WO2018112888A1

WO2018112888A1 - Laser radar scanning method and laser radar

Info

Publication number: WO2018112888A1
Application number: PCT/CN2016/111724
Authority: WO
Inventors: 阳光
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2016-12-23
Filing date: 2016-12-23
Publication date: 2018-06-28
Also published as: CN107980102A; CN107980102B

Abstract

Provided are a laser radar scanning method and a laser radar, used for detecting mutual interference between different laser radars, the method comprising: controlling the laser radar to send a first laser signal to a current scanning point according to a target coding value (101), the target coding value comprising a first identification code, the first identification code being a unique identifier for identifying the laser radar; when the laser radar receives the laser signal reflected by the current scanning point, the laser radar detecting whether an identification code, apart from the first identification code, exists in the laser signal reflected by the current scanning point (102); and if an identification code apart from the first identification code exists, the laser radar re-sending a first laser signal to the current scanning point according to the target coding value (103). The laser radar scanning method can effectively avoid the interference of other laser signals, thus the reliability of the detection of the laser radar is improved substantially.

Description

Lidar scanning method and laser radar

Technical field

The invention relates to the field of laser radar systems, in particular to a laser radar scanning method and a laser radar.

Background technique

The autopilot system is an intelligent car system that is unmanned by an onboard computer system. Automated driving vehicles rely on artificial intelligence, visual computing, radar, surveillance devices and global positioning systems to work together to allow the computer to operate the vehicle automatically and safely without any human active operation.

In the prior art, the automobile automatic driving system mainly relies on laser radar to detect the 3D distribution of the road surface, and performs subsequent visual-based road analysis.

In the prior art, although the current laser radar can realize the 3D detection function, when the laser radar scans the scanning area, if two or more laser radars simultaneously scan the same scanning point, the laser radar emits the same. There may be mutual interference between the laser signals, so that laser signals emitted by other laser radars may exist in the laser signals emitted by the laser radar receiving the scanning points, and the laser radar cannot recognize the laser signals emitted by other laser radars. , thus affecting the reliability of lidar detection.

Summary of the invention

Embodiments of the present invention provide a laser radar scanning method and a laser radar for preventing mutual interference between laser radars.

A first aspect of the embodiments of the present invention provides a laser radar scanning method, including:

The control laser radar transmits a first laser signal to the current scanning point according to the target code value, where the target code value includes a first identification code, and the first identification code is a unique identifier for identifying the laser radar;

When the laser radar receives the laser signal reflected by the current scanning point, the laser radar detects whether there is an identification code laser radar other than the first identification code in the laser signal reflected by the current scanning point;

If there is an identification code other than the first identification code, the laser radar again transmits the first laser signal to the current scanning point according to the target encoding value.

It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

The laser radar detects the laser signal reflected by the current scanning point, so that the laser radar determines whether there is an identification code other than the first identification code in the laser signal reflected by the current scanning point, and if there is an identification code other than the first identification code, Then the laser radar again transmits the first laser signal to the current scanning point according to the target code value. It can be understood that, in the laser radar scanning method of the embodiment of the present invention, the laser radar can recognize whether there is interference signal of other lasers, and if there is an interference signal, the laser radar re-scans the current scanning point, so when two When the above laser radar scans the same scanning point simultaneously, the laser radar effectively avoids the interference of other laser signals, so that the detection reliability of the laser radar is greatly improved.

With reference to the first aspect of the embodiments of the present invention, in a first implementation manner of the first aspect of the embodiment, the laser radar detects whether an identification code other than the first identification code exists in the laser signal reflected by the current scanning point. Also includes:

If the laser radar detects that the identification code other than the first identification code exists in the laser signal reflected by the current scanning point, the laser radar performs statistics on the possibility of occurrence of the identification code except the first identification code, and calculates corresponding Probability value

The laser radar interaction pre-sets the preset threshold. When the above probability value reaches the preset threshold, the laser radar delays the scanning interval by a preset time period and then performs scanning.

When the probability value reaches the preset threshold, the lidar delays the scanning interval by a preset duration, so that the laser radar can avoid signal interference of other laser signals to the current scanning point.

With reference to the first implementation manner of the first aspect of the embodiment of the present invention, in the second implementation manner of the first aspect, the probability value of the identification code of the laser radar that is other than the first identification code includes:

When the laser radar detects that there is an identification code other than the first identification code in the laser signal reflected by the current scanning point, the laser radar increases the number of interferences once;

The lidar counts the number of scans and the number of disturbances from the start of the scan to the current scan time, and then takes the ratio of the number of disturbances to the number of scans as the probability value.

The lidar calculates the ratio of the number of interferences to the number of scans, that is, the probability value, and can determine the proportion of the interference, and then according to the probability value, the corresponding operation to prevent interference from other laser signals.

In conjunction with the first aspect of the embodiments of the present invention, in a third implementation of the first aspect, in the laser mine Detecting whether there is an identification code other than the first identification code in the laser signal reflected by the current scanning point further includes:

When there is no identification code other than the first identification code in the laser signal reflected by the current scanning point, the laser radar transmits the second laser signal to the next scanning point according to the target encoding value to continue scanning.

When there is no identification code other than the first identification code in the laser signal reflected by the current scanning point, it means that when there is no interference of other laser signals in the scanning, the scanning of the next scanning point is directly performed, which can speed up the scanning process accordingly. .

With reference to the first aspect of the embodiments of the present invention, the first implementation manner of the first aspect of the embodiment of the present invention, the third implementation manner of the first aspect of the embodiment of the present invention, the fourth implementation of the first aspect of the embodiment of the present invention In the mode, the target code value also includes the current scan point coordinates.

In addition to the first identification code, the target code value includes the current scan point coordinates, so that the laser signal reflected by the current scan point is more easily recognized, and the signal from the laser radar can be identified.

A second aspect of the embodiments of the present invention provides a laser radar, including:

a transmitting unit, configured to transmit a first laser signal to the current scanning point according to the target encoding value, where the target encoding value includes a first identification code, where the first identification code is a unique identifier for identifying the laser radar;

a detecting unit, configured to detect, when the laser radar receives the laser signal reflected by the current scanning point reflected by the current scanning point, whether the laser signal reflected by the current scanning point has an identifier other than the first identification code code;

a first triggering unit, if present, triggering the transmitting unit to transmit the first laser signal to the current scanning point according to the target encoding value.

The transmitting unit reflects the first laser signal to the current scanning point according to the target encoding value, and the detecting unit detects whether there is a second identification code in the laser signal reflected by the current scanning point, and if present, the first triggering unit scans the current encoding according to the target encoding value again. The point emits a first laser signal. It can be understood that, in the lidar scanning method of the embodiment of the present invention, the detecting unit can identify whether there is an interference signal of other laser signals. If there is an interference signal, the first trigger unit triggers the transmitting unit to scan the current scanning point again. Therefore, when two or more laser radars simultaneously scan the same scanning point, the laser radar effectively avoids the interference of other laser radars, so that the detection reliability of the laser radar is greatly improved.

With reference to the second aspect of the embodiments of the present invention, in a first implementation manner of the second aspect of the embodiments, the laser radar further includes:

The statistical unit and the delay unit, when there is an identification code other than the first identification code in the laser signal reflected by the current scanning point, the statistical unit will count the probability value of the identification code except the first identification code;

When the above probability value reaches a preset threshold, the delay unit delays the scan interval by a preset duration.

Based on the functions of the statistical unit and the delay unit, the laser radar can effectively avoid signal interference of other laser signals to the current scanning point.

With reference to the first implementation manner of the second aspect of the embodiment of the present invention, in a second implementation manner of the second aspect, the statistics unit includes:

The calculating module and the statistic module, when the identification code other than the first identification code exists in the laser signal reflected by the current scanning point, the counting module increases the number of interferences once;

The statistics module first counts the number of interferences and the number of scans between the start time of the laser radar and the current scan time, and then compares the ratio of the number of interferences to the number of scans as the probability of occurrence of the number of interferences.

The calculation module and the statistics module jointly acquire the above-mentioned probability values, so that the lidar is always aware of the state of the current scan so that the strain processing can be performed in time.

With reference to the second aspect of the embodiments of the present invention, in a third implementation manner of the second aspect, the laser radar further includes:

a second triggering unit; when the identification code other than the first identification code does not exist in the laser signal reflected by the current scanning point, the second triggering unit triggers the transmitting unit to transmit the second laser signal to the next scanning point according to the target encoding value to continue scanning.

With reference to the second aspect of the embodiments of the present invention, the first implementation manner of the second aspect of the embodiment of the present invention, and the third implementation manner of the second aspect of the embodiment of the present invention, the fourth implementation of the second aspect of the embodiment of the present invention In the mode, the target code value also includes the current scan point coordinates.

A third aspect of the embodiments of the present invention provides a laser radar, including:

Transmitting device, detecting device, memory and processor;

The transmitting device is configured to emit a laser signal to the scanning point according to the target encoded value;

The detecting device is configured to detect whether an identification code exists in the laser signal reflected by the scanning point;

The memory is configured to store an operation instruction;

The processor is configured to perform the following steps by calling the operation instruction:

Controlling, by the transmitting device, a first laser signal to be sent to the current scanning point according to the target encoding value, where the target encoding value includes a first identification code, and the first identification code is a unique identifier for identifying the laser radar ;

When the laser radar receives the laser signal reflected by the current scanning point, controlling the detecting device to detect whether there is an identification code other than the first identification code in the laser signal reflected by the current scanning point;

And if there is an identification code other than the first identification code, triggering the transmitting device to transmit the first laser signal to the current scanning point according to the target encoding value.

The processor controls the detecting device to detect whether the first laser signal reflected by the current scanning point has an identification code other than the first identification code, and if so, triggers the first laser signal reflected by the target scanning value to the current scanning point. The transmitting device transmits the first laser signal to the current scanning point in accordance with the target encoded value. It can be understood that, in the lidar scanning method of the embodiment of the present invention, the processor can identify whether there is any other good interference signal of the laser. If there is an interference signal, the processor re-scans the current scanning point, so when two When more than one laser radar scans the same scanning point simultaneously, the laser radar effectively avoids the interference of other laser signals, so that the detection reliability of the laser radar is greatly improved.

With reference to the third aspect of the embodiments of the present invention, in a first possible implementation manner of the third aspect of the embodiments, the processor is further configured to perform the following steps, including:

If the identifier code other than the first identifier code exists, the probability value of the identifier code other than the first identifier code is counted;

When the probability value reaches a preset threshold, the scan interval is delayed by a preset duration.

With reference to the first possible implementation manner of the third aspect of the embodiments of the present invention, in a second possible implementation manner of the third aspect of the embodiment, the processor is further configured to perform the following steps, including:

When the identification code other than the first identification code exists, the number of interferences is increased once;

Obtaining the probability value according to the number of interferences and the number of scans, wherein the number of scans is the laser The total number of scans that the radar performs cumulatively from the start of the scan to the current scan time, the current scan time being the time at which the laser radar begins to receive the laser signal reflected by the current scan point.

With reference to the third aspect of the embodiments of the present invention, in a third possible implementation manner of the third aspect of the embodiment, the processor is further configured to perform the following steps, including:

If the identification code other than the first identification code does not exist, triggering the transmitting device to transmit the second laser signal to the next scanning point according to the target encoding value.

With reference to the third aspect of the embodiments of the present invention, the first possible implementation manner of the third aspect of the embodiment of the present invention, to any one of the third possible implementation manners of the third aspect of the embodiment of the present invention, in the embodiment of the present invention In a fourth possible implementation manner of the third aspect, the target code value further includes the current scan point coordinate.

A fourth aspect of the embodiments of the present invention provides a vehicle, including:

a vehicle itself and a laser radar mounted on the vehicle itself;

The laser radar is configured to transmit a first laser signal to a current scanning point according to a target code value, where the target code value includes a first identification code, where the first identification code is a unique identifier for identifying the laser radar;

When the laser radar receives the laser signal reflected by the current scanning point, the laser radar detects whether there is an identification code other than the first identification code in the laser signal reflected by the current scanning point;

If the identification code other than the first identification code exists, the laser radar again transmits the first laser signal to the current scanning point according to the target encoding value.

It can be seen from the above technical solutions that the vehicle in which the above-mentioned laser radar is installed in the embodiment of the present invention can eliminate the interference of other laser signals and better detect the situation of the traveling road surface, thereby improving the safety performance of driving the vehicle.

DRAWINGS

1 is a schematic diagram of an embodiment of a laser radar scanning method according to an embodiment of the present invention;

2 is a schematic diagram of another embodiment of a laser radar scanning method according to an embodiment of the present invention;

3 is a schematic diagram of an embodiment of a laser radar according to an embodiment of the present invention;

4 is a schematic diagram of another embodiment of a laser radar according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of another embodiment of a laser radar according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic diagram of another embodiment of a laser radar according to an embodiment of the present invention.

detailed description

Embodiments of the present invention provide a laser radar scanning method for preventing mutual interference between laser radars.

The terms "first", "second", "third", "fourth", etc. (if present) in the specification and claims of the present invention and the above figures are used to distinguish similar objects without having to use To describe a specific order or order. It is to be understood that the data so used may be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than what is illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

At present, the application of laser radar is very extensive, and in the field of automobile assisted driving, laser radar is mainly used to detect the road surface condition. Lidar is generally a periodic scan. The commonly used measurement principles include triangulation, time flight and phase. The accuracy of the above three methods increases. The laser radar emits laser light to the outside scanning area, and then measures the distance according to the laser signal reflected from the external scanning area. The laser radar generally determines the scanning area according to the mirror, and the laser emitted by the laser radar can be determined according to the actual situation. The beam laser can also be a multi-beam laser. Embodiments of the present invention provide a laser radar scanning method and a laser radar.

In order to better understand the embodiments of the present invention, the embodiments of the present invention will be described in terms of both a laser radar scanning method and a laser radar.

It should be noted that the laser radar scanning method and the laser radar in the following embodiments are described by taking the vehicle field as an example.

Please refer to FIG. 1 for a detailed description of the lidar scanning method in the embodiment of the present invention, including:

101. The laser radar transmits the first laser signal to the current scanning point according to the target code value.

In this embodiment, the target code value includes a first identification code, the first identification code is a unique identifier for identifying the laser radar, and the target code value is finally converted into a binary code, and the specific coding method is as follows: in the vehicle field, A vehicle carries a unique laser radar, and the vehicle ID number, which is the unique identification information of the vehicle, can be used as the first identification code for identifying the laser radar. If the vehicle ID number is 07, the target encoding value is 0111 or 00000111, etc., the specific binary digits can be determined according to specific circumstances, which is not limited herein.

When the target code value is 0111, assuming a time interval of 10 microseconds, when the laser radar transmits the first laser signal to the current scanning point, the specific transmission process is to send a low level in the first 10 microseconds, in the subsequent 30 Continuously transmitting a high level in microseconds; when the target encoding value is 00000111, assuming a time interval of 1 microsecond, when the laser radar transmits the first laser signal to the current scanning point, the specific transmission process is within the first 5 microseconds. Continuously send 5 low levels with a duration of 1 microsecond, and continuously send 3 consecutive high levels of 1 microsecond in the next 3 microseconds. Of course, the above is not considering the code header and code. The tail is described as an example. It should be noted that the foregoing time interval may also be other reasonable time intervals, which is not limited herein.

In addition, in this embodiment, the first identification code may include scan point coordinates in addition to the vehicle ID number, which is not limited herein.

102. The laser radar detects whether an identification code other than the first identification code exists in the laser signal reflected by the current scanning point. If there is an identification code other than the first identification code, step 103 is performed; If the identification code other than the identification code is used, step 104 is performed.

In this embodiment, the laser radar detects whether there is an identification code other than the first identification code in the laser signal reflected by the current scanning point; when the identification code other than the first identification code exists in the laser signal reflected by the current scanning point It is indicated that the first laser signal has been interfered by other laser signals. At this time, step 103 is performed; when there is no identification code other than the first identification code in the laser signal reflected by the current scanning point, the first laser signal is not used by other lasers. Signal interference, go to step 104.

103. The laser radar again transmits the first laser signal to the current scanning point according to the target code value.

In this embodiment, if there is an identification code other than the first identification code in the laser signal reflected by the current scanning point, the first laser signal is interfered by other laser signals, and the laser radar needs to re-transmit the first laser signal to the current The scan point is scanned again.

104. The lidar transmits the second laser signal to the next scanning point according to the target code value.

In this embodiment, if there is no identification code other than the first identification code in the laser signal reflected by the current scanning point, the laser signal reflected by the current scanning point is not interfered by the signal transmitted by other laser radars, and the laser radar continues. A second laser signal is emitted to the next scanning point for scanning.

In this embodiment, the laser radar detects whether or not there is a laser signal reflected by the current scanning point. The identification code other than the first identification code determines whether the laser radar is interfered by other laser signals. If there is interference, the laser radar re-scans the current scanning point. Therefore, in the embodiment of the present invention, the laser radar scanning method can detect interference from other laser signals and re-scan the disturbed scanning points, so that the laser radar scanning method improves the reliability of laser detection in the embodiment of the present invention.

Please refer to FIG. 2 for a detailed description of the lidar scanning method in the embodiment of the present invention, including:

201. The lidar transmits the first laser signal to the current scanning point according to the target code value.

202. The lidar detects whether there is an identification code other than the first identification code in the laser signal reflected by the current scanning point. If there is an identification code other than the first identification code, step 203 is performed; The identification code other than the identification code is executed in step 205.

203. The laser radar again transmits the first laser signal to the current scanning point according to the target code value.

In this embodiment, the steps 201 to 203 are similar to the steps 101 to 103 in the foregoing embodiment, and details are not described herein again.

204. The lidar statistics the probability value of the identification code except the first identification code, and when the probability value reaches the preset threshold, performing a delayed scanning operation.

In this embodiment, when there is an identification code other than the first identification code in the laser signal reflected by the current scanning point, the lidar adds 1 to the counter of the statistical interference number, and the laser radar also records the time from the start of scanning to The total number of scans that are accumulated between the current scan time, that is, the number of scans. At this time, the lidar divides the number of interferences by the number of scans to obtain the probability of interference. When the above probability value reaches a preset threshold such as 1%, the lidar will scan. The time interval is delayed by a preset duration (for example, 200 ns) and the scanning function is continued.

205. The laser radar transmits the second laser signal to the next scanning point according to the target code value.

In this embodiment, step 205 is similar to step 104 above, and details are not described herein again.

In this embodiment, the laser radar records the probability value of the identification code other than the first identification code in the laser signal reflected by the current scanning point, and when the probability value reaches the preset threshold, the lidar delays the scanning time interval. Continue the scan function after the preset time. Therefore, the laser signal emitted by the laser radar can be staggered from other laser signals in the scanning time, thereby effectively preventing other laser signals from interfering with the laser signal reflected by the current scanning point.

The above embodiment details the laser radar scanning method in the embodiment of the present invention, and the following will The laser radar in the embodiment of the present invention will be described from the following aspects.

Please refer to FIG. 3 for a detailed description of the laser radar in the embodiment of the present invention, including:

a transmitting unit 301, configured to transmit, according to the target code value, a first laser signal to a current scanning point, where the target code value includes a first identification code, where the first identification code is a unique identifier for identifying the laser radar;

The detecting unit 302 is configured to detect, when the laser radar receives the laser signal reflected by the current scanning point, whether an identification code other than the first identification code exists in the laser signal reflected by the current scanning point;

The first triggering unit 303 is configured to: when the identification code other than the first identification code exists in the laser signal reflected by the current scanning point, trigger the transmitting unit 301 to transmit the first laser signal to the current scanning point according to the target encoding value. .

In this embodiment, the detecting unit 302 detects the laser signal reflected by the current scanning point, so that the detecting unit 302 determines whether there is an identification code other than the first identification code in the laser signal reflected by the current scanning point, and is reflected by the current scanning point. If the identification code other than the first identification code exists in the laser signal, the first trigger unit 303 triggers the transmitting unit 301 to transmit the first laser signal to the current scanning point according to the target encoding value. It can be understood that, in the laser radar scanning method of the embodiment of the present invention, the laser radar can recognize the interference signal of other laser signals, and if there is an interference signal, the laser radar re-scans the current scanning point. Therefore, when two or more laser radars simultaneously scan the same scanning point, the laser radar effectively avoids the interference of other laser radars, so that the detection reliability of the laser radar is greatly improved.

In another embodiment as shown in Figure 4, the lidar comprises:

a transmitting unit 401, configured to perform a function similar to the foregoing transmitting unit 301;

The detecting unit 402 is configured to perform a function similar to the detecting unit 302 described above;

The first triggering unit 403 is configured to perform a function similar to that of the first triggering unit 303 described above;

The statistic unit 404 is configured to: when an identifier code other than the first identifier code exists in the laser signal reflected by the current scan point, calculate a probability value of the identifier code other than the first identifier code;

The delay unit 405 is configured to delay the scan interval by a preset duration when the probability value reaches a preset threshold;

The second triggering unit 406 is configured to: when the laser signal reflected by the current scanning point does not exist, the first The identification code other than the identification code triggers the transmitting unit 401 to transmit the second laser signal to the next scanning point according to the target encoding value.

In this embodiment, the statistic unit 404 performs statistics on the probability value of the identification code other than the first identification code in the laser signal reflected by the current scanning point, and when the probability value reaches the preset threshold, the delay unit 405 will scan the time. The interval delay is preset for the duration and then the scan function is continued. Therefore, the laser signal emitted by the laser radar can be staggered from other laser signals in the scanning time, thereby effectively preventing other laser signals from interfering with the laser signal reflected by the current scanning point.

In another embodiment as shown in Figure 5, the lidar comprises:

a transmitting unit 501, configured to perform a function similar to the foregoing transmitting unit 301;

The detecting unit 502 is configured to perform a function similar to the detecting unit 302 described above;

The first triggering unit 503 is configured to perform a function similar to that of the first triggering unit 303 described above;

In addition, the statistics unit 504 further includes:

The counting module 5041 is configured to increase the number of interferences once when an identification code other than the first identification code exists in the laser signal reflected by the current scanning point;

The statistics module 5042 is configured to obtain the probability value according to the number of interferences and the number of scans, where the number of scans is the total number of scans that are accumulated between the start of the scan time and the current scan time of the laser radar, and the current scan time is the laser a moment when the radar begins to receive the laser signal reflected by the current scanning point;

a delay unit 505, configured to perform a function similar to the delay unit 405 described above;

The second trigger unit 506 is configured to perform a function similar to the second trigger unit 406 described above.

In this embodiment, the lidar counts the probability value from the start of the scan time to the current scan time. It can be understood that, once the probability value reaches a preset threshold at a certain scan time, the laser radar can quickly perform the delay scan interval and avoid the time interval. Signal interference generated by other laser laser signals.

Referring to FIG. 6, a laser radar in an embodiment of the present invention is described. The laser radar 60 includes a transmitting device 610, a detecting device 620, a processor 630, a memory 640, and a bus system 650.

The transmitting device 610 is configured to transmit a laser signal to the scanning point according to the target encoded value.

The detecting device 620 is configured to detect whether an identification code exists in the laser signal reflected by the scanning point when the laser radar receives the laser signal reflected by the scanning point.

In the embodiment of the present invention, the processor 630 is configured to:

The control transmitting device 610 transmits a first laser signal to the current scanning point according to the target encoding value, where the target encoding value includes a first identification code, where the first identification code is a unique identifier for identifying the laser radar;

When the laser radar receives the laser signal reflected by the current scanning point, the control detecting device 620 detects whether there is an identification code other than the first identification code in the laser signal reflected by the current scanning point;

If there is an identification code other than the first identification code, the trigger transmitting device 610 transmits the first laser signal to the current scanning point according to the target encoding value.

The processor 630 may also be referred to as a central processing unit (English full name: Central Processing Unit, English abbreviation: CPU).

The memory 640 is configured to store operation instructions and data, so that the processor 630 invokes the above operation instructions to implement corresponding operations, and may include a read only memory and a random access memory. A portion of the memory 640 may also include a non-volatile random access memory (English name: Non-Volatile Random Access Memory, English abbreviation: NVRAM).

The bus system 650 couples the various components of the laser radar 60 together. The various components include a transmitting device 610, a detecting device 620, a processor 630, and a memory 640. The bus system 650 may include a power bus in addition to the data bus. Control bus and status signal bus, etc. However, for clarity of description, various buses are labeled as bus system 650 in the figure.

In this embodiment, it should be noted that the method disclosed in the foregoing embodiment of the present invention may be applied to the processor 630 or implemented by the processor 630. Processor 630 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 630 or an instruction in a form of software. The processor 630 may be a general-purpose processor, a digital signal processor (English name: Digital Signal Processing, English abbreviation: DSP), an application specific integrated circuit (English name: Application Specific Integrated Circuit, English abbreviation: ASIC), ready-made programmable Gate array (English name: Field-Programmable Gate Array, English abbreviation: FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present invention may be implemented or carried out. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present invention may be directly implemented by the hardware decoding processor, or may be performed by a combination of hardware and software modules in the decoding processor. Software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable Programmable memories, registers, etc. are well-established in the storage medium of the art. The storage medium is located in the memory 640, and the processor 630 reads the information in the memory 640 and combines the hardware to perform the steps of the above method.

In another possible embodiment, when the laser radar receives the laser signal reflected by the current scanning point, the processor 630 controls the detecting device 620 to detect whether there is a first identification code in the laser signal reflected by the current scanning point. After the identifier code is external, the processor 630 can also perform the following steps by calling an operation instruction in the memory 640:

If there is an identification code other than the first identification code in the laser signal reflected by the current scanning point, the probability value of the identification code except the first identification code is counted;

When the probability value reaches a preset threshold, the scan interval is delayed by a preset duration;

If the identification code other than the first identification code does not exist in the laser signal reflected by the current scanning point, the trigger transmitting unit 401 transmits the second laser signal to the next scanning point according to the target encoding value.

The specific implementation of the probability value that the processor 630 counts the identification code except the first identification code in the foregoing embodiment may be:

When there is an identification code other than the first identification code in the laser signal reflected by the current scanning point, the number of interferences recorded by the timer is increased once;

Obtaining the probability value according to the number of interferences and the number of scans, wherein the number of scans is a total number of scans that are accumulated between the laser scanning radar and the current scanning time, and the current scanning time is that the laser radar starts receiving the current scan. The moment of the laser signal reflected by the point.

In the above embodiment, the target code values include the position coordinate information of the current scan point. It can be seen that the embodiment of the present invention can detect the laser reflected by the current scan point by associating the position coordinates of the current scan point with the emitted laser signal. There are other interference signals in the signal. Therefore, the embodiment of the present invention effectively prevents interference of other laser signals, including laser signal interference of other laser radars.

An embodiment of the present invention further provides a vehicle including the vehicle itself and a laser radar. The laser radar is mounted on the vehicle itself, and the vehicle performs the functions of the corresponding embodiments of FIG. 1 and FIG. 2 by using the laser radar. The vehicle can eliminate the interference of other laser signals, better detect the road surface and perform visual-based road analysis based on the above-mentioned detection conditions, thereby effectively improving the safety performance of driving the vehicle and making the automatic driving more safe and reliable. .

A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiment. I will not repeat them here.

In the several embodiments provided by the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.

The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the embodiments are modified, or the equivalents of the technical features are replaced by the equivalents of the technical solutions of the embodiments of the present invention.

Claims

A laser radar scanning method, comprising:

The control laser radar transmits a first laser signal to the current scanning point according to the target code value, where the target code value includes a first identification code, and the first identification code is a unique identifier for identifying the laser radar;

When the laser radar receives the laser signal reflected by the current scanning point, the laser radar detects whether there is an identification code other than the first identification code in the laser signal reflected by the current scanning point;

If the identification code other than the first identification code exists, the laser radar again transmits the first laser signal to the current scanning point according to the target encoding value.
The lidar scanning method according to claim 1, wherein the laser radar detects whether an identification code other than the first identification code exists in the laser signal reflected by the current scanning point, and further includes:

If there is the identification code other than the first identification code, the lidar statistics the probability value of the identification code except the first identification code;

When the probability value reaches a preset threshold, the lidar delays the scan interval by a preset duration.
The lidar scanning method according to claim 2, wherein the probability value of the lidar statistic that the identifier other than the first identifier code appears includes:

When there is the identification code other than the first identification code, the lidar increases the number of interferences once;

The laser radar obtains the probability value according to the number of interferences and the number of scans, and the number of scans is a total number of scans that are accumulated between the laser scanning radar and the current scanning time, and the current scanning time. The moment at which the laser radar begins to receive the laser signal reflected by the current scanning point.
The lidar scanning method according to claim 1, wherein the laser radar detects whether an identification code other than the first identification code exists in the laser signal reflected by the current scanning point, and further includes:

If the identification code other than the first identification code does not exist, the laser radar transmits the second laser signal to the next scanning point according to the target encoding value.
The lidar scanning method according to any one of claims 1 to 4, wherein the target encoded value further includes the current scan point coordinate.
A laser radar, characterized in that the laser radar is a laser radar, comprising:

a transmitting unit, configured to transmit a first laser signal to the current scanning point according to the target encoding value, where the target encoding value includes a first identification code, where the first identification code is a unique identifier for identifying the laser radar;

a detecting unit, configured to detect, when the laser radar receives the laser signal reflected by the current scanning point, whether an identification code other than the first identification code exists in the laser signal reflected by the current scanning point;

The first triggering unit is configured to trigger the transmitting unit to transmit the first laser signal to the current scanning point according to the target encoding value if an identification code other than the first identification code exists.
The laser radar according to claim 6, wherein the laser radar further comprises:

a statistical unit, configured to: if the identifier code other than the first identifier code exists, calculate a probability value of the identifier code other than the first identifier code;

And a delay unit, configured to delay the scan interval by a preset duration when the probability value reaches a preset threshold.
The laser radar according to claim 7, wherein said statistical unit comprises:

a counting module, configured to increase the number of interferences once when the identification code other than the first identification code exists;

a statistics module, configured to obtain the probability value according to the number of interferences and the number of scans, where the number of scans is a total number of scans that are cumulatively performed between the start time of the laser radar and the current scan time, and the current scan The moment is the moment when the laser radar begins to receive the laser signal reflected by the current scanning point.
The laser radar according to claim 6, wherein the laser radar further comprises:

The second triggering unit is configured to trigger the transmitting unit to transmit the second laser signal to the next scanning point according to the target encoding value if the identification code other than the first identification code does not exist.
The laser radar according to any one of claims 6 to 9, wherein the target encoded value further includes the current scan point coordinate.
A laser radar, characterized in that the laser radar comprises:

Transmitting device, detecting device, memory and processor;

The transmitting device is configured to emit a laser signal to the scanning point according to the target encoded value;

The detecting device is configured to detect whether an identification code exists in the laser signal reflected by the scanning point;

The memory is configured to store an operation instruction;

The processor is configured to perform the following steps by calling the operation instruction:

Controlling, by the transmitting device, a first laser signal to be sent to the current scanning point according to the target encoding value, where the target encoding value includes a first identification code, and the first identification code is a unique identifier for identifying the laser radar ;

When the laser radar receives the laser signal reflected by the current scanning point, controlling the detecting device to detect whether there is an identification code other than the first identification code in the laser signal reflected by the current scanning point;

And if there is an identification code other than the first identification code, triggering the transmitting device to transmit the first laser signal to the current scanning point according to the target encoding value.
The laser radar according to claim 11, wherein the processor is further configured to perform the following steps, including:

If the identifier code other than the first identifier code exists, the probability value of the identifier code other than the first identifier code is counted;

When the probability value reaches a preset threshold, the scan interval is delayed by a preset duration.
The laser radar according to claim 12, wherein the processor is further configured to perform the following steps, including:

When the identification code other than the first identification code exists, the number of interferences is increased once;

Obtaining the probability value according to the number of interferences and the number of scans, wherein the number of scans is a total number of scans that are accumulated between the laser scanning radar and the current scanning time, and the current scanning time is the laser The moment when the radar begins to receive the laser signal reflected by the current scanning point.
The laser radar according to claim 11, wherein the processor is further configured to perform the following steps, including:

If the identification code other than the first identification code does not exist, triggering the transmitting device to transmit the second laser signal to the next scanning point according to the target encoding value.
The laser radar according to any one of claims 11 to 14, wherein the target encoded value further includes the current scan point coordinates.
A vehicle, comprising: a vehicle body; and a laser radar mounted on the vehicle body;

The laser radar transmits a first laser signal to a current scanning point according to a target code value, where the target code value includes a first identification code, and the first identification code is a unique identifier for identifying the laser radar;

When the laser radar receives the laser signal reflected by the current scanning point, the laser radar detects whether there is an identification code other than the first identification code in the laser signal reflected by the current scanning point;

If the identification code other than the first identification code exists, the laser radar again transmits the first laser signal to the current scanning point according to the target encoding value.