CN117111026A - Signal generation method and detection device - Google Patents

Signal generation method and detection device Download PDF

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Publication number
CN117111026A
CN117111026A CN202311120772.4A CN202311120772A CN117111026A CN 117111026 A CN117111026 A CN 117111026A CN 202311120772 A CN202311120772 A CN 202311120772A CN 117111026 A CN117111026 A CN 117111026A
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CN
China
Prior art keywords
emergent light
period
light period
pulse duration
laser pulse
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CN202311120772.4A
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Chinese (zh)
Inventor
雷述宇
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Ningbo Abax Sensing Electronic Technology Co Ltd
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Ningbo Abax Sensing Electronic Technology Co Ltd
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Priority to CN202311120772.4A priority Critical patent/CN117111026A/en
Publication of CN117111026A publication Critical patent/CN117111026A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Abstract

The application provides a signal generation method and detection equipment, and relates to the technical field of laser radars, wherein the method comprises the following steps: according to a preset driving algorithm, calculating by combining a minimum pulse period to obtain a plurality of emergent light periods, wherein the frequency of each emergent light period is different; determining the laser pulse duration according to the minimum pulse period; and combining the laser pulse duration with each emergent light period to obtain a driving sequence signal. The detection equipment generates an emergent light period and determines the laser pulse duration based on the minimum pulse period, so that a driving sequence signal matched with the minimum pulse period can be generated according to the number of the minimum pulse periods respectively corresponding to the emergent light period and the laser pulse duration, and a digital signal is not required to be obtained according to amplitude conversion of an analog signal, thereby improving the accuracy of the driving sequence signal in a digital form.

Description

Signal generation method and detection device
Technical Field
The present application relates to the field of lidar technologies, and in particular, to a signal generating method and a detecting device.
Background
With the continuous development of radar technology, the ranging mode based on radar technology is gradually developed from time of flight (TOF) to frequency modulated continuous wave (frequency modulated continuous wave, FMCW) with stronger anti-interference capability and higher signal-to-noise ratio, so that the accuracy of ranging can be improved through FMCW.
In the related art, taking the range measurement of the laser radar through the FMCW as an example, the driving signals in digital form adopted by the laser radar are respectively converted according to the amplitudes of the analog signals at different moments. In the conversion process, the laser radar can collect the amplitude of the analog signal at different moments, compare the collected amplitude with a preset threshold value, and determine the parameter value of the digital signal corresponding to the amplitude according to the comparison result, so that the driving signal can be formed according to a plurality of digital signals.
However, in the process of acquiring the amplitude of the analog signal, a certain error exists in the analog signal, and the acquired amplitude also has a certain error, so that the formed driving signal is influenced, and the detection accuracy of the laser radar is further influenced.
Disclosure of Invention
The application provides a signal generation method and detection equipment, which solve the problems that in the prior art, in the process of collecting the amplitude of an analog signal, the analog signal has a certain error, and the collected amplitude also has a certain error, so that the formed driving signal is influenced, and the detection accuracy of a laser radar is influenced.
In order to achieve the above purpose, the application adopts the following technical scheme:
in a first aspect, a signal generation method is provided, the method comprising:
according to a preset driving algorithm, calculating by combining a minimum pulse period to obtain a plurality of emergent light periods, wherein the frequency of each emergent light period is different;
determining the laser pulse duration according to the minimum pulse period;
and combining the laser pulse duration with each emergent light period to obtain a driving sequence signal.
Optionally, the combining the laser pulse duration with each of the outgoing photoperiod to obtain a driving sequence signal includes:
determining a section of the laser pulse duration in the emergent light period according to each emergent light period;
and generating the driving sequence signal according to the section of the laser pulse duration in the emergent light period.
Optionally, the determining the interval where the laser pulse duration is in the outgoing light period includes:
selecting a node corresponding to any minimum pulse period included in the emergent light period as a starting node of the laser pulse duration;
Determining a termination node of the laser pulse duration in the emergent light period according to the number of the minimum pulse periods included in the laser pulse duration;
and determining the section of the laser pulse duration in the emergent light period according to the starting node and the ending node.
Optionally, the generating the driving sequence signal according to the interval where the laser pulse duration is in the emergent light period includes:
determining a number of minimum pulse periods comprised by the outgoing photoperiod;
generating a first parameter consistent with the number of the minimum pulse periods as a digital signal;
according to the interval of the laser pulse duration in the emergent light period, adjusting a first parameter corresponding to at least one digital signal into a second parameter;
and combining the digital signals corresponding to each emergent light period according to the frequencies of the emergent light periods to obtain the driving sequence signal.
Optionally, after the combining the laser pulse duration with each of the outgoing photoperiod to obtain a driving sequence signal, the method further includes:
traversing parameters corresponding to each digital signal in the driving sequence signals;
If the identified parameter is the first parameter, replacing the first parameter with a third parameter;
and if the identified parameter is the second parameter, reserving the second parameter to obtain a local oscillator driving signal composed of the second parameter and the third parameter.
Optionally, the calculating according to a preset driving algorithm in combination with a minimum pulse period to obtain a plurality of emergent light periods includes:
calculating through the driving algorithm according to the minimum pulse period to obtain a plurality of emergent light periods with different frequencies;
monitoring the frequency of each emergent light period;
if the frequency of the emergent light period is smaller than or equal to the preset maximum frequency, the emergent light period is reserved;
and if the frequency of the emergent light period is larger than the maximum frequency, deleting the emergent light period, and stopping calculating the emergent light period through the driving algorithm.
Optionally, the calculating according to a preset driving algorithm in combination with a minimum pulse period to obtain a plurality of emergent light periods includes:
calculating through the driving algorithm according to the minimum pulse period to obtain a plurality of emergent light periods, and counting the emergent light periods;
After each time of updating the counting result, comparing the counting result with a preset counting threshold value;
if the counting result is smaller than the counting threshold value, reserving the emergent light period, and continuously calculating the emergent light period;
if the counting result is equal to the counting threshold value, reserving the emergent light period, and stopping calculating the emergent light period;
and if the counting result is larger than the counting threshold value, deleting the emergent light period, and stopping calculating the emergent light period.
Optionally, the determining the laser pulse duration according to the minimum pulse period includes:
acquiring the type of a photoelectric converter;
and according to the type of the photoelectric converter, determining the laser pulse duration by combining the minimum pulse period.
In a second aspect, there is provided a detection apparatus comprising: the device comprises a processor, a driving circuit, a laser, a light emitting module, a receiving module and a photoelectric converter;
the processor is respectively connected with the driving circuit and the photoelectric converter, the laser is connected in series between the driving circuit and the light-emitting module, and the receiving module is connected with the photoelectric converter;
the processor is used for calculating according to a preset driving algorithm and combining a minimum pulse period to obtain a plurality of emergent light periods, and the frequency of each emergent light period is different;
The processor is also used for determining the laser pulse duration according to the minimum pulse period;
the processor is further configured to combine the laser pulse duration with each of the outgoing photoperiod to obtain a drive sequence signal.
In a third aspect, there is provided a detection apparatus comprising: a memory and a processor, the memory for storing a computer program; the processor is configured to perform the method of any of the first aspects when the computer program is invoked.
In a fourth aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to any of the first aspects.
In a fifth aspect, an embodiment of the present application provides a chip system, where the chip system includes a processor, and the processor is coupled to a memory, and the processor executes a computer program stored in the memory to implement the method according to the first aspect or any implementation manner of the first aspect.
According to the signal generation method provided by the embodiment of the application, a plurality of emergent light periods are obtained through calculation by acquiring a driving algorithm and combining with a preset minimum pulse period, and then the time period of emergent light generated and emitted in the emergent light periods is determined according to each emergent light period and the determined laser pulse duration, so that a digital driving sequence signal is generated. The detection equipment generates an emergent light period and determines the laser pulse duration based on the minimum pulse period, so that a driving sequence signal matched with the minimum pulse period can be generated according to the number of the minimum pulse periods respectively corresponding to the emergent light period and the laser pulse duration, and a digital signal is not required to be obtained according to amplitude conversion of an analog signal, thereby improving the accuracy of the driving sequence signal in a digital form.
Drawings
FIG. 1A is a schematic diagram of a detection system according to an embodiment of the present application;
FIG. 1B is a schematic diagram of another detection system according to an embodiment of the present application;
fig. 1C is a schematic structural diagram of a detection device according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a signal generation method according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of generating a driving sequence signal according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a detection 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 the particular system architecture, 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 methods of generating outgoing light, methods of receiving reflected light, methods of mixing calculations, and electronic devices are omitted so as not to obscure the description of the present application with unnecessary detail.
The terminology used in the following examples is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include, for example, "one or more" such forms of expression, unless the context clearly indicates to the contrary.
With the continuous development of radar technology, taking the case that a laser radar adopts FMCW to perform ranging, the laser radar can generate emergent light through a laser according to a driving signal and generate local oscillation light. The outgoing light emitted by the laser radar can irradiate the detected object, and the detected object can reflect the outgoing light, so that reflected light is formed.
Correspondingly, the driving signals in digital form adopted by the laser radar are respectively converted according to the amplitudes of the analog signals at different moments. In the conversion process, the laser radar can collect the amplitude of the analog signal at different moments, compare the collected amplitude with a preset threshold value, and determine the parameter value of the digital signal corresponding to the amplitude according to the comparison result, so that the driving signal can be formed according to a plurality of digital signals.
However, in the process of acquiring the amplitude of the analog signal, a certain error exists in the analog signal, and the acquired amplitude also has a certain error, so that the formed driving signal is influenced, and the detection accuracy of the laser radar is further influenced.
Therefore, the embodiment of the application provides a signal generation method, a detection device obtains a plurality of emergent light periods through obtaining a driving algorithm and combining a preset minimum pulse period, and then determines a time period for generating and emitting emergent light in the emergent light period by combining a determined laser pulse duration aiming at each emergent light period, so as to generate a digital driving sequence signal. The detection equipment generates an emergent light period and determines the laser pulse duration based on the minimum pulse period, so that a driving sequence signal matched with the minimum pulse period can be generated according to the number of the minimum pulse periods respectively corresponding to the emergent light period and the laser pulse duration, and a digital signal is not required to be obtained according to amplitude conversion of an analog signal, thereby improving the accuracy of the driving sequence signal in a digital form, and further improving the accuracy of detection by the detection equipment.
Referring to fig. 1A, fig. 1A is a schematic system diagram of a detection system provided by an embodiment of the present application, and as shown in fig. 1A, the detection system may include: a detection device 110 and a detected object 120.
Wherein the detecting device 110 and the detected object 120 are respectively distributed at different positions. Moreover, the detection device 110 may be stationary or may be moving; similarly, the object 120 to be detected may be stationary or moving. For example, the detection device 110 may be a stationary range finder or a lidar mounted on a vehicle; the detected object 120 may be a stationary tree or a guardrail, or may be a moving vehicle or a pedestrian, and the detected device 110 and the detected object 120 are not particularly limited in the embodiment of the present application.
In the process of detecting the detected object 120 by the detecting device 110, the detecting device 110 may acquire a preset driving algorithm in a preset storage space, and calculate a plurality of outgoing light periods by combining the preset minimum pulse period with the preset driving algorithm.
The detecting device 110 may also determine a laser pulse duration for generating the outgoing light according to the minimum pulse period, so as to combine the laser pulse duration with each outgoing light period, and output and obtain a digitized driving sequence signal.
Further, the detecting device 110 may generate the local oscillation sequence signal according to the driving sequence signal, so that the detecting device 110 may obtain a more accurate detection result based on the local oscillation sequence signal during the detection process.
The local oscillation sequence signal and the driving sequence signal may be pre-generated by the detecting device or other electronic devices and stored in the storage space of the detecting device 110, and in practical application, the detecting device 110 may also output the driving sequence signal in real time according to a preset driving algorithm. Of course, the detecting device 110 may also acquire the local oscillation sequence signal and the driving sequence signal in other manners, and the manner of acquiring the driving sequence signal and the local oscillation sequence signal by the detecting device 110 in the embodiment of the present application is not limited in particular.
Moreover, the local oscillator sequence signal is similar to the drive sequence signal, but the duty cycle of the drive sequence signal is less than the duty cycle of the local oscillator sequence signal. For example, the amplitude of the local oscillation sequence signal and the drive sequence signal are both 1, and the period is 100 nanoseconds (ns), but the duty cycle of the local oscillation sequence signal may be 50%, and the duty cycle of the drive sequence signal may be 13%.
Further, in the process of detecting by the outgoing light, the outgoing light can detect the region corresponding to the FOV. When the outgoing light irradiates the detected object 120, reflected light is formed by reflection of the detected object 120. The partially reflected light may propagate in a direction opposite to the propagation direction of the outgoing light, i.e. the partially reflected light may propagate in a direction opposite to the propagation direction of the outgoing light. Accordingly, the detection device 110 may receive the counter-propagating reflected light, and implement detection of the region corresponding to the FOV according to the received reflected light.
The detection device 110 may determine a frequency difference between the reflected light and the local oscillation sequence signal according to the reflected light in combination with the local oscillation sequence signal acquired by the detection device 110, so that a distance between the detection device 110 and the detected object 120 and a movement speed of the detected object 120 may be determined according to the frequency difference.
Referring to fig. 1B, fig. 1B is a schematic system diagram of another detection system provided in an embodiment of the present application, as shown in fig. 1B, in practical application, the detection system may further include: the carrier 130 is moved.
The mobile carrier 130 may be a vehicle, an unmanned aerial vehicle, a robot, or other devices capable of traveling, and the embodiment of the present application does not specifically limit the mobile carrier 130.
Moreover, the detection device 110 may be provided on the moving carrier 130. While the moving carrier 130 is in motion, the detection device 110 may detect the environment around the moving carrier 130, thereby determining the distance between the detected object 120 and the moving carrier 130, as well as the speed of motion of the detected object 120.
Further, the moving carrier 130 may determine a trend of a distance between the detected object 120 and the moving carrier 130, that is, whether the detected object 120 is moving away from the moving carrier 130 or moving close to the moving carrier 130, according to the determined movement speed of the detected object 120 in combination with the traveling speed of the moving carrier 130.
For example, the detection device 110 may be provided on a vehicle to detect pedestrians and other vehicles around the vehicle; alternatively, the detection device 110 may be disposed on an unmanned aerial vehicle, where the detection device may scan and detect a current area during the flight of the unmanned aerial vehicle; alternatively, the detection device 110 may be provided on the robot, and a travel route may be constructed for the robot by data collected by the detection device 110.
In addition, in practical application, the detection device 110 may be not only disposed on the mobile carrier 130, but also fixed at a certain position, so that the detection device 110 may be applied to different scenes respectively.
For example, the detection device 110 may be disposed above the conveyor belt to detect material transported on the conveyor belt; the detection device 110 may also be provided at a toll booth, count vehicles passing therethrough, and detect the size of each vehicle to determine whether the vehicle can drive into a highway.
Of course, the detection device 110 may also be applied to other scenarios, and the application scenario of the detection device 110 is not specifically limited in the embodiment of the present application.
Further, referring to fig. 1C, fig. 1C is a schematic structural diagram of a detection device according to an embodiment of the present application, as shown in fig. 1C, the detection device 110 may include: a processor 1101, a driving circuit 1102, a laser 1103, a light emitting module 1104, a receiving module 1105 and a photoelectric converter 1106.
The processor 1101 is connected to the driving circuit 1102 and the photoelectric converter 1106, the laser 1103 is connected in series between the driving circuit 1102 and the light emitting module 1104, and the receiving module 1105 is connected to the photoelectric converter 1106.
Specifically, during the process of emitting outgoing light by the detection device 110, the processor 1101 may acquire a pre-stored local oscillation sequence signal and a driving sequence signal in the storage space according to a pre-set storage path.
The processor 1101 may then send the drive sequence signal to the drive circuit 1102, which drive circuit 1102 may amplify and transmit the amplified drive sequence signal to the laser 1103.
The driving sequence signal is a digital electrical signal (e.g. a sequence consisting of digital 0 and digital 1), which is not particularly limited in the embodiment of the present application.
Further, the laser 1103 may receive the amplified driving sequence signal transmitted by the driving circuit 1102, and control the laser 1103 to emit light or to turn off according to the amplified driving sequence signal. When the laser 1103 emits light, the light emitting module 1104 can adjust the light emitted by the laser 1103, so as to form emergent light; when the laser 1103 is extinguished, no more outgoing light is generated.
Accordingly, the outgoing light may irradiate the detected object 120 to form reflected light. The reflected light may propagate along a path opposite to the outgoing light towards the detection device 110. The receiving module 1105 may receive the reflected light and irradiate the photoelectric converter 1106 with the received reflected light.
When the reflected light irradiates the photoelectric converter 1106, the photoelectric converter 1106 may absorb the reflected light, so that a circuit in which the photoelectric converter 1106 is located is turned on, and a level signal may be output to the processor 1101. Accordingly, the photoelectric converter 1106 can continuously receive the reflected light and continuously output the level signal to the processor 1101, resulting in an echo sequence signal composed of a plurality of level signals.
The processor 1101 may also adjust the acquired local oscillator sequence signal and mix the received echo sequence signal with the adjusted local oscillator sequence signal. The processor 1101 may then calculate a frequency difference between the echo sequence signal and the local oscillator sequence signal based on the mixed signal. The processor 1101 may calculate a detection parameter based on the frequency difference. For example, the detection parameter may be a distance between the detection device 110 and the detected object 120.
It should be noted that, in practical applications, the processor 1101 may be a central processing unit (central processing unit, CPU), a field programmable gate array (field programmable gate array, FPGA), a micro control unit (micro control unit, MCU) or a digital signal processor (digital signal processing, DSP), and the embodiment of the present application does not specifically limit the processor 1101.
Similarly, the laser 1103 may be a semiconductor laser, a solid state laser, or other type of laser. If the laser 1103 is a semiconductor laser, the laser 1103 may be a vertical-cavity-emitting laser (VCSEL) or an edge-emitting semiconductor laser (EEL), and the embodiment of the present application does not specifically limit the laser 1103.
In addition, the outgoing light emitted by the laser 1103 may be a laser having a certain wavelength, for example, the outgoing light may be a laser having a wavelength of 905 nanometers (nm), 950nm or 1550nm, and the wavelength of the outgoing light is not specifically limited in the embodiments of the present application.
In addition, the photoelectric converter 1106 may be an optocoupler, a photodiode, or other devices with photoelectric conversion function, for example, if the photoelectric converter 1106 is a photodiode, the photoelectric converter 1106 may be a single photon avalanche diode (single photon avalanche diode, SPAD), which is not particularly limited in the embodiment of the present application.
It should be noted that, in practical application, the detection device 110 may be used to detect alone, or may be disposed on the moving carrier 130, and detect during the running process of the moving carrier 130. For convenience of explanation, the distance between the detecting device 110 and the detected object 120 is determined by detecting the detected object 120 by the detecting device 110 when the detecting device 110 and the detected object 120 are both in a stationary state. Taking the detection device 110 as a range finder as an example, the detection mode in the detection scene is described.
According to the detection equipment in the detection scene, emergent light is generated through the preset driving sequence signal and the local oscillation sequence signal, and the echo sequence signal generated by the reflected light is combined to realize frequency mixing, so that detection is completed. The manner in which the drive sequence signal and the local oscillator sequence signal are generated is described below.
Fig. 2 is a schematic flowchart of a signal generating method according to an embodiment of the present application, which may be applied to the detection device or the moving carrier in the detection scenario, by way of example and not limitation, and referring to fig. 2, the method includes:
step 201, a preset driving algorithm is obtained.
The detection device may generate the drive sequence signal before performing the detection, so that the detection device may generate the outgoing light for the detection according to the generated drive sequence signal, thereby completing the detection by the generated outgoing light.
Accordingly, the detection device may acquire a preset driving algorithm from a storage space corresponding to the storage path according to the preset storage path, so that in a subsequent step, the detection device may generate a driving sequence signal according to the acquired driving algorithm.
Specifically, the detection device may detect an operation triggered by a user and identify the operation during detection. If the operation triggered by the user is determined to be a detection operation, which indicates that the user expects to realize detection of the detected object through the detection device, the detection device can acquire a preset driving algorithm from a storage space corresponding to a preset storage path according to the detection operation and the preset storage path.
The storage space may be a memory built in the detection device, a memory included in a processor of the detection device, or a memory connected to the detection device.
For example, if the processor of the detection device is an FPGA, the detection device may acquire a preset driving algorithm by reading a COE file in a storage space of the FPGA according to a preset storage path.
Alternatively, the driving algorithm may be stored in a terminal device connected to the probe device, and the driving algorithm may be stored in a server connected to the probe device or the terminal device. Correspondingly, the detection device may acquire the pre-stored driving algorithm from the terminal device or the server according to the corresponding storage path, and the storage location of the driving algorithm and the manner of acquiring the driving algorithm by the detection device in the embodiment of the present application are not specifically limited.
The foregoing description has been made by taking the example of the signal generating method performed by the probe device as an example, but in practical application, the signal generating method described in the embodiment of the present application may be performed by a terminal device connected to the probe device, or a server connected to the probe device or the terminal device, and the execution subject of the signal generating method in the embodiment of the present application is not limited specifically.
For example, when the detection device is a lidar, the lidar may be disposed on the vehicle and connected to a terminal device in the vehicle, that is, to an on-vehicle device of the vehicle, and the lidar may acquire the driving algorithm through a storage space of the on-vehicle device.
Step 202, calculating each emergent light period by combining the minimum pulse period through a driving algorithm.
The emergent light period is each period corresponding to emergent light generated by the detection equipment. Furthermore, each outgoing light period is an integer multiple of the minimum pulse period.
In addition, the minimum pulse period is determined based on the performance of the laser in the detection device. For example, the minimum pulse period may be 10 nanoseconds (ns), 20ns, or 25ns, and the minimum pulse period is not particularly limited in the embodiment of the present application.
In addition, in step 201, when the detection device acquires the driving algorithm from the storage space, the driving parameter corresponding to the driving algorithm may also be acquired, so that the detection device may combine the driving parameter in the process of calculating by the driving algorithm, and output to obtain a plurality of emergent light periods.
Specifically, in the process of running the driving algorithm, the detection device may replace each parameter in the driving algorithm with a corresponding parameter value in the driving parameter, and calculate according to an operation manner between each parameter in the driving algorithm, so as to obtain an outgoing light period.
The driving parameters may include parameters matched with a preset minimum pulse period, so that an outgoing light period of integer times of the minimum pulse period may be calculated according to the parameters.
For example, the driving algorithm may be a function formula ti=2pi×f 0 *t+π*k*t 2 +θ 0 Wherein T is i For indicating the ith exit photoperiod, i being a positive integer, f 0 For the starting frequency, T is time, k is the chirp rate and k=b/T 0 B is the bandwidth of the chirp signal, T 0 For chirp signal period, B and T 0 May be a parameter that matches the minimum pulse period. Also, Δt is the system time step interval and has t0=n×Δt, N is a positive integer, θ 0 Is the initial phase.
Wherein the initial frequency f 0 The minimum frequency of the detection device, i.e. the frequency at which the detection device is performance limited and the minimum parameter value that can be generated, can be used. Of course, in practical application, the initial frequency f 0 But may be greater than the minimum frequency of the detection device, as embodiments of the application are not particularly limited.
In addition, the detection device can continuously monitor the frequency corresponding to each emergent light period in the process of outputting each emergent light period. For each outgoing light period, after the detection device calculates the outgoing light period, a frequency corresponding to the outgoing light period may be determined.
The detection device may then compare the determined frequency with a preset maximum frequency. If the determined frequency is less than or equal to the maximum frequency, the detection device may reserve the outgoing light period and continue to output through the driving algorithm to obtain the outgoing light period. If the determined frequency is greater than the maximum frequency, the detection device may delete the outgoing light period and stop outputting the outgoing light period through the driving algorithm.
Wherein, like the minimum frequency, the maximum frequency is the frequency at which the detection device is limited in performance and the parameter value that can be generated is the largest. Correspondingly, when the frequency corresponding to the emergent light period calculated by the detection equipment is larger than the preset maximum frequency, the detection equipment cannot generate emergent light based on the frequency, and the detection equipment can delete the emergent light period.
It should be noted that, the above-mentioned method of determining whether to continue to calculate the light emitting period by monitoring the frequency, but in practical application, the detecting device may also determine whether to continue to calculate the light emitting period by adopting other methods, and the method of determining whether to continue to calculate the light emitting period by the detecting device in the embodiment of the present application is not limited specifically.
For example, the detection device may count after outputting one emission light period in the process of outputting each emission light period, and compare the count result with a count threshold value calculated in advance. If the counting result is smaller than the counting threshold value, the detection equipment can reserve the emergent light period obtained by the calculation and continue to calculate the emergent light period; if the counting result is equal to the counting threshold value, the detection equipment can reserve the emergent light period obtained by the calculation, but stops calculating the emergent light period; if the counting result is greater than the counting threshold, the detecting device can delete the emergent light period obtained by the calculation and stop calculating the emergent light period.
Step 203, determining the laser pulse duration in the emergent light period according to the minimum pulse period.
Wherein the laser pulse duration is the duration of time during which the detection device generates and emits laser light in each outgoing light period. Furthermore, the laser pulse duration may also be an integer multiple of the minimum pulse period.
In the detection process of the detection device, the duration of the laser pulse may be long, so that the condition of false triggering caused by reflected light formed by emergent light is caused. Therefore, in the process of generating emergent light, the duration of the laser pulse can be reduced on the basis of not influencing the detection equipment to recognize reflected light, so that the probability of false triggering is reduced.
Correspondingly, based on different photoelectric converters, the detection device can trigger to obtain echo sequence signals according to different numbers of received photons.
Therefore, in the process of determining the laser pulse duration, the detection device can determine the type of the photoelectric converter, and then determine the photon number required by the detection device when generating the echo sequence signals according to the type of the photoelectric converter, that is, the photon number required by the photoelectric converter to obtain a rising edge signal in the echo sequence signals once triggered, so that the laser pulse duration can be determined according to the required photon number.
The following describes a process of determining a laser pulse duration based on SPAD, taking a SPAD as an example of a photoelectric converter.
If the detection device adopts SPAD as the photoelectric converter, the detection device can trigger the photoelectric converter to be conducted only by a single photon in the process of generating the echo sequence signal. In practical application, the laser pulse corresponding to the minimum pulse period may include a large number of photons, and the detection device may select the minimum pulse period as the laser pulse duration.
Step 204, generating a driving sequence signal according to the laser pulse duration and combining each emergent light period.
The detection device can combine the determined laser pulse duration with each emergent light period, and takes the time length corresponding to the laser pulse duration as a section for generating emergent light in each emergent light period, so that emergent light periods with different duty ratios can be formed.
Correspondingly, in the process of generating the driving sequence signal, the detecting device can firstly determine the section of the laser pulse duration in the emergent light period, and then generate the digital driving sequence signal according to the section of the laser pulse in the emergent light period.
Thus, step 204 may include: step 204a and step 204b.
Step 204a, determining a section where the laser pulse is located in the emission light period.
The detection device may adopt different selection modes, and select a node corresponding to any minimum pulse period in the outgoing light period as a starting node of the laser pulse, that is, a first minimum pulse period corresponding to the laser pulse duration corresponds to a certain minimum pulse period in the outgoing light period, so as to determine a section where the laser pulse is located in the outgoing light period.
Specifically, for each emergent light period, the detection device may select, according to a preset selection manner, a node corresponding to a certain minimum pulse period in the emergent light periods as a starting node. Correspondingly, the detecting device can take the initial node as the moment corresponding to the generation and emission of the emergent light in the emergent light period.
The detection device may then determine, according to the number of minimum pulse periods included in the laser pulse duration, a termination node in the outgoing light period corresponding to the start node, that is, a section corresponding between the start node and the termination node, as a section in the outgoing light period in which outgoing light is generated and emitted.
For example, a certain emission light period includes 10 minimum pulse periods, and the laser pulse duration corresponds to 3 minimum pulse periods. If the detection device selects the 1 st minimum pulse period of the emergent light period as the initial node, the detection device can use the 3 rd minimum pulse period of the emergent light period as the final node.
It should be noted that, in practical application, the detecting device may determine the start node or the end node in different selection manners. For example, the detecting device may select a node corresponding to a first minimum pulse period in the outgoing light period as a start node, may select a node corresponding to a last minimum pulse period in the outgoing light period as an end node, and may also select a node corresponding to a minimum pulse period in the outgoing light period in the middle as a start node or an end node.
Of course, the detecting device may determine the start node or the end node in other manners, which are not limited in particular by the embodiment of the present application.
Step 204b, generating a driving sequence signal according to the section of the laser pulse in the emitting light period.
After the detection device determines the interval corresponding to the laser pulse, the detection device can generate a digital driving sequence signal according to the emergent light periods, so that corresponding driving sequence signals can be respectively generated according to a plurality of emergent light periods.
Specifically, for each outgoing light period, the detection device may count the minimum pulse period included in the outgoing light period, and determine the number of the minimum pulse periods, that is, the number of digital signals included in the driving sequence signal. And then, the detection equipment can acquire the interval where the laser pulse corresponding to the emergent light period is located, and determine the starting node and the ending node of the interval.
Accordingly, the detecting device may generate a digital signal corresponding to the number of the minimum pulse periods according to the determined number of the minimum pulse periods, and the parameter value of each digital signal is the first parameter. And the detection device may sequentially arrange the plurality of digital signals and determine positions of the start node and the end node corresponding to the outgoing light period, that is, positions of the start node and the end node in the sequenced plurality of digital signals, and then the detection device may determine digital signals corresponding to the start node and the end node in the sequenced plurality of digital signals, and adjust the digital signals corresponding to the start node, the digital signals corresponding to the end node, and the digital signals between the start node and the end node to be the second parameters, so as to obtain the digital signals corresponding to the outgoing light period composed of the plurality of digital signals.
For example, the first parameter may be a digital "0", the second parameter may be a digital "1", the digital "0" being used to indicate that no outgoing light is generated, and the digital "1" indicating that outgoing light is generated and emitted.
Then, the detection device may arrange the digital signals corresponding to the respective outgoing light periods in order from small to large according to the frequencies of the plurality of outgoing light periods, and combine the arranged digital signals to obtain a driving sequence signal.
In order to improve the accuracy of detection by the detection device, the detection device may generate a local oscillation sequence signal according to the driving sequence signal, so that the detection device may mix with the generated local oscillation sequence signal according to the echo sequence signal corresponding to the reflected light in the detection process, to obtain a more accurate detection result.
Optionally, in step 205, the driving sequence signal is subjected to positive and negative values to obtain a local oscillation driving signal.
Corresponding to step 204, after the detection device generates the driving sequence signal, a part of parameters in the driving sequence signal may be adjusted based on the driving sequence signal, so as to obtain the local oscillation sequence signal, so that the detection device may obtain a more accurate detection result through the local oscillation sequence signal in the detection process.
Specifically, the detection device may traverse the parameters corresponding to each of the drive sequence signals. In the traversal process, the detection device may identify the acquired parameter, and determine whether the acquired parameter is the first parameter or the second parameter.
Correspondingly, if the identified parameter is the first parameter, the detection device can replace the first parameter with the third parameter; if the identified parameter is the second parameter, the detection device can reserve the second parameter and does not adjust the second parameter.
After each signal in the driving sequence signal is traversed, the detection equipment replaces each first parameter in the driving sequence signal with a third parameter to obtain a local oscillation sequence signal composed of the second parameter and the third parameter.
For example, corresponding to the example of step 204, the first parameter may be a digital "0", the second parameter may be a digital "1", and the third parameter may be a digital "-1". When the detection device recognizes that a certain signal in the drive sequence signal corresponds to a first parameter number "0", the detection device may replace the first parameter number "0" with a third parameter number "-1".
In summary, according to the signal generating method provided by the embodiment of the present application, a driving algorithm is obtained, and a preset minimum pulse period is combined to calculate a plurality of emission light periods, and then, for each emission light period, a time period for generating and emitting emission light in the emission light period is determined by combining the determined laser pulse duration, so as to generate a digital driving sequence signal. The detection equipment generates an emergent light period and determines the laser pulse duration based on the minimum pulse period, so that a driving sequence signal matched with the minimum pulse period can be generated according to the number of the minimum pulse periods respectively corresponding to the emergent light period and the laser pulse duration, and a digital signal is not required to be obtained according to amplitude conversion of an analog signal, thereby improving the accuracy of the driving sequence signal in a digital form.
Further, by adjusting part of parameters in the driving sequence signal, a local oscillation sequence signal is obtained, so that the detection device can keep part of signals in the echo sequence signal based on the adjusted parameters in the local oscillation sequence signal in the detection process, and the detection accuracy of the detection device can be further improved.
The detection device provided in this embodiment may perform the above method embodiment, and its implementation principle is similar to that of the technical effect, and will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Based on the same inventive concept, the embodiment of the application also provides a detection device. Fig. 4 is a schematic structural diagram of a detection device according to an embodiment of the present application, as shown in fig. 4, where the detection device provided in this embodiment may include: a memory 41 and a processor 42, the memory 41 for storing a computer program 43; the processor 42 is arranged to perform the method described in the method embodiments above when the computer program 43 is called.
The detection device provided in this embodiment may perform the above method embodiment, and its implementation principle is similar to that of the technical effect, and will not be described herein.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the method described in the above method embodiment.
The embodiment of the application also provides a computer program product which, when run on a detection device, causes the detection device to execute the method described in the embodiment of the method.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable storage medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/device and method may be implemented in other manners. For example, the apparatus/device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims (10)

1. A method of generating a signal, the method comprising:
according to a preset driving algorithm, calculating by combining a minimum pulse period to obtain a plurality of emergent light periods, wherein the frequency of each emergent light period is different;
determining the laser pulse duration according to the minimum pulse period;
and combining the laser pulse duration with each emergent light period to obtain a driving sequence signal.
2. The method of claim 1, wherein said combining the laser pulse duration with each of the exit photoperiod results in a drive sequence signal comprising:
determining a section of the laser pulse duration in the emergent light period according to each emergent light period;
and generating the driving sequence signal according to the section of the laser pulse duration in the emergent light period.
3. The method of claim 2, wherein the determining the interval in which the laser pulse duration is in the exit photoperiod comprises:
selecting a node corresponding to any minimum pulse period included in the emergent light period as a starting node of the laser pulse duration;
Determining a termination node of the laser pulse duration in the emergent light period according to the number of the minimum pulse periods included in the laser pulse duration;
and determining the section of the laser pulse duration in the emergent light period according to the starting node and the ending node.
4. The method according to claim 2, wherein the generating the driving sequence signal according to the interval in which the laser pulse duration is in the outgoing light period includes:
determining a number of minimum pulse periods comprised by the outgoing photoperiod;
generating a first parameter consistent with the number of the minimum pulse periods as a digital signal;
according to the interval of the laser pulse duration in the emergent light period, adjusting a first parameter corresponding to at least one digital signal into a second parameter;
and combining the digital signals corresponding to each emergent light period according to the frequencies of the emergent light periods to obtain the driving sequence signal.
5. The method of claim 1, wherein after said combining the laser pulse duration with each of the exit photoperiod resulting in a drive sequence signal, the method further comprises:
Traversing parameters corresponding to each digital signal in the driving sequence signals;
if the identified parameter is the first parameter, replacing the first parameter with a third parameter;
and if the identified parameter is the second parameter, reserving the second parameter to obtain a local oscillator driving signal composed of the second parameter and the third parameter.
6. The method according to any one of claims 1 to 5, wherein the calculating according to a preset driving algorithm in combination with a minimum pulse period to obtain a plurality of emission light periods includes:
calculating through the driving algorithm according to the minimum pulse period to obtain a plurality of emergent light periods with different frequencies;
monitoring the frequency of each emergent light period;
if the frequency of the emergent light period is smaller than or equal to the preset maximum frequency, the emergent light period is reserved;
and if the frequency of the emergent light period is larger than the maximum frequency, deleting the emergent light period, and stopping calculating the emergent light period through the driving algorithm.
7. The method according to any one of claims 1 to 5, wherein the calculating according to a preset driving algorithm in combination with a minimum pulse period to obtain a plurality of emission light periods includes:
Calculating through the driving algorithm according to the minimum pulse period to obtain a plurality of emergent light periods, and counting the emergent light periods;
after each time of updating the counting result, comparing the counting result with a preset counting threshold value;
if the counting result is smaller than the counting threshold value, reserving the emergent light period, and continuously calculating the emergent light period;
if the counting result is equal to the counting threshold value, reserving the emergent light period, and stopping calculating the emergent light period;
and if the counting result is larger than the counting threshold value, deleting the emergent light period, and stopping calculating the emergent light period.
8. The method of any one of claims 1 to 5, wherein said determining a laser pulse duration from said minimum pulse period comprises:
acquiring the type of a photoelectric converter;
and according to the type of the photoelectric converter, determining the laser pulse duration by combining the minimum pulse period.
9. A detection apparatus, characterized by comprising: the device comprises a processor, a driving circuit, a laser, a light emitting module, a receiving module and a photoelectric converter;
the processor is respectively connected with the driving circuit and the photoelectric converter, the laser is connected in series between the driving circuit and the light-emitting module, and the receiving module is connected with the photoelectric converter;
The processor is used for calculating according to a preset driving algorithm and combining a minimum pulse period to obtain a plurality of emergent light periods, and the frequency of each emergent light period is different;
the processor is also used for determining the laser pulse duration according to the minimum pulse period;
the processor is further configured to combine the laser pulse duration with each of the outgoing photoperiod to obtain a drive sequence signal.
10. A detection apparatus, characterized by comprising: a memory and a processor, the memory for storing a computer program; the processor is configured to perform the method of any of claims 1 to 8 when the computer program is invoked.
CN202311120772.4A 2023-08-31 2023-08-31 Signal generation method and detection device Pending CN117111026A (en)

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