CN116430360A - Laser radar scanning method and device, storage medium, laser radar and vehicle - Google Patents

Laser radar scanning method and device, storage medium, laser radar and vehicle Download PDF

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Publication number
CN116430360A
CN116430360A CN202310506623.5A CN202310506623A CN116430360A CN 116430360 A CN116430360 A CN 116430360A CN 202310506623 A CN202310506623 A CN 202310506623A CN 116430360 A CN116430360 A CN 116430360A
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laser
scanning
scanning position
energy
reducing
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赵可为
张凤杰
雷长林
丘剑宏
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Guangzhou Asensing Technology Co Ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4817Constructional features, e.g. arrangements of optical elements relating to scanning
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02ATECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Computer Networks & Wireless Communication (AREA)
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  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The application provides a laser radar scanning method, a laser radar scanning device, a storage medium, a laser radar and a vehicle, and relates to the field of laser radars. The laser radar comprises first laser and second laser, and the laser radar obtains a current first scanning position of the first laser and a current second scanning position of the second laser; if the first scanning position and the second scanning position are located in the overlapping area, the superposition energy when the first laser and the second laser scan the overlapping area is reduced. Since the superposition energy is lower than the upper limit of the energy which can be borne by the eyes, and the laser power of each of the first laser and the second laser is greater than 0; the first laser and the second laser scan the overlapping area simultaneously so as to avoid the occurrence of a scanning blind area and reduce the damage of the laser to human eyes.

Description

Laser radar scanning method and device, storage medium, laser radar and vehicle
Technical Field
The present invention relates to a laser radar, and more particularly, to a laser radar scanning method, a laser radar scanning device, a laser radar storage medium, a laser radar, and a vehicle.
Background
Laser radars are widely used in various automatic driving vehicles at present, and are an active detection system for detecting the position, speed, distance and the like of a target by actively emitting laser beams. The higher the laser radar emits laser power, the farther the detection distance is; but the higher the emission power, the greater the damage to the human eye; therefore, the power of the lidar emission is limited.
In order to improve the scanning efficiency of laser light, there are often a plurality of laser emission sources in the lidar. When radar scanning is performed, a plurality of laser emission sources scan different areas simultaneously. However, the multiple scan regions may generate overlapping regions at the edge positions of the respective scan regions, which may generate an energy superposition effect, so that laser energy in the regions may be higher than that in the non-overlapping regions, and thus may exceed the tolerance range of human eyes.
Disclosure of Invention
In order to overcome at least one defect in the prior art, the application provides a laser radar scanning method, a device, a storage medium, a laser radar and a vehicle, which specifically comprise the following steps:
in a first aspect, the present application provides a scanning method of a laser radar, where the laser radar includes a first laser and a second laser, and the method includes:
acquiring a current first scanning position of the first laser and a current second scanning position of the second laser;
and if the first scanning position and the second scanning position are positioned in the overlapping area, reducing the superposition energy when the first laser and the second laser scan the overlapping area so that the superposition energy is lower than the upper energy limit which can be born by eyes, and the laser power of each of the first laser and the second laser is larger than 0.
In a second aspect, the present application provides a scanning device for a laser radar, the laser radar including a first laser and a second laser, the device comprising:
the scanning position module is used for acquiring the current first scanning position of the first laser and the current second scanning position of the second laser;
and the energy adjustment module is used for reducing the superposition energy when the first laser and the second laser scan the overlapped area if the first scanning position and the second scanning position are positioned in the overlapped area so that the superposition energy is lower than the upper energy limit which can be born by eyes, and the laser power of each of the first laser and the second laser is larger than 0.
In a third aspect, the present application provides a storage medium storing a computer program which, when executed by a processor, implements the method of scanning a lidar.
In a fourth aspect, the present application provides a laser radar, where the laser radar includes a processor, a memory, and a laser module, where the memory stores a computer program, and where the processor executes the program and the extreme and the program to implement the method of scanning the laser radar.
In a fifth aspect, the present application provides a vehicle comprising the lidar.
Compared with the prior art, the application has the following beneficial effects:
in the scanning method, the device, the storage medium, the laser radar and the vehicle of the laser radar scanning, the laser radar comprises first laser and second laser, and the laser radar acquires a first current scanning position of the first laser and a second current scanning position of the second laser; if the first scanning position and the second scanning position are located in the overlapping area, the superposition energy when the first laser and the second laser scan the overlapping area is reduced. Since the superposition energy is lower than the upper limit of the energy which can be borne by the eyes, and the laser power of each of the first laser and the second laser is greater than 0; the first laser and the second laser scan the overlapping area simultaneously so as to avoid the occurrence of a scanning blind area and reduce the damage of the laser to human eyes.
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 the 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 diagram of a lidar according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an overlapping region provided in an embodiment of the present application;
fig. 3 is a schematic diagram of a scanning blind area according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of a method according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of the matching effect of the lidar and the image acquisition device provided in the embodiment of the present application;
fig. 6 is a schematic structural diagram of a virtual device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a lidar according to an embodiment of the present application.
Icon: 10-laser radar; 101-a first laser; 102-a second laser; 103-a third laser; 104-fourth laser; 105-scanner; 106-overlapping region; 107-scanning blind areas; 20-an image acquisition device; 301-scanning a position module; 302-an energy adjustment module; 401-memory; 402-a processor; 403-a communication unit; 404-a system bus; 405-a laser module.
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.
In the description of the present application, it should be noted that the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance. Furthermore, 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.
Based on the above statement, in view of the fact that the present embodiment relates to a multi-light source lidar, in order to make the present solution easier to understand, an exemplary description will now be made regarding the working principle of the multi-light source lidar. As shown in the laser radar 10 of fig. 1, the laser module in the drawing includes 4 laser light sources, which are a first laser 101, a second laser 102, a third laser 103 and a third laser 103, respectively. In the operation of the lidar 10, 4 laser light sources are stationary to emit laser beams to the scanner 105, which are reflected by the scanner 105 to a remote target.
With continued reference to FIG. 1, a first scan angle θ 1 A scan angle formed for reflection of the first laser light 101 by the scanner 105; second scan angle θ 2 A third scan angle θ for a scan angle formed by reflection of the second laser light 102 by the scanner 105 3 A fourth scan angle θ for a scan angle formed by reflection of the third laser light 103 by the scanner 105 4 A scanning angle formed by reflection of the fourth laser light 104 by the scanner 105. The laser radar 10 controls the scanner 105 to reciprocate within the scan angleRotated so that each laser source forms a respective scanning area.
As shown in fig. 2, in the scanning effect diagram, 4 lasers correspond to 4 scanning areas, and an overlapping area 106 is generated at an edge position between two adjacent scanning areas, and the overlapping area generates an energy superposition effect, so that laser energy in the area is higher than that in a non-overlapping area, and thus the tolerance range of human eyes may be exceeded. In view of this, a single laser scanning mechanism, a pre-scanning mechanism, and the like are proposed in the development process.
Continuing with the first laser light 101 and the second laser light 102 in fig. 1 as an example, as shown in fig. 3, in the single laser scanning mechanism, when the scanning position of the first laser light 101 is close to the overlapping area 106 with the second laser light 102, the emission of the laser beam is stopped, and only the second laser light 102 scans the overlapping area 106. However, each time the scanning position of the first laser light 101 or the second laser light 102 at the edge position is not aligned in the vertical direction, if the first laser light 101 stops emitting the laser light beam when approaching the overlapping region 106, a part of the scanning blind area 107 which cannot be scanned is left in the overlapping region 106. Therefore, the single laser scanning mechanism has a problem of insufficient scanning.
In the pre-scanning mechanism, the power of the laser beam emitted at the current moment of the next period is adjusted according to the detected echo at the current moment, so that the laser beam meets the requirement of human eye safety. That is, a probe laser with smaller power is emitted first to detect whether a person object is present in the vicinity, so as to determine whether the probe laser is emitted with normal power next time. However, in the pre-scanning mechanism, since there is a certain time interval between the two laser beams, and the position of the dynamic target may change during the time interval, there is a risk of missed detection on the dynamic target.
It should be noted that the above prior art solutions have all the drawbacks that the inventors have obtained after practice and careful study, and thus the discovery process of the above problems and the solutions to the problems that the embodiments of the present application hereinafter propose should not be construed as what the inventors have made in the invention creation process to the present application, but should not be construed as what is known to those skilled in the art.
In view of this, to solve at least some of the above technical problems, the present embodiment provides a scanning method of a laser radar. In the method, a laser radar comprises first laser and second laser, and the laser radar acquires a current first scanning position of the first laser and a current second scanning position of the second laser; if the first scanning position and the second scanning position are located in the overlapping area, the superposition energy when the first laser and the second laser scan the overlapping area is reduced. Since the superposition energy is lower than the upper limit of the energy which can be borne by the eyes, and the laser power of each of the first laser and the second laser is greater than 0; the first laser and the second laser scan the overlapping area simultaneously so as to avoid the occurrence of a scanning blind area and reduce the damage of the laser to human eyes. It should be noted that the first laser and the second laser herein represent any two laser sources where there is an overlapping area.
In order to make the solution provided by this embodiment clearer, the following details of the steps of the method are described with reference to fig. 4. It should be understood that the operations of the flow diagrams may be performed out of order and that steps that have no logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art. As shown in fig. 4, the method includes:
s101, acquiring a current first scanning position of the first laser and a current second scanning position of the second laser.
It should be understood that the laser radar further includes a scanner for controlling the scanning directions of the first laser and the second laser, and the current scanning positions of the first laser and the second laser are related to the rotation angle of the scanner, so that the laser radar obtains the rotation angle of the scanner for any target laser in the first laser and the second laser; and determining the current first scanning position or the current second scanning position of the target laser according to the rotation angle. When the rotation angle of the scanner approaches to the preset target angle, the scanning positions of the first laser and the second laser are about to enter an overlapping area between the first laser and the second laser. The target angle varies with the type of lidar and is an inherent parameter in each type of lidar.
S102, if the first scanning position and the second scanning position are located in the overlapping area, the overlapping energy when the first laser and the second laser scan the overlapping area is reduced.
Wherein the superimposed energy is lower than the upper limit of energy that the eye can withstand, and the laser power of each of the first laser and the second laser is greater than 0. In this embodiment, however, in order to reduce the energy superimposed in the overlapping region between the first laser light and the second laser light, the following two modes are adopted:
s102-1, acquiring the temperature of the laser radar.
And S102-2, if the temperature is greater than the temperature threshold value, reducing the scanning power when the first laser and the second laser respectively scan the overlapping area.
It should be understood here that during the operation of the lidar, the scanner needs to be controlled to rotate at a high speed, and at the same time, each laser beam needs to be controlled to emit a laser beam at a high frequency, so that a large amount of heat is generated during the operation of the lidar, and when the heat is accumulated to a certain extent, the temperature of the lidar exceeds a temperature threshold, thereby causing interference to the normal operation of the lidar. Therefore, when the temperature of the laser radar exceeds the temperature threshold, the scanning power of the first laser and the second laser when each scans the overlapping area can be preferentially selected to be reduced, so that the normal operation of the laser radar is ensured while the superposition energy is reduced.
It should also be appreciated that the calculated expression for the laser emission energy is:
P=P peak ft;
wherein P is peak The peak power of the emitted laser light is represented by t, the pulse width of the emitted laser light is represented by f, and the repetition frequency of the emitted laser light, that is, the number of pulses of the regularly output laser light per unit time. Thus, the lower the repetition frequency, the lower the average power, with the single pulse energy unchanged; conversely, the higher the repetition frequency, the higher the average powerThe expression of the high, that is, the single pulse laser emission energy P is:
P=P peak t。
power P of single pulse emitting laser received by laser radar r The method comprises the following steps:
Figure BDA0004215746380000071
wherein P is t Representing the power, eta of the single pulse emitted laser t Represents the emission efficiency of laser, eta r Represents the receiving efficiency of laser light, τ represents the atmospheric transmittance, ρ represents the reflectivity of the target object, A s Represents the area of the scanner, A represents the irradiated area of the target object, A r The receiving area of the laser radar lens is represented, θ represents the divergence angle of the laser emergent half field, and R represents the working distance.
From P r As can be seen from the expression of (c), lowering the laser repetition rate or laser peak power in the overlap region can be achieved by lowering the optical energy in that region. Meanwhile, the laser ranging is only related to single pulse emission energy of the laser radar, so that the reduction of the repetition frequency does not influence the ranging range.
Based on the analysis of the above expression, in an embodiment provided by this embodiment, the laser radar may reduce the repetition frequency when the first laser and the second laser each scan the overlapping region.
For example, when the repetition frequency of the first laser or the second laser is f, the laser energy reaches the upper limit CP that can be borne by human eyes, so when the first laser and the second laser scan to the overlapping area, the repetition frequency of the first laser and the second laser is adjusted to be 0.5f, and at this time, the laser energy after the superposition of the two lasers is CP at the maximum, but does not exceed the upper limit that can be borne by human eyes.
In another embodiment, the laser radar may further reduce peak power when the first laser and the second laser each scan the overlapping region.
For example, when the peak power of the first laser or the second laser is P, the laser energy reaches the upper limit CP that can be borne by human eyes, so when the first laser and the second laser scan to the overlapping area, the peak power of the first laser and the second laser is adjusted to be 0.5P, and at this time, the laser energy after the superposition of the two lasers is CP at the maximum, but does not exceed the upper limit that can be borne by human eyes.
In another embodiment, the laser radar may further reduce the pulse width of the first laser and the pulse width of the second laser when each scans the overlapping region.
For example, when the pulse width of the first laser or the second laser is t, the laser energy reaches the upper limit CP that human eyes can bear, so when the first laser and the second laser scan to the overlapping area, the pulse width of the first laser and the second laser is adjusted to be 0.5t, and at the moment, the laser energy after the superposition of the two lasers is CP at most, but does not exceed the upper limit that human eyes can bear.
In another embodiment, the laser radar may further reduce at least two of the repetition frequency, pulse width and peak power of the first laser scanning in the overlapping region; and reducing at least two of the repetition frequency, the pulse width and the peak power when the second laser scans the overlapping region.
By way of example, assume that the upper limit CP that the human eye can withstand is:
CP=tf
where t represents a pulse width and f represents a repetition frequency. Then for the first laser or the second laser, the adjustment coefficients of at least two of the repetition frequency, the pulse width and the peak power are adjusted such that the laser energy will be half, i.e.:
0.5CP=(at)*(bf)*(c)
where a represents an adjustment coefficient of a pulse width, b represents an adjustment coefficient of a repetition frequency, and c represents an adjustment coefficient of a scanning frequency F of the scanner. The values of the above three coefficients may be appropriately adjusted as needed as long as the product thereof is 0.5. Thus, the laser energy after superposition of the two lasers is CP at maximum, and does not exceed the upper limit which can be born by human eyes. The numerical values in the above calculation expressions are merely examples provided for facilitating understanding, and numerical values in practice of the scheme may be adaptively adjusted without departing from the inventive concept of the present embodiment.
In the above embodiments, the reduction of the damage of the laser to the human eye is achieved by reducing the scanning power of the first laser and the second laser during operation. In addition, step S102 further includes:
s102-3, if the temperature is less than or equal to the temperature threshold value, reducing the scanning frequency when the scanner scans the overlapped area.
For example, for the first laser or the second laser, assuming that the rotation frequency of the scanner is F, the laser energy reaches the upper limit CP that can be borne by human eyes, so when the first laser and the second laser scan to the overlapping area, the rotation frequency of the scanner is adjusted to be 0.5F, and at this time, the maximum of the laser energy after the superposition of the two lasers within the effective action duration is CP, and does not exceed the upper limit that can be borne by human eyes.
Here, if the temperature of the laser radar is less than or equal to the temperature threshold, the scanning frequency when the scanner scans the overlapping region may be preferably selected. The method can improve the scanning speed of the first laser and the second laser on the overlapping area without reducing the scanning power of the first laser and the second laser, so that a longer distance can be detected; meanwhile, the scanning speed of the overlapping area of the first laser and the second laser is improved, and even if the energy overlapping effect occurs, the time of the action of the first laser and the second laser is shorter, so that the laser energy is averaged within the effective action time, and the damage to human eyes is also insufficient.
In addition, it should be noted that the above selection of reducing the superposition energy according to the temperature of the lidar is merely an example provided in this embodiment, and one or more modes may be selected for reducing the superposition energy according to the needs when actually implementing this embodiment.
In the above embodiments, it is described how to reduce the superposition energy when the first laser and the second laser scan the overlapping region, so as to achieve the purpose of protecting the human eye; but to some extent sacrifices the detection effect of the lidar in the overlap region. In view of this, the present embodiment more accurately controls the timing of reducing the superimposed energy when the first laser light and the second laser light scan the overlapping region.
In an alternative embodiment, if the first scanning position and the second scanning position are located in the overlapping area, and the image of the overlapping area includes the personnel object, the overlapping energy of the first laser and the second laser in the overlapping area is reduced.
In this embodiment, instead of reducing the superposition energy between the first laser light and the second laser light once the overlap region is scanned, the superposition energy of the first laser light and the second laser light in the overlap region is reduced after the presence of the person object in the overlap region is determined by the image of the overlap region. In this regard, it should be understood that, since the detection of the presence or absence of a person object in the scanning overlap region is prone to missed detection by the detection laser having a small laser radar emission power, the image acquisition device 20 may be used to assist in the detection of the laser radar as shown in fig. 5. In a specific embodiment, the laser radar control image acquisition device 20 acquires an image in a laser radar detection range during the laser radar operation period, and identifies the image; and if the identification result shows that the personnel object exists in the overlapping area, reducing the overlapping energy when scanning is performed in the overlapping area.
Of course, in other embodiments, the lidar may also be communicatively coupled to the image acquisition device 20. The image pickup device 20 recognizes an image of an overlapping region of the lidar during the operation of the lidar, and transmits the recognition result to the lidar. The lidar receives the recognition result of whether or not there is a person object in the scan overlap region by the image acquisition device 20, and if the recognition result indicates that there is a person object in the overlap region, the superimposed energy when scanning the region is reduced.
It has also been found that the purpose of reducing the superimposed energy when scanning in the superimposed area is to reduce the damage of the laser beam to the human eye, which requires the human object to face the direction of the lidar. Therefore, even if a person object appears in the overlapping region, if the person object is not facing the laser radar, it is not necessary to reduce the overlapping energy when scanning the scanning overlapping region.
Therefore, in the alternative embodiment provided in this embodiment, if the first scanning position and the second scanning position are located in the overlapping area, and the image of the overlapping area includes the personnel object, the lidar obtains the orientation of the personnel object; if the direction is the direction facing the laser radar, the superposition energy of the first laser and the second laser in the overlapping area is reduced.
In an alternative embodiment, the lidar may acquire an image of the overlapping region, and input the image into the face recognition model to obtain a face recognition result of the image. If the face recognition result indicates that the face of the person object exists in the image, the person object faces the laser radar at the moment, so that the laser radar needs to reduce the superposition energy of the superposition area when scanning the superposition area.
In other alternative embodiments, for a person object far away, the image of the overlapping area may not clearly show the front face of the person object, so the laser radar may also input the image of the overlapping area into the gesture recognition model, to obtain the gesture recognition result of the person object. If the gesture recognition result indicates that the personnel object faces the laser radar, the laser radar needs to reduce the superposition energy of the superposition area when scanning the superposition area.
In other alternative embodiments, for a person object far away, the lidar may further sequentially emit multiple detection lasers, and obtain multiple detection distances of the person object according to the detection echoes of the multiple detection lasers. If the detection distances are reduced in sequence with time after the interference of the laser radar motion state is eliminated, the movement of the personnel object to the direction facing the laser radar is meant. Therefore, when scanning an overlapping region, the lidar needs to reduce the overlapping energy of the region. It is worth noting that the laser radar transmits multiple probe wave speeds with energies below the upper energy limit that can be tolerated by the human eye. In addition, the disturbance of the laser radar movement state refers to that when the laser radar is mounted on a vehicle and moves together with the vehicle, the movement state of the laser radar introduces an error into the detection distance, and therefore, when determining whether or not a person object moves in a direction facing the laser radar, the disturbance of the laser radar movement state needs to be eliminated here.
In this way, according to the above embodiment of detecting the orientation of the person object, the number of times of energy limitation in scanning the overlapping region can be reduced, and the number of times of sacrificing the detection effect of the overlapping region can be reduced.
In this embodiment, in consideration of energy consumption and service life of the lidar, when scanning a non-overlapping region, the energy of each laser beam is not always close to the upper limit that can be borne by human eyes, but varies with the transportation state of the lidar. In an alternative embodiment, the lidar obtains the movement speed of the lidar; determining an effective detection distance according to the moving speed; and determining the scanning power of the first laser and the second laser according to the effective detection distance. Wherein the effective detection distance is positively correlated with the speed of movement.
With the above embodiment, it should be understood that, when the vehicle on which the lidar is mounted moves too fast, a sufficient reaction time needs to be reserved for the driver or the autopilot system for safety reasons, and thus, the effective detection distance of the lidar needs to be increased. Similarly, if the vehicle is traveling slower, the effective detection distance can be correspondingly reduced. In a specific embodiment, a plurality of speed intervals may be configured, where the plurality of speed intervals respectively correspond to different detection distances, so that the laser radar determines a matched target speed interval according to the current speed, and the detection distance corresponding to the target speed interval is used as the current effective detection distance. Of course, in other embodiments, a mapping function between the moving speed and the effective detection distance may be fitted based on a preset setting condition, and the effective detection distance of the current moving speed of the laser radar may be obtained through the mapping function.
It has further been found that if the scanning power is limited only according to the moving speed of the lidar, when the vehicle carrying the lidar passes through a road section with a large number of personnel objects at a high speed, the lidar emits a laser beam with high energy, which may cause damage to eyes of the personnel objects. In view of this, the laser radar acquires the number of personnel objects in the detection area, and determines the scanning power of the first laser and the second laser according to the number of personnel objects and the effective detection distance. Wherein the scanning power is inversely related to the number of person objects and positively related to the effective detection distance.
In a specific embodiment, the laser radar may acquire an image in a laser radar scanning area, identify a person object in the image, and obtain the number of person objects in the image. Then, the scanning power P of each laser light is determined according to the following expression:
Figure BDA0004215746380000121
wherein v represents the moving speed of the laser radar, v r Representing a reference movement speed; m represents the number of people, m r Representing the number of reference persons, P r Representing the reference scan power. It should be noted that the adjustment range of the scan power P cannot exceed the power range constrained by the upper and lower limits of the scan power.
The above embodiments describe a laser radar scanning method, and under the same inventive concept of the method, this embodiment also provides a laser radar scanning device, where the device includes at least one software functional module that may be stored in a memory in a software form or cured in the laser radar. A processor in the lidar is configured to execute the executable modules stored in the memory. Such as software functional modules and computer programs included in the device. Referring to fig. 6, functionally divided, the apparatus may include:
the scanning position module 301 is configured to obtain a current first scanning position of the first laser and a current second scanning position of the second laser.
The energy adjustment module 302 is configured to reduce the superposition energy when the first laser beam and the second laser beam scan the overlapping region if the first scanning position and the second scanning position are located in the overlapping region, so that the superposition energy is lower than an upper energy limit that the eye can bear, and the laser powers of the first laser beam and the second laser beam are respectively greater than 0.
In this embodiment, the scan position module 301 is used to implement step S101 in fig. 4, and the energy adjustment module 302 is used to implement step S102 in fig. 4. In addition, it should be noted that, since the scanning method of the lidar has the same inventive concept, the scanning position module 301 and the energy adjustment module 302 above may also be used to implement other steps or sub-steps of the method.
In an alternative embodiment, the laser radar further includes a scanner for controlling the scanning directions of the first laser light and the second laser light, and the energy adjustment module 302 is further configured to:
acquiring the temperature of a laser radar;
if the temperature is greater than the temperature threshold, reducing the scanning power when the first laser and the second laser respectively scan the overlapping area;
and if the temperature is less than or equal to the temperature threshold value, reducing the scanning frequency when the scanner scans the overlapped area.
In an alternative embodiment, the energy adjustment module 302 is further configured to:
the repetition frequency of the first laser and the second laser when each scans the overlapping area is reduced.
In an alternative embodiment, the energy adjustment module 302 is further configured to:
the peak power when the first laser and the second laser each scan the overlapping region is reduced.
In an alternative embodiment, the energy adjustment module 302 is further configured to:
the pulse width of the first laser and the pulse width of the second laser when the overlapping area is scanned are reduced.
In an alternative embodiment, the energy adjustment module 302 is further configured to:
reducing at least two of the repetition frequency, pulse width and peak power when the first laser scans the overlapping area;
at least two of the repetition frequency, pulse width and peak power of the second laser scanning overlap region are reduced.
In an alternative embodiment, the energy adjustment module 302 is further configured to:
if the first scanning position and the second scanning position are located in the overlapping area and the image of the overlapping area comprises the personnel object, the superposition energy of the first laser and the second laser in the overlapping area is reduced.
In an alternative embodiment, the energy adjustment module 302 is further configured to:
if the first scanning position and the second scanning position are located in the overlapping area, and the image of the overlapping area comprises the personnel object, the orientation of the personnel object is obtained;
if the direction is the direction facing the laser radar, the superposition energy of the first laser and the second laser in the overlapping area is reduced.
In an alternative embodiment, the energy adjustment module 302 is further configured to:
acquiring an image of the overlapping region;
from the image, the orientation of the person object is obtained.
In an alternative embodiment, the energy adjustment module 302 is further configured to:
inputting the image into a face recognition model to obtain a face recognition result of the image;
and if the face recognition result indicates that the image comprises the face of the personnel object, determining that the personnel object faces the laser radar.
In an alternative embodiment, the laser radar further includes a scanner, and the scan position module 301 is further configured to:
Acquiring the rotation angle of a scanner for any target laser in the first laser and the second laser;
and determining the current first scanning position or the current second scanning position of the target laser according to the rotation angle.
In an alternative embodiment, the energy adjustment module 302 is further configured to:
acquiring the moving speed of a laser radar;
determining an effective detection distance according to the moving speed;
and determining the scanning power of the first laser and the second laser according to the effective detection distance.
In an alternative embodiment, the energy adjustment module 302 is further configured to:
acquiring the number of personnel objects in a detection area;
and determining the scanning power of the first laser and the second laser according to the number of the personnel objects and the effective detection distance.
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.
It should also be appreciated that the above embodiments, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored on 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 of the embodiments of the present application.
Accordingly, the present embodiment also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the scanning method of the lidar provided by the present embodiment. The computer readable storage medium may be any of various media capable of storing a program code, such as a usb (universal serial bus), a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk.
Referring to fig. 7, a hardware structure diagram of a lidar according to the present embodiment is shown. The lidar may include a processor 402, a memory 401, a laser module 405. The memory 401 stores a computer program, and the processor reads and executes the computer program corresponding to the above embodiment in the memory 401, thereby realizing the laser radar scanning method provided in the present embodiment.
With continued reference to fig. 7, the lidar may also include a communication unit 403. The memory 401, the processor 402, and the communication unit 403 are electrically connected to each other directly or indirectly through a system bus 404 to realize data transmission or interaction.
The memory 401 may be an information recording device based on any electronic, magnetic, optical or other physical principle, for recording execution instructions, data, etc. In some embodiments, the memory 401 may be, but is not limited to, volatile memory, non-volatile memory, storage drives, and the like.
In some embodiments, the volatile memory may be random access memory (Random Access Memory, RAM); in some embodiments, the non-volatile Memory may be Read Only Memory (ROM), programmable ROM (Programmable Read-Only Memory, PROM), erasable ROM (Erasable Programmable Read-Only Memory, EPROM), electrically erasable ROM (Electric Erasable Programmable Read-Only Memory, EEPROM), flash Memory, or the like; in some embodiments, the storage drive may be a magnetic disk drive, a solid state disk, any type of storage disk (e.g., optical disk, DVD, etc.), or a similar storage medium, or a combination thereof, etc.
The communication unit 403 is used for transmitting and receiving data. In some embodiments, the communication unit comprises a network communication unit that communicates over a network, which may include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the internet, a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN), a wireless local area network (Wireless Local Area Networks, WLAN), a metropolitan area network (Metropolitan Area Network, MAN), a wide area network (Wide Area Network, WAN), a public switched telephone network (Public Switched Telephone Network, PSTN), a bluetooth network, a ZigBee network, a near field communication (Near Field Communication, NFC) network, or the like, or any combination thereof. In some embodiments, the network may include one or more network access points. For example, the network may include wired or wireless network access points, such as base stations and/or network switching nodes, through which one or more components of the service request processing system may connect to the network to exchange data and/or information.
In some embodiments, the communication unit includes a peripheral interface that couples various input/output devices to the processor 402 and the memory 401. In some embodiments, the peripheral interface, processor 402, may be implemented in a single chip. In other examples, they may be implemented by separate chips. And the device is in communication connection with the image acquisition device and the vehicle-mounted control equipment and is used for acquiring images acquired by the image acquisition device or processing results of the images and sending the detected point cloud data to the vehicle-mounted control equipment.
The processor 402 may be an integrated circuit chip with signal processing capabilities and may include one or more processing cores (e.g., a single-core processor or a multi-core processor). By way of example only, the processors may include a central processing unit (Central Processing Unit, CPU), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a special instruction set Processor (Application Specific Instruction-set Processor, ASIP), a graphics processing unit (Graphics Processing Unit, GPU), a physical processing unit (Physics Processing Unit, PPU), a digital signal Processor (Digital Signal Processor, DSP), a field programmable gate array (Field Programmable Gate Array, FPGA), a programmable logic device (Programmable Logic Device, PLD), a controller, a microcontroller unit, a reduced instruction set computer (Reduced Instruction Set Computing, RISC), a microprocessor, or the like, or any combination thereof.
The present embodiment also provides a vehicle including the lidar of the above embodiment. The vehicle may be, but is not limited to, a manned vehicle, an unmanned vehicle.
It should be understood that the apparatus and method disclosed in the above embodiments may be implemented in other manners. 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.
The above is merely various embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are intended to be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (17)

1. A method of scanning a lidar, the lidar comprising a first laser and a second laser, the method comprising:
acquiring a current first scanning position of the first laser and a current second scanning position of the second laser;
and if the first scanning position and the second scanning position are positioned in the overlapping area, reducing the superposition energy when the first laser and the second laser scan the overlapping area so that the superposition energy is lower than the upper energy limit which can be born by eyes, and the laser power of each of the first laser and the second laser is larger than 0.
2. The method of claim 1, further comprising a scanner for controlling the scanning directions of the first laser light and the second laser light, wherein the reducing the energy of superposition when the first laser light and the second laser light scan the overlapping region comprises:
Acquiring the temperature of the laser radar;
if the temperature is greater than a temperature threshold, reducing the scanning power when the first laser and the second laser respectively scan the overlapping region;
and if the temperature is less than or equal to the temperature threshold value, reducing the scanning frequency when the scanner scans the overlapped area.
3. The method of claim 2, wherein reducing the scanning power of each of the first laser light and the second laser light in the overlap region comprises:
and reducing the repetition frequency when the first laser and the second laser respectively scan the overlapped area.
4. The method of claim 2, wherein reducing the scanning power of each of the first laser and the second laser comprises:
and reducing peak power when the first laser and the second laser respectively scan the overlapped area.
5. The method of claim 2, wherein reducing the energy of overlap of the first laser light and the second laser light in the overlap region comprises:
And reducing the pulse width of the first laser and the pulse width of the second laser when the first laser and the second laser respectively scan the overlapped area.
6. The method of claim 2, wherein reducing the scanning power of each of the first laser and the second laser comprises:
reducing at least two of the repetition frequency, pulse width and peak power of the first laser when scanning the overlapping region;
and reducing at least two of the repetition frequency, the pulse width and the peak power when the second laser scans the overlapping area.
7. The method according to claim 1, wherein if the first scanning position and the second scanning position are located in an overlapping area, reducing the energy of superposition when the first laser and the second laser scan the overlapping area includes:
and if the first scanning position and the second scanning position are positioned in the overlapping area and the image of the overlapping area comprises a personnel object, reducing the superposition energy of the first laser and the second laser in the overlapping area.
8. The method according to claim 7, wherein if the first scanning position and the second scanning position are located in an overlapping area and the image of the overlapping area includes a person object, reducing the overlapping energy of the first laser light and the second laser light in the overlapping area includes:
If the first scanning position and the second scanning position are located in an overlapping area, and the image of the overlapping area comprises a personnel object, the orientation of the personnel object is obtained;
and if the orientation is the direction facing the laser radar, reducing the superposition energy of the first laser and the second laser in the overlapping area.
9. The method of claim 8, wherein the step of obtaining the orientation of the person object comprises:
acquiring an image of the overlapping region;
and according to the image, obtaining the orientation of the personnel object.
10. The method of claim 9, wherein said obtaining an orientation of the person object from the image comprises:
inputting the image into a face recognition model to obtain a face recognition result of the image;
and if the face recognition result indicates that the image comprises the face of the personnel object, determining that the personnel object faces the laser radar.
11. The method of claim 1, further comprising a scanner, wherein the step of obtaining the first current scanning position of the first laser and the second current scanning position of the second laser comprises:
Acquiring a rotation angle of the scanner for any target laser in the first laser and the second laser;
and determining the current first scanning position or the second scanning position of the target laser according to the rotation angle.
12. The method of claim 1, further comprising:
acquiring the moving speed of the laser radar;
determining an effective detection distance according to the moving speed;
and determining the scanning power of the first laser and the second laser according to the effective detection distance.
13. The method of claim 12, further comprising:
acquiring the number of personnel objects in a detection area;
the determining the scanning power of the first laser and the second laser according to the effective detection distance comprises the following steps:
and determining the scanning power of the first laser and the second laser according to the number of the personnel objects and the effective detection distance.
14. A scanning device for a lidar, the lidar comprising a first laser and a second laser, the device comprising:
The scanning position module is used for acquiring the current first scanning position of the first laser and the current second scanning position of the second laser;
and the energy adjustment module is used for reducing the superposition energy when the first laser and the second laser scan the overlapped area if the first scanning position and the second scanning position are positioned in the overlapped area so that the superposition energy is lower than the upper energy limit which can be born by eyes, and the laser power of each of the first laser and the second laser is larger than 0.
15. A storage medium storing a computer program which, when executed by a processor, implements the method of scanning a lidar according to any of claims 1 to 13.
16. A lidar comprising a processor, a memory and a laser module, the memory storing a computer program, the extreme and program when executed by the processor implementing a method of scanning the lidar as claimed in any of claims 1 to 13.
17. A vehicle comprising the lidar of claim 16.
CN202310506623.5A 2023-05-06 2023-05-06 Laser radar scanning method and device, storage medium, laser radar and vehicle Pending CN116430360A (en)

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Applications Claiming Priority (1)

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CN202310506623.5A CN116430360A (en) 2023-05-06 2023-05-06 Laser radar scanning method and device, storage medium, laser radar and vehicle

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