WO2023083216A1

WO2023083216A1 - Echo signal processing method and apparatus, and laser radar and storage medium

Info

Publication number: WO2023083216A1
Application number: PCT/CN2022/130893
Authority: WO
Inventors: 舒博正; 夏冰冰; 石拓
Original assignee: 北京一径科技有限公司
Priority date: 2021-11-10
Filing date: 2022-11-09
Publication date: 2023-05-19
Also published as: CN113759340A; CN113759340B

Abstract

The embodiments of the present disclosure relate to the technical field of laser radars. Provided are an echo signal processing method and apparatus, and a laser radar and a storage medium. The echo signal processing method comprises: determining, from echo signals received within a preset time window, Z echo signals, the amplitudes of which meet a first condition, wherein the Z echo signals are sorted in a time domain, so as to form a first sequence; backward delaying a duration Ti in the time domain, so as to obtain the ith second sequence, wherein i is a positive integer less than or equal to M-1, and Ti is a transmission time interval between the Mth transmitted laser signal and the ith transmitted laser signal; superimposing M-1 second sequences and the first sequence in the time domain, so as to obtain a third sequence; and according to the time-domain positions of L superimposed signals, which are selected from the third sequence and the amplitudes of which meet a second condition, and the time-domain position of the xth echo signal, determining whether the xth echo signal is a crosstalk signal.

Description

Echo signal processing method and device, laser radar and storage medium

This application claims the priority of the Chinese application with application number 202111323883.6 filed on November 10, 2021. All content of the earlier application of this application is incorporated in the present application.

technical field

The present disclosure relates to the technical field of laser radar but is not limited to the technical field of laser radar, and in particular relates to an echo signal processing method and device, laser radar and a storage medium.

Background technique

The laser radar emits a laser signal and receives the reflected echo signal, and determines whether there is an object in the field of view of the laser radar or the distance between the object and the laser radar based on the emission data of the laser signal and the echo data of the echo signal and orientation information.

In some cases, considering the detection distance and detection accuracy, multiple laser transmitters or multiple laser radars may be used to simultaneously emit laser signals. When the laser receiver receives the echo signal corresponding to the laser signal emitted by the laser transmitter, it will be interfered by the laser signals emitted by other laser transmitters, which will affect the accuracy of the distance measurement and object detection of the laser radar. This kind of interference by laser signals emitted by other laser transmitters is a kind of echo crosstalk.

In this way, accurately determining whether there is echo crosstalk in the received signal of the receiver is an important prerequisite for realizing accurate ranging and detection of lidar.

Contents of the invention

Embodiments of the present disclosure provide an echo signal processing method and device, a laser radar, and a storage medium.

The first aspect of the embodiments of the present disclosure provides an echo signal processing method, including:

From the echo signals received within the preset time window, determine Z echo signals whose amplitudes meet the first condition, wherein the Z echo signals are sorted in the time domain to form a first sequence ; Wherein, the Z is a positive integer less than or equal to N; wherein, the N is a preset positive integer;

In the time domain, the first sequence is delayed by the duration T _i to obtain the i-th second sequence; wherein, the i is a positive integer less than or equal to M-1; the Ti is the Mth laser signal emitted The emission time interval between the i-th emission laser signal; the M is the number of types of laser signals;

Superimpose M-1 of the second sequence and the first sequence in the time domain to obtain a third sequence; wherein, the third sequence includes: Y superposition signals sorted in the time domain;

Determine whether the xth echo signal is a crosstalk signal according to the time domain positions of the L superimposed signals whose amplitudes satisfy the second condition and the time domain position of the xth echo signal selected from the third sequence , wherein, the L is a positive integer less than or equal to the Y, and the x is a positive integer less than or equal to the Z.

The second aspect of the embodiments of the present disclosure provides an echo signal processing device, including:

The first determination module is configured to determine Z echo signals whose amplitudes meet the first condition from echo signals received within a preset time window, wherein the Z echo signals are Sorting in the time domain forms a first sequence; wherein, the Z is a positive integer less than or equal to N; wherein, the N is a preset positive integer;

A delay module configured to delay the first sequence backwards for a duration T _i in the time domain to obtain the i-th second sequence; wherein, the i is a positive integer less than or equal to M-1; the Ti is The emission time interval between the Mth laser signal emission and the i-th emission laser signal; the M is the number of types of laser signals;

The superposition module is configured to superimpose M-1 second sequences and the first sequence in the time domain to obtain a third sequence; wherein the third sequence includes: Y superposition signals sorted in the time domain ;

The second determination module is configured to determine the x-th echo signal based on the time-domain positions of the L superimposed signals whose amplitudes satisfy the second condition and the time-domain position of the x-th echo signal selected from the third sequence. Whether the echo signal is a crosstalk signal, wherein, the L is a positive integer less than or equal to the Y, and the x is a positive integer less than or equal to the Z.

The third aspect of the embodiments of the present disclosure provides a laser radar, including:

a memory storing computer-executable instructions;

A processor, connected to the memory, configured to implement the echo signal processing method provided in any solution of the first aspect by executing the computer-executable instructions.

A computer storage medium provided by the fourth aspect of the embodiments of the present disclosure, the computer storage medium stores computer-executable instructions; after the computer-executable instructions are executed by a processor, the return provided by any solution in the first aspect can be realized. wave signal processing methods.

When performing echo signal processing, M echo signals with larger amplitudes will be selected according to the amplitude of the received echo signals, and the first sequence will be obtained by sorting in the time domain according to the receiving time; then according to the emission of the laser signal The first sequence is delayed during the time interval to obtain M-1 second sequences. After superimposing the second sequence and the first sequence in the time domain, a third sequence containing multiple superimposed signals is obtained; the superimposed signal whose amplitude meets the second condition is selected from the third sequence, and the original received echo signal By comparing the positions in the time domain, it can be known whether the corresponding echo signal is a crosstalk signal.

Multiple laser signals are reflected back to form an echo signal after encountering an object. When the emission time interval of the laser signal is relatively small, the object is in a relatively static state relative to the emission of the laser signal, so the time after the return of the echo signal The interval is roughly equivalent to the emission time interval between the corresponding laser signals, so that after the delay and superposition of the second sequence and the first sequence, multiple signals will be superimposed and the amplitude will increase. Based on this characteristic, it can be easily and accurately determined whether the corresponding echo signal is a crosstalk signal or a target signal to be received, thereby improving the accuracy of laser detection.

Description of drawings

FIG. 1 is a schematic flowchart of an echo signal processing method provided by an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a first sequence composed of echo signals provided by an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a signal superposition provided by an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a crosstalk signal provided by an embodiment of the present disclosure;

Fig. 5 is a schematic flowchart of an echo signal processing method provided by an embodiment of the present disclosure;

FIG. 6 is a schematic flowchart of an echo signal processing method provided by an embodiment of the present disclosure;

Fig. 7 is a schematic flowchart of an echo signal processing method provided by an embodiment of the present disclosure;

Fig. 8 is a schematic structural diagram of an echo signal processing device provided by an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of a laser radar provided by an embodiment of the present disclosure.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and techniques are presented for a thorough understanding of the embodiments of the present disclosure. It will be apparent, however, to one skilled in the art that the present disclosure 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 disclosure with unnecessary detail.

In order to illustrate the technical solutions described in the present disclosure, specific examples are used below to illustrate.

As shown in FIG. 1 , an embodiment of the present disclosure provides an echo crosstalk processing that may include:

S110: From the echo signals received within the preset time window, determine Z echo signals whose amplitudes meet the first condition, wherein the Z echo signals are sorted in the time domain to form the first A sequence; wherein, the Z is a positive integer less than or equal to N; wherein, the N is a preset positive integer;

S120: In the time domain, delay the first sequence backward for a duration Ti to obtain the i-th second sequence; wherein, the i is a positive integer less than or equal to M-1; the Ti is the Mth emitted laser signal and The emission time interval between the i-th emission laser signals; the M is the number of types of laser signals;

S130: Superimpose M-1 second sequences and the first sequence in the time domain to obtain a third sequence; wherein, the third sequence includes: Y superimposed signals sorted in the time domain;

S140: According to the time domain positions of the L superimposed signals whose amplitudes satisfy the second condition are selected from the third sequence and the time domain position of the xth echo signal, determine whether the xth echo signal is A crosstalk signal, wherein the L is a positive integer less than or equal to the Y, and the x is a positive integer less than or equal to the Z.

In the echo signal receiver or processor of the laser radar provided by the embodiment of the present disclosure. Exemplarily, the echo signal processing method can be applied to a laser radar or a host computer connected to the laser radar. The upper computer includes but is not limited to a personal computer (Personal Computer, PC), a mobile phone, or a vehicle-mounted device.

The preset time window may be a time window of the laser receiver for receiving echo signals. The duration of the preset time window may be determined according to the maximum ranging of the laser radar and/or the transmission timing and receiving time slot of the laser radar.

Exemplarily, the duration of the preset time window may be 1600ns, 800ns, 2400ns or 3200ns.

The laser transmitter will emit laser signals according to the emission cycle within the preset time window. The laser signals can be sent in the form of pulses, so the emitted laser signals can also be called laser pulses.

In one emission period, the laser transmitter can emit one or more laser signals. If the laser transmitter emits multiple laser signals within one emission period, the amplitudes of these laser signals can be equal, but the pulse widths can be different. The emission time intervals between multiple laser signals emitted in one period may be equal or different. In this embodiment, the laser emitter can emit M types of laser pulse signals when one laser is emitted. The value of M is a positive integer.

The emission time interval of two adjacent laser signals is relatively short, and the emission time interval can be us level or ns level. Exemplarily, the emission time interval of two adjacent laser signals may be less than or equal to 1 us.

When the laser receiver receives the echo signal within the preset time window, it may receive the echo signal generated by the reflection of the laser signal emitted by its predetermined laser emitter, or it may receive the laser emitted by other laser emitters. The echo signal of the signal, thus, may produce echo crosstalk.

In order to eliminate echo crosstalk, in the embodiment of the present disclosure, firstly, Z echo signals with larger amplitudes are selected according to the amplitudes of the echo signals received within the preset time window. If the amplitude of an echo signal is too small, it may be an interference signal such as an echo signal of laser signals emitted by other laser transmitters. Therefore, by satisfying the first condition, the received echo signal with a small amplitude can be removed first.

Exemplarily, the echo signals in the preset time window are sorted according to the amplitude, and the Z echo signals with the largest amplitude are selected. Of course, this is only an example of the amplitude satisfying the first condition, and the specific implementation is not limited. in this example.

After the Z echo signals are selected, the Z echo signals are sorted in the time domain according to their receiving time, so as to form the first sequence.

After the first sequence is formed, according to the emission time interval between the two laser signals, the first sequence is shifted to a time later direction in the time domain to obtain the second sequence.

"Delay backward in the time domain" in the embodiments of the present disclosure may be understood as: "translate backward in the time domain".

After the generation of the second sequence is completed, the multiple second sequences and the first sequence are superimposed in the time domain. When the second sequence and the first sequence are superimposed by M−1 in the time domain, superimposed signals at the same position in the time domain, superimposed signals and echo signals may be superimposed.

Since the time interval between laser signals emitted by the transmitter is very short, it can be considered relatively static when emitted by the same object (generally, the moving speed of the object is very small). If multiple laser signals emitted continuously hit the object, the return time difference of the multiple echo signals is basically consistent with the emission time interval of the laser signals. In this way, by delaying the first sequence in the time domain, multiple second sequences are obtained; then multiple superimposed second sequences and the first sequence are aligned and superimposed in the time domain, because the echo signal (ie, the target signal) to be received by the laser receiver ) The above properties will reinforce each other.

In FIG. 2 , two echo signals are detected at positions P1 and P2 in the time domain, and the amplitudes are A1 and A2 respectively. These two echo signals are sorted in the time domain to form a first sequence. According to the emission time interval, the echo signals at the P1 position and the P2 position are delayed backward by the emission time interval between the corresponding laser signals, and then superimposed. FIG. 3 is a superimposed signal obtained by superimposing the echo signal at the position P2 in the original first sequence after the delay of the echo signal at the position P1 in the time domain. Compared with the original echo signal, the amplitude of the superimposed signal is obviously enhanced.

After the trigger (Start Ghost) signal in FIG. 2 and FIG. 3 , the laser signal is emitted after a delay of a guard time (P _safe ).

However, the transmission time interval or start and end time of the laser signals emitted by other laser transmitters is different from the transmission time interval and/or start and end time of the laser signal emitted by the laser transmitter corresponding to the laser receiver, and the crosstalk signal will be randomly scattered in the time domain. , so the probability of being superimposed with other superimposed signals or echo signals in the time domain superposition is very low, that is, if a received echo signal is determined to be a crosstalk signal, its amplitude will not be enhanced after superposition, so in this disclosure In an embodiment, L superimposed signals whose amplitudes satisfy the second condition are selected from the third sequence. The value of L may be 1, 2, 3 or 4, etc., and the specific value of L may be less than or equal to Y.

The superimposed signals whose amplitudes meet the second condition here can filter the crosstalk signal once, that is, the selected L superimposed signals can be considered as the time-domain positions of the echo signals that the laser receiver should receive. Therefore, finally, according to the time domain position difference between the superimposed signal and the original received echo signal, it can be determined whether each echo signal to be determined is a target signal to be detected or an interfering crosstalk signal.

The echo signal processing method provided by the embodiments of the present disclosure can quickly and accurately determine whether the received echo signal is a crosstalk signal or a target signal by processing the received echo signal.

In one embodiment, the method also includes:

If it is determined that a certain echo signal is a crosstalk signal, the echo data of the crosstalk signal is discarded;

Ranging or positioning is performed according to target signals other than the crosstalk signal.

If it is determined that a certain echo signal is the target signal to be received, the measurement result is determined according to the receiving information of the target signal.

The echo data indicates but is not limited to at least one of the following:

time of receipt;

range;

receive direction.

The measurement results include, but are not limited to: distance, reflectivity and/or orientation information.

In some embodiments, as shown in FIG. 4, the S140 may include:

S141: When there is no superimposed signal whose interval between the time domain position of the xth echo signal is smaller than the first threshold value among the L superimposed signals, determine the xth echo The signal is a crosstalk signal.

If none of the L superimposed signals is close to the echo signal satisfying the first condition in the time domain position, it means that the echo signal may be a crosstalk signal with a very high probability. In the embodiment of the present disclosure, Think of it as crosstalk signal processing.

The first threshold value is determined according to the pulse width of the laser signal. Exemplarily, the first threshold value is positively correlated with the pulse width, that is, the larger the pulse width is, the larger the first threshold value is.

In some embodiments, the first threshold value may be a predetermined multiple of a minimum quantization unit of an analog-to-digital converter (ADC) that quantizes the amplitude of the analog echo signal. The predetermined multiple includes but is not limited to: 2, 3, 4 or 5 and other values.

In one embodiment, the S141 may specifically include:

S142: When there is at least one superimposed signal whose interval between the L superimposed signals and the time-domain position of the x-th echo signal is smaller than a first threshold value, determine the x-th echo The signal is not a crosstalk signal.

That is, when it is found that there is at least one superimposed signal that is very close to the time domain position of the xth echo signal, it can be directly considered that the xth echo signal has a very high probability that it is not a crosstalk signal. If the xth echo signal is not a crosstalk signal, it is the target signal to be received.

In some other embodiments, in order to further accurately filter out the crosstalk signal from the echo signal, the target signal is obtained. The S140 may include:

S143: When there is at least one superimposed signal whose interval between the L superimposed signals and the time domain position of the xth echo signal is smaller than the first threshold value, according to the fth said echo The difference between the signal characteristics of the signal and the xth echo signal determines whether the xth echo signal is the crosstalk signal.

The signal characteristics here include but not limited to: signal amplitude and/or time domain position.

f is a positive integer less than or equal to Z; the fth echo signal is: any one or more of the Z echo signals whose amplitude satisfies the first condition.

Considering that the emission time interval of the laser signal is very short, the transmission speed and emission time interval of the detected object relative to the laser can be regarded as relatively static during application. Therefore, when the laser signal is emitted according to the emission time interval, if there is an object If it is within the detection range of the laser radar, there are usually multiple laser signals reflected by the object, so the laser receiver will receive multiple echo signals, and since the distance between the object and the laser radar will not change suddenly, the multiple The amplitude of the echo signal will also be very similar.

In view of this, in the embodiment of the present disclosure, further according to the difference between the signal characteristics of the fth echo signal and the xth echo signal, it is further determined that the interval between the time domain position of the superimposed signal is less than When the first threshold is set, it will be further determined whether the xth echo signal is a crosstalk signal according to the difference between the signal characteristics between the fth echo signal and the xth echo signal.

In this manner, a large crosstalk signal received at a place close to the time domain position of the superimposed signal can be excluded, thereby further improving the accuracy of crosstalk signal elimination.

In some embodiments, as shown in FIG. 5, the S143 further includes:

S1431: When the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal does not meet the third condition, and the fth echo The difference between the amplitude of the signal and the amplitude of the xth echo signal does not satisfy the fourth condition, and the xth echo signal is determined to be the crosstalk signal;

and / or,

S1432: When the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal satisfies the third condition, and the fth echo signal The difference between the amplitude of and the amplitude of the xth echo signal satisfies the fourth condition, and the xth echo signal is determined to be the crosstalk signal.

If the interval between the time-domain position of the f-th echo signal and the time-domain position of the x-th echo signal does not satisfy the third condition, it means that the time-domain position may not be consistent with the emission interval of the laser signal. And the amplitude of the fth echo signal is similar to the amplitude of the xth echo signal. Therefore, it can be further determined whether the corresponding echo signal is a crosstalk signal or target signal.

In some embodiments, whether the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal satisfies the third condition includes:

Determining the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal, subtracting the laser signal of the fth echo signal from the xth echo Whether the difference in the emission time interval between the laser signals corresponding to the signal is not greater than the second threshold value;

When the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal is subtracted from the laser signal of the fth echo signal and the xth echo The difference between the emission time intervals between the laser signals corresponding to the signals is not greater than the second threshold value, and the time domain position of the fth echo signal and the time domain position of the xth echo signal are determined The interval satisfies the third condition.

For example, the return time difference between the second echo signal and the first echo signal should be approximately equal to the emission time interval between the second laser signal and the first laser signal. Considering the stability of the excitation transmitter, when emitting two adjacent laser signals, they cannot be emitted strictly according to the emission time interval, but there will be a certain time drift, and a second threshold value can be set, so that Improves the determination accuracy of crosstalk signals and target signals.

In another embodiment, when the laser receiver receives the echo signal, there is also a certain drift in the determination of the receiving time, and this drift may be caused by the hardware of the device or the software algorithm.

Exemplarily, the second threshold value is determined according to a stability parameter in the time domain of the laser transmitter emitting the laser signal and/or a stability parameter of the laser receiver receiving the echo signal.

The stability parameters of the laser signal emitted by the laser transmitter in the time domain include but are not limited to: the time drift of each laser signal emitted by the laser transmitter. The amount of time drift may be an experimental value or an empirical value determined through experiments or other methods when the laser transmitter leaves the factory.

The stability parameter of the laser receiver receiving the echo signal in the time domain includes but not limited to: determining the drift amount every time the laser receiver receives the echo signal. The time to determine the drift can be the experimental value or empirical value determined by the laser receiver factory through experiments and other methods

The introduction of the stability parameters of the laser signal emitted by the laser transmitter in the time domain and/or the stability parameters of the echo signal received by the laser receiver can enable the second threshold value to be used to accurately select the target signal, thereby improving Determination accuracy of the target signal.

In some embodiments, in order to accurately measure distances of objects moving at high speeds, the difference between f and x may be limited within a preset range. For example, the difference between f and x is less than or equal to the laser transmitter, etc., so that the problem of inaccuracy caused by the large difference between f and x and the relatively large moving range of high-speed moving objects can be solved.

In some embodiments, the determining whether the difference between the magnitude of the fth echo signal and the magnitude of the xth echo signal satisfies the fourth condition includes:

Determine whether the difference between the ratio of the amplitude of the fth echo signal and the amplitude of the xth echo signal minus 1 is not greater than the third threshold;

When the difference between the amplitude of the fth echo signal and the amplitude of the xth echo signal minus 1 is not greater than the third threshold value, determine the fth echo signal The difference between the ratio of the amplitude and the amplitude of the xth echo signal minus 1 satisfies the fourth condition.

Based on the amplitude similarity, if the amplitudes of the two echo signals are relatively close, the ratio of the two amplitudes minus 1 will be a relatively small value. After subtracting 1 from the ratio, compare it with the third threshold. If it is not greater than the third threshold, it can be considered that the amplitudes of the two echo signals are relatively similar, and there is a very high probability that the xth echo signal needs to be received. target signal.

The third threshold value is determined according to a stability parameter of the amplitude of the laser signal emitted by the laser transmitter.

For example, when a laser transmitter emits a laser signal, under ideal conditions, the amplitudes of two adjacent laser signals are the same, but due to the limitations of the hardware and software of the device, there will actually be certain fluctuations. This fluctuation is the stability parameter in amplitude. This amplitude stability parameter can be understood as the amplitude drift. The determination of the third threshold value by introducing the amplitude drift amount can further improve the determination accuracy of the target signal.

In some embodiments, the S110 may include:

From the echo signals received within the preset time window, Z echo signals whose amplitudes are greater than a first threshold are determined.

Here, the first threshold may be a predetermined value, which may be determined according to the maximum ranging range of the lidar.

The foregoing provides a method for determining the Z echo signals satisfying the first condition, and there are many specific implementation methods, which are not limited to any one of the above.

The selection of L superimposed signals whose amplitudes meet the second condition from the third sequence includes:

Selecting L superimposed signals whose magnitudes are greater than a second threshold from the superimposed signals included in the third sequence.

In an embodiment of the present disclosure, the second threshold is greater than the first threshold. Exemplarily, the second threshold may be

times the first threshold. The multiple relationship between the second threshold and the first threshold can be determined according to the number of laser emitters, and/or according to the number of pulse types of laser signals emitted by each laser emitter.

Since the superimposed signal may be generated by the superposition of signals in the first sequence and the second sequence, or by the superposition of multiple signals in multiple second sequences, the second threshold for selecting L superimposed signals is set to be greater than the first Threshold, can more accurately select the superposition signal corresponding to the target signal.

The N is determined according to the number of transmitters emitting the laser signal and the type of laser pulses emitted by a single transmitter. The pulse widths of different types of laser pulses are different, and/or, the pulse widths of different laser pulses are different. The launch cycle is different.

A laser transmitter can emit a kind of laser pulse, and also can emit multiple kinds of laser pulses. Different laser pulses have different pulse widths and/or different emission periods.

Exemplarily, if the number of laser emitters is N1, the number of types of laser pulses simultaneously emitted by the laser emitters is N2. N may be equal to N1*N2*N3. Wherein, N3 is a positive number greater than 1. For example, N3 is 2 or 3.

In view of this, assuming that the number of laser emitters is 2, and one laser emitter emits a type of laser pulse, then N3 is equal to 2, then N is equal to 4. Assuming that the number of laser transmitters is 2, and one laser transmitter emits 2, then N is equal to 8.

An embodiment of the present disclosure provides an echo signal processing method, which can be used for a scene where multiple laser radar devices transmit laser signals.

Real data echo extraction and recovery under the condition that the signal echo of the laser radar device itself is interfered by the laser signal of other radars. It is mainly used in the anti-crosstalk processing of pulsed laser radar. The main principle of the algorithm is to transmit multiple laser pulses (greater than or equal to two), and when the delay between each pulse is known, it is processed through back-end data processing. For its own signal extraction, the photoelectric signal obtained by the receiving end is generally collected by an analog-to-digital converter (ADC) to obtain the digital domain waveform of the echo.

Then the digital domain waveform formed by the ADC is input to the FPGA for processing.

Compared with the waveform superposition in the analog domain, the embodiments of the present disclosure have simple processing logic and save system resources and losses. For the case of two laser signals sent by two laser transmitters, the echo processing may include:

First, start detection (or trigger signal) signal detection (this signal is the laser synchronization signal, marking the start moment of the laser light emission, the actual implementation process is achieved by connecting the laser trigger signal to the front end of the ADC acquisition), If a trigger signal is detected, go to the next step, otherwise it is judged that there is no echo signal.

Referring to Figure 6, after the trigger signal, fast target detection is performed within the range from the initial moment of the echo signal to 1600ns (the duration is adjusted according to the maximum ranging range and system timing), and the echo exceeding the threshold is extracted The time domain position and amplitude of the signal are stored in the candidate target group.

Store at least the first 4 strongest energy echoes, if less than 4, store them according to the actual situation.

This number 4 is mainly for the optimization when two laser radars are shooting at each other. At the same time, considering the resource consumption and the probability distribution of the maximum number of echoes in the acquisition time window, the specific implementation can also be based on the number of laser radars and lasers. The number of types of laser pulses emitted by the radar.

The echo signals after the trigger signal are delayed and added, and the delay unit is the sending interval N of two laser signals.

Raise the detection threshold

times, re-detect the target on the superimposed signal, take out the first 4 echo signals with the strongest amplitude, and calculate the corresponding amplitude

and where in the time domain are:

Comparing and calculating the candidate targets, first judge whether the candidate target signal P ₁ satisfies the corresponding

Determine if requirements are met

The value 4 of the formula (1) represents the length of the acquisition window, and the unit is the minimum quantization bit (Least Significant Bit, LSB) of the ADC. The adjustment of this value needs to be based on the laser signal emitted by the laser transmitter of the actual signal The pulse width (for example, full width at half maximum, full width at half maxima, FWHM) is obtained by fine-tuning.

Generally, if the value is too small, the signal will be missed, and if it is too large, the effect of the anti-crosstalk function will be reduced.

If it is satisfied, see if there is a candidate target P _f minus the candidate target P _1. The time domain distance difference is just around N _(f-1) , satisfying ||P _f -P ₁ |-N _(f-1) |≤5 (Formula 2), where N _(f-1) is the emission time interval between the laser signal corresponding to the fth echo signal and the laser signal corresponding to the first echo signal.

The value 5 is also adjusted according to the stability of laser light emission and data acquisition, and the unit is also the LSB of ADC.

And the magnitude difference is also small, satisfying

The value of 0.3 is adjusted according to the amplitude difference between the two pulses emitted by the laser, generally between 0.1 and 0.3. If the setting is too small, the signal will be missed, and if the setting is too large, the effect of the anti-crosstalk function will be reduced. Then judge the target exists and outputs the corresponding

and

Otherwise, it does not meet the requirements, and it is judged that there is no echo signal.

In the above formulas 1 to 3, P _f is any echo signal other than P ₁ among the 4 strongest detected echo signals. Exemplarily, this P _f =P ₂ .

In order to better describe the algorithm processing flow, refer to Figure 2 and Figure 3, which are the echo images after the time domain superposition of the original echo signal and the delayed signal, respectively, and P _safe is reserved as the protection time unit after the trigger signal is transmitted .

Then perform time-domain addition (superposition) on the delayed signals. If the distances of the detected candidate targets are P ₁ P ₂ ... P _M and the corresponding amplitudes are A ₁ ... A ₂ ... A _M , then the delay addition After the detection, the distance of the first four strongest echoes is

Then assuming that P _x is the target signal to be detected, then P _x will satisfy the following relationship:

P _x detects any one of the strongest first 4 echo signals.

In order to detect the jth of the four strongest superimposed signals, the value of j is any value between 1 and 4. N _(|fx|) is the emission time interval between the laser signal corresponding to the fth echo signal and the laser signal corresponding to the xth echo signal.

Therefore, the position of the first four echo signals in the time domain after the strongest detection is

After that, it is necessary to find whether there is P _x in the corresponding candidate target set that satisfies

Then search for P _x that satisfies ||P _f -P _x |-N _(|fx|) |≤5, and then take the corresponding A _m and A _f for amplitude judgment. P _f is any echo signal other than P _m among the four strongest detected echo signals. Exemplarily, this P _f =P ₂ .

If the above equations are all satisfied, then it is determined that the echo signal is normally required (ie, the target signal to be received), otherwise it is determined that it is a crosstalk signal, and the echo data of the crosstalk signal is deleted.

If the strongest echo signal does not satisfy the actual situation, logical judgment is then made on the second strongest echo signal, and the output is not output until at most four echo signals are judged.

As long as there is one echo signal that meets the requirements, it is determined that the target signal is received (that is, a normal echo signal is received). If none of the four echo signals meets the requirements, it is determined that there is no echo signal that needs to be received, that is, there is no target signal that needs to be received.

Referring to Figure 7, it is assumed that the number of pulse types emitted by a laser transmitter is M pulses, and the delay between each pulse is N ₁ ... N _i ... N _M-1 , where N _i represents the i-th pulse and the delay between i+1 pulses.

First, the original data is detected by the Start Ghost signal. If a trigger signal is detected, go to the next step, otherwise it is judged that there is no echo signal.

After starting the detection (Start Ghost) signal, perform fast target detection within the range from the initial moment of echo appearance to 1600ns, extract the time domain position and amplitude of the echo signal exceeding the threshold and store it in the candidate target group Here, at least the first Z=4*M echo signals with the strongest energy are stored, and if they are less than 4*M, they are stored according to the actual situation. Here M is the number of transmitted pulses. In this example, the number of transmitted pulses is M, that is to say, M pulses form a pulse train, and the interval between every two pulses is N ₁ -N _M-1 in sequence.

The echo after the trigger signal is added with multiple delays. The specific operation is to delay the original echo at N _M-1 time to obtain the delay sequence 1, and to delay the original echo by N _M-1 +N _M- Delay sequence 2 is obtained at time ₂ , and so on, to obtain temporary echo i, and delay N _M-1 +N _M-2 +...+N ₁ to the original echo to obtain temporary delay sequence M-1.

Then the original echo, temporary storage delay sequence 1, temporary storage delay sequence 2, temporary storage delay sequence i, temporary storage delay sequence M-1, a total of M sequences are superimposed to obtain the superposition sequence, and the original detection threshold is increased at the same time

Times, re-detect the detection delay sequence, take out the first 4 superimposed signals with the strongest amplitude, and calculate the corresponding amplitude

and the distance

a) First judge whether the candidate target (original echo signal) P _x satisfies the corresponding superimposed signal

fulfil requirements

The unit of 4 here is the LSB of the ADC.

b) If it is satisfied, proceed to the next step of judgment, if not, then add 1 to m to judge the next candidate target set until x>4MZ jumps out of the judgment and determines that the echo does not exist.

c) This step judges whether there is a distance difference between the candidate target P _f minus the candidate target P _x is just around N _|(fx)| , satisfying ||P _f -P _x |-N _|(fx)| |≤5 . The unit of 5 here is the LSB of the ADC. At the same time, the amplitude of the two echoes is judged, satisfying

If it meets the requirements, go to the next step, otherwise continue to search until f>4MZ jumps out;

d) In this step, the operation of adding 1 to x is performed, and the above steps a) to d) are repeated until m=4MZ.

Referring to FIG. 2 and FIG. 3 , they are the images of the original echo signal and the delayed added echo signal respectively, and P _safe is reserved after the trigger signal as a protection time unit.

Then, delay and add the subsequent echo signals. If the time domain positions of the detected candidate target signals are respectively P ₁ P ₂ ... P _X and the corresponding amplitudes are A ₁ ... A ₂ ... A _X , then delay and add The time domain positions of the first four strongest echo signals detected are

then suppose

is the target signal to be detected, then P _x will satisfy the following formula (4), formula (5) and formula (6) relationship:

Assuming that P _x is P ₁ , then at the time domain positions where the strongest first 4 echoes are detected

After that, it is necessary to find out whether P ₁ satisfies the corresponding candidate target set

Then search for P _f that satisfies the formula (5) of ||P _f -P ₁ |-N _|(f-1)| |≤5, and then take the corresponding A ₁ and A ₂ for amplitude judgment. When judging the magnitude, it is necessary to satisfy the equation

If the above equations are all satisfied, then it is judged as a target signal to be received normally, otherwise it is judged as a crosstalk signal, and the echo data of the crosstalk signal is deleted. According to the echo data of the target signal, the measurement result of the detection target is determined. The output measurement results include but are not limited to the detection distance.

If the strongest echo signal does not satisfy the above relationship, then the second strongest echo signal is logically judged, and it is not output until all the selected strongest echo signals are judged.

As long as there is one echo signal that meets the requirements, it is determined that the target signal is received; otherwise, if none of the four echo signals meets the requirements, it is determined that the target signal is not received.

As shown in FIG. 8 , an embodiment of the present disclosure provides an echo signal processing device, including:

The first determination module 110 is configured to determine Z echo signals whose amplitudes satisfy the first condition from echo signals received within a preset time window, wherein the Z echo signals, Sorting in the time domain to form a first sequence; wherein, the Z is a positive integer less than or equal to N; wherein, the N is a preset positive integer;

The delay module 120 is configured to delay the first sequence backward for a duration Ti in the time domain to obtain the i-th second sequence; wherein, the i is a positive integer less than or equal to M-1; the Ti is The emission time interval between the Mth emitted laser signal and the i-th emitted laser signal;

The superposition module 130 is configured to superimpose M-1 second sequences and the first sequence in the time domain to obtain a third sequence; wherein, the third sequence includes: Y superpositions sorted in the time domain signal; the M is the number of types of laser signals;

The second determining module 140 is configured to determine the xth echo signal based on the time domain positions of the L superimposed signals whose amplitudes satisfy the second condition and the time domain position of the xth echo signal selected from the third sequence Whether the echo signal is a crosstalk signal, wherein, the L is a positive integer less than or equal to the Y, and the x is a positive integer less than or equal to the Z.

In some embodiments, the first determination module 110 , the delay module 120 , the superposition module 130 and the second determination module 140 may be program modules; after the program modules are executed by the processor, the functions of the above modules can be realized.

In other embodiments, the first determination module 110, the delay module 120, the superposition module 130, and the second determination module 140 may be a combination of hardware and software modules, which include but are not limited to: programmable arrays; The aforementioned programmable arrays include, but are not limited to: Field Programmable Arrays and/or Complex Programmable Arrays.

In still some embodiments, the first determination module 110, the delay module 120, the superposition module 130 and the second determination module 140 are pure hardware modules; the pure hardware modules include but are not limited to: application specific integrated circuits.

In some embodiments, the second determination module 140 is configured to be less than the first threshold when there is no interval between the L superimposed signals and the time domain position of the xth echo signal When the superimposed signal of , it is determined that the xth echo signal is a crosstalk signal.

In some embodiments, the first threshold is determined according to the pulse width of the laser signal.

In some embodiments, the second determination module 140 is configured such that when at least one of the L superimposed signals exists, the interval between the time-domain position of the x-th echo signal is smaller than a first threshold When the superimposed signal of , it is determined that the xth echo signal is not a crosstalk signal;

or,

When the L superimposed signals have at least one superimposed signal whose interval with the time domain position of the xth echo signal is smaller than the first threshold value, according to the fth echo signal and The difference in signal characteristics of the xth echo signal determines whether the xth echo signal is the crosstalk signal; f is a positive integer less than or equal to M; the fth echo signal is: Any one or more of the M echo signals whose amplitudes meet the first condition.

In some embodiments, the second determining module 140 is specifically configured to: when there is at least one of the L superposition signals, the interval between the time domain position of the xth echo signal is smaller than the first threshold value When the superimposed signal is used, determine whether the interval between the time-domain position of the f-th echo signal and the time-domain position of the x-th echo signal satisfies the third condition;

When the L superimposed signals have at least one superimposed signal whose time domain position interval from the xth echo signal is smaller than the first threshold value, determining the fth echo Whether the difference between the amplitude of the signal and the amplitude of the xth echo signal satisfies the fourth condition;

When the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal satisfies the third condition, and/or the fth echo signal The difference between the amplitude of the wave signal and the amplitude of the xth echo signal satisfies the fourth condition, and it is determined that the xth echo signal is not a crosstalk signal.

In some embodiments, the second determination module 140 is further configured to: when the interval between the time-domain position of the fth echo signal and the time-domain position of the xth echo signal does not meet the requirement The third condition, and the difference between the amplitude of the fth echo signal and the amplitude of the xth echo signal does not meet the fourth condition, determine that the xth echo signal is the The above crosstalk signal.

In some embodiments, the second determination module 140 is specifically configured to determine the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal, minus Whether the difference in the emission time interval between the laser signal of the fth echo signal and the laser signal corresponding to the xth echo signal is not greater than the second threshold value; when the fth echo signal The interval between the time domain position and the time domain position of the xth echo signal, minus the emission time between the laser signal of the fth echo signal and the laser signal corresponding to the xth echo signal The difference of the interval is not greater than the second threshold value, and it is determined that the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal satisfies the third condition.

In some embodiments, the second threshold value is determined according to a stability parameter in the time domain of the laser transmitter emitting the laser signal and/or a stability parameter of the laser receiver receiving the echo signal.

In some embodiments, the second determination module 140 is configured to determine the difference between the ratio of the amplitude of the fth echo signal to the amplitude of the xth echo signal minus 1, Whether it is not greater than the third threshold;

In some embodiments, the third threshold value is determined according to a stability parameter of the amplitude of the laser signal emitted by the laser transmitter and/or a stability parameter of the echo signal received by the laser receiver.

In some embodiments, the first determination module 110 is specifically configured to determine, from the echo signals received within the preset time window, M echo signals whose amplitudes are greater than a first threshold.

In some embodiments, the first determination module 110 is specifically configured to select L superimposed signals whose magnitudes are greater than a second threshold from the superimposed signals included in the third sequence.

In some embodiments, M is determined according to the number of emitters emitting the laser signal and the type of laser pulse emitted by a single emitter. The pulse widths of different types of laser pulses are different, and/or, different The firing periods of the laser pulses are different.

Referring to FIG. 9, an embodiment of the present disclosure provides a laser radar, which may include:

one or more laser emitters for emitting laser signals;

A laser receiver for receiving laser signals;

The processor is respectively connected to the laser transmitter and the laser receiver, and is used to control the laser transmitter to emit laser signals, and process the echo data generated by the laser receiver receiving the laser signals, so as to realize the echo provided by any of the aforementioned technical solutions Signal processing method.

An embodiment of the present disclosure also provides a laser radar, including:

a memory storing computer-executable instructions;

A processor, connected to the memory, configured to implement the echo signal processing method provided by any one of the aforementioned technical solutions by executing the computer-executable instructions, for example, to execute any one shown in Fig. 1, Fig. 4 to Fig. 7 echo processing method. The lidar can also be the lidar shown in FIG. 9 .

The memory may be various types of storage devices, for example, the memory may include: read-only memory, random access memory, flash memory and/or hard disk, and the like. Exemplarily, the memory at least includes: a non-transitory memory.

The processor may include various chips or integrated circuits with information processing capabilities. The processor includes, but is not limited to: a central processing unit, a microprocessor, or a microcontroller, and the like.

The processor and the memory may be connected through a communication interface such as a bus.

An embodiment of the present disclosure also provides a computer storage medium, where the computer storage medium stores computer-executable instructions; after the computer-executable instructions are executed by a processor, the echo signal processing method provided by any of the aforementioned technical solutions can be implemented, Exemplarily, the processor can implement any one of the echo processing methods shown in FIG. 1 , FIG. 4 to FIG. 7 by executing the executable instructions.

The computer storage medium is a computer-readable storage medium, at least a non-transitory storage medium. Specifically, the computer storage medium may include: an optical disc, a flash memory, an optical disc and/or various types of hard disks, and the like.

Those skilled in the art can understand that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, rather than the implementation process of the embodiments of the present disclosure. constitute any limitation.

The above-described embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure 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 present disclosure, and should be included in the within the protection scope of the present disclosure.

Claims

A method for echo signal processing, including:

From the echo signals received within the preset time window, determine Z echo signals whose amplitudes meet the first condition, wherein the Z echo signals are sorted in the time domain to form a first sequence ; Wherein, the Z is a positive integer less than or equal to N; wherein, the N is a preset positive integer;

In the time domain, the first sequence is delayed by the duration T i to obtain the i-th second sequence; wherein, the i is a positive integer less than or equal to M-1; the Ti is the Mth laser signal emitted The emission time interval between the i-th emission laser signal; the M is the number of types of laser signals;

Superimpose M-1 of the second sequence and the first sequence in the time domain to obtain a third sequence; wherein, the third sequence includes: Y superposition signals sorted in the time domain;

Determine whether the xth echo signal is a crosstalk signal according to the time domain positions of the L superimposed signals whose amplitudes satisfy the second condition and the time domain position of the xth echo signal selected from the third sequence , wherein, the L is a positive integer less than or equal to the Y, and the x is a positive integer less than or equal to the Z.
The method according to claim 1, wherein, according to selecting from the third sequence the time-domain positions of the L superimposed signals whose amplitudes satisfy the second condition and the time-domain position of the xth echo signal, Determining whether the xth echo signal is a crosstalk signal includes:

When there is no superimposed signal whose interval between the time domain position of the xth echo signal is smaller than the first threshold value among the L superimposed signals, it is determined that the xth echo signal is crosstalk signal.
The method according to claim 2, wherein the first threshold value is determined according to the pulse width of the laser signal.
The method according to any one of claims 1 to 3, wherein the time domain position of the L superimposed signals whose amplitudes satisfy the second condition are selected from the third sequence and the xth echo signal position in the time domain, determine whether the xth echo signal is a crosstalk signal, including:

When the L superimposed signals have at least one superimposed signal whose time domain position interval from the xth echo signal is smaller than the first threshold value, it is determined that the xth echo signal is not crosstalk signal;

or,

When the L superimposed signals have at least one superimposed signal whose interval with the time domain position of the xth echo signal is smaller than the first threshold value, according to the fth echo signal and The difference in signal characteristics of the xth echo signal determines whether the xth echo signal is the crosstalk signal; f is a positive integer less than or equal to Z; the fth echo signal is: Any one or more of the Z echo signals whose amplitudes meet the first condition.
The method according to claim 4, wherein, when there are at least one of the L superimposed signals, the interval between the time domain position of the xth echo signal is smaller than the first threshold value signal, according to the difference between the signal characteristics of the fth echo signal and the xth echo signal, determine whether the xth echo signal is the crosstalk signal, including:

When the L superimposed signals have at least one superimposed signal whose time domain position interval from the xth echo signal is smaller than the first threshold value, determining the fth echo Whether the interval between the time domain position of the signal and the time domain position of the xth echo signal satisfies the third condition;

When the L superimposed signals have at least one superimposed signal whose time domain position interval from the xth echo signal is smaller than the first threshold value, determining the fth echo Whether the difference between the amplitude of the signal and the amplitude of the xth echo signal satisfies the fourth condition;

When the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal satisfies the third condition, and/or the fth echo signal The difference between the amplitude of the wave signal and the amplitude of the xth echo signal satisfies the fourth condition, and it is determined that the xth echo signal is not a crosstalk signal.
The method according to claim 5, wherein, when there are at least one of the L superimposed signals, the time domain position of the xth echo signal is smaller than the first threshold value. signal, according to the difference between the signal characteristics of the fth echo signal and the xth echo signal, determine whether the xth echo signal is the crosstalk signal, and also include:

When the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal does not meet the third condition, and the fth echo signal The difference between the amplitude and the amplitude of the xth echo signal does not satisfy the fourth condition, and the xth echo signal is determined to be the crosstalk signal.
The method according to claim 5, wherein whether the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal satisfies a third condition, comprising :

Determining the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal, subtracting the laser signal of the fth echo signal from the xth echo Whether the difference in the emission time interval between the laser signals corresponding to the signal is not greater than the second threshold value;

When the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal is subtracted from the laser signal of the fth echo signal and the xth echo The difference between the emission time intervals between the laser signals corresponding to the signals is not greater than the second threshold value, and the time domain position of the fth echo signal and the time domain position of the xth echo signal are determined The interval satisfies the third condition.
The method according to claim 7, wherein the method further comprises:

The second threshold value is determined according to a stability parameter in the time domain of the laser transmitter emitting the laser signal and/or a stability parameter of the laser receiver receiving the echo signal.
The method according to claim 5, wherein said determining whether the difference between the magnitude of the fth echo signal and the magnitude of the xth echo signal satisfies a fourth condition comprises:

Determine whether the difference between the ratio of the amplitude of the fth echo signal and the amplitude of the xth echo signal minus 1 is not greater than the third threshold;

When the difference between the amplitude of the fth echo signal and the amplitude of the xth echo signal minus 1 is not greater than the third threshold value, determine the fth echo signal The difference between the ratio of the amplitude and the amplitude of the xth echo signal minus 1 satisfies the fourth condition.
The method according to claim 9, wherein the third threshold value is: according to the stability parameters of the amplitude of the laser signal emitted by the laser transmitter and/or the stability of the echo signal received by the laser receiver The parameters are determined.
The method according to any one of claims 1 to 3, wherein the determination of Z echo signals whose amplitudes meet the first condition from the echo signals received within the preset time window includes:

From the echo signals received within the preset time window, Z echo signals whose amplitudes are greater than a first threshold are determined.
The method according to any one of claims 1 to 3, wherein said selecting L superimposed signals whose amplitudes meet the second condition from the third sequence comprises:

Selecting L superimposed signals whose magnitudes are greater than a second threshold from the superimposed signals included in the third sequence.
The method according to any one of claims 1 to 3, wherein said N is determined according to the number of emitters emitting said laser signals and the type of laser pulse emitted by a single emitter, different types of said laser The pulse widths of the pulses are different, and/or the emission periods of the different laser pulses are different.
An echo signal processing device, including:

The first determination module is configured to determine Z echo signals whose amplitudes meet the first condition from echo signals received within a preset time window, wherein the Z echo signals are Sorting in the time domain forms a first sequence; wherein, the Z is a positive integer less than or equal to N; wherein, the N is a preset positive integer;

The delay module is used to delay the time length Ti backwards in the time domain to obtain the i-th second sequence; wherein, the i is a positive integer less than or equal to M-1; the Ti is the Mth emitted laser signal and the first The emission time interval between i emission laser signals; wherein, the M is the number of types of laser signals;

The superposition module is configured to superimpose M-1 second sequences and the first sequence in the time domain to obtain a third sequence; wherein the third sequence includes: Y superposition signals sorted in the time domain ;

The second determination module is configured to determine the x-th echo signal based on the time-domain positions of the L superimposed signals whose amplitudes satisfy the second condition and the time-domain position of the x-th echo signal selected from the third sequence. Whether the echo signal is a crosstalk signal, wherein, the L is a positive integer less than or equal to the Y, and the x is a positive integer less than or equal to the M.
The device according to claim 14, wherein the second determination module is configured to be less than the interval between the time domain position of the xth echo signal and the xth echo signal in the L superimposed signals When the superimposed signal has a threshold value, it is determined that the xth echo signal is a crosstalk signal.
The apparatus according to claim 15, wherein the first threshold value is determined according to the pulse width of the laser signal.
The device according to any one of claims 14 to 16, wherein the second determination module is configured to, when there is at least one position in the time domain of the L superimposed signals that is different from the time domain position of the xth echo signal When the interval between the superimposed signals is smaller than the first threshold value, it is determined that the xth echo signal is not a crosstalk signal;

or,

When the L superimposed signals have at least one superimposed signal whose interval with the time domain position of the xth echo signal is smaller than the first threshold value, according to the fth echo signal and The difference between the signal characteristics of the xth echo signal determines whether the xth echo signal is the crosstalk signal; f is a positive integer less than or equal to Z; the fth echo signal is: Any one or more of the Z echo signals whose amplitudes meet the first condition.
The device according to claim 17, wherein the second determination module is configured such that when there is at least one of the L superimposed signals, the interval between the time domain position of the xth echo signal is less than the first When the superimposed signal is a threshold value, determine whether the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal satisfies the third condition;

When the L superimposed signals have at least one superimposed signal whose time domain position interval from the xth echo signal is smaller than the first threshold value, determining the fth echo Whether the difference between the amplitude of the signal and the amplitude of the xth echo signal satisfies the fourth condition;

When the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal satisfies the third condition, and/or the fth echo signal The difference between the amplitude of the wave signal and the amplitude of the xth echo signal satisfies the fourth condition, and it is determined that the xth echo signal is not a crosstalk signal.
The device according to claim 18, wherein the second determining module is further configured to further include:

When the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal does not meet the third condition, and the fth echo signal The difference between the amplitude and the amplitude of the xth echo signal does not satisfy the fourth condition, and the xth echo signal is determined to be the crosstalk signal.
The apparatus according to claim 18, wherein the second determination module is configured to determine the time domain position between the fth echo signal and the xth echo signal in time domain Interval, subtracting the difference of the emission time interval between the laser signal of the fth echo signal and the laser signal corresponding to the xth echo signal is not greater than the second threshold value;

When the interval between the time domain position of the fth echo signal and the time domain position of the xth echo signal is subtracted from the laser signal of the fth echo signal and the xth echo The difference between the emission time intervals between the laser signals corresponding to the signals is not greater than the second threshold value, and the time domain position of the fth echo signal and the time domain position of the xth echo signal are determined The interval satisfies the third condition.
The device according to claim 20, wherein, the second threshold value is: according to the stability parameters of the laser signal transmitted by the laser transmitter in the time domain and/or the stability parameter of the laser receiver receiving the echo signal Stable parameters are determined.
The apparatus according to claim 20, wherein the second determination module is configured to determine the ratio between the amplitude of the fth echo signal and the amplitude of the xth echo signal minus 1 Whether the difference is not greater than the third threshold;

When the difference between the amplitude of the fth echo signal and the amplitude of the xth echo signal minus 1 is not greater than the third threshold value, determine the fth echo signal The difference between the ratio of the amplitude and the amplitude of the xth echo signal minus 1 satisfies the fourth condition.
The device according to claim 22, wherein the third threshold value is: according to the stability parameters of the amplitude of the laser signal emitted by the laser transmitter and/or the stability of the echo signal received by the laser receiver The parameters are determined.
The device according to any one of claims 14 to 16, wherein the first determination module is specifically configured to determine, from the echo signals received within the preset time window, the Z signal whose amplitude is greater than the first threshold. the echo signal.
The device according to any one of claims 14 to 16, wherein the first determination module is specifically configured to select L of the superimposed signals whose magnitudes are greater than the second threshold from the superimposed signals included in the third sequence. superimposed signals.
The device according to any one of claims 14 to 16, wherein the N is determined according to the number of emitters emitting the laser signal and the type of laser pulse emitted by a single emitter, different types of the laser The pulse widths of the pulses are different, and/or the emission periods of the different laser pulses are different.
A laser radar, including:

a memory storing computer-executable instructions;

A processor, connected to the memory, configured to implement the method provided by any one of claims 1 to 13 by executing the computer-executable instructions.
A computer storage medium, the computer storage medium stores computer-executable instructions; after the computer-executable instructions are executed by a processor, the method provided by any one of claims 1 to 13 can be realized.