CN116413699A - Signal processing method and device for laser radar and storage medium - Google Patents
Signal processing method and device for laser radar and storage medium Download PDFInfo
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- G—PHYSICS
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- 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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- G—PHYSICS
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- 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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Abstract
The application is applicable to the technical field of radars, and provides a signal processing method, a device and a storage medium of a laser radar, wherein the method comprises the following steps: transmitting a plurality of pulse signals and acquiring monitoring signals corresponding to the plurality of pulse signals; judging whether echo signals exist in a plurality of pulse signals or not based on the monitoring signals; if the echo signals exist in the plurality of pulse signals, processing the echo signals according to the signal characteristics of the echo signals to obtain processed signals; if the echo signals do not exist in the pulse signals, the monitoring signals are overlapped, and the processed signals are determined according to the overlapped monitoring signals; and calculating the return time of a plurality of pulse signals according to the processed signals. By adopting the method, the ranging accuracy and the detection capability of the laser radar can be improved.
Description
Technical Field
The application belongs to the technical field of radars, and particularly relates to a signal processing method, a signal processing device and a storage medium of a laser radar.
Background
A lidar is a radar system that detects a characteristic quantity such as a position, a speed, etc. of a target by emitting a laser beam. The working principle is that a laser beam is emitted to a target, then a received echo signal reflected from the target is compared with an emission signal, and after proper processing, relevant information (such as parameters of the distance, the azimuth, the altitude, the speed, the gesture, even the shape and the like of the target) of the target can be obtained, so that the target is detected, tracked and identified.
The ranging accuracy and the detection capability are important indexes of the working performance of the laser radar. The range finding precision and the detecting capability of the laser radar can be improved by improving the laser emergent power, reducing the circuit noise, improving the conversion efficiency of the optical detector and the like. However, due to limitations of hardware, volume, power consumption, heat generation, cost, eye safety and the like, there are some difficulties to improve the ranging accuracy and the detection capability of the laser radar in the above manner.
Disclosure of Invention
In view of this, the embodiments of the present application provide a method, an apparatus and a storage medium for processing signals of a laser radar, so as to improve the ranging accuracy and the detection capability of the laser radar.
A first aspect of an embodiment of the present application provides a signal processing method of a lidar, including:
transmitting a plurality of pulse signals and acquiring monitoring signals corresponding to the plurality of pulse signals;
judging whether echo signals exist in a plurality of pulse signals or not based on the monitoring signals;
if the echo signals exist in the plurality of pulse signals, processing the echo signals according to the signal characteristics of the echo signals to obtain processed signals;
if the echo signals do not exist in the pulse signals, the monitoring signals are overlapped, and the processed signals are determined according to the overlapped monitoring signals;
and calculating the return time of a plurality of pulse signals according to the processed signals.
A second aspect of an embodiment of the present application provides a signal processing apparatus of a lidar, including:
the pulse signal transmitting module is used for transmitting a plurality of pulse signals;
the monitoring signal acquisition module is used for acquiring monitoring signals corresponding to the pulse signals;
the echo signal judging module is used for judging whether echo signals exist in the pulse signals or not based on the monitoring signals;
the first signal processing module is used for processing the echo signals according to the signal characteristics of the echo signals if the echo signals exist in the plurality of pulse signals, so as to obtain processed signals;
the second signal processing module is used for superposing the monitoring signals if the echo signals do not exist in the pulse signals, and determining the processed signals according to the superposed monitoring signals;
and the return time calculation module is used for calculating the return time of a plurality of pulse signals according to the processed signals.
A third aspect of embodiments of the present application provides a lidar device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the signal processing method of the lidar according to the first aspect when the processor executes the computer program.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a signal processing method of a lidar according to the first aspect.
A fifth aspect of embodiments of the present application provides a computer program product, which when run on a lidar device, causes the lidar device to perform the method for processing signals of a lidar according to the first aspect.
Compared with the prior art, the embodiment of the application has the following advantages:
in the embodiment of the application, the laser radar device can emit a plurality of pulse signals when detecting the target object. For the obtained monitoring signals corresponding to the pulse signals, before the monitoring signals are overlapped, the laser radar device can judge whether the pulse signals are suitable for overlapping by judging whether echo signals exist in the pulse signals or not. For signals suitable for superposition, superposition can be performed to obtain processed signals; whereas for signals unsuitable for superposition, the current signal may be treated as a processed signal by further processing or directly. The return time of the pulse signal calculated based on the processed signal is more accurate than the return time obtained by directly superposing the signal in the prior art, and the ranging accuracy and the detection capability of the laser radar are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic diagram of a signal processing method of a lidar according to an embodiment of the present application;
fig. 2 is a schematic diagram of an implementation manner of step S103 in a signal processing method of a lidar according to an embodiment of the present application;
fig. 3 is a schematic diagram of an implementation manner of step S104 in a signal processing method of a lidar according to an embodiment of the present application;
fig. 4 is a schematic diagram of a signal processing flow of a lidar according to an embodiment of the present application;
fig. 5 is a schematic diagram of a signal processing device of a lidar according to an embodiment of the present application;
fig. 6 is a schematic diagram of a lidar device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In general, in order to improve the ranging accuracy and the detection capability of the lidar, the range-finding accuracy and the detection capability of the lidar may be improved by increasing the signal-to-noise ratio of the signal. Compared with the method that the laser emergent power is improved, the circuit noise is reduced, the conversion efficiency of the optical detector is improved, and the like, the method is easy to limit by hardware, volume, power consumption, heating, cost, eye safety and the like, and the signal-to-noise ratio of the signal is improved. The signal superposition mode is adopted, so that the signal to noise ratio of the signals is improved.
Let the i-th signal be:
y i (m)＝s i (m)+n i (m)
where y is the monitored signal, s is the real signal, n is the signal noise, and m is the sampling point in the signal.
When K signals are superimposed, there is:
from the above, after the K signals are superimposed, the real signal can become K times of the original signal, namely:
wherein E is an expected value.
Assuming that the signal noise is gaussian white noise, then:
where i and j are each different signals.
Since the noises are uncorrelated with each other, when i+.j, there is
Thus, the above expression can be expressed as:
and then obtain:
it can be seen that by superimposing the signals, the signal noise becomes original
Multiple times.
Let the signal-to-noise ratio be:
where A is the amplitude of the signal and σ is the root mean square of the signal noise.
Then, after the K signals are superimposed, the signal-to-noise ratio is:
that is, after the K signals are superimposed, the signal-to-noise ratio will be improved
Multiple times.
In general, since the emissivity of the same target object is almost equal, the distance between each scanning point where the laser radar apparatus strikes the target object and the laser radar apparatus is also almost equal, and thus the echo signals returned by these scanning points can be considered to be substantially the same. However, on the other hand, when the adjacent scan points are not on the same target object, echo signals may not be on the same position due to the deviation of the distance, and if the signals are directly superimposed, the superimposed signals may not only not improve the signal-to-noise ratio, but also may cause the morphology of the original signals to change, thereby causing inaccurate ranging. Therefore, the embodiment of the application provides a signal processing method of the laser radar, which is used for judging whether an echo signal exists in a pulse signal emitted by the laser radar, and pertinently superposing signals suitable for superposition, so that the ranging accuracy and the detection capability of the radar can be improved under the condition that the limiting conditions of hardware, volume, power consumption, heating, cost, eye safety and the like of the laser radar are not changed.
The technical scheme of the present application is described below by specific examples.
Referring to fig. 1, a schematic diagram of a signal processing method of a laser radar provided in an embodiment of the present application is shown, where the method specifically may include the following steps:
s101, transmitting a plurality of pulse signals and acquiring monitoring signals corresponding to the pulse signals.
It should be noted that the method may be applied to a lidar device, that is, the execution subject of the embodiment of the present application is a lidar device.
In the embodiment of the application, the laser radar device can emit a plurality of pulse signals in the detection process. These pulse signals will be reflected after striking the target object, and the reflected signals can be received by the lidar device. The signal received by the laser radar device is the monitoring signal. In general, the monitoring signal may consist of both a real signal and noise.
In one possible implementation manner of the embodiment of the present application, transmitting multiple pulse signals may be implemented by transmitting multiple pulse signals at a time. For example, for a certain scan point, K pulse signals may be simultaneously transmitted to the scan point. Thus, the laser radar device can acquire K monitoring signals returned by the scanning point.
In another possible implementation of the embodiment of the present application, transmitting a plurality of pulse signals may also be implemented by transmitting one pulse signal at a time for a plurality of scan points. For example, for K scan points, a pulse signal is transmitted to each scan point at a time. Thus, the laser radar device can also acquire K monitoring signals returned by K scanning points.
In yet another possible implementation manner of the embodiment of the present application, the two emission manners may also be combined. For example, M pulse signals are transmitted each time, and K monitoring signals can be obtained by storing the monitoring signals returned from the previous N transmissions. Where k=m×n.
S102, judging whether echo signals exist in the pulse signals or not based on the monitoring signals.
In general, the monitoring signal may form a corresponding waveform, from which it may be determined whether the monitoring signal received by the lidar device is an echo signal.
In a specific implementation, a corresponding determination threshold may be set, and whether the monitoring signal is an echo signal may be determined by combining the waveform of the monitoring signal and the determination threshold. This process is to determine whether an echo signal is present in the pulse signal transmitted from the lidar device.
According to the judging result of whether the echo signal exists in the pulse signal transmitted by the laser radar equipment, different processing modes can be adopted for processing the signal. Wherein, if the echo signals exist in the plurality of pulse signals, S103 may be executed; if none of the plurality of pulse signals has an echo signal, S104 may be performed.
S103, processing the echo signals according to the signal characteristics of the echo signals to obtain processed signals.
In the embodiment of the present application, when the transmitted pulse signal has an echo signal, different signal processing manners may be adopted according to the signal characteristics of the echo signal. Wherein the signal characteristics of the echo signal may comprise at least one of the following characteristic items: the rising edge position of the echo signal, the peak value of the echo signal, the peak position of the echo signal, the pulse width of the echo signal, or the square sum of the deviations between adjacent echo signals, the embodiment of the present application is not limited thereto.
In one possible implementation manner of the embodiment of the present application, the existence of echo signals by the plurality of pulse signals may include two cases, namely: echo signals exist in the pulse signals; alternatively, echo signals are present in the plurality of pulse signal portions. Therefore, when the echo signal is processed according to its signal characteristics, it is also possible to separately process for the above two cases.
As shown in fig. 2, in S103, the echo signal is processed according to the signal characteristics of the echo signal, so as to obtain a processed signal, which may specifically include the following substeps S1031-S1033:
s1031, if echo signals exist in the plurality of pulse signals, determining characteristic items to be compared from signal characteristics of the echo signals.
In the embodiment of the present application, the feature item to be compared may be any feature item of the signal features of the echo signal. For example, the feature item to be compared may be the rising edge position of the echo signal, or may be the peak value of the echo signal, or the peak value position of the echo signal, which is not limited in the embodiment of the present application.
If echo signals are present in each of the plurality of pulse signals emitted by the lidar, the characteristic item to be compared can first be determined. After determining the feature items to be compared, it may be further determined whether the feature items satisfy a preset condition. It should be noted that, for different feature items, the corresponding preset conditions may be different.
S1032, when the characteristic items of the echo signals meet preset conditions, overlapping the echo signals to obtain the processed signals.
In this embodiment of the present application, if the feature items of the plurality of echo signals all meet the preset condition, the received echo signals may be considered to be transmitted by the same target object, that is, the echo signals belong to the same target. Accordingly, these echo signals can also be superimposed.
Taking the characteristic item as an example of the rising edge position of the echo signal, when judging whether the characteristic item meets the preset condition, judging whether the rising edge position of each echo signal is within a certain set range. If the rising edge positions of the echo signals are within the range, the characteristic item can be considered to meet the preset condition. For other feature items, the manner of judging whether or not they satisfy the preset condition is similar to this.
It should be noted that, the signal superposition described in the embodiments of the present application includes two steps of superposition and averaging. Therefore, when the characteristic item is judged to meet the preset condition, the echo signals can be overlapped first, and then the overlapped signals are subjected to average processing to obtain processed signals. Because the superposition of signals is a relatively mature signal processing method in the prior art, the embodiments of the present application will not be described in detail.
S1033, if the characteristic item of the echo signal does not meet the preset condition, determining a signal to be superimposed from a plurality of echo signals, and superimposing the signal to be superimposed to obtain the processed signal; the number of the signals to be superimposed is smaller than the number of the echo signals.
If the characteristic items of the echo signals do not meet the preset conditions, the echo signals can be considered to be not directly overlapped.
In the embodiment of the application, for the echo signals which cannot be directly overlapped, part of the echo signals can be overlapped by reducing the number of overlapped signals.
In a specific implementation, when it is determined that the characteristic item of the echo signal does not meet the preset condition, a signal to be superimposed may be determined from a plurality of echo signals. The number of the signals to be superimposed is smaller than the number of the echo signals.
In one example, the signals to be superimposed may be those echo signals whose characteristic items satisfy the above-mentioned preset conditions. For example, also taking the characteristic item as an example of the rising edge position of the echo signal, it is possible to determine whether or not the rising edge position is within a certain set range for each echo signal. Those echo signals whose rising edge positions are within this range are then determined as signals to be superimposed. And then, superposing the signals to be superposed to obtain the processed signals.
In one possible implementation manner of the embodiment of the present application, if echo signals exist in the plurality of pulse signals, but the characteristic terms of the echo signals do not meet the preset condition, the echo signals may be considered as being unable to be superimposed, so that the current signal is directly used as the processed signal to execute the subsequent signal processing operation. The current signal may be an echo signal that is currently received and cannot be superimposed with other echo signals.
In the embodiment of the application, if a plurality of pulse signals transmitted by the laser radar only partially exist echo signals, the number of the superimposed signals can be reduced, and only the received echo signals are superimposed to obtain processed signals; alternatively, the echo signal may be directly used as the processed signal, which is not limited in the embodiment of the present application.
S104, superposing the monitoring signals, and determining the processed signals according to the superposed monitoring signals.
If no echo signal exists in the plurality of pulse signals emitted by the laser radar device, the target object is considered to be far away or the reflectivity of the target object is too low. At this time, the obtained monitoring signals can be directly superimposed, and the processed signals are determined according to the superimposed monitoring signals and used for subsequent signal processing operations.
In the embodiment of the present application, the manner of superimposing the acquired monitoring signals is similar to that of superimposing the echo signals in the foregoing steps, that is, a plurality of monitoring signals are first superimposed, and then the superimposed monitoring signals are subjected to an averaging process.
As shown in fig. 3, the monitor signal is superimposed in S104, and the processed signal is determined according to the superimposed monitor signal, which may specifically include the following substeps S1041-S1044:
s1041, superposing the monitoring signals.
S1042, judging whether the superimposed monitoring signal has the echo signal or not based on a first preset judging threshold.
In an embodiment of the present application, the first preset decision threshold may be a relatively low echo signal decision threshold. For example, if it is determined in S102 based on the monitoring signal that the echo signals are present in the plurality of pulse signals, the first preset determination threshold used in this step to determine whether the echo signals are present in the superimposed monitoring signal may be a value smaller than the second preset determination threshold.
If it is determined that the superimposed monitoring signal has an echo signal based on the first preset determination threshold, S1043 may be performed to determine the superimposed monitoring signal as a processed signal; otherwise, S1044 may be executed to directly discard the superimposed monitoring signal, and end the signal processing flow.
And S1043, determining the superimposed monitoring signal as the processed signal.
S1044, discarding the overlapped monitoring signals.
S105, calculating the return time of a plurality of pulse signals according to the processed signals.
For the processed signals obtained through the processing in the previous steps, the laser radar device can calculate the return time of a plurality of pulse signals based on the processed signals, so as to determine parameters such as the distance, the azimuth, the altitude, the speed, the gesture, even the shape and the like of the target object according to the return time.
In one possible implementation manner of the embodiment of the present application, the lidar device may use an intersection point of a preset percentage of a peak value of the processed signal and a rising edge of the signal as a return time of the plurality of pulse signals. The above-mentioned preset percentage may be determined according to actual needs, for example, 60%, 80%, etc., which is not limited in the embodiment of the present application.
In the embodiment of the application, the laser radar apparatus may perform, when detecting the target object, by transmitting a plurality of pulse signals. For the obtained monitoring signals corresponding to the pulse signals, before the monitoring signals are overlapped, the laser radar device can judge whether the pulse signals are suitable for overlapping by judging whether echo signals exist in the pulse signals or not. For signals suitable for superposition, superposition can be performed to obtain processed signals; whereas for signals unsuitable for superposition, the current signal may be treated as a processed signal by further processing or directly. The return time of the pulse signal calculated based on the processed signal is more accurate than the return time obtained by directly superposing the signal in the prior art, and the ranging accuracy and the detection capability of the laser radar are improved.
It should be noted that, the sequence number of each step in the above embodiment does not mean the sequence of execution sequence, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.
For easy understanding, the following describes a signal processing method of the lidar according to the embodiment of the present application in combination with a complete example.
Fig. 4 is a schematic diagram of a signal processing flow of a lidar according to an embodiment of the present application.
The signal processing flow of the lidar shown in fig. 4 may include the following steps:
s1, the lidar device transmits M pulse signals each time, and stores k=m×n signals received N times before. The K signals are signals reflected by the target object and received by the lidar device after transmitting the pulse signal, that is, the monitoring signals in the foregoing method embodiment.
S2, the laser radar equipment judges whether echoes exist in the K signals or not. The lidar device may determine whether the K signals have echoes based on a set determination threshold, and the determination result may include the presence of echo signals and the absence of echo signals. The existence of the echo signal can be further divided into two situations that the echo signal exists in all of the K signals and only part of the K signals exist in the echo signal.
And S3, if echo signals exist in all the K signals, comparing the signal characteristics of the echo signals, and judging whether the signals meet preset conditions or not. The signal characteristics may include any of the following: echo signal rising edge position, echo signal peak value position, echo signal pulse width, or square sum of deviations between adjacent echo signals. When comparing the signal characteristics, one of the characteristic items can be selected for comparison, whether the signal characteristics meet the preset condition or not can be judged, and a plurality of characteristic items can be selected for comparison. If the signal characteristics all meet the preset conditions, the echo signals can be considered to be overlapped. So that K echo signals can be overlapped and averaged, and then step S6 is skipped; if the signal characteristics of the echo signals do not meet the preset conditions, the step S5 is skipped.
And S4, if no echo signal exists in all the K signals, the target object is considered to be far away or the reflectivity is too low. At this time, the K signals may be directly superimposed and averaged. Then, a determination threshold value for determining whether or not an echo signal is present is lowered, and whether or not an echo signal is present in the superimposed signal is determined based on the lowered determination threshold value. If the superimposed signal has an echo signal, the superimposed signal may be used as a processed signal, and the process may jump to step S6.
S5, if only part of the K signals have echo signals, or the signal characteristics of the echo signals do not meet the preset conditions, the number of the superimposed signals can be reduced, or the K signals can not be directly considered to be superimposed, and the current signal is used as the processed signal and is jumped to the step S6.
S6, taking the intersection point of a certain percentage of the peak value of the processed signal and the rising edge of the peak value as the signal return time.
Referring to fig. 5, a schematic diagram of a signal processing apparatus of a laser radar provided in an embodiment of the present application is shown, where the apparatus may specifically include a pulse signal transmitting module 501, a monitoring signal acquiring module 502, an echo signal judging module 503, a first signal processing module 504, a second signal processing module 505, and a return time calculating module 506, where:
a pulse signal transmitting module 501 for transmitting a plurality of pulse signals;
a monitoring signal acquisition module 502, configured to acquire monitoring signals corresponding to a plurality of the pulse signals;
an echo signal judging module 503, configured to judge whether echo signals exist in the plurality of pulse signals based on the monitoring signals;
a first signal processing module 504, configured to process the echo signal according to the signal characteristics of the echo signal if the echo signal exists in the plurality of pulse signals, so as to obtain a processed signal;
a second signal processing module 505, configured to superimpose the monitoring signals if none of the plurality of pulse signals has the echo signal, and determine the processed signal according to the superimposed monitoring signals;
a return time calculation module 506, configured to calculate return times of the plurality of pulse signals according to the processed signals.
In this embodiment of the present application, the first signal processing module 504 may specifically be configured to: if the echo signals exist in the pulse signals, determining characteristic items to be compared from signal characteristics of the echo signals; when the characteristic items of the echo signals meet preset conditions, superposing the echo signals to obtain the processed signals; if the characteristic item of the echo signal does not meet the preset condition, determining a signal to be superimposed from a plurality of echo signals, and superimposing the signal to be superimposed to obtain the processed signal; the number of the signals to be superimposed is smaller than the number of the echo signals.
In the embodiment of the present application, the first signal processing module 504 may further be configured to: if the characteristic item of the echo signal does not meet the preset condition, taking the current signal as the processed signal; the current signal is an echo signal which is currently received and cannot be overlapped with other echo signals.
In an embodiment of the present application, the signal features may include at least one of the following feature items:
echo signal rising edge position, echo signal peak value position, echo signal pulse width, or square sum of deviations between adjacent echo signals.
In the embodiment of the present application, the first signal processing module 504 may further be configured to: if the echo signals exist in the pulse signal parts, superposing the received echo signals to obtain the processed signals; alternatively, the echo signal is used as the processed signal.
In this embodiment of the present application, the second signal processing module 505 may specifically be configured to: judging whether the superimposed monitoring signal has the echo signal or not based on a first preset judging threshold value; the first preset judging threshold value is smaller than a second preset judging threshold value used for judging whether echo signals exist in the pulse signals or not based on the monitoring signals; if the echo signal exists in the superimposed monitoring signal based on the first preset judging threshold value, determining the superimposed monitoring signal as the processed signal; otherwise, discarding the superimposed monitoring signal.
In the embodiment of the present application, the return time calculation module 506 may specifically be configured to: and taking the intersection point of the preset percentage of the peak value of the processed signal and the rising edge of the processed signal as the return time of a plurality of pulse signals.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference should be made to the description of the method embodiments.
Referring to fig. 6, a schematic diagram of a lidar device according to an embodiment of the present application is shown. As shown in fig. 6, a lidar apparatus 600 in the embodiment of the present application includes: a processor 610, a memory 620, and a computer program 621 stored in the memory 620 and executable on the processor 610. The processor 610, when executing the computer program 621, implements the steps in the respective embodiments of the signal processing method of the lidar described above, such as steps S101 to S105 shown in fig. 1. Alternatively, the processor 610, when executing the computer program 621, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the modules 501 to 506 shown in fig. 5.
Illustratively, the computer program 621 may be partitioned into one or more modules/units that are stored in the memory 620 and executed by the processor 610 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing particular functions, which may be used to describe the execution of the computer program 621 in the lidar device 600. For example, the computer program 621 may be divided into a pulse signal transmitting module, a monitoring signal acquiring module, an echo signal judging module, a first signal processing module, a second signal processing module, and a return time calculating module, where the specific functions of the modules are as follows:
the pulse signal transmitting module is used for transmitting a plurality of pulse signals;
the monitoring signal acquisition module is used for acquiring monitoring signals corresponding to the pulse signals;
the echo signal judging module is used for judging whether echo signals exist in the pulse signals or not based on the monitoring signals;
the first signal processing module is used for processing the echo signals according to the signal characteristics of the echo signals if the echo signals exist in the plurality of pulse signals, so as to obtain processed signals;
the second signal processing module is used for superposing the monitoring signals if the echo signals do not exist in the pulse signals, and determining the processed signals according to the superposed monitoring signals;
and the return time calculation module is used for calculating the return time of a plurality of pulse signals according to the processed signals.
The lidar device 600 may be a lidar as described in the foregoing method embodiments, and the lidar device 600 may include, but is not limited to, a processor 610, a memory 620. It will be appreciated by those skilled in the art that fig. 6 is merely an example of a lidar device 600 and is not meant to be limiting of lidar device 600, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., lidar device 600 may also include input-output devices, network access devices, buses, etc.
The processor 610 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 620 may be an internal storage unit of the lidar device 600, such as a hard disk or a memory of the lidar device 600. The memory 620 may also be an external storage device of the lidar device 600, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the lidar device 600. Further, the memory 620 may also include both an internal memory unit and an external memory device of the lidar device 600. The memory 620 is used to store the computer program 621 and other programs and data required by the lidar device 600. The memory 620 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the application also discloses a laser radar device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the signal processing method of the laser radar in the previous embodiments when executing the computer program.
The embodiments of the present application also disclose a computer readable storage medium storing a computer program which, when executed by a processor, implements the signal processing method of the lidar described in the foregoing embodiments.
The embodiment of the application also discloses a computer program product which, when being run on the laser radar device, causes the laser radar device to execute the signal processing method of the laser radar in the previous embodiments.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A method for processing a signal of a lidar, comprising:
transmitting a plurality of pulse signals and acquiring monitoring signals corresponding to the plurality of pulse signals;
judging whether echo signals exist in a plurality of pulse signals or not based on the monitoring signals;
if the echo signals exist in the plurality of pulse signals, processing the echo signals according to the signal characteristics of the echo signals to obtain processed signals;
if the echo signals do not exist in the pulse signals, the monitoring signals are overlapped, and the processed signals are determined according to the overlapped monitoring signals;
and calculating the return time of a plurality of pulse signals according to the processed signals.
2. The method of claim 1, wherein if the plurality of pulse signals exist in the echo signals, processing the echo signals according to signal characteristics of the echo signals to obtain processed signals, including:
if the echo signals exist in the pulse signals, determining characteristic items to be compared from signal characteristics of the echo signals;
when the characteristic items of the echo signals meet preset conditions, superposing the echo signals to obtain the processed signals;
if the characteristic item of the echo signal does not meet the preset condition, determining a signal to be superimposed from a plurality of echo signals, and superimposing the signal to be superimposed to obtain the processed signal; the number of the signals to be superimposed is smaller than the number of the echo signals.
3. The method as recited in claim 2, further comprising:
if the characteristic item of the echo signal does not meet the preset condition, taking the current signal as the processed signal; the current signal is an echo signal which is currently received and cannot be overlapped with other echo signals.
4. A method according to claim 2 or 3, characterized in that the signal characteristics comprise at least one of the following characteristic items:
echo signal rising edge position, echo signal peak value position, echo signal pulse width, or square sum of deviations between adjacent echo signals.
5. The method of claim 4, wherein if the plurality of pulse signals exist in the echo signals, processing the echo signals according to signal characteristics of the echo signals to obtain processed signals, further comprising:
if the echo signals exist in the pulse signal parts, superposing the received echo signals to obtain the processed signals; alternatively, the echo signal is used as the processed signal.
6. The method of claim 1, wherein said determining said processed signal from said superimposed monitor signal comprises:
judging whether the superimposed monitoring signal has the echo signal or not based on a first preset judging threshold value; the first preset judging threshold value is smaller than a second preset judging threshold value used for judging whether echo signals exist in the pulse signals or not based on the monitoring signals;
if the echo signal exists in the superimposed monitoring signal based on the first preset judging threshold value, determining the superimposed monitoring signal as the processed signal; otherwise, discarding the superimposed monitoring signal.
7. The method of any of claims 1-3 or 5-6, wherein said calculating a return time for a plurality of said pulse signals from said processed signals comprises:
and taking the intersection point of the preset percentage of the peak value of the processed signal and the rising edge of the processed signal as the return time of a plurality of pulse signals.
8. A signal processing apparatus of a laser radar, comprising:
the pulse signal transmitting module is used for transmitting a plurality of pulse signals;
the monitoring signal acquisition module is used for acquiring monitoring signals corresponding to the pulse signals;
the echo signal judging module is used for judging whether echo signals exist in the pulse signals or not based on the monitoring signals;
the first signal processing module is used for processing the echo signals according to the signal characteristics of the echo signals if the echo signals exist in the plurality of pulse signals, so as to obtain processed signals;
the second signal processing module is used for superposing the monitoring signals if the echo signals do not exist in the pulse signals, and determining the processed signals according to the superposed monitoring signals;
and the return time calculation module is used for calculating the return time of a plurality of pulse signals according to the processed signals.
9. A lidar device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the signal processing method of the lidar according to any of claims 1 to 7 when the computer program is executed by the processor.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the signal processing method of a lidar according to any of claims 1 to 7.
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| CN202111657210.4A CN116413699A (en) | 2021-12-30 | 2021-12-30 | Signal processing method and device for laser radar and storage medium |
| PCT/CN2022/141597 WO2023125321A1 (en) | 2021-12-30 | 2022-12-23 | Signal processing method and apparatus of laser radar, and storage medium |
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| CN202111657210.4A CN116413699A (en) | 2021-12-30 | 2021-12-30 | Signal processing method and device for laser radar and storage medium |
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| US10866304B1 (en) * | 2018-09-12 | 2020-12-15 | Neural Propulsion Systems, Inc. | Signal detection and denoising systems |
| CN110333499A (en) * | 2018-10-12 | 2019-10-15 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN109917408B (en) * | 2019-03-28 | 2020-04-24 | 上海禾赛光电科技有限公司 | Echo processing method and distance measuring method of laser radar and laser radar |
| CN112740066B (en) * | 2019-05-31 | 2023-08-04 | 深圳市速腾聚创科技有限公司 | Anti-interference processing method and device for multi-pulse laser radar system |
| CN113050071B (en) * | 2019-12-27 | 2023-05-30 | 北京万集科技股份有限公司 | Laser radar data processing method, device, equipment and storage medium |
| CN113050069B (en) * | 2019-12-27 | 2023-05-30 | 北京万集科技股份有限公司 | Method, device, equipment and storage medium for acquiring interference signals of laser radar |
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