WO2023005815A1

WO2023005815A1 - Opa laser radar and noise point identification method

Info

Publication number: WO2023005815A1
Application number: PCT/CN2022/107246
Authority: WO
Inventors: 鲁富军; 王振; 徐洋; 汝洪武
Original assignee: 武汉万集光电技术有限公司
Priority date: 2021-07-30
Filing date: 2022-07-22
Publication date: 2023-02-02
Also published as: CN115685137A

Abstract

An OPA laser radar and a noise point identification method. An emission angle and an emission direction of probe light can be adjusted by means of a phased array control system, so as to adjust a formation position of a scanning light spot; and when there is suspected noise point, the emission angle and the emission direction of scanning probe light are regulated, and an angular resolution is increased to scan an adjacent area of the suspected noise point, such that whether the suspected noise point is a noise point or a real obstacle can be effectively identified. In this way, the problem of the current laser radar being unable to effectively identify whether a point in a scanning point cloud is an obstacle which actually exists or a noise point caused by a system itself is solved, and the measurement accuracy of the laser radar is improved.

Description

An OPA lidar and noise recognition method

This application claims the priority of the Chinese patent application with the application number 202110876217.9 and the application title "An OPA lidar and noise recognition method" filed at the National Patent Office of China on July 30, 2021, the entire contents of which are incorporated by reference incorporated in this application.

technical field

The present application belongs to the technical field of radar, and in particular relates to an OPA laser radar and a method for identifying noise points.

Background technique

Due to its high resolution, high sensitivity, strong anti-interference ability, and unaffected by dark conditions, lidar is often used in areas such as autonomous driving, logistics vehicles, robots, and public smart transportation.

During the scanning process of the lidar on the road or objects in the front scanning area, if there is an obstacle, it will form a solitary point in the scanned point cloud. In addition, due to its own system problems, it may appear during the scanning process. Noise, and noise will also form isolated points in the scanned point cloud. However, the current laser radar cannot effectively identify whether the isolated points in the scanned image are actual obstacles or noise caused by the system itself, which will lead to errors. Misjudgment may lead to traffic accidents.

It can be seen that the current lidar cannot effectively identify whether the isolated point in the scanned point cloud is an actual obstacle or a noise caused by the system itself.

Contents of the invention

One of the purposes of the embodiments of the present application is to provide an OPA lidar and noise recognition method to solve the problem that the current lidar cannot effectively identify whether the isolated point in the scanning point cloud is an actual obstacle or caused by the system itself. the noise problem.

In the first aspect, a noise recognition method of OPA lidar is provided, including:

Scan the scanning area to obtain the point cloud with the first resolution;

Perform target detection on the point cloud of the first resolution, and identify suspected noise points;

Improving the angular resolution and scanning the adjacent area of the suspected noise point in the scanning area to obtain a second resolution point cloud;

Determine whether the suspected noise is noise according to the point cloud with the second resolution.

In a possible implementation manner of the first aspect, determining whether the suspected noise is a noise according to the point cloud of the second resolution includes:

performing target detection on the point cloud of the second resolution;

If the detection result of the target detection includes contour information, the suspected noise point is a non-noise point; otherwise, the suspected noise point is a noise point.

In a possible implementation manner of the first aspect, if the contour information is detected, the suspected noise point is a non-noise point; otherwise, the suspected noise point is a noise point, including:

If the detection result of the target detection is that no target is detected, or a result that does not contain contour information is detected, it is determined that the suspected noise point is a noise point.

In a possible implementation manner of the first aspect, the improving the angular resolution scans an adjacent area of the suspected noise in the scanning area to obtain a point cloud with a second resolution, including:

Identify adjacent areas of suspected noise;

The angular resolution is increased, and the scanning direction is adjusted, so that the OPA lidar scans the adjacent area of the suspected noise to obtain a point cloud with a second resolution.

In a possible implementation of the first aspect, the noise recognition method of the above-mentioned OPA lidar further includes:

The point cloud data corresponding to the noise point is removed from the point cloud of the first resolution.

In a possible implementation manner of the first aspect, performing target detection on the point cloud with the first resolution to identify suspected noises includes:

Detecting whether there is an isolated point in the point cloud of the first resolution; if there is an isolated point, identifying the isolated point as a suspected noise point.

In a possible implementation manner of the first aspect, determining an adjacent area of suspected noise includes:

The adjacent point cloud area of suspected noise is determined as the adjacent area of suspected noise.

In the second aspect, the embodiment of the present application provides an OPA lidar, including:

a light source for outputting an optical signal;

a beam splitter, connected to the light source, for splitting the optical signal output by the light source;

A phase modulator, connected to the beam splitter, for phase modulating the optical signal input to the phased array antenna;

A phased array antenna, connected to the phase modulator, is used to emit detection light, and the detection light can form a scanning spot in space; and receive reflected echoes in space;

A phased array control system, connected to the phase modulator, is used to adjust the emission angle and emission direction of the probe light, so as to adjust the formation position of the scanning spot;

A signal processing system, connected to the phased array antenna, for processing the reflected echo to obtain corresponding electrical signals;

The main control system is respectively connected with the phased array control system and the signal processing system, and is used to calculate the distance value and speed of the target object in the scanning area according to the electrical signal; when there is suspected noise in the scanning area, Send feedback adjustment instructions to the phased array control system to adjust the emission angle and emission direction of the scanning probe light, improve the angular resolution and scan the adjacent area of suspected noise.

In a possible implementation of the second aspect, if the emitted laser is a continuous frequency modulated wave, the OPA lidar also includes:

A mixer, respectively connected to the beam splitter and the phased array antenna, for mixing the reflected echo and the reference light to obtain a difference frequency optical signal; the difference frequency optical signal is used to calculate the distance value and speed.

In a possible implementation of the second aspect, the OPA lidar also includes: a host computer;

The upper computer communicates with the main control system;

The host computer is used to form the point cloud of the first resolution and the point cloud of the second resolution according to the distance value and the speed.

In a possible implementation manner of the second aspect, the host computer is further configured to determine whether the suspected noise is a noise based on the point cloud of the second resolution.

In a possible implementation manner of the second aspect, the light source includes a semiconductor light source.

In a possible implementation manner of the second aspect, the processing the reflected echo includes performing photoelectric detection, signal filtering, amplification, and collection on the reflected echo.

In a possible implementation manner of the second aspect, the signal processing system is connected to the mixer, and is configured to process the difference frequency optical signal output by the mixer to obtain The electrical signal corresponding to the optical signal.

In a third aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method for identifying noise points as described above is implemented.

Compared with the prior art, the embodiment of the present application has the beneficial effect that: the emission angle and emission direction of the probe light can be adjusted through the phased array control system to realize the adjustment of the formation position of the scanning spot. When there is noise, adjust the emission angle and direction of the scanning detection light, improve the angular resolution to scan the adjacent area of the suspected noise, and then be able to effectively identify whether the suspected noise is noise or a real obstacle, and solve the problem that the current laser radar cannot detect. Effectively identify whether the isolated point in the scanning point cloud is an actual obstacle or a noise caused by the system itself, and improve the measurement accuracy of the laser radar.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

FIG. 1 is a schematic structural diagram of an OPA lidar provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of another OPA lidar provided in the embodiment of the present application;

FIG. 3 is a schematic diagram of an implementation flow of a noise recognition method of an OPA lidar provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of an application scenario of an OPA lidar noise recognition method provided in an embodiment of the present application;

FIG. 5 is a schematic diagram of an application scenario of another OPA lidar noise recognition method provided in an embodiment of the present application.

Embodiments of the present invention

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and/or collections thereof.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

As used in this specification and the appended claims, the term "if" may be construed, depending on the context, as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to the determination" or "once detected [the described condition or event] ]” or “in response to detection of [described condition or event]”.

In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third" and so on are only used to distinguish descriptions, and should not be understood as indicating or implying relative importance.

Reference to "one embodiment" or "some embodiments" or the like in the specification of the present application means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "including", "comprising", "having" and variations thereof mean "including but not limited to", unless specifically stated otherwise.

Referring to FIG. 1 , the embodiment of the present application provides an OPA lidar 10 . As shown in FIG. 1 , the OPA lidar 10 includes a light source 110 , a beam splitter 120 , a phase modulator 130 , a phased array antenna 140 , a phased array control system 150 , a signal processing system 160 and a main control system 170 .

The light source 110 is used to output light signals.

The beam splitter 120 is connected to the light source 110 and used for splitting the optical signal output by the light source 110 .

The phase modulator 130 is connected with the beam splitter 120 and is used for phase modulating the optical signal input to the phased array antenna 140 .

The phased array antenna 140, connected with the phase modulator 130, is used to emit detection light, which can form a scanning spot in space; and receive reflected echoes in space.

The phased array control system 150 is connected with the phase modulator 130, and is used to adjust the emission angle and emission direction of the probe light, so as to adjust the formation position of the scanning spot.

The signal processing system 160 is connected with the phased array antenna 140, and is used for processing the reflected echo to obtain corresponding electric signals.

The main control system 170 is respectively connected with the phased array control system 150 and the signal processing system 160, and is used to calculate the distance value and speed of the target object in the scanning area according to the electrical signal; when there is suspected noise in the scanning area, send feedback adjustment Instructions are sent to the phased array control system 150 to adjust the emission angle and emission direction of the scanning probe light, improve the angular resolution and scan the adjacent area of suspected noise.

In the embodiment of the present application, the above-mentioned light source 110 may be a semiconductor light source.

The aforementioned beam splitter 140 can split the input light.

The above-mentioned signal processing system 160 can be used to convert the reflected echo, including processing such as photoelectric detection, signal filtering, amplification and collection, and then obtain an electrical signal corresponding to the reflected echo.

The calculation of the distance value and speed of the target object in the scanning area by the above-mentioned main control system 170 according to the electrical signal can be realized based on an existing algorithm, which will not be repeated in this application.

When the main control system 170 determines that there is suspected noise in the scanning area, it sends a feedback command to the phased array control system 150 to realize the emission angle and direction of the detection light, so that the scanning spot can be placed in the vicinity of the suspected noise, Realize the scanning of adjacent areas suspected of noise. At the same time, increasing the angular resolution improves the scanning accuracy and enables clearer scanning of adjacent areas suspected of noise.

Referring to FIG. 2 , in another embodiment of the present application, when the laser light emitted by the OPA lidar 10 is a continuous frequency modulated wave, the OPA lidar 10 further includes a mixer 180 .

The mixer 180 is connected to the beam splitter 120 and the phased array antenna 140 respectively, and is used for mixing the reflected echo and the reference light to obtain a difference frequency optical signal.

Correspondingly, the signal processing system 160 is connected to the mixer 180, and is configured to process the difference frequency optical signal output by the mixer 180, and then obtain an electrical signal corresponding to the difference frequency optical signal.

Wherein, the optical signal output by the light source 110 may be subjected to beam splitting processing by the beam splitter 120, and then the reference light and the probe light are respectively output.

Please continue to refer to FIG. 2 , the above-mentioned OPA lidar system may also include a host computer 190 .

The upper computer 190 communicates with the main control system 170 . The host computer 190 is used to form a point cloud with a first resolution and a point cloud with a second resolution according to the distance value and speed.

Specifically, the host computer 190 is further configured to determine whether the suspected noise is a noise based on the point cloud of the second resolution. How to determine whether a suspected noise point is a noise point based on the point cloud of the second resolution can refer to the description of the method embodiment, and will not be repeated here.

It can be seen from the above that the OPA laser radar provided by the embodiment of the present application adjusts the emission angle and emission direction of the detection light through the phased array control system to realize the adjustment of the formation position of the scanning spot. When there is suspected noise Adjust the emission angle and emission direction of the scanning detection light, improve the angular resolution to scan the adjacent area of the suspected noise, and then be able to effectively identify whether the suspected noise is a noise or a real obstacle, and solve the problem that the current laser radar cannot be effectively detected. Identify whether the isolated point in the scanned point cloud is an actual obstacle or a problem caused by the system itself, and improve the measurement accuracy of the lidar.

Based on the OPA lidar provided in FIG. 1 and FIG. 2 , an embodiment of the present application further provides a noise recognition method for the OPA lidar.

Please refer to FIG. 3 . FIG. 3 shows a schematic flowchart of an implementation of a noise recognition method for an OPA lidar provided in an embodiment of the present application. As shown in Figure 3, the noise recognition method of the above-mentioned OPA lidar may include S11-S14, which are described in detail as follows:

S11: Scanning the scanning area to obtain a point cloud with a first resolution.

In the embodiment of the present application, the scanning area is scanned by controlling the phased array antenna of the OPA lidar to emit detection light, and the reflected echo is received, and the point cloud with the first resolution is obtained based on the reflected echo.

S12: Perform target detection on the point cloud with the first resolution, and identify suspected noise points.

In the embodiment of the present application, by detecting whether there is an isolated point in the point cloud of the first resolution, if there is an isolated point, the isolated point is identified as a suspected noise point.

S13: Improve the angular resolution and scan the adjacent area of the suspected noise point in the scanning area to obtain a point cloud with a second resolution.

In the embodiment of the present application, after suspicious noises are detected, the main control system of the OPA laser radar sends feedback instructions to the phased array control system to adjust the emission angle and direction of the scanning detection light, and improve the angular resolution for suspicious noise. The area adjacent to the noise point is scanned.

In an embodiment of the present application, S13 may specifically include the following steps:

Identify adjacent areas of suspected noise;

Improve the angular resolution and adjust the scanning direction so that the OPA lidar scans the adjacent area of the suspected noise.

In a specific application, the adjacent point cloud area of suspected noise can be determined as the adjacent area of suspected noise. The adjacent area of the suspected noise includes the location of the suspected noise.

In a specific application, the angular resolution of the OPA lidar is improved, and then the phased array antenna is controlled by the phased array control system to adjust the scanning direction, so that the OPA lidar can detect the adjacent area of the suspected noise with a higher angular resolution. scanning, and receiving reflected echoes, and obtaining the above-mentioned point cloud with the second resolution based on the reflected echoes.

S14: Determine whether the suspected noise point is a noise point according to the point cloud of the second resolution.

In the embodiment of the present application, the point cloud of the second resolution can accurately reflect the scene in the vicinity of the suspicious noise. The existing obstacles are non-noise points. If the suspicious noise point does not exist in the point cloud of the second resolution, it is due to the system noise of the OPA lidar, that is, noise points.

performing target detection on the point cloud of the second resolution;

If the detection result of the target detection includes contour information, the suspected noise point is a non-noise point, otherwise it is a noise point.

Specifically, if the detection result of the target detection is that no target is detected, or a result that does not contain contour information is detected, it is determined that the suspected noise point is a noise point.

In the embodiment of the present application, if the target detection on the point cloud of the second resolution can be implemented based on an existing algorithm, this application will not repeat it.

If the detection result of target detection contains contour information, it means that there is an actual obstacle at the location of the suspicious noise point. It is due to the system noise of OPA lidar, that is, noise.

In order to more intuitively describe the beneficial effects of the noise point identification method provided by the embodiment of the present application, FIG. 4 and FIG. 5 show schematic diagrams of application scenarios of the noise point identification method provided by the embodiment of the present application.

Please refer to Figure 4, (a) in Figure 4 is the scanning area, there are four letters "EPFL" in the scanning area, and there is no stray object below the letter P. (b) in Figure 4 is the first resolution point cloud obtained after scanning the scanning area through OPA lidar. It can be seen from (b) in Figure 4 that there are abnormal isolated points (that is, suspicious noise points) under the letter P. By adjusting the OPA lidar, the resolution is improved, and the scanning direction is adjusted, the adjacent area of the suspicious noise points ( Rescan the rectangular area in (c) in FIG. 4 ) to obtain the image of the point cloud with the second resolution as shown in (d) in FIG. 4 .

It can be seen from (d) in Fig. 4 that there is no detection target in the point cloud of the second resolution, so it can be determined that the suspicious noise point is a noise point.

Please refer to FIG. 5 , the front vehicle in (a) in FIG. 5 is the scanning area, and there is a protrusion at the rear end of the front vehicle. (b) in Fig. 5 is the first resolution point cloud obtained after scanning the scanning area by OPA lidar. It can be seen from (b) in Figure 5 that there is a raised point (that is, a suspicious noise point) at the rear end of the vehicle in front. By adjusting the OPA lidar to improve the resolution and adjust the scanning direction, the adjacent area of the suspicious noise point ( The circular area in (c) in Fig. 5) is re-scanned to obtain the image of the point cloud with the second resolution as shown in (d) in Fig. 5 .

It can be seen from (d) in Figure 5 that there is a target containing contour information in the point cloud of the second resolution, so it can be determined that the suspicious noise is not a noise, but an actual obstacle.

In an embodiment of the present application, the noise point identification method further includes:

If it is determined that the suspicious noise is a noise, it needs to be removed from the first-resolution point cloud to avoid affecting the actual measurement result.

It can be seen from the above that the noise recognition method of the OPA lidar provided by the embodiment of the present application can also adjust the emission angle and emission direction of the detection light through the phased array control system, so as to realize the adjustment of the formation position of the scanning spot , adjust the emission angle and emission direction of the scanning probe light when there is suspected noise, improve the angular resolution to scan the adjacent area of the suspected noise, and then can effectively identify whether the suspected noise is a noise or a real obstacle. LiDAR has the problem that it cannot effectively identify whether the isolated point in the scanning point cloud is an actual obstacle or a noise caused by the system itself, so as to improve the measurement accuracy of LiDAR.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be realized.

An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the foregoing method embodiments when executed.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the procedures in the methods of the above embodiments in the present application can be completed by instructing related hardware through computer programs, and the computer programs can be stored in a computer-readable storage medium. The computer program When executed by a processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program codes to the photographing device/terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium. Such as U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunication signals under legislation and patent practice.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/node device and method may be implemented in other ways. For example, the device/node device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

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

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims

A noise recognition method of OPA laser radar, is characterized in that, comprises:

Scan the scanning area to obtain the point cloud with the first resolution;

Perform target detection on the point cloud of the first resolution, and identify suspected noise points;

Improving the angular resolution and scanning the adjacent area of the suspected noise point in the scanning area to obtain a second resolution point cloud;

Determine whether the suspected noise is noise according to the point cloud with the second resolution.
The method according to claim 1, wherein determining whether the suspected noise is a noise according to the point cloud of the second resolution comprises:

performing target detection on the point cloud of the second resolution;

If the detection result of the target detection includes contour information, the suspected noise point is a non-noise point; otherwise, the suspected noise point is a noise point.
According to the method according to claim 2, if the contour information is detected, the suspected noise point is a non-noise point, otherwise the suspected noise point is a noise point, including:

If the detection result of the target detection is that no target is detected, or a result that does not contain contour information is detected, it is determined that the suspected noise point is a noise point.
The method for identifying noise points according to claim 1, wherein said improving the angular resolution scans the adjacent area of the suspected noise point in the scanning area to obtain a second resolution point cloud, comprising:

Identify adjacent areas of suspected noise;

The angular resolution is increased, and the scanning direction is adjusted, so that the OPA lidar scans the adjacent area of the suspected noise to obtain a point cloud with a second resolution.
The noise recognition method according to any one of claims 1 to 4, further comprising:

The point cloud data corresponding to the noise point is removed from the point cloud of the first resolution.
The noise recognition method according to claim 1, wherein said performing target detection on the point cloud of said first resolution to identify suspected noises comprises:

Detecting whether there is an isolated point in the point cloud of the first resolution; if there is an isolated point, identifying the isolated point as a suspected noise point.
The noise recognition method according to claim 4, wherein said determining the adjacent area of the suspected noise comprises:

The adjacent point cloud area of suspected noise is determined as the adjacent area of suspected noise.
A kind of OPA laser radar, is characterized in that, comprises:

a light source for outputting an optical signal;

a beam splitter, connected to the light source, for splitting the optical signal output by the light source;

A phase modulator, connected to the beam splitter, for phase modulating the optical signal input to the phased array antenna;

A phased array antenna, connected to the phase modulator, is used to emit detection light, and the detection light can form a scanning spot in space; and receive reflected echoes in space;

A phased array control system, connected to the phase modulator, is used to adjust the emission angle and emission direction of the probe light, so as to adjust the formation position of the scanning spot;

A signal processing system, connected to the phased array antenna, for processing the reflected echo to obtain corresponding electrical signals;

The main control system is respectively connected with the phased array control system and the signal processing system, and is used to calculate the distance value and speed of the target object in the scanning area according to the electrical signal; when there is suspected noise in the scanning area, Send feedback adjustment instructions to the phased array control system to adjust the emission angle and emission direction of the scanning probe light, improve the angular resolution and scan the adjacent area of suspected noise.
OPA laser radar according to claim 8, is characterized in that, if the laser of emission is continuous frequency modulation wave, described OPA laser radar also comprises:

A mixer, respectively connected to the beam splitter and the phased array antenna, for mixing the reflected echo and the reference light to obtain a difference frequency optical signal; the difference frequency optical signal is used to calculate the distance value and speed.
The OPA laser radar as claimed in claim 8 or 9, is characterized in that, also comprises: host computer;

The upper computer communicates with the main control system;

The host computer is used to form the point cloud of the first resolution and the point cloud of the second resolution according to the distance value and the speed.
The OPA laser radar according to claim 10, wherein the host computer is also used to determine whether the suspected noise is a noise based on the point cloud of the second resolution.
The OPA lidar according to claim 8, wherein the light source comprises a semiconductor light source.
The OPA laser radar according to claim 8, wherein the processing of the reflected echo comprises photoelectric detection, signal filtering, amplification and collection of the reflected echo.
The OPA lidar according to claim 9, wherein the signal processing system is connected to the mixer, and is used to process the difference frequency optical signal output by the mixer to obtain a The electrical signal corresponding to the difference frequency optical signal.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for identifying noise points according to any one of claims 1 to 7 is implemented.