CN116299364A

CN116299364A - Laser radar self-checking method and device, storage medium and electronic equipment

Info

Publication number: CN116299364A
Application number: CN202310316637.0A
Authority: CN
Inventors: 刘立志
Original assignee: Beijing Beixing Intelligent Equipment Co ltd
Current assignee: Beijing Beixing Intelligent Equipment Co ltd
Priority date: 2023-03-29
Filing date: 2023-03-29
Publication date: 2023-06-23

Abstract

The application provides a laser radar self-checking method, a device, a storage medium and electronic equipment, wherein the laser radar comprises a control unit, a detection unit, a transmitting module and a receiving module, and when the laser radar is in a target posture, the control unit controls the transmitting module to transmit test laser according to a preset coding rule; the control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule, and determines whether the laser signal processing link of the laser radar is abnormal or not; the first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module. By the laser radar self-checking method, the state of the laser signal processing link can be diagnosed, whether the laser signal processing link is abnormal or not is determined, and therefore the comprehensiveness and coverage rate of self-checking are improved.

Description

Laser radar self-checking method and device, storage medium and electronic equipment

Technical Field

The application relates to the field of radars, in particular to a laser radar self-checking method, a laser radar self-checking device, a storage medium and electronic equipment.

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 detect the lidar to ensure the reliable operation of the lidar becomes a problem of concern to those skilled in the art.

Disclosure of Invention

The purpose of the application is to provide a laser radar self-checking method, a laser radar self-checking device, a storage medium and electronic equipment, so as to guarantee the reliable operation of the laser radar.

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 self-checking 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:

The control unit controls the transmitting module to transmit test laser according to a preset coding rule when the laser radar is in a target posture;

the control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule, and determines whether an abnormality exists in a laser signal processing link of the laser radar;

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.

Optionally, the step of determining whether the laser signal processing link of the laser radar is abnormal by the control unit according to the first echo signal, the second echo signal and the coding rule includes:

the control unit determines a first pulse signal rule of the first echo signal and a second pulse signal rule of the second echo signal;

the control unit performs self-checking according to the first pulse signal rule, the second pulse signal rule and the coding rule, and determines whether an abnormality exists in a laser signal processing link of the laser radar.

Optionally, the encoding rule includes a time interval between any two adjacent pulses in the test laser, the first pulse signal rule includes a first type of time interval information, the second pulse signal rule includes a second type of time interval information, the first type of time interval information includes a time interval between any two adjacent pulses in the first echo signal, the second type of time interval information includes a time interval between any two adjacent pulses in the second echo signal, and the control unit performs self-checking according to the first pulse signal rule, the second pulse signal rule and the encoding rule, and determines whether an abnormality exists in a laser signal processing link of the laser radar, including:

The control unit determines the matching results of the first type time interval information and the second type time interval information with the coding rule respectively;

and the control unit determines whether the laser signal processing link of the laser radar is abnormal according to the matching result.

Optionally, the step of determining, by the control unit according to the matching result, whether an abnormality exists in a laser signal processing link of the laser radar includes:

the control unit determines that the laser radar is not abnormal under the condition that the first type time interval information and the second type time interval information are matched with the coding rule;

the control unit determines that the receiving module is abnormal when the first type time interval information is matched with the coding rule and the second type time interval information is not matched with the coding rule;

and the control unit determines that the transmitting module is abnormal under the condition that the first type time interval information and the second type time interval information are not matched with the coding rule.

Optionally, before the control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule to determine whether an abnormality exists in a laser signal processing link of the laser radar, the method further includes:

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.

Optionally, the first echo signal includes a first main echo signal and a first target echo signal, and the second echo signal includes a second main echo signal and a second target echo signal;

the transmitting module comprises n paths of transmitting units, the receiving module comprises m paths of receiving units, n is more than or equal to 1, m is more than or equal to 1, the number of paths of the first main echo signals is n, the number of paths of the first target echo signals is n, the number of paths of the second main echo signals is n multiplied by m, and the number of paths of the second target echo signals is n multiplied by m.

Optionally, before the control unit controls the transmitting module to transmit the test laser according to a preset coding rule when the laser radar is in the target pose, the method further includes:

the control unit controls the horizontal rotating mechanism of the laser radar and the vertical rotating mechanism of the laser radar to move so that the laser radar is in a target posture, wherein test laser emitted by the laser radar in the target posture is irradiated on a target object.

Optionally, the target pose includes any one or more of a first pose, a second pose, a third pose, a fourth pose, a fifth pose, and a sixth pose;

the first gesture is that the horizontal rotating mechanism of the laser radar is positioned to the leftmost side of the horizontal view field, and the vertical rotating mechanism of the laser radar is positioned to the bottommost position of the vertical view field;

the second gesture, the horizontal direction rotating mechanism is positioned to the direction of the right center of the horizontal view field, and the vertical direction rotating mechanism is positioned to the lowest position of the vertical view field;

the third gesture, the horizontal direction rotating mechanism is positioned to the rightmost side of the horizontal view field, and the vertical direction rotating mechanism is positioned to the bottommost position of the vertical view field;

the fourth gesture, the horizontal direction rotating mechanism is positioned to the rightmost side of the horizontal view field, the vertical direction rotating mechanism is positioned to a preset angle, and the preset angle represents upward movement of the preset angle from the bottommost position of the vertical view field;

the fifth gesture, the vertical direction rotating mechanism is positioned to a preset angle, and the horizontal direction rotating mechanism is positioned to the direction of the right center of the horizontal view field;

And the sixth gesture is that the vertical direction rotating mechanism is positioned to a preset angle, and the horizontal direction rotating mechanism is positioned to the leftmost side of the horizontal view field.

Optionally, the number of the target poses is Q, and Q is 2-6, and before the emission module is controlled to emit the test laser according to a preset coding rule, the method further includes:

the control unit controls the laser radar to switch to an ith target gesture;

wherein the ith target gesture is any one of the Q target gestures;

after the control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule, and determines whether the laser signal processing link of the laser radar is abnormal, the method further comprises:

and the control unit controls the laser radar to switch to the (i+1) th target gesture, and repeatedly controls the transmitting module to transmit the test laser according to a preset coding rule until the self-checking of the laser radar under the Q target gestures is completed.

In a second aspect, an embodiment of the present application provides a laser radar self-checking device, which is applied to a laser radar, 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 transmitting module to transmit test laser according to a preset coding rule when the laser radar is in a target posture;

the diagnosis unit is used for performing self-checking according to the first echo signal, the second echo signal and the coding rule by the control unit and determining whether an abnormality exists in a laser signal processing link of the laser radar;

Optionally, the diagnosis unit is further configured to determine a first pulse signal rule of the first echo signal and a second pulse signal rule of the second echo signal by using the control unit;

the diagnosis unit is also used for the control unit to perform self-check according to the first pulse signal rule, the second pulse signal rule and the coding rule, and determine whether the laser signal processing link of the laser radar is abnormal.

Optionally, the encoding rule includes a time interval between any two adjacent pulses in the test laser, the first pulse signal rule includes a first type of time interval information, the second pulse signal rule includes a second type of time interval information, the first type of time interval information includes a time interval between any two adjacent pulses in the first echo signal, and the second type of time interval information includes a time interval between any two adjacent pulses in the second echo signal;

The diagnosis unit is also used for determining the matching result of the first type time interval information and the second type time interval information with the coding rule respectively by the control unit;

the diagnosis unit is also used for determining whether the laser signal processing link of the laser radar is abnormal or not according to the matching result by the control unit.

Optionally, the diagnosis unit is further configured to determine that the lidar is not abnormal when the first type of time interval information and the second type of time interval information are both matched with the coding rule;

the diagnosis unit is further used for determining that the receiving module is abnormal when the first type time interval information is matched with the coding rule and the second type time interval information is not matched with the coding rule;

the diagnosis unit is further used for determining that the transmitting module is abnormal when the first type time interval information and the second type time interval information are not matched with the coding rule.

Optionally, the diagnosis unit is further configured to determine that the receiving module is abnormal when the first echo signal is received and the second echo signal is not received by the control unit;

The diagnostic unit is further configured to determine that the transmitting module is abnormal if the first echo signal and the second echo signal are not received by the control unit.

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, an embodiment of the present application provides an electronic device, including: a control unit 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 control unit.

Compared with the prior art, the laser radar self-checking method, the device, the storage medium and the electronic equipment provided by the embodiment of the application comprise a control unit, a detection unit, a transmitting module and a receiving module, wherein when the control unit is in a target attitude, the transmitting module is controlled to transmit test laser according to a preset coding rule; the control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule, and determines whether the laser signal processing link of the laser radar is abnormal or not; the first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module. By the laser radar self-checking method, the state of the laser signal processing link can be diagnosed, whether the laser signal processing link is abnormal or not is determined, and therefore the comprehensiveness and coverage rate of self-checking are improved.

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 laser radar self-checking method provided in an embodiment of the present application;

fig. 3 is a schematic diagram of sub-steps of S105 provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of the substeps of S105-2 provided in the embodiment of the present application;

FIG. 5 is a schematic diagram of single-channel laser pulse contrast provided in an embodiment of the present application;

FIG. 6 is a schematic diagram of the substeps of S105-2B provided in an embodiment of the present application;

fig. 7 is a schematic flow chart of a laser radar self-checking method according to an embodiment of the present application;

FIG. 8 is a second flow chart of a laser radar self-checking method according to the embodiment of the present application;

fig. 9 is a schematic unit diagram of a laser radar self-checking 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 embodiment of the application provides a laser radar power-on self-checking method, wherein a self-checking object covers a transmitting module, a rotating system, a receiving module and a control unit (also called a signal processing unit) of the laser radar, so that the diagnosis coverage of a laser radar receiving and transmitting link can be effectively improved, and the accuracy of power-on self-checking is improved.

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 encoding rule. 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 laser transmitting unit, the receiving module 30 has an m_rx receiving unit, the detecting unit 40 is provided with a k_test receiving unit, and in order to achieve low cost and low failure rate, the detecting unit 40 is provided with 1 receiving unit, that is, K is equal to 1.

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 self-checking method provided in the embodiment of the present application may be applied to, but not limited to, a laser radar shown in fig. 1, and referring to fig. 2, the laser radar self-checking method includes: s102 and S105 are specifically described below.

S102, when the laser radar is in a target attitude, the control unit controls the transmitting module to transmit test laser according to a preset coding rule.

Optionally, the control unit 10 sends a corresponding control signal to the emission module 20, so that the emission module 20 emits the test laser according to a preset encoding rule.

The target pose is any pose when the test laser emitted by the emitting module 20 can be accurately applied to the target object, and it should be understood that the target object may be the ground, a tree, a vehicle, a house, or the like. When the lidar is not in the target pose, the test laser may strike the sky, and the detection unit 40 and the receiving module 30 may not collect the echo signal.

S105, the control unit carries out self-checking according to the first echo signal, the second echo signal and the coding rule, and determines whether the laser signal processing link of the laser radar is abnormal or not.

The first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module.

It should be understood that the first echo signal and the second echo signal should be matched with the coding rule corresponding to the test laser, and when any one or more groups of echo signals are not matched with the coding rule corresponding to the test laser, it indicates that there is an abnormality in the laser radar, specifically, an abnormality occurs in the link processed by the laser signal.

When it is determined that there is no abnormality in the lidar in a certain gesture, the lidar may be switched to the next target gesture, and the above S102 and S105 are repeated, so as to complete repeated self-inspection in multiple gestures, and ensure accuracy of the self-inspection result.

In summary, the embodiment of the application provides a self-checking method of a laser radar, where the laser radar includes a control unit, a detection unit, a transmitting module and a receiving module, where the control unit controls the transmitting module to transmit test laser according to a preset coding rule when the laser radar is in a target posture; the control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule, and determines whether the laser signal processing link of the laser radar is abnormal or not; the first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module. By the laser radar self-checking method, the state of the laser signal processing link can be diagnosed, whether the laser signal processing link is abnormal or not is determined, and therefore the comprehensiveness and coverage rate of self-checking are improved.

On the basis of fig. 2, regarding how to ensure accuracy of the self-checking result in S105, an embodiment of the present application further provides an optional implementation manner, please refer to fig. 3, S105 includes: s105-1 and S105-2 are specifically described below.

S105-1, the control unit determines a first pulse signal rule of the first echo signal and a second pulse signal rule of the second echo signal.

Alternatively, the first pulse signal rule may characterize a time interval rule between any adjacent two pulses in the first echo signal and the second pulse signal rule may characterize a time interval rule between any adjacent two pulses in the second echo signal. Alternatively, the first pulse signal rule may characterize any pulse width rule in the first echo signal and the second pulse signal rule may characterize any pulse width rule in the second echo signal. The pulse width characterizes the pulse peak duration. The time interval between pulses characterizes the duration interval between two pulse peaks.

S105-2, the control unit carries out self-checking according to the first pulse signal rule, the second pulse signal rule and the coding rule, and determines whether the laser signal processing link of the laser radar is abnormal or not.

It should be understood that the encoding rule is the same type as the first pulse signal rule and the second pulse signal rule. The encoding rules may include the time interval between any adjacent two pulses in the test laser, or any pulse width in the test laser.

In one possible implementation, the encoding rule includes a time interval between any adjacent two pulses in the test laser, the first pulse signal rule includes a first type of time interval information, the second pulse signal rule includes a second type of time interval information, the first type of time interval information includes a time interval between any adjacent two pulses in the first echo signal, and the second type of time interval information includes a time interval between any adjacent two pulses in the second echo signal. It should be noted that any adjacent indication herein includes a time interval between all adjacent pulses.

On the basis of this, regarding how to determine whether there is an abnormality in the laser signal processing link of the lidar in the content of S105-2 in fig. 3, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 4, S105-2 includes: S105-2A and S105-2B are specifically described below.

S105-2A, the control unit obtains the matching results of the first type time interval information and the second type time interval information with the coding rules respectively.

Optionally, the matching result includes a result of whether the first type of time interval information matches the coding rule and a result of whether the second type of time interval information matches the coding rule. S105-2B, the control unit determines whether the laser signal processing link of the laser radar is abnormal according to the matching result.

Optionally, determining whether the laser signal processing link of the laser radar is abnormal by judging whether the first type time interval information and the second type time interval information are matched with the time interval between any two adjacent pulses in the test laser corresponding to the coding rule.

In one possible implementation, the first echo signal comprises a first main echo signal and a first target echo signal, and the second echo signal comprises a second main echo signal and a second target echo signal. The first main echo signal is an echo signal formed by the test laser reflected to the detection unit 40 in the radar and collected; the first target echo is an echo signal formed by collecting test laser which is transmitted to a real external target and reflected to the detection unit 40. The second main echo signal is an echo signal formed by the test laser reflected to the receiving module 30 in the radar and collected; the second target echo is an echo signal formed by collecting the test laser transmitted to a real external target and reflected to the receiving module 30.

As shown in FIG. 1, the transmitting module comprises n paths of transmitting units, the receiving module comprises m paths of receiving units, n is greater than or equal to 1, m is greater than or equal to 1, the number of paths of the first main echo signal is n, the number of paths of the first target echo signal is n, the number of paths of the second main echo signal is n multiplied by m, and the number of paths of the second target echo signal is n multiplied by m.

Optionally, the first type of time interval information includes a time interval between any adjacent two pulses in the first main echo signal and a time interval between any adjacent two pulses in the first target echo signal, and the second type of time interval information includes a time interval between any adjacent two pulses in the second main echo signal and a time interval between any adjacent two pulses in the second target echo signal.

Optionally, in S105-1 and S105-2, time interval information corresponding to each of the first main echo signal, the first target echo signal, the second main echo signal, and the second target echo signal may be acquired, or only time interval information corresponding to a part of the echo signals may be acquired. And then matching with a preset coding rule to determine whether the laser signal processing link of the laser radar is abnormal.

By comparing the second type time interval corresponding to the reflected signals of each transmitting unit acquired by each receiving unit with the time interval corresponding to the coding rule, the transmitting unit with abnormality can be determined.

Referring to fig. 5, fig. 5 is a schematic diagram of comparing single-channel laser pulses according to an embodiment of the present application.

Alternatively, during development, it may be determined by testing that the time interval based on the laser emission pulse is Δt1, Δt2, Δtn under a preset encoding rule. The main wave interval time corresponding to the second main echo signals received by the m channels of the receiving module is respectively delta t_ mrx11, delta t_ mrx12, delta t_ mrx1n, delta t_ mrx21, delta t_ mrx22, delta t_ mrx n … delta t_mrxm1, delta t_mrxm2, delta t_mrxmn.

Echo interval time corresponding to the second target echo signals received by the m channels of the receiving module are respectively delta t_rx11, delta t_rx12, delta t_rx1n, delta t_rx21, delta t_rx22, delta t_rx2n … delta t_ rxm1, delta t_ rxm2, and delta t_rxmn.

Optionally, by comparing the main wave interval time corresponding to the second main echo signals received by the m channels of the receiving module, the echo interval time corresponding to the second target echo signals received by the m channels of the receiving module, and the time interval of the laser emission pulse, it can be determined whether the second type of time interval information matches the coding rule. Similarly, it may also be determined whether the first type of time interval information matches the encoding rule.

Optionally, when the second type time interval information corresponding to any path of second main echo signal and second target echo signal corresponding to the receiving unit of the receiving module 30 is matched with the coding rule, it may be determined that the second type time interval information corresponding to the receiving unit is matched with the coding rule; or when all the second type time interval information corresponding to the second main echo signal and the second target echo signal corresponding to the receiving unit of the receiving module 30 are matched with the coding rule, it may be determined that the second type time interval information corresponding to the receiving unit is matched with the coding rule.

As shown in fig. 5, if the laser emission is of a fixed frequency, the period is also fixed, and the high and low levels account for a certain proportion of time in the fixed period; for example, the period is 100ns, the high level of the first period is 40ns, and the low level is 60%; in the second period, the high level takes 20ns and the low level takes 80%. The division in the drawings is merely for illustration and limitation. A mode in which the laser emission frequency is not fixed may also be adopted. The time of the pulse width of the high level is fixed, for example, 10ns, so that the problem of proportion is not considered in the case, and the interval time can be a multiple of 10ns, for example, 30ns between the first pulse and the second pulse; the second and third pulses are spaced 60ns apart.

On the basis of fig. 4, for the content in S105-2B, a possible implementation manner is further provided in the embodiment of the present application, please refer to fig. 6, where S105-2 includes S105-2B1, S105-2B2, and S105-2B3, which are specifically described below.

S105-B1, the control unit determines that the laser radar is not abnormal under the condition that the first type time interval information and the second type time interval information are matched with the coding rule.

S105-2B2, the control unit determines that the receiving module is abnormal under the condition that the first time interval information is matched with the coding rule and the second time interval information is not matched with the coding rule.

Alternatively, by comparing the second type time interval corresponding to each receiving unit in the receiving module 30, an abnormal receiving unit, that is, a receiving unit whose second type time interval information does not match the coding rule, may be determined.

S105-2B3, the control unit determines that the transmitting module is abnormal under the condition that the first type time interval information and the second type time interval information are not matched with the coding rule.

Alternatively, by comparing the first type of time interval and the second type of time interval corresponding to the laser signal emitted by each emission unit in the emission module 20, an abnormal emission unit, that is, an emission unit in which the first type of time interval information and/or the second type of time interval information does not match the coding rule, may be determined.

On the basis of fig. 2, regarding how to further guarantee the accuracy of the self-checking result, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 7, and before S105, the laser radar self-checking method further includes: s103 and S104 are specifically described below.

And S103, when the first echo signal is received and the second echo signal is not received, the control unit determines that the receiving module is abnormal.

S104, 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 when no first echo signal is received, this is indicated as the reception of a first main echo signal, and when no second echo signal is received, this is indicated as the reception of no second main echo signal.

Optionally, on the basis of fig. 2, regarding how to adjust the pose of the lidar, the embodiment of the present application further provides a possible implementation, please refer to fig. 8, and before S102, the lidar self-checking method further includes: s101 is specifically described below.

S101, the control unit controls the horizontal rotating mechanism of the laser radar and the vertical rotating mechanism of the laser radar to move so as to enable the laser radar to be in a target posture.

The laser radar test device comprises a laser radar device, a laser beam sensor and a laser beam sensor, wherein test laser emitted by the laser radar device in the target attitude is irradiated on a target object.

Optionally, the target pose comprises any one or more of a first pose, a second pose, a third pose, a fourth pose, a fifth pose, and a sixth pose.

And the horizontal rotating mechanism of the laser radar is positioned to the leftmost side of the horizontal visual field, and the vertical rotating mechanism of the laser radar is positioned to the bottommost position of the vertical visual field.

And the second gesture, the horizontal direction rotating mechanism is positioned to the right center direction of the horizontal view field, and the vertical direction rotating mechanism is positioned to the lowest position of the vertical view field.

And the third gesture, the horizontal direction rotating mechanism is positioned to the rightmost side of the horizontal visual field, and the vertical direction rotating mechanism is positioned to the bottommost position of the vertical visual field.

And a fourth posture, wherein the horizontal direction rotating mechanism is positioned to the rightmost side of the horizontal view field, the vertical direction rotating mechanism is positioned to a preset angle (delta theta), and the preset angle represents upward movement of the preset angle from the bottommost position of the vertical view field. Ensuring that the laser can reach the ground, and controlling the laser to emit test laser according to a certain coding rule by the control unit.

And a fifth gesture, wherein the vertical direction rotating mechanism is positioned to a preset angle, and the horizontal direction rotating mechanism is positioned to the direction of the right center of the horizontal view field.

And a sixth gesture, wherein the vertical direction rotating mechanism is positioned to a preset angle, and the horizontal direction rotating mechanism is positioned to the leftmost side of the horizontal view field.

It should be noted that, a rotation system is required to adjust the pose of the lidar. The radar is internally used for monitoring the working state of the rotating system, if the rotating system works abnormally, the position control is not carried out according to the instruction, and the monitoring system can output abnormal information.

In an alternative embodiment, the number of target poses is Q, 2.ltoreq.Q.ltoreq.6. For example, Q is 3, the first target posture is the first posture described above, the second target posture is the second posture described above, and the third target posture is the third posture described above.

Before the control transmitting module transmits the test laser according to the preset coding rule, the laser radar self-checking method further comprises the following steps:

the control unit controls the laser radar to switch to the ith target attitude.

The ith target gesture is any one of Q target gestures.

After the control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule, and determines whether the laser signal processing link of the laser radar is abnormal, the method further comprises.

The control unit controls the laser radar to switch to the (i+1) th target gesture, and repeatedly controls the transmitting module to transmit the test laser according to a preset coding rule until the self-checking of the laser radar under the Q target gestures is completed.

Optionally, the above S102 and S105 are repeated to complete repeated self-checking in multiple postures, so as to ensure accuracy of self-checking results.

In one possible implementation, when it is determined that the lidar is abnormal, a fault report may be performed to prompt the staff to repair.

Alternatively, S101-S105 provided in the embodiments of the present application may be performed during a power-on self-test phase of the lidar. After the laser radar is powered on and started, a possible implementation is provided about how to complete self-checking in the working phase, and the control unit can control the transmitting module to transmit test laser according to a preset coding rule at preset periodic intervals, and repeatedly execute S102-S105 so as to monitor and diagnose the state of the laser radar in the working self-checking phase.

Referring to fig. 9, fig. 9 is a schematic diagram of a laser radar self-checking device according to an embodiment of the present application,

alternatively, the lidar self-test device is applied to the lidar described above.

The laser radar self-checking device includes: a processing unit 501 and a diagnostic unit 502.

The processing unit 501 is configured to control the transmitting module to transmit test laser according to a preset encoding rule when the laser radar is in a target pose;

The diagnosis unit 502 is configured to perform self-checking by using the control unit according to the first echo signal, the second echo signal, and the coding rule, and determine whether an abnormality exists in a laser signal processing link of the laser radar;

Alternatively, the processing unit 501 may perform S101 and S102 described above, and the diagnosis unit 502 may perform S103, S104, and S105 described above.

Optionally, the diagnostic unit 502 is further configured to determine a first pulse signal rule of the first echo signal and a second pulse signal rule of the second echo signal by the control unit;

the diagnosis unit 502 is further configured to perform self-checking by the control unit according to the first pulse signal rule, the second pulse signal rule, and the coding rule, and determine whether an abnormality exists in a laser signal processing link of the laser radar.

Optionally, the coding rule includes a time interval between any two adjacent pulses in the test laser, the first pulse signal rule includes first type time interval information, the second pulse signal rule includes second type time interval information, the first type time interval information includes a time interval between any two adjacent pulses in the first echo signal, and the second type time interval information includes a time interval between any two adjacent pulses in the second echo signal;

The diagnosis unit 502 is further configured to determine a matching result of the first type of time interval information and the second type of time interval information with the coding rule, respectively;

the diagnosis unit 502 is further configured to determine whether an abnormality exists in a laser signal processing link of the laser radar according to the matching result.

Optionally, the diagnosis unit 502 is further configured to determine that the laser radar is not abnormal when the first type of time interval information and the second type of time interval information are both matched with the coding rule;

the diagnosis unit 502 is further configured to determine that the receiving module is abnormal when the first type of time interval information is matched with the coding rule and the second type of time interval information is not matched with the coding rule;

the diagnosis unit 502 is further configured to determine that the transmitting module is abnormal when the first type of time interval information and the second type of time interval information are not matched with the coding rule.

Optionally, the diagnosis unit 502 is further configured to determine that the receiving module is abnormal when the first echo signal is received and the second echo signal is not received by the control unit;

the diagnostic unit 502 is further configured to determine that the transmitting module is abnormal if the first echo signal and the second echo signal are not received by the control unit.

It should be noted that, the laser radar self-checking 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 embodiment of the application also provides a storage medium, which stores computer instructions and programs, and the computer instructions and the programs execute the laser radar self-checking method of the embodiment when being read and executed. The storage medium may include memory, flash memory, registers, combinations thereof, or the like.

The following provides an electronic device, which may be a laser radar device shown in fig. 1 or a terminal device including the laser radar device shown in fig. 1, for example, an unmanned plane, an automobile, and other movable devices, where the electronic device is shown in fig. 1, and the laser radar self-checking 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, and when the one or more programs are executed by the control unit, the laser radar self-checking method of the above embodiment is executed.

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

1. A laser radar self-checking method, characterized in that it is applied to a laser radar, the laser radar includes a control unit, a detection unit, a transmitting module and a receiving module, the method includes:

2. The laser radar self-checking method according to claim 1, wherein the step of the control unit performing self-checking according to the first echo signal, the second echo signal and the coding rule to determine whether there is an abnormality in a laser signal processing link of the laser radar includes:

3. The laser radar self-checking method according to claim 2, wherein the coding rule includes a time interval between any adjacent two pulses in the test laser, the first pulse signal rule includes a first type of time interval information, the second pulse signal rule includes a second type of time interval information, the first type of time interval information includes a time interval between any adjacent two pulses in the first echo signal, the second type of time interval information includes a time interval between any adjacent two pulses in the second echo signal, and the control unit performs self-checking according to the first pulse signal rule, the second pulse signal rule and the coding rule to determine whether an abnormality exists in a laser signal processing link of the laser radar, including:

4. The laser radar self-checking method according to claim 3, wherein the step of determining whether there is an abnormality in a laser signal processing link of the laser radar by the control unit according to the matching result includes:

5. The lidar self-test method of claim 1, wherein before the control unit performs self-test according to the first echo signal, the second echo signal, and the encoding rule to determine whether an abnormality exists in a laser signal processing link of the lidar, the method further comprises:

6. The lidar self-test method of claim 1, wherein the first echo signal comprises a first main echo signal and a first target echo signal, and the second echo signal comprises a second main echo signal and a second target echo signal;

7. The laser radar self-checking method according to claim 1, wherein before the control unit controls the transmitting module to transmit the test laser according to a preset coding rule when the laser radar is in a target attitude, the method further comprises:

8. The lidar self-test method of claim 1, wherein the target pose comprises any one or more of a first pose, a second pose, a third pose, a fourth pose, a fifth pose, and a sixth pose;

9. The lidar self-test method of claim 8, wherein the number of target poses is Q, 2+.q+.6, and the method further comprises, before controlling the emission module to emit the test laser according to a preset encoding rule:

the control unit controls the laser radar to switch to an ith target gesture;

wherein the ith target gesture is any one of the Q target gestures;

10. A laser radar self-checking device, characterized in that is applied to laser radar, laser radar includes control unit, detecting element, transmitting module and receiving module, the device includes:

11. The lidar self-test device of claim 10, wherein the diagnostic unit is further configured to determine a first pulse signal rule for a first echo signal, a second pulse signal rule for a second echo signal, and a third pulse signal rule for a second echo signal;

12. The lidar self-test device of claim 11, wherein the encoding rule comprises a time interval between any two adjacent pulses in the test laser, wherein the first pulse signal rule comprises a first type of time interval information, wherein the second pulse signal rule comprises a second type of time interval information, wherein the first type of time interval information comprises a time interval between any two adjacent pulses in the first echo signal, and wherein the second type of time interval information comprises a time interval between any two adjacent pulses in the second echo signal;

13. The lidar self-test device of claim 12,

the diagnosis unit is also used for determining that the laser radar is not abnormal under the condition that the first type time interval information and the second type time interval information are matched with the coding rule;

14. The lidar self-test device of claim 10,

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;

15. 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 1-9.

16. An electronic device, comprising: a control unit and a memory for storing one or more programs; the method according to any one of claims 1-9 is implemented when the one or more programs are executed by the control unit.