emitted, the control unit 10 monitors the echo signal in a preset time period, and performs anomaly detection according to the echo signal received in the preset time period.
Alternatively, if the detection unit 40 and the receiving module 30 both collect echo signals within the preset time period and send the echo signals to the control unit 10, it is indicated that each module on the link is normal. If the detection unit 40 does not collect the echo signal within the preset time period, the receiving module 30 collects the echo signal and sends the echo signal to the control unit 10, which indicates that the detection unit 40 is abnormal, and a fault can be reported.
S112, the control unit determines that the receiving module is abnormal under the condition that the first echo signal acquired by the detecting unit is received and the second echo signal acquired by the receiving module is not received.
S113, the control unit determines that the transmitting module is abnormal under the condition that the first echo signal and the second echo signal are not received.
It should be appreciated that after determining that a fault has occurred, the fault may be reported, prompting personnel to service.
It should be noted that, in the working self-checking stage, whether each module unit on the link is normal may also be determined based on whether the first echo signal and the second echo information are received, and details in S111-S113 are referred to, which will not be described herein.
It should be noted that, in the laser radar management method provided in the embodiment of the present application, by adding a low-cost and low-failure rate detection unit, the comparison of echo pulse width is performed with the receiving module, so as to realize safety monitoring of the transceiver link, complete accurate fault diagnosis, and specifically locate a fault on a certain path of the receiving module, thereby improving the accuracy of diagnosis.
Referring to fig. 5, fig. 5 is a schematic diagram showing an embodiment of a lidar management device, and the lidar management device is optionally applied to the lidar described above.
As shown in fig. 5, the lidar management device includes: a processing unit 501 and a diagnostic unit 502.
The processing unit is used for controlling the emission module to emit test laser in the working self-checking stage;
the diagnosis unit is used for determining whether the laser signal processing link of the laser radar is abnormal or not based on the first echo pulse width corresponding to the detection unit and the second echo pulse width corresponding to the receiving module.
Alternatively, the processing unit 501 may perform S121 to S123 and S111 described above, and the diagnosis unit 502 may perform S112 and S113 described above.
It should be noted that, the lidar management device provided in this embodiment may execute the method flow shown in the method flow embodiment to achieve the corresponding technical effects. For a brief description, reference is made to the corresponding parts of the above embodiments, where this embodiment is not mentioned.
The present application also provides a storage medium storing computer instructions, a program which when read and executed perform the lidar management method of the above embodiment. The storage medium may include memory, flash memory, registers, combinations thereof, or the like.
An electronic device, which may be the lidar device shown in fig. 1 or a terminal device including the lidar device shown in fig. 1, such as an unmanned plane, an automobile, and other mobile devices, is provided below, and the electronic device is shown in fig. 1, where the above-mentioned lidar management method may be implemented; specifically, the electronic device further includes: control unit 10, memory, bus. The control unit 10 may be a CPU. The memory is used for storing one or more programs, which when executed by the control unit, perform the lidar management method of the above-described embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. A laser radar management method, which is applied to a laser radar, the laser radar includes a control unit, a detection unit, a transmitting module and a receiving module, the laser radar management method includes:
in the working self-checking stage, the control unit controls the emitting module to emit test laser;
the control unit receives a first echo signal and a second echo signal;
the first echo signal is an echo signal detected by the detection unit, the second echo signal is an echo signal detected by the receiving module, and the first echo signal and the second echo signal are echo signals generated by reflected light of the same target object;
the control unit acquires a first echo pulse width corresponding to the first echo signal and a second echo pulse width corresponding to the second echo signal;
the control unit determines whether an abnormality exists in a laser signal processing link of the laser radar based on the first echo pulse width and the second echo pulse width;
in the power-on self-checking stage, the control unit controls the emitting module to emit test laser;
the control unit determines that the receiving module is abnormal under the condition that the first echo signal is received and the second echo signal is not received; the control unit determines that the transmitting module is abnormal under the condition that the first echo signal and the second echo signal are not received; and the control unit determines that the detection unit is abnormal under the condition that the first echo signal is not received and the second echo signal is received.
2. The lidar management method of claim 1 wherein the step of the control unit determining whether there is an abnormality in the laser signal processing link of the lidar based on the first echo pulse width corresponding to the detection unit and the second echo pulse width corresponding to the reception module comprises:
the control unit obtains pulse width difference values between the first echo pulse width and the second echo pulse widths;
and the control unit determines whether an abnormality exists in a laser signal processing link of the laser radar based on the pulse width difference value and a preset threshold value.
3. The lidar management method of claim 2, wherein the step of the control unit determining whether there is an abnormality in the laser signal processing link of the lidar based on the pulse width difference value and a preset threshold value comprises:
the control unit obtains comparison results of the pulse width difference values and the preset threshold value;
the control unit determines that the receiving module is abnormal when the number of abnormal values is larger than a first preset number;
wherein the outlier is a pulse width difference value greater than the preset threshold.
4. The lidar management method of claim 3, wherein the first predetermined number has a value of 0.
5. The lidar management method according to any of claims 1 to 4, wherein the step of controlling the emission module to emit the test laser by the control unit during the operation self-test stage comprises:
and in the working self-checking stage, the control unit transmits a self-checking instruction to the transmitting module according to a preset period so as to control the transmitting module to transmit test laser.
6. A lidar management device, characterized by being applied to a lidar, the lidar comprising a control unit, a detection unit, a transmitting module and a receiving module, the device comprising:
the processing unit is used for controlling the emission module to emit test laser in a working self-checking stage;
the processing unit is also used for receiving the first echo signal and the second echo signal by the control unit; the first echo signal is an echo signal detected by the detection unit, the second echo signal is an echo signal detected by the receiving module, and the first echo signal and the second echo signal are echo signals generated by reflected light of the same target object; the control unit acquires a first echo pulse width corresponding to the first echo signal and a second echo pulse width corresponding to the second echo signal;
the diagnosis unit is used for determining whether the laser signal processing link of the laser radar is abnormal or not based on the first echo pulse width and the second echo pulse width;
the processing unit is also used for controlling the emission module to emit test laser in a power-on self-checking stage;
the diagnosis unit is further used for determining that the receiving module is abnormal when the control unit receives the first echo signal and does not receive the second echo signal; the control unit determines that the transmitting module is abnormal under the condition that the first echo signal and the second echo signal are not received; and the control unit determines that the detection unit is abnormal under the condition that the first echo signal is not received and the second echo signal is received.
7. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1-5.
8. A lidar, comprising: a processor and a memory for storing one or more programs; the method of any of claims 1-5 is implemented when the one or more programs are executed by the processor.
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| WO2023004629A1 (en) * | 2021-07-28 | 2023-02-02 | 深圳市速腾聚创科技有限公司 | Laser radar anti-interference method and apparatus, readable storage medium, and terminal device |
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