WO2021042382A1 - 激光雷达测距方法、装置、计算机设备和存储介质 - Google Patents

激光雷达测距方法、装置、计算机设备和存储介质 Download PDF

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Publication number
WO2021042382A1
WO2021042382A1 PCT/CN2019/104755 CN2019104755W WO2021042382A1 WO 2021042382 A1 WO2021042382 A1 WO 2021042382A1 CN 2019104755 W CN2019104755 W CN 2019104755W WO 2021042382 A1 WO2021042382 A1 WO 2021042382A1
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WIPO (PCT)
Prior art keywords
signal
preset
pulse
sequence
echo signal
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PCT/CN2019/104755
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English (en)
French (fr)
Inventor
刘夏
胡晗
娄志毅
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深圳市速腾聚创科技有限公司
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Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to CN201980050564.7A priority Critical patent/CN112639517B/zh
Priority to PCT/CN2019/104755 priority patent/WO2021042382A1/zh
Priority to US17/023,307 priority patent/US10989796B2/en
Publication of WO2021042382A1 publication Critical patent/WO2021042382A1/zh

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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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G01S7/4873—Extracting wanted echo signals, e.g. pulse detection by deriving and controlling a threshold value
    • 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
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Definitions

  • This application relates to a lidar ranging method, device, computer equipment and storage medium.
  • the lidar transmits a detection signal to the object to be measured, receives the echo signal reflected by the object to be measured, and calculates the distance between the object to be measured and the lidar according to the time difference between the echo signal and the detection signal.
  • the lidar equipped on each car may receive the detection signals emitted by the lidars of other vehicles, resulting in inter-lidars. interference. For example, after the detection signal emitted by the first lidar is reflected by the object to be measured, it is detected by the second lidar, and the second lidar generates an echo signal. interference.
  • a lidar ranging method, device, computer equipment, and storage medium that can improve the accuracy of lidar ranging by effectively avoiding mutual interference between lidars.
  • a lidar ranging method includes:
  • the distance of the object to be measured is calculated according to the time difference between the effective echo signal and the detection signal.
  • a laser radar ranging device includes:
  • a generating module used to call a sequence generator, and generate a preset sequence through the sequence generator
  • a determining module configured to determine the pulse transmission interval of the double pulse according to the preset sequence and the preset value
  • a transmitting module configured to transmit a detection signal to the object to be measured according to the pulse transmission interval of the double pulse
  • the extraction module is configured to receive the echo signal returned by the object under test according to the detection signal, and extract an effective echo signal from the echo signal;
  • the calculation module is used to calculate the distance of the object to be measured according to the time difference between the effective echo signal and the detection signal.
  • a computer device including a memory and one or more processors, the memory stores computer readable instructions, and when the computer readable instructions are executed by the processor, the one or more processors execute The following steps:
  • the distance of the object to be measured is calculated according to the time difference between the effective echo signal and the detection signal.
  • One or more non-volatile computer-readable storage media storing computer-readable instructions.
  • the computer-readable instructions When executed by one or more processors, the one or more processors perform the following steps:
  • the distance of the object to be measured is calculated according to the time difference between the effective echo signal and the detection signal.
  • Fig. 1 is an application scenario diagram of a lidar ranging method according to one or more embodiments.
  • Fig. 2 is a schematic flowchart of a lidar ranging method according to one or more embodiments.
  • FIG. 3 is a schematic flowchart of the step of determining the pulse transmission interval of the double pulse according to the preset sequence and the preset value according to one or more embodiments.
  • Fig. 4 is a schematic flowchart of a lidar ranging method in another embodiment.
  • Fig. 5 is a block diagram of a laser radar ranging device according to one or more embodiments.
  • Figure 6 is a block diagram of a computer device according to one or more embodiments.
  • the lidar ranging method provided in this application can be applied to the application environment as shown in FIG. 1.
  • the sequence generator is called through the computer device 104, and a preset sequence is generated by the sequence generator.
  • the computer device 104 determines the pulse transmission interval of the double pulse according to the preset sequence and the preset value.
  • the computer device 104 sends the pulse emission interval of the double pulse to the laser radar 102, and the laser radar 102 transmits a detection signal according to the pulse emission interval of the double pulse.
  • the lidar 102 receives the echo signal returned by the object to be measured according to the detection signal, and sends it to the computer device 104.
  • the computer device 104 extracts the effective echo signal from the echo signal, and calculates the distance of the object to be measured according to the time difference between the effective echo signal and the detection signal.
  • a lidar ranging method is provided. Taking the method applied to the computer device in FIG. 1 as an example for description, the method includes the following steps:
  • Step 202 Invoke the sequence generator, and generate a preset sequence through the sequence generator.
  • the vehicle is pre-installed with computer equipment and lidar.
  • the computer equipment can communicate with the lidar and receive radar signals transmitted by the lidar.
  • the lidar may be a lidar that adopts a double pulse mode.
  • the computer equipment generates a preset sequence through the sequence generator by calling the sequence generator.
  • the sequence generator may be an m sequence generator.
  • the m sequence generator may be an n-stage shift register, and the length of the preset sequence generated by the m sequence generator may be determined by n.
  • the length of the preset sequence can be 2 n-1 , and the longest period of the preset sequence can be 2 n-1 .
  • the preset sequence may be the original m sequence generated by the m sequence generator.
  • the sequence generator can use primitive polynomials to generate a preset sequence.
  • Step 204 Determine the pulse transmission interval of the double pulse according to the preset sequence and the preset value.
  • the computer equipment obtains the preset value pre-configured in the lidar.
  • the preset value may be the value of the n-level register, and the value of the n-level register may be fixed.
  • the preset values of multiple lidars can be set to different values.
  • the number of stages of the n-level register and the number of stages of the sequencer may be the same.
  • computer equipment can preset n to 8.
  • the computer device can calculate the frequency hopping sequence corresponding to the preset sequence according to the preset sequence and the preset value.
  • the frequency hopping sequence may be an address code that controls the frequency hopping of the signal to be transmitted.
  • the frequency hopping sequence may be an RS (Reed-Solomon) sequence.
  • the computer equipment divides the time interval of the double pulse according to the preset sequence.
  • the computer device can divide the time interval of the double pulse into multiple transmission time intervals according to the period of the preset sequence. Furthermore, the computer device selects the pulse transmission interval corresponding to the double pulse among the divided transmission time intervals according to the frequency hopping sequence.
  • Step 206 Transmit a detection signal to the object to be measured according to the pulse transmission interval of the double pulse.
  • the computer device can determine the detection signal according to the pulse emission interval corresponding to the signal to be emitted. Specifically, the computer device may determine the pulse transmission time of the double pulse according to the preset sequence and the pulse transmission interval corresponding to the signal to be transmitted.
  • the computer equipment sends the pulse emission time of the double pulse to the transmitting end of the laser radar, and controls the transmitting end of the laser radar to transmit a detection signal according to the pulse emission time of the double pulse.
  • the detection signal may be a detection signal used to detect the object to be detected.
  • the computer equipment after the computer equipment transmits the detection signal through the lidar, it can send the pulse emission time of the double pulse to the receiving end of the lidar.
  • the computer equipment can realize the synchronous operation of signal transmission and reception according to the pulse transmission time of the double pulse through the receiving end of the laser radar.
  • Step 208 Receive an echo signal returned by the object to be detected according to the detection signal, and extract an effective echo signal from the echo signal.
  • Step 210 Calculate the distance of the object to be measured according to the time difference between the effective echo signal and the detection signal.
  • the computer equipment receives the echo signal sent by the receiving end of the lidar, and then the computer equipment can extract the effective echo signal from the echo signal.
  • extracting the effective echo signal from the echo signal includes: identifying the pulse emission interval corresponding to the detection signal in the echo signal; decoding the echo signal according to the pulse emission interval corresponding to the detection signal to obtain Decode the signal; perform signal detection on the decoded signal to obtain an effective echo signal.
  • the computer equipment After receiving the echo signal corresponding to the detection signal, the computer equipment can perform signal identification and signal detection on the echo signal.
  • the computer equipment identifies the pulse transmission interval of the detection signal in the echo signal, and then the computer equipment decodes the echo signal according to the pulse transmission interval of the detected detection signal obtained by the identification.
  • the computer equipment performs signal detection on the decoded echo signal.
  • Signal detection can be threshold detection.
  • the threshold may be the signal-to-noise ratio of the echo signal at which the threshold effect begins to appear.
  • the signal-to-noise ratio may be a parameter of the proportional relationship between the effective component and the noise component in the echo signal.
  • the computer equipment can obtain the effective echo signal, so as to calculate the distance of the object to be measured according to the time difference between the effective echo signal and the detection signal.
  • the computer device can divide the effective echo signal into two signals to obtain the first signal and the second signal, and then calculate the time difference between the effective echo signal and the detection signal.
  • the computer equipment selects the corresponding waveform according to the point corresponding to the effective echo signal to obtain the first signal.
  • the computer equipment delays the first signal and amplifies the delayed first signal to obtain the second signal.
  • the computer equipment obtains the target curve by making the difference between the first signal and the second signal.
  • the target curve may be a curve obtained according to the difference between the signal amplitude of the first signal and the signal amplitude of the second signal.
  • the computer equipment determines the time difference between the effective echo signal and the detection signal according to the intersection of the target curve and the abscissa axis.
  • the first signal can be an attenuated signal
  • the second signal can be a delayed signal.
  • the effective echo signal extracted by the computer device may be the Q-th point, select 7 points before the Q-th point and 8 points after the Q-th point, and select the corresponding waveform according to the selected points to obtain the attenuated signal.
  • the computer equipment delays the attenuated signal by one point and amplifies it by 1.25 times to obtain the delayed signal.
  • the computer equipment makes the difference between the attenuated signal and the delayed signal to obtain the target curve.
  • the computer equipment determines the time difference between the effective echo signal and the detection signal according to the intersection of the target curve and the abscissa axis. After obtaining the time difference between the effective echo signal and the detection signal, the computer device calculates the distance of the object to be measured according to the time difference and the speed of light.
  • the computer equipment divides the effective echo signal into two signals, calculates the delay time of the effective echo signal according to the difference between the two signals, and then calculates the distance of the object to be measured. It can reduce time shaking, effectively improve timing accuracy, and further improve the accuracy of ranging.
  • the computer device generates the preset sequence through the sequence generator, and determines the pulse emission interval corresponding to the double pulse according to the preset sequence and the preset value, which can improve the auto-correlation performance and the cross-correlation performance between the detection signals.
  • the computer equipment transmits detection signals to the object to be measured according to the pulse emission interval corresponding to the double pulse.
  • the detection signals of multiple lidars can be distinguished and processed, so that the multiple lidars are shared When working, it effectively avoids multi-machine interference, and then calculates the distance of the object to be measured according to the time difference between the effective echo signal and the detection signal, thereby improving the ranging accuracy of the lidar.
  • the above method further includes the step of determining the pulse transmission interval of the double pulse according to the preset sequence and the preset value, which specifically includes:
  • Step 302 Calculate the frequency hopping sequence corresponding to the preset sequence according to the preset sequence and the preset value.
  • Step 304 Divide the time interval of the double pulse into multiple transmission time intervals according to the preset sequence.
  • Step 306 Select a double-pulse pulse transmission interval among multiple transmission time intervals according to the frequency hopping sequence.
  • the computer device calculates the frequency hopping sequence corresponding to the preset sequence according to the preset sequence and the preset value.
  • the preset sequence may be the original m sequence generated by the m sequence generator.
  • the preset value may be the value of an n-level fixed register.
  • the frequency hopping sequence may be an address code that controls the frequency hopping of the signal to be transmitted.
  • the computer device inputs the preset sequence and the preset value to the adder for calculation, and obtains the frequency hopping sequence corresponding to the preset sequence.
  • the preset values of multiple lidars can be set to different values.
  • a preset value may indicate a type of frequency hopping sequence, and a type of frequency hopping sequence corresponds to a group of frequency hopping patterns.
  • the computer equipment can input the preset sequence and the preset value to the adder, and calculate the frequency hopping sequence corresponding to the preset sequence.
  • the adder may be a modulo two adder.
  • the computer device performs a modulo two addition operation on the bits corresponding to the preset sequence and the preset value through an adder to obtain a frequency hopping sequence corresponding to the preset sequence.
  • the calculation diagram of the frequency hopping sequence corresponding to the preset sequence calculated by the computer device according to the preset sequence and the preset value can be as shown in the following figure:
  • the computer device divides the time interval of the double pulse into multiple transmission time intervals according to the preset sequence.
  • the computer device calculates the period of the preset sequence according to the number of stages of the sequence generator, and divides the time interval of the double pulse according to the period of the preset sequence.
  • the time interval may be a time interval interval of double pulses.
  • the laser radar may preset n to 8, and the period of the preset sequence is 255.
  • the time interval can be 5-15s.
  • the length of the time interval is 10s.
  • the computer equipment can divide the time interval for the laser radar to emit double pulses into 255 emission time intervals.
  • the length of each transmission time interval is 10/255s.
  • the frequency hopping sequence When the computer equipment obtains the frequency hopping sequence, the frequency hopping sequence will output a value, which can be any value between 1-255.
  • the computer device selects the pulse transmission interval corresponding to the signal to be transmitted among multiple transmission time intervals according to the value output by the frequency hopping sequence.
  • the computer device divides the time interval of the double pulse into multiple transmission time intervals according to a preset sequence, and selects the pulse transmission interval corresponding to the double pulse according to the calculated frequency hopping sequence.
  • the pulse transmission time of the double pulse can be adjusted according to the pulse transmission interval selected by the frequency hopping sequence, and then the transmission waveform can be adjusted to further effectively avoid the mutual interference between multiple lidars.
  • a lidar ranging method is provided. Taking the method applied to a computer device as an example for description, the method includes the following steps:
  • Step 402 Invoke the sequence generator, and generate a preset sequence through the sequence generator.
  • Step 404 Determine the pulse transmission interval of the double pulse according to the preset sequence and the preset value.
  • Step 406 Determine the pulse transmission time of the double pulse according to the preset sequence and the pulse transmission interval of the double pulse.
  • Step 408 Transmit a detection signal to the object to be measured according to the pulse transmission time of the double pulse.
  • Step 410 Receive the echo signal returned by the object to be detected according to the detection signal, and extract the effective echo signal from the echo signal.
  • Step 412 Calculate the distance of the object to be measured according to the time difference between the effective echo signal and the detection signal.
  • the computer device After calculating the pulse emission interval of the double pulse according to the preset sequence and the preset value, the computer device determines the pulse emission time of the double pulse according to the preset sequence and the pulse emission interval of the double pulse.
  • the frequency hopping sequence will output a value, which can be any value between 1-255.
  • the computer equipment selects the pulse transmission interval of the double pulse among the multiple transmission time intervals according to the value output by the frequency hopping sequence.
  • the computer equipment determines the pulse emission time of the double pulse according to the selected pulse emission interval. For example, if the laser radar can preset n to 8, then the period of the preset sequence is 255.
  • the time interval can be 5-15s.
  • the length of the time interval is 10s.
  • the computer equipment can divide the time interval corresponding to the double pulse of the lidar into 255 emission time intervals.
  • the length of each transmission time interval is 10/255s.
  • the output value of the frequency hopping sequence is 6, then the pulse emission time of the double pulse can be 5+6*(10/255)s.
  • the computer equipment sends the pulse emission time of the double pulse to the laser radar, and the laser radar transmits the detection signal according to the pulse emission time of the double pulse.
  • the receiving end of the lidar receives the detection signal according to the echo signal reflected by the object to be measured, and the computer equipment receives the echo signal sent by the lidar.
  • the echo signal can include interference signals and effective echo signals.
  • the interference signal may include a false echo signal.
  • the computer equipment extracts the effective echo signal from the echo signal.
  • the effective echo signal extraction method can include signal identification and signal detection.
  • the signal identification may be to identify the pulse emission interval of the detection signal in the echo signal, and then the computer equipment decodes the echo signal according to the pulse emission interval of the detected detection signal obtained by the identification.
  • the computer equipment performs signal detection on the decoded echo signal.
  • Signal detection can be threshold detection. After the signal is detected, the computer equipment can obtain an effective echo signal, so as to calculate the distance of the object to be measured based on the effective echo signal.
  • the computer device generates a preset sequence through a sequence generator, and determines the pulse emission interval of the double pulse according to the preset sequence and the preset value, so that the emission interval of the detection signal can be adjusted.
  • the computer equipment determines the pulse emission time of the double pulse according to the preset sequence and the pulse emission interval of the double pulse, thereby determining the detection signal and transmitting.
  • the time interval of the double pulses of multiple lidars can be distinguished and processed, so that when multiple lidars work together, the anti-interference ability between multiple lidars is further effectively improved, thereby effectively improving the detection accuracy of lidars.
  • extracting the effective echo signal from the echo signal includes: performing analog-to-digital conversion on the echo signal to obtain the corresponding digital signal; when the digital signal is buffered, when the number of buffered digital signals reaches a preset value When the number is selected, the digital signal of the preset neighborhood is extracted; the extracted digital signal is non-coherently accumulated, and the accumulated digital signal is output; the effective echo signal is identified in the accumulated digital signal.
  • the echo signals received by the computer equipment may include false echo signals.
  • the computer device may first perform analog-to-digital conversion on the echo signal, and buffer the converted digital signal.
  • the computer device can buffer multiple received echo signals, and the transmission angles between the multiple echo signals can be different.
  • the digital signals in the preset spatial neighborhood can be extracted.
  • the size of the preset spatial neighborhood may be 3*3, and the number of times the digital signal is extracted is 9 times.
  • the computer equipment After the computer equipment extracts the digital signal, it reads the extracted digital signal in the form of a data stream, and performs non-coherent accumulation of the extracted digital signal.
  • the computer equipment can also perform signal detection on the echo signal first, and then perform non-coherent accumulation of the echo signal after the signal detection. For example, extracting 9 digital signals, the non-coherent accumulation formula can be as follows:
  • y represents the accumulated echo signal
  • d represents the signal length of the digital signal
  • i represents the number of times of the digital signal
  • L represents the data length of the echo signal
  • the computer device after the computer device performs non-coherent accumulation of the extracted digital signal, it can effectively suppress the amplitude of the false echo signal, and extract the effective echo signal from the accumulated digital signal, so that the effective echo signal can be extracted more accurately. Echo signals, thereby improving the accuracy of lidar ranging.
  • performing signal detection on the decoded signal includes: storing the decoded signal in a preset queue; extracting the signal to be input from the preset queue and inputting it into the buffer area; selecting from the buffer area according to the preset area Area signal; calculate the signal threshold corresponding to the decoded signal according to the area signal; compare the decoded signal with the signal threshold to obtain the comparison result; select the decoded signal greater than the signal threshold as the effective echo signal in the comparison result.
  • the computer equipment can filter each decoded signal.
  • the filtering process may be to remove the DC component through a high-pass filter.
  • the computer device stores a plurality of filtered and processed decoded signals in a queue.
  • the computer equipment extracts the target decoded signal from the queue and inputs it to the buffer area.
  • the extraction order may be determined according to the acquisition order of the decoded signal after filtering processing.
  • the computer device selects an area signal corresponding to the preset area in the buffer area.
  • the preset area may be the tail area of the buffer area.
  • the preset area may be calculated according to the number of times and signal points of the decoded signal after filtering processing. The number of times and signal points of the decoded signal after filtering can be determined based on historical experience.
  • the computer device may first select the number of filtered decoded signals in the buffer area, and then select the number of signal points from the tails of the multiple filtered decoded signals. For example, if a decoded signal after 32 filtering processing is selected in the buffer area, and 32 signal points are selected from the tail of the decoded signal after 32 filtering processing, the size of the preset area may be 32*32.
  • the computer equipment can calculate the signal threshold corresponding to the decoded signal according to the selected regional signal. After the computer device calculates the signal threshold, it can compare the decoded signal with the square root of the signal threshold, and use the decoded signal greater than the square root of the signal threshold as an effective echo signal. The computer equipment can then calculate the distance of the object to be measured based on the effective echo signal and the speed of light.
  • the computer device selects regional signals in the buffer area according to the preset area, and then calculates the signal threshold, can monitor the environmental noise in real time, and calculate the signal threshold based on the environmental noise, thereby effectively improving the detection accuracy of the lidar.
  • calculating the signal threshold corresponding to the decoded signal according to the area signal includes: calculating the corresponding noise power according to the area signal; calculating the corresponding threshold factor according to the area signal and the preset false alarm probability value; according to the noise power and the threshold value The factor calculates the signal threshold corresponding to the decoded signal.
  • the computer equipment can calculate the corresponding noise power according to the selected area signal.
  • the calculation formula of noise power can be as follows:
  • Pn the noise power
  • N the number of signal points
  • h the number of echo signals
  • x h the square of the echo signal
  • the computer device After the computer device obtains the noise power, it can calculate the corresponding threshold factor based on the regional signal and the preset false alarm probability value.
  • the calculation formula of the threshold factor can be as follows:
  • a represents the threshold factor
  • N represents the number of signal points
  • Pfa represents the false alarm probability
  • the computer device After the computer device has calculated the noise power and the threshold factor, it can calculate the signal threshold corresponding to the decoded signal according to the noise power and the threshold factor.
  • the calculation formula of the signal threshold is as follows:
  • T represents the signal threshold
  • a represents the threshold factor
  • Pn represents the noise power
  • the computer device can dynamically calculate the signal threshold according to the environmental noise of the decoded signal to perform signal detection, thereby effectively improving the adaptability of the lidar under different environmental noises, and at the same time improving the detection of the lidar accuracy.
  • a lidar ranging device including: a generation module 502, a determination module 504, a transmission module 506, an extraction module 508, and a calculation module 510, wherein:
  • the generating module 502 is used to call the sequence generator and generate a preset sequence through the sequence generator.
  • the determining module 504 is configured to determine the pulse transmission interval of the double pulse according to the preset sequence and the preset value.
  • the transmitting module 506 is used for transmitting a detection signal to the object to be measured according to the pulse transmitting interval of the double pulse.
  • the extraction module 508 is configured to receive the echo signal returned by the object to be measured according to the detection signal, and extract the effective echo signal from the echo signal.
  • the calculation module 510 is configured to calculate the distance of the object to be measured according to the time difference between the effective echo signal and the detection signal.
  • the determining module 504 is further configured to calculate the frequency hopping sequence corresponding to the preset sequence according to the preset sequence and the preset value; divide the time interval of the double pulse into multiple transmission time intervals according to the preset sequence; The pulse transmission interval of the double pulse is selected among multiple transmission time intervals according to the frequency hopping sequence.
  • the determining module 504 is further configured to determine the pulse emission time of the double pulse according to the preset sequence and the pulse emission interval of the double pulse; and transmit the detection signal according to the pulse emission time of the double pulse.
  • the extraction module 508 is also used to identify the pulse transmission interval corresponding to the detection signal in the echo signal; decode the echo signal according to the pulse transmission interval corresponding to the detection signal to obtain the decoded signal; Signal detection, get effective echo signal.
  • the extraction module 508 is also used to perform analog-to-digital conversion on the echo signal to obtain the corresponding digital signal; when the digital signal is buffered, when the number of buffered digital signals reaches the preset number, extract the preset neighbors. Domain digital signal; non-coherent accumulation of the extracted digital signal, and output the accumulated digital signal; identify the effective echo signal in the accumulated digital signal.
  • the extraction module 508 is further configured to store the decoded signal in a preset queue; extract the signal to be input from the preset queue and input it into the buffer area; select the regional signal from the buffer area according to the preset area; Calculate the signal threshold corresponding to the decoded signal according to the regional signal; compare the decoded signal with the signal threshold to obtain the comparison result; select the decoded signal larger than the signal threshold as the effective echo signal in the comparison result.
  • the extraction module 508 is also used to calculate the corresponding noise power according to the area signal; calculate the corresponding threshold factor according to the area signal and the preset false alarm probability value; calculate the signal corresponding to the decoded signal according to the noise power and the threshold factor Threshold.
  • each module in the above-mentioned lidar ranging device can be implemented in whole or in part by software, hardware, and a combination thereof.
  • the above-mentioned modules may be embedded in the form of hardware or independent of the processor in the computer equipment, or may be stored in the memory of the computer equipment in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.
  • a computer device in one embodiment, is provided, and its internal structure diagram may be as shown in FIG. 6.
  • the computer equipment includes a processor, a memory, a communication interface, and a database connected through a system bus.
  • the processor of the computer equipment is used to provide calculation and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system, computer readable instructions, and a database.
  • the internal memory provides an environment for the operation of the operating system and computer-readable instructions in the non-volatile storage medium.
  • the database of the computer equipment is used to store detection signals and effective echo signals.
  • the communication interface of the computer equipment is used to connect and communicate with the lidar.
  • the computer-readable instructions are executed by the processor to realize a lidar ranging method.
  • FIG. 6 is only a block diagram of part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.
  • the specific computer device may Including more or fewer parts than shown in the figure, or combining some parts, or having a different arrangement of parts.
  • One or more non-volatile computer-readable storage media storing computer-readable instructions.
  • the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps in each of the foregoing method embodiments. step.
  • Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

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Abstract

一种激光雷达测距方法，包括：调用序列发生器，通过序列发生器生成预设序列（202）；根据预设序列和预设值确定双脉冲的脉冲发射间隔（204）；根据双脉冲的脉冲发射间隔向待测物体发射探测信号（206）；接收待测物体根据探测信号返回的回波信号，在回波信号中提取有效回波信号（208）；根据有效回波信号和探测信号之间的时间差计算待测物体的距离（210）。

Description

激光雷达测距方法、装置、计算机设备和存储介质 技术领域
本申请涉及一种激光雷达测距方法、装置、计算机设备和存储介质。
背景技术
目前，激光雷达是通过向待测物体发射探测信号，接收经待测物体反射的回波信号，根据回波信号与探测信号的时间差来计算待测物体与激光雷达之间的距离。当装备有相同型号的激光雷达的多辆汽车在同一个区域同时工作时，每辆汽车上装备的激光雷达都可能会接收到其他车辆装备的激光雷达发射的探测信号，导致激光雷达之间产生干扰。例如，第一激光雷达发射的探测信号在经待测物体反射后，被第二激光雷达探测到，第二激光雷达进而产生一个回波信号，从而第一激光雷达造成了对第二激光雷达的干扰。
发明内容
根据本申请公开的各种实施例，提供一种能够通过有效避免激光雷达之间的互相干扰来提高激光雷达的测距准确性的激光雷达测距方法、装置、计算机设备和存储介质。
一种激光雷达测距方法包括：
调用序列发生器，通过所述序列发生器生成预设序列；
根据所述预设序列和预设值确定双脉冲的脉冲发射间隔；
根据所述双脉冲的脉冲发射间隔向待测物体发射探测信号；
接收所述待测物体根据所述探测信号返回的回波信号，在所述回波信号中提取有效回波信号；及
根据所述有效回波信号和探测信号之间的时间差计算所述待测物体的距离。
一种激光雷达测距装置包括：
生成模块，用于调用序列发生器，通过所述序列发生器生成预设序列；
确定模块，用于根据所述预设序列和预设值确定双脉冲的脉冲发射间隔；
发射模块，用于根据所述双脉冲的脉冲发射间隔向待测物体发射探测信号；
提取模块，用于接收所述待测物体根据所述探测信号返回的回波信号，在所述回波信号中提取有效回波信号；及
计算模块，用于根据所述有效回波信号和探测信号之间的时间差计算所述待测物体的距离。
一种计算机设备，包括存储器和一个或多个处理器，所述存储器中储存有计算机可读指令，所述计算机可读指令被所述处理器执行时，使得所述一个或多个处理器执行以下步骤：
调用序列发生器，通过所述序列发生器生成预设序列；
根据所述预设序列和预设值确定双脉冲的脉冲发射间隔；
根据所述双脉冲的脉冲发射间隔向待测物体发射探测信号；
接收所述待测物体根据所述探测信号返回的回波信号，在所述回波信号中提取有效回波信号；及
根据所述有效回波信号和探测信号之间的时间差计算所述待测物体的距离。
一个或多个存储有计算机可读指令的非易失性计算机可读存储介质，计算机可读指令被一个或多个处理器执行时，使得一个或多个处理器执行以下步骤：
调用序列发生器，通过所述序列发生器生成预设序列；
根据所述预设序列和预设值确定双脉冲的脉冲发射间隔；
根据所述双脉冲的脉冲发射间隔向待测物体发射探测信号；
接收所述待测物体根据所述探测信号返回的回波信号，在所述回波信号中提取有效回波信号；及
根据所述有效回波信号和探测信号之间的时间差计算所述待测物体的距离。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为根据一个或多个实施例中激光雷达测距方法的应用场景图。
图2为根据一个或多个实施例中激光雷达测距方法的流程示意图。
图3为根据一个或多个实施例中根据预设序列和预设值确定双脉冲的脉冲发射间隔步骤的流程示意图。
图4为另一个实施例中激光雷达测距方法的流程示意图。
图5为根据一个或多个实施例中激光雷达测距装置的框图。
图6为根据一个或多个实施例中计算机设备的框图。
具体实施方式
为了使本申请的技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
本申请提供的激光雷达测距方法，可以应用于如图1所示的应用环境中。激光雷达102在进行待测物体探测之前，通过计算机设备104调用序列发生器，通过序列发生器生成预设序列。计算机设备104根据预设序列和预设值确定双脉冲的脉冲发射间隔。计算机设备104将双脉冲的脉冲发射间隔发送至激光雷达102，通过激光雷达102根据双脉冲的脉冲发射间隔发射探测信号。激光雷达102接收待测物体根据探测信号返回的回波信号，发送至计算机设备104。计算机设备104在回波信号中提取有效回波信号，根据有效回波信号和探测信号之间的时间差计算待测物体的距离。
在其中一个实施例中，如图2所示，提供了一种激光雷达测距方法，以该方法应用于图1中的计算机设备为例进行说明，包括以下步骤：
步骤202，调用序列发生器，通过序列发生器生成预设序列。
车辆中预先安装有计算机设备和激光雷达，计算机设备可以与激光雷达进行通信，接收激光雷达传输的雷达信号。激光雷达可以是采用双脉冲模式的激光雷达。计算机设备通过调用序列发生器，通过序列发生器生成预设序列。序列发生器可以是m序列发生器。m序列发生器可以是n级移位寄存器，m序列发生器生成的预设序列的长度可以是由n决定的。预设序列的长度可以是2 n-1，预设序列的最长周期可以为2 n-1。例如，计算机设备可以预先设置n为8，移位寄存器为A＝[a7,a6,a5,…,a0]，初始值可以是A＝00000001。预设序列可以是m序列发生器产生的原始m序列。例如，当m序列发生器为8级移位寄存器时，移位寄存器为A＝[a7,a6,a5,…,a0]，预设序列的周期为255。序列发生器可以采用本原多项式生成预设序列。本原多项式可以是f＝1+x 2+x 3+x 4+x 8。
步骤204，根据预设序列和预设值确定双脉冲的脉冲发射间隔。
计算机设备获取激光雷达中预先配置的预设值。预设值可以是n级寄存器的值，n级寄存器的值可以是固定的。多个激光雷达的预设值可以设置成不同的值。n级寄存器的级数与序列发生器的级数可以是相同的。例如，计算机设备可以预先设置n为8，此时，序列发生 器为A＝[a7,a6,a5,…,a0]，8级固定的寄存器为B＝[b7,b6,b5,…,b0]。计算机设备可以根据预设序列和预设值计算得到预设序列对应的跳频序列。当预设值不同时，得到的调频序列也可以是不同的。跳频序列可以是控制待发射信号的频率跳变的地址码。例如，跳频序列可以是RS(Reed-Solomon)序列。计算机设备根据预设序列对双脉冲的时间区间进行划分。计算机设备可以根据预设序列的周期将双脉冲的时间区间划分为多个发射时间间隔。进而计算机设备根据跳频序列在划分的多个发射时间间隔中选取双脉冲对应的脉冲发射间隔。
步骤206，根据双脉冲的脉冲发射间隔向待测物体发射探测信号。
计算机设备在选取双脉冲对应的脉冲发射间隔之后，可以根据待发射信号对应的脉冲发射间隔确定探测信号。具体地，计算机设备可以根据预设序列和待发射信号对应的脉冲发射间隔确定双脉冲的脉冲发射时间。计算机设备将双脉冲的脉冲发射时间发送至激光雷达的发射端，控制激光雷达的发射端根据双脉冲的脉冲发射时间发射探测信号。探测信号可以是用于探测待测物体的探测信号。
进一步地，计算机设备通过激光雷达将探测信号发射出去之后，可以将双脉冲的脉冲发射时间发送至激光雷达的接收端。计算机设备可以通过激光雷达的接收端根据双脉冲的脉冲发射时间实现信号发射和接收的同步操作。
步骤208，接收待测物体根据探测信号返回的回波信号，在回波信号中提取有效回波信号。
步骤210，根据有效回波信号和探测信号之间的时间差计算待测物体的距离。
当激光雷达发射的探测信号遇到待测物体之后，会反射一部分信号至激光雷达的接收端。计算机设备接收激光雷达的接收端发送的回波信号，进而计算机设备可以在回波信号中提取有效回波信号。
在其中一个实施例中，在回波信号中提取有效回波信号，包括：在回波信号中识别探测信号对应的脉冲发射间隔；根据探测信号对应的脉冲发射间隔对回波信号进行解码，得到解码信号；对解码信号进行信号检测，得到有效回波信号。
计算机设备在接收到探测信号对应的回波信号后，可以对回波信号进行信号识别和信号检测。计算机设备在回波信号中识别探测信号的脉冲发射间隔，进而计算机设备根据识别得到的探测信号的脉冲发射间隔对回波信号进行解码。计算机设备对解码后的回波信号进行信号检测。信号检测可以是门限检测。门限可以是开始出现门限效应的回波信号的信噪比。信噪比可以是回波信号中有效成分与噪声成分的比例关系的参数。
计算机设备在信号检测之后，可以得到有效回波信号，从而根据有效回波信号和探测信号之间的时间差计算待测物体的距离。具体地，计算机设备可以将有效回波信号划分为两路 信号，得到第一路信号和第二路信号，进而计算有效回波信号和探测信号之间的时间差。计算机设备根据有效回波信号对应的点来选取相应的波形，得到第一路信号。计算机设备对第一信号进行延迟，将延迟后的第一信号进行放大，得到第二路信号。计算机设备通过将第一路信号与第二路信号作差，得到目标曲线。目标曲线可以是根据第一路信号的信号幅值与第二路信号的信号幅值之间的差值得到的曲线。进而计算机设备根据目标曲线与横坐标轴的交点来确定有效回波信号和探测信号之间的时间差。第一路信号可以是衰减信号，第二路信号可以是延迟信号。例如，计算机设备提取出的有效回波信号可以是第Q点，选取第Q点前面7个点以及第Q点后面8个点，根据选取的点来选择相应的波形，得到衰减信号。计算机设备将衰减信号延迟一个点，并放大1.25倍，得到延迟信号。计算机设备将衰减信号与延迟信号作差，得到目标曲线。计算机设备根据目标曲线与横坐标轴的交点来确定有效回波信号和探测信号之间的时间差。在得到有效回波信号和探测信号之间的时间差后，计算机设备根据该时间差和光速计算得到待测物体的距离。
计算机设备通过将有效回波信号划分为两路信号，根据两路信号之间的差值来计算有效回波信号的延迟时间，进而计算待测物体的距离。能够减少时间晃动，有效提高了定时精度，进而提高了测距的准确性。
在本实施例中，计算机设备通过序列发生器生成预设序列，根据预设序列和预设值确定双脉冲对应的脉冲发射间隔，能够提高探测信号之间的自相关性能和互相关性能。计算机设备根据双脉冲对应的脉冲发射间隔向待测物体发射探测信号，能够通过调整激光雷达的双脉冲脉冲发射间隔，实现将多个激光雷达的探测信号进行区分处理，从而在多个激光雷达共同工作时，有效避免多机干扰，进而根据有效回波信号和探测信号之间的时间差计算待测物体的距离，从而提高激光雷达的测距准确性。
在其中一个实施例中，如图3所示，上述方法还包括根据预设序列和预设值确定双脉冲的脉冲发射间隔的步骤，具体包括：
步骤302，根据预设序列和预设值计算得到预设序列对应的跳频序列。
步骤304，根据预设序列将双脉冲的时间区间划分为多个发射时间间隔。
步骤306，根据跳频序列在多个发射时间间隔中选取双脉冲的脉冲发射间隔。
计算机设备根据预设序列和预设值计算得到预设序列对应的跳频序列。预设序列可以是通过m序列发生器产生的原始m序列。预设值可以是n级固定寄存器的值。跳频序列可以是控制待发射信号的频率跳变的地址码。计算机设备将预设序列和预设值输入至加法器进行运算，得到预设序列对应的跳频序列。多个激光雷达的预设值可以设置成不同的值。一个预设值可以表示一种跳频序列类型，一种跳频序列类型对应一组跳频图案。计算机设备可以将预 设序列和预设值输入至加法器，计算得到预设序列对应的跳频序列。加法器可以是模二加法器。计算机设备通过加法器将预设序列和预设值对应的位进行模二加运算，得到预设序列对应的跳频序列。例如，计算机设备可以预先设置n为8，序列发生器A＝[a7,a6,a5,…,a0]，预设值为8级固定的寄存器为B＝[b7,b6,b5,…,b0]。计算机设备根据预设序列和预设值计算得到预设序列对应的跳频序列的运算示意图可以如下图所示：
Figure PCTCN2019104755-appb-000001
计算机设备在得到跳频序列后，根据预设序列将双脉冲的时间区间划分为多个发射时间间隔。计算机设备根据序列发生器的级数计算预设序列的周期，根据预设序列的周期将双脉冲的时间区间进行划分。时间区间可以是双脉冲的时间间隔区间，例如，激光雷达可以预先设置n为8，则预设序列的周期为255。时间区间可以是5-15s。时间区间的长度为10s。计算机设备可以将激光雷达发射双脉冲的时间区间划分为255个发射时间间隔。每个发射时间间隔的长度为10/255s。计算机设备在得到跳频序列时，跳频序列会输出一个数值，该数值可以是1-255之间的任意一个数值。计算机设备根据跳频序列输出的数值在多个发射时间间隔中选取待发射信号对应的脉冲发射间隔。
在本实施例中，计算机设备根据预设序列将双脉冲的时间区间划分为多个发射时间间隔，根据计算得到的跳频序列选取双脉冲对应的脉冲发射间隔。能够根据跳频序列选取得到的脉冲发射间隔来调整双脉冲的脉冲发射时间，进而调整发射波形，进一步有效避免多个激光雷达之间的相互干扰。
在其中一个实施例中，如图4所示，提供了一种激光雷达测距方法，以该方法应用于计算机设备为例进行说明，包括以下步骤：
步骤402，调用序列发生器，通过序列发生器生成预设序列。
步骤404，根据预设序列和预设值确定双脉冲的脉冲发射间隔。
步骤406，根据预设序列和双脉冲的脉冲发射间隔确定双脉冲的脉冲发射时间。
步骤408，根据双脉冲的脉冲发射时间向待测物体发射探测信号。
步骤410，接收待测物体根据探测信号返回的回波信号，在回波信号中提取有效回波信 号。
步骤412，根据有效回波信号和探测信号之间的时间差计算待测物体的距离。
计算机设备在根据预设序列和预设值计算得到双脉冲的脉冲发射间隔之后，根据预设序列和双脉冲的脉冲发射间隔确定双脉冲的脉冲发射时间。计算机设备在得到跳频序列时，跳频序列会输出一个数值，该数值可以是1-255之间的任意一个数值。计算机设备根据跳频序列输出的数值在多个发射时间间隔中选取双脉冲的脉冲发射间隔。计算机设备根据选取的脉冲发射间隔确定双脉冲的脉冲发射时间。例如，激光雷达可以预先设置n为8，则预设序列的周期为255。时间区间可以是5-15s。时间区间的长度为10s。计算机设备可以将激光雷达的双脉冲对应的时间区间划分为255个发射时间间隔。每个发射时间间隔的长度为10/255s。跳频序列输出的数值为6，则双脉冲的脉冲发射时间可以是5+6*(10/255)s。
计算机设备将双脉冲的脉冲发射时间发送至激光雷达，通过激光雷达根据双脉冲的脉冲发射时间将探测信号发射出去。激光雷达的接收端接收探测信号根据待测物体反射的回波信号，计算机设备接收激光雷达发送的回波信号。回波信号中可以包括干扰信号和有效回波信号。干扰信号可以包括假回波信号。计算机设备在回波信号中提取有效回波信号。有效回波信号的提取方式可以包括信号识别和信号检测。信号识别可以是识别回波信号中探测信号的脉冲发射间隔，进而计算机设备根据识别得到的探测信号的脉冲发射间隔对回波信号进行解码。计算机设备对解码后的回波信号进行信号检测。信号检测可以是门限检测。计算机设备在信号检测之后，可以得到有效回波信号，从而根据有效回波信号计算待测物体的距离。
在本实施例中，计算机设备通过序列发生器生成预设序列，根据预设序列和预设值确定双脉冲的脉冲发射间隔，能够实现调整探测信号的发射间隔。计算机设备根据预设序列和双脉冲的脉冲发射间隔确定双脉冲的脉冲发射时间，从而确定探测信号，进行发射。能够将多个激光雷达的双脉冲的时间区间进行区分处理，从而在多个激光雷达共同工作时，进一步有效提高多个激光雷达之间的抗干扰能力，从而有效提升激光雷达的探测准确性。
在其中一个实施例中，在回波信号中提取有效回波信号，包括：对回波信号进行模数转换，得到对应的数字信号；当数字信号进行缓存，当缓存的数字信号数量达到预设数量时，提取预设邻域的数字信号；对提取的数字信号进行非相参积累，输出积累后的数字信号；在积累后的数字信号中识别有效回波信号。
计算机设备接收的回波信号中可以包括假回波信号。为了减少假回波信号对有效回波信号的影响，可以对回波信号进行非相参积累。具体地，计算机设备可以先对回波信号进行模数转换，将转换得到的数字信号进行缓存。计算机设备可以将接收到的多个回波信号进行缓存，多个回波信号之间的发射角可以是不同的。当计算机设备缓存的数字信号数量达到预设 数量时，可以提取预设空间邻域内的数字信号。例如，预设空间邻域的尺寸可以是3*3，提取的数字信号的次数为9次。计算机设备在提取到数字信号之后，以数据流的形式读取提取的数字信号，对提取的数字信号进行非相参积累。计算机设备还可以先对回波信号进行信号检测，再对信号检测之后的回波信号进行非相参积累。例如，提取9次数字信号，非相参积累公式可以如下所示：
Figure PCTCN2019104755-appb-000002
其中，y表示积累后的回波信号，d表示数字信号的信号长度，取值范围为1-L，i表示数字信号的次数，L表示回波信号的数据长度。
在本实施例中，计算机设备对提取的数字信号进行非相参积累之后，能够有效抑制假回波信号的幅度，在积累后的数字信号中提取有效回波信号，从而能够更加准确地提取有效回波信号，进而提高激光雷达的测距准确性。
在其中一个实施例中，对解码信号进行信号检测，包括：将解码信号存储于预设队列中；在预设队列中提取待输入信号，输入至缓冲区域；根据预设区域在缓冲区域中选取区域信号；根据区域信号计算解码信号对应的信号门限；将解码信号与信号门限进行比较，得到比较结果；在比较结果中选取大于信号门限的解码信号作为有效回波信号。
计算机设备可以将每个解码信号进行滤波处理。滤波处理可以是通过高通滤波器去除直流分量。计算机设备将多个滤波处理后的解码信号存储于队列中。计算机设备在队列中提取目标解码信号，输入至缓冲区域。提取顺序可以是根据滤波处理后的解码信号的获取顺序确定的。计算机设备在缓冲区域中选取预设区域对应的区域信号。预设区域可以是缓冲区域的尾部区域。预设区域可以是根据滤波处理后的解码信号的次数和信号点数来计算的。滤波处理后的解码信号的次数和信号点数可以根据历史经验来进行确定。计算机设备可以先在缓冲区域中选取滤波处理后的解码信号的次数，再从多个滤波处理后的解码信号的尾部选取信号点数。例如，在缓冲区域中选取32次滤波处理后的解码信号，再从32次滤波处理后的解码信号的尾部选取32个信号点，则预设区域的尺寸可以是32*32。
计算机设备可以根据选取的区域信号计算解码信号对应的信号门限。计算机设备在计算出信号门限后，可以将解码信号与信号门限的平方根进行比较，将大于信号门限平方根的解码信号作为有效回波信号。计算机设备进而可以根据有效回波信号以及光速计算待测物体的距离。
在本实施例中，计算机设备通过根据预设区域在缓冲区域中选取区域信号，进而计算信号门限，能够实时监控环境噪声，根据环境噪声计算信号门限，从而有效提高了激光雷达的 探测准确性。
在其中一个实施例中，根据区域信号计算解码信号对应的信号门限，包括：根据区域信号计算对应的噪声功率；根据区域信号、预设虚警概率值计算对应的阈值因子；根据噪声功率和阈值因子计算解码信号对应的信号门限。
计算机设备可以根据选取的区域信号计算对应的噪声功率。噪声功率的计算公式可以如下所示：
Figure PCTCN2019104755-appb-000003
其中，Pn表示噪声功率，N表示信号的点数，h表示回波信号的次数，x h表示回波信号的平方。
计算机设备在得到噪声功率之后，可以根据区域信号、预设虚警概率值计算对应的阈值因子。阈值因子的计算公式可以如下所示：
Figure PCTCN2019104755-appb-000004
其中，a表示阈值因子，N表示信号点数，Pfa表示虚警概率。
计算机设备在计算得到噪声功率和阈值因子之后，可以根据噪声功率和阈值因子计算解码信号对应的信号门限。信号门限的计算公式如下：
T＝aPn
其中，T表示信号门限，a表示阈值因子，Pn表示噪声功率。
在本实施例中，计算机设备能够根据解码信号所处的环境噪声，动态计算信号门限，来进行信号检测，进而有效提高了激光雷达在不同环境噪声下的适应能力，同时提高了激光雷达的探测准确性。
应该理解的是，虽然图1-4的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图1-4中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在其中一个实施例中，如图5所示，提供了一种激光雷达测距装置，包括：生成模块502、确定模块504、发射模块506、提取模块508和计算模块510，其中：
生成模块502，用于调用序列发生器，通过序列发生器生成预设序列。
确定模块504，用于根据预设序列和预设值确定双脉冲的脉冲发射间隔。
发射模块506，用于根据双脉冲的脉冲发射间隔向待测物体发射探测信号。
提取模块508，用于接收待测物体根据探测信号返回的回波信号，在回波信号中提取有效回波信号。
计算模块510，用于根据有效回波信号和探测信号之间的时间差计算待测物体的距离。
在其中一个实施例中，确定模块504还用于根据预设序列和预设值计算得到预设序列对应的跳频序列；根据预设序列将双脉冲的时间区间划分为多个发射时间间隔；根据跳频序列在多个发射时间间隔中选取双脉冲的脉冲发射间隔。
在其中一个实施例中，确定模块504还用于根据预设序列和双脉冲的脉冲发射间隔确定双脉冲的脉冲发射时间；根据双脉冲的脉冲发射时间发射探测信号。
在其中一个实施例中，提取模块508还用于在回波信号中识别探测信号对应的脉冲发射间隔；根据探测信号对应的脉冲发射间隔对回波信号进行解码，得到解码信号；对解码信号进行信号检测，得到有效回波信号。
在其中一个实施例中，提取模块508还用于对回波信号进行模数转换，得到对应的数字信号；当数字信号进行缓存，当缓存的数字信号数量达到预设数量时，提取预设邻域的数字信号；对提取的数字信号进行非相参积累，输出积累后的数字信号；在积累后的数字信号中识别有效回波信号。
在其中一个实施例中，提取模块508还用于将解码信号存储于预设队列中；在预设队列中提取待输入信号，输入至缓冲区域；根据预设区域在缓冲区域中选取区域信号；根据区域信号计算解码信号对应的信号门限；将解码信号与信号门限进行比较，得到比较结果；在比较结果中选取大于信号门限的解码信号作为有效回波信号。
在其中一个实施例中，提取模块508还用于根据区域信号计算对应的噪声功率；根据区域信号、预设虚警概率值计算对应的阈值因子；根据噪声功率和阈值因子计算解码信号对应的信号门限。
关于激光雷达测距装置的具体限定可以参见上文中对于激光雷达测距方法的限定，在此不再赘述。上述激光雷达测距装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一个实施例中，提供了一种计算机设备，其内部结构图可以如图6所示。该计算机设备包括通过系统总线连接的处理器、存储器、通信接口和数据库。其中，该计算机设备的处 理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统、计算机可读指令和数据库。该内存储器为非易失性存储介质中的操作系统和计算机可读指令的运行提供环境。该计算机设备的数据库用于存储探测信号和有效回波信号。该计算机设备的通信接口用于与激光雷达进行连接通信。该计算机可读指令被处理器执行时以实现一种激光雷达测距方法。
本领域技术人员可以理解，图6中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
一个或多个存储有计算机可读指令的非易失性计算机可读存储介质，计算机可读指令被一个或多个处理器执行时，使得一个或多个处理器执行上述各个方法实施例中的步骤。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机可读指令来指令相关的硬件来完成，所述的计算机可读指令可存储于一非易失性计算机可读取存储介质中，该计算机可读指令在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (16)

  1. 一种激光雷达测距方法，包括：
    调用序列发生器，通过所述序列发生器生成预设序列；
    根据所述预设序列和预设值确定双脉冲的脉冲发射间隔；
    根据所述双脉冲的脉冲发射间隔向待测物体发射探测信号；
    接收所述待测物体根据所述探测信号返回的回波信号，在所述回波信号中提取有效回波信号；及
    根据所述有效回波信号和探测信号之间的时间差计算所述待测物体的距离。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述预设序列和预设值确定双脉冲的脉冲发射间隔，包括：
    根据所述预设序列和预设值计算得到所述预设序列对应的跳频序列；
    根据所述预设序列将双脉冲的时间区间划分为多个发射时间间隔；及
    根据所述跳频序列在多个发射时间间隔中选取所述双脉冲的脉冲发射间隔。
  3. 根据权利要求1至2任意一项所述的方法，其特征在于，所述根据所述双脉冲的脉冲发射间隔向待测物体发射探测信号，包括：
    根据所述预设序列和双脉冲的脉冲发射间隔计算所述双脉冲的脉冲发射时间；及
    根据所述双脉冲的脉冲发射时间向待测物体发射探测信号。
  4. 根据权利要求1至3任意一项所述的方法，其特征在于，所述在所述回波信号中提取有效回波信号，包括：
    对所述回波信号进行模数转换，得到对应的数字信号；
    当所述数字信号进行缓存，当缓存的数字信号数量达到预设数量时，提取预设邻域的数字信号；
    对提取的数字信号进行非相参积累，输出积累后的数字信号；及
    在所述积累后的数字信号中识别有效回波信号。
  5. 根据权利要求1至4任意一项所述的方法，其特征在于，所述在所述回波信号中提取有效回波信号，还包括：
    在所述回波信号中识别所述探测信号对应的脉冲发射间隔；
    根据所述探测信号对应的脉冲发射间隔对所述回波信号进行解码，得到解码信号；及
    对所述解码信号进行信号检测，得到有效回波信号。
  6. 根据权利要求5所述的方法，其特征在于，所述对所述解码信号进行信号检测， 包括：
    将所述解码信号存储于预设队列中；
    在所述预设队列中提取待输入信号，输入至缓冲区域；
    根据预设区域在所述缓冲区域中选取区域信号；
    根据所述区域信号计算所述解码信号对应的信号门限；
    将所述解码信号与信号门限进行比较，得到比较结果；及
    在所述比较结果中选取大于所述信号门限的解码信号作为有效回波信号。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述区域信号计算所述解码信号对应的信号门限，包括：
    根据所述区域信号计算对应的噪声功率；
    根据所述区域信号、预设虚警概率值计算对应的阈值因子；及
    根据所述噪声功率和阈值因子计算所述解码信号对应的信号门限。
  8. 一种激光雷达测距装置，包括：
    生成模块，用于调用序列发生器，通过所述序列发生器生成预设序列；
    确定模块，用于根据所述预设序列和预设值确定双脉冲的脉冲发射间隔；
    发射模块，用于根据所述双脉冲的脉冲发射间隔向待测物体发射探测信号；
    提取模块，用于接收所述待测物体根据所述探测信号返回的回波信号，在所述回波信号中提取有效回波信号；及
    计算模块，用于根据所述有效回波信号和探测信号之间的时间差计算所述待测物体的距离。
  9. 根据权利要求8所述的装置，其特征在于，所述确定计算模块还用于根据所述预设序列和预设值计算得到所述预设序列对应的跳频序列；根据所述预设序列将双脉冲的时间区间划分为多个发射时间间隔；及根据所述跳频序列在多个发射时间间隔中选取所述双脉冲的脉冲发射间隔。
  10. 根据权利要求8至9任意一项所述的装置，其特征在于，所述确定模块还用于根据所述预设序列和双脉冲的脉冲发射间隔计算所述双脉冲的脉冲发射时间；及根据所述双脉冲的脉冲发射时间发射探测信号。
  11. 根据权利要求8至10任意一项所述的装置，其特征在于，所述提取模块还用于对所述回波信号进行模数转换，得到对应的数字信号；当所述数字信号进行缓存，当缓存 的数字信号数量达到预设数量时，提取预设邻域的数字信号；对提取的数字信号进行非相参积累，输出积累后的数字信号；及在所述积累后的数字信号中识别有效回波信号。
  12. 根据权利要求8至11任意一项所述的装置，其特征在于，所述提取模块还用于在所述回波信号中识别所述探测信号对应的脉冲发射间隔；根据所述探测信号对应的脉冲发射间隔对所述回波信号进行解码，得到解码信号；及对所述解码信号进行信号检测，得到有效回波信号。
  13. 根据权利要求8至12任意一项所述的装置，其特征在于，所述提取模块还用于将所述解码信号存储于预设队列中；在所述预设队列中提取待输入信号，输入至缓冲区域；
    根据预设区域在所述缓冲区域中选取区域信号；根据所述区域信号计算所述解码信号对应的信号门限；将所述解码信号与信号门限进行比较，得到比较结果；及在所述比较结果中选取大于所述信号门限的解码信号作为有效回波信号。
  14. 根据权利要求8至13任意一项所述的装置，其特征在于，所述提取模块还用于根据所述区域信号计算对应的噪声功率；根据所述区域信号、预设虚警概率值计算对应的阈值因子；及根据所述噪声功率和阈值因子计算所述解码信号对应的信号门限。
  15. 一种计算机设备，包括存储器及一个或多个处理器，所述存储器中储存有计算机可读指令，所述计算机可读指令被所述一个或多个处理器执行时，使得所述一个或多个处理器执行权利要求1至7中任意一项所述方法的步骤。
  16. 一个或多个存储有计算机可读指令的非易失性计算机可读存储介质，所述计算机可读指令被一个或多个处理器执行时，使得所述一个或多个处理器执行权利要求1至7中任意一项所述方法的步骤。
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