WO2023123419A1

WO2023123419A1 - Communication method employing distance measurement device, distance measurement device, and mobile platform

Info

Publication number: WO2023123419A1
Application number: PCT/CN2021/143833
Authority: WO
Inventors: 王国才; 郑国光; 黄潇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2023-07-06

Abstract

A communication method employing a distance measurement device, a distance measurement device, and a mobile platform. The communication method (300) comprises: the distance measurement device transmitting a detection signal to a current target (S310), the detection signal comprising a feature identification code; and the distance measurement device receiving an echo signal, acquiring distance information of the current target on the basis of the echo signal, and detecting whether the echo signal contains the feature identification code, and if the echo signal contains the feature identification code, the distance measurement device outputting the distance information of the current target (S320). The invention solves the problem of crosstalk between detection information sent by different distance measurement devices or sent at different times, and further improves the distance detection accuracy of the distance measurement device.

Description

Communication method based on distance measuring device, distance measuring device and mobile platform

manual

technical field

The present application generally relates to the technical field of distance measuring devices, and more specifically relates to a communication method based on a distance measuring device, a distance measuring device and a mobile platform.

Background technique

Ranging devices such as lidar are becoming an essential part of future self-driving cars because of their precise distance measurement capabilities, as eyes in areas such as driverless cars. However, the signal interference between self-driving cars and different ranging devices such as lidar will cause obvious deviations in lidar distance measurement, which will bring safety hazards.

Therefore, in view of the above problems, the present application proposes a communication method based on a distance measuring device, a distance measuring device and a mobile platform.

Contents of the invention

The present application has been made to solve at least one of the above-mentioned problems. Specifically, the present application provides a communication method based on a distance measuring device, including: the distance measuring device transmits a detection signal to the current target, and the detection signal contains a feature identification code; the distance measurement device receives the echo signal, and based on the echo signal to obtain the distance information of the current target and detect whether the echo signal contains the feature identification code, if the echo signal contains the feature identification code, the ranging The device outputs distance information of the current target.

On the one hand, the application provides a distance measuring device, including: a transmitter for transmitting a detection signal; a receiver for receiving an echo signal; a controller for: controlling the transmitter to transmit a detection signal to a current target, the The detection signal includes a feature identification code; obtain the echo signal received by the receiver, and obtain the distance information of the current target based on the echo signal and detect whether the echo signal contains the feature identification code, If the echo signal contains the feature identification code, the distance measuring device outputs distance information of the current target.

Another aspect of the present application provides a mobile platform, the mobile platform includes:

Movable platform body;

At least one of the aforementioned distance measuring devices is arranged on the movable platform body.

According to the communication method based on the distance measuring device, the distance measuring device and the mobile platform according to the embodiment of the present application, the problem of crosstalk between different distance measuring devices or between detection information sent at different times can be solved, and the distance of the distance measuring device can be improved. detection accuracy.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

FIG. 1 shows a schematic diagram of the architecture of a ranging device in an embodiment of the present application;

FIG. 2 shows a schematic diagram of a ranging device in an embodiment of the present application;

Fig. 3 shows a schematic diagram of a communication method based on a ranging device in an embodiment of the present application;

FIG. 4 shows a schematic flowchart of channel coding performed by the transmitting end of the ranging device in an embodiment of the present application;

Fig. 5 shows a schematic diagram of the waveform emitted by the transmitter of the ranging device in one embodiment of the present application;

FIG. 6 shows a schematic flowchart of channel decoding performed by the receiving end of the ranging device in an embodiment of the present application;

Fig. 7 shows a schematic block diagram of a ranging device in an embodiment of the present application.

Detailed ways

In order to make the objects, technical solutions, and advantages of the present application more apparent, exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

In the following description, numerous specific details are given in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced without one or more of these details. In other examples, some technical features known in the art are not described in order to avoid confusion with the present application.

It should be understood that the application can be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the/the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the terms "consists of" and/or "comprising", when used in this specification, identify the presence of stated features, integers, steps, operations, elements and/or parts, but do not exclude one or more other Presence or addition of features, integers, steps, operations, elements, parts and/or groups. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

In order to thoroughly understand the application, a detailed structure will be provided in the following description to explain the technical solution proposed by the application. Alternative embodiments of the present application are described in detail as follows, however, the present application may have other implementations besides these detailed descriptions.

The following describes the application in detail in conjunction with the accompanying drawings. If there is no conflict, the features in the following embodiments and implementations can be combined with each other.

First, with reference to Fig. 1 and Fig. 2, the structure of a distance measuring device in the embodiment of the present application is described in detail. The distance measuring device includes a radar distance measuring device, such as a laser radar, or it can also be a microwave radar, or For other types of radar devices, the embodiment of the present application mainly takes the ranging device as a laser radar as an example, and other suitable ranging devices may also be applied to the present application. The distance measuring device can be used to implement the communication method based on the distance measuring device herein.

The solutions provided by various embodiments of the present application may be applied to a distance measuring device, and the distance measuring device may be an electronic device such as a laser radar or a laser distance measuring device. In one embodiment, the ranging device is used to sense external environment information, for example, distance information, orientation information, reflection intensity information, speed information, etc. of environmental objects. In an implementation manner, the distance measuring device can detect the distance from the detection object to the distance measurement device by measuring the time of light propagation between the distance measurement device and the detection object, that is, the time-of-flight (TOF). Or, the distance measuring device can also detect the distance from the detection object to the distance measuring device by other technologies, such as a distance measuring method based on phase shift (phase shift) measurement, or a distance measuring method based on frequency shift (frequency shift) measurement, in This is not limited.

For ease of understanding, the working process of distance measurement will be described below with reference to the distance measurement device 100 shown in FIG. 1 .

As an example, the ranging device 100 includes a transmitting module 110 , a scanning module 202 , a control module 150 and a detection module, and the detection module includes a receiving circuit 120 , a sampling circuit 130 and an operation circuit 140 . The transmitting module is used to emit light pulse sequences to detect the target scene; the scanning module 202 is used to sequentially change the propagation paths of the light pulse sequences emitted by the transmitting module to different directions to form a scanning field of view; the detection module is used to receive The light pulse sequence reflected back by the object, and the distance and/or orientation of the object relative to the distance measuring device are determined according to the reflected light pulse sequence, so as to generate the point cloud points.

The emitting module 110 may include an emitter for emitting a sequence of light pulses (eg, a sequence of laser pulses). The receiving circuit 120 can receive the optical pulse sequence reflected by the object to be detected, that is, obtain the pulse waveform of the echo signal through it, and perform photoelectric conversion on the optical pulse sequence to obtain an electrical signal, and then process the electrical signal. output to the sampling circuit 130. The sampling circuit 130 can sample the electrical signal to obtain a sampling result. The arithmetic circuit 140 can determine the distance between the ranging device 100 and the detected object, that is, the depth, based on the sampling result of the sampling circuit 130 .

Optionally, the distance measuring device 100 may also include a control module 150, which can control other circuits or modules, for example, control the working time of each circuit or module and/or control each circuit or module. Parameter setting, etc., the control module 150 can also perform some calculation processing, etc., and can also perform channel coding, channel decoding, etc., and the control module 150 can include a controller.

It should be understood that although the distance measuring device shown in FIG. 1 includes a transmitting module, a receiving circuit, a sampling circuit and an arithmetic circuit for emitting a light beam for detection, the embodiment of the present application is not limited thereto. The transmitting module , receiving circuit, sampling circuit, and the quantity of any one circuit in the arithmetic circuit may also be at least two, and are used to emit at least two beams of light along the same direction or along different directions respectively; wherein, the at least two beams of light can be simultaneously It can also be emitted at different times. In an example, the light emitting chips in the at least two emitting modules are packaged in the same module. For example, each emitting module includes a laser emitting chip, and the chips of the laser emitting chips in the at least two emitting modules are packaged together and accommodated in the same packaging space.

In some implementations, as shown in FIG. 1 , the ranging device 100 may also include a scanning module 202, configured to change the direction of propagation of at least one optical pulse sequence (such as a laser pulse sequence) emitted by the transmitting module, so as to scan the field of view. scanning. Exemplarily, the scanning area of the scanning module 202 within the field of view of the ranging device increases with the accumulation of time.

Wherein, the module including the transmitting module 110, the receiving circuit 120, the sampling circuit 130 and the operation circuit 140, or the module including the transmitting module 110, the receiving circuit 120, the sampling circuit 130, the operation circuit 140 and the control module 150 may be referred to as a measurement The ranging module, the ranging module may be independent of other modules, for example, the scanning module 202.

A coaxial optical path may be used in the distance measuring device, that is, the light beam emitted by the distance measuring device and the reflected light beam share at least part of the light path in the distance measuring device. For example, after the at least one laser pulse sequence emitted by the transmitting module changes its propagation direction and exits through the scanning module, the laser pulse sequence reflected by the detection object passes through the scanning module and enters the receiving circuit. Alternatively, the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are respectively transmitted along different optical paths in the distance measuring device. Fig. 2 shows a schematic diagram of an embodiment in which the distance measuring device of the present application adopts a coaxial optical path.

The ranging device 200 includes a ranging module 210, and the ranging module 210 includes a transmitter 203 (may include the above-mentioned transmitting module), a collimation element 204, a receiver 205 and an optical path changing element 206, and the receiver 205 may include the above-mentioned receiving module. circuits, sampling circuits, and computing circuits, the ranging module 210 is used to emit light beams, receive returned light, and convert the returned light into electrical signals. Wherein, the transmitter 203 can be used to transmit the light pulse sequence. In one embodiment, the transmitter 203 may emit a sequence of laser pulses. Optionally, the laser beam emitted by the transmitter 203 is a narrow-bandwidth beam whose wavelength is outside the range of visible light. The collimating element 204 is arranged on the outgoing light path of the emitter, and is used for collimating the light beam emitted from the emitter 203, and collimating the light beam emitted by the emitter 203 into a parallel light that is emitted to the scanning module. The collimating element is also used to converge at least a portion of the return light reflected by the detection object. The collimating element 204 may be a collimating lens or other elements capable of collimating light beams.

In the embodiment shown in FIG. 2, the transmitting optical path and receiving optical path in the distance measuring device are combined before the collimating element 204 through the optical path changing element 206, so that the transmitting optical path and the receiving optical path can share the same collimating element, so that the optical path more compact. In some other implementation manners, it is also possible that the transmitter 203 and the receiver 205 respectively use their own collimating elements, and the optical path changing element 206 is arranged on the optical path after the collimating element.

In the embodiment shown in Figure 2, since the beam aperture of the light beam emitted by the transmitter 203 is relatively small, the beam aperture of the return light received by the distance measuring device is relatively large, so the optical path changing element can use a small-area reflector to The emitting light path and the receiving light path are merged. In some other implementation manners, the optical path changing element may also use a reflector with a through hole, wherein the through hole is used to transmit the outgoing light of the transmitter 203 , and the reflector is used to reflect the return light to the receiver 205 . In this way, the shielding of the return light by the support of the small reflector in the case of using the small reflector can be reduced.

In the embodiment shown in FIG. 2 , the optical path changing element deviates from the optical axis of the collimating element 204 . In some other implementation manners, the optical path changing element may also be located on the optical axis of the collimating element 204 .

The ranging device 200 also includes a scanning module 202 . The scanning module 202 is placed on the outgoing optical path of the distance measuring module 210. The scanning module 202 is used to change the transmission direction of the collimated light beam 219 emitted by the collimating element 204 and project it to the external environment, and project the return light to the collimating element 204 . The returning light is converged to the receiver 205 through the collimation element 204 .

In one embodiment, the scanning module 202 may include at least one optical element for changing the propagation path of the beam, wherein the optical element may change the propagation path of the beam by reflecting, refracting, diffracting, etc., for example, The optical element includes at least one light refraction element with a non-parallel exit surface and an incident surface. For example, the scanning module 202 includes a lens, a mirror, a prism, a vibrating mirror, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above optical elements. In an example, at least part of the optical elements are movable, for example, driven by a driving module to move the at least part of the optical elements, and the moving optical elements can reflect, refract or diffract light beams to different directions at different times. In some embodiments, multiple optical elements of scanning module 202 may rotate or vibrate about a common axis 209, with each rotating or vibrating optical element serving to continuously change the direction of propagation of the incident light beam. In one embodiment, the multiple optical elements of scanning module 202 may rotate at different rotational speeds, or vibrate at different speeds. In another embodiment, at least some of the optical elements of scanning module 202 may rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also rotate about different axes. In some embodiments, the multiple optical elements of the scanning module may also rotate in the same direction or in different directions; or vibrate in the same direction or in different directions, which is not limited here.

In one embodiment, the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214, the driver 216 is used to drive the first optical element 214 to rotate around the rotation axis 209, so that the first optical element 214 changes The direction of the collimated light beam 219 . The first optical element 214 projects the collimated light beam 219 in different directions. In one embodiment, the angle between the direction of the collimated light beam 219 changed by the first optical element and the rotation axis 209 changes as the first optical element 214 rotates. In one embodiment, first optical element 214 includes a pair of opposing non-parallel surfaces through which collimated light beam 219 passes. In one embodiment, the first optical element 214 comprises a prism having a thickness varying along at least one radial direction. In one embodiment, the first optical element 214 includes a wedge prism that refracts the collimated light beam 219 .

In one embodiment, the scanning module 202 further includes a second optical element 215 , the second optical element 215 rotates around the rotation axis 209 , and the rotation speed of the second optical element 215 is different from that of the first optical element 214 . The second optical element 215 is used to change the direction of the light beam projected by the first optical element 214 . In one embodiment, the second optical element 215 is connected with another driver 217, and the driver 217 drives the second optical element 215 to rotate. The first optical element 214 and the second optical element 215 can be driven by the same or different drivers, so that the rotation speed and/or the direction of rotation of the first optical element 214 and the second optical element 215 are different, thereby projecting a collimated light beam 219 to the external space In different directions, a larger spatial range can be scanned. In one embodiment, the controller 218 controls the

drivers

216 and 217 to drive the first optical element 214 and the second optical element 215 respectively. The rotational speeds of the first optical element 214 and the second optical element 215 can be determined according to the area and pattern expected to be scanned in practical applications.

Drivers

216 and 217 may include motors or other drivers. Optionally, the rotation directions of the first optical element 214 and the second optical element 215 (also referred to herein as steering) are the same, or the rotation directions of the first optical element and the second optical element are different.

In one embodiment, the second optical element 215 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 215 comprises a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 215 includes a wedge prism.

In one embodiment, the scanning module 202 further includes a third optical element (not shown in the figure) and a driver for driving the movement of the third optical element. Optionally, the third optical element includes a pair of opposite non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element comprises a prism whose thickness varies along at least one radial direction. In one embodiment, the third optical element comprises a wedge prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or deflections.

In one embodiment, the scanning module includes 2 or 3 photorefractive elements sequentially arranged on the outgoing optical path of the optical pulse sequence. Optionally, at least two of the photorefractive elements in the scanning module rotate during the scanning process, so as to change the direction of the light pulse sequence.

The scanning path of the scanning module is different at least partly at different times. The rotation of each optical element in the scanning module 202 can project light to different directions, such as the direction of the projected light 211 and the direction 213. space to scan. When the light 211 projected by the scanning module 202 hits the detection object 201 , a part of the light is reflected by the detection object 201 to the distance measuring device 200 in a direction opposite to the projected light 211 . The return light 212 reflected by the detection object 201 enters the collimation element 204 after passing through the scanning module 202 .

The receiver 205 and the emitter 203 are placed on the same side of the collimation element 204, and the receiver 205 is used to convert at least part of the return light passing through the collimation element 204 into an electrical signal.

In one embodiment, each optical element is coated with an anti-reflection film. Optionally, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.

In one embodiment, a filter layer is coated on the surface of a component located on the beam propagation path in the ranging device, or an optical filter is arranged on the beam propagation path, for at least transmitting the wavelength band of the beam emitted by the transmitter, Reflect other bands to reduce noise from ambient light to the receiver.

In some embodiments, the transmitter 203 may include a laser diode, and the laser diode emits nanosecond-level laser pulses. Further, the laser pulse receiving time can be determined, for example, the laser pulse receiving time can be determined by detecting the rising edge time and/or falling edge time of the electrical signal pulse. In this way, the distance measuring device 200 can calculate the TOF by using the pulse receiving time information and the pulse sending time information, so as to determine the distance from the detection object 201 to the distance measuring device 200 . The distance and orientation detected by the ranging device 200 can be used for remote sensing, obstacle avoidance, surveying and mapping, modeling, navigation and so on.

Ranging devices such as lidar are becoming an essential part of future self-driving cars because of their precise distance measurement capabilities, as eyes in areas such as driverless cars. However, current ranging devices such as laser radars have to receive optical signals from similar devices. At present, not only such signals cannot be effectively used, but also lead to laser radar crosstalk, causing ranging errors and other problems, especially for solid-state array receiving radar products , the problem is more serious, which brings safety hazards to self-driving cars. At present, the common anti-crosstalk coding method of lidar mainly adopts single-carrier method, which does not make effective use of the channel, cannot carry special identification codes or other shared information, let alone Realize communication between other cars or buildings.

In view of the above problems, the present application provides a communication method based on a ranging device, including: the ranging device transmits a detection signal to the current target, and the detection signal contains a characteristic identification code; the ranging device receives the echo signal, and based on the echo signal The wave signal acquires the distance information of the current target and detects whether the echo signal contains a feature identification code, wherein, if the echo signal contains a feature identification code, the ranging device outputs the distance information of the current target. Through this communication method, the ranging device transmits a detection signal containing a feature identification code to the current target, and identifies the signal transmitted by the non-ranging device itself by detecting whether the echo signal contains a feature identification code. identification code, the distance measuring device outputs the distance information of the current target, thereby solving the problem of crosstalk between different distance measuring devices or detection information sent at different times, thereby improving the accuracy of the distance detection of the distance measuring device.

The communication method based on the ranging device of the present application will be described below with reference to FIG. 3 , and FIG. 3 shows a schematic diagram of the communication method based on the ranging device in an embodiment of the present application.

As an example, as shown in FIG. 3 , the communication method can be based on the foregoing ranging device as the execution subject. The communication method based on the ranging device of the present application includes the following steps S310 and S320:

First, in step S310, the ranging device transmits a detection signal to the current target, and the detection signal includes a feature identification code.

In one example, the feature identification code can be used to identify the distance measuring device, that is, the feature identification code contained in the detection signal generated by the distance measuring device is used to represent the distance measuring device itself, which can be the unique identification code of the identity of the distance measuring device , such as the number of the distance measuring device, etc. Based on the feature identification code, it can be identified whether the received echo signal is the echo signal of the detection signal emitted by the distance measuring device itself, or the signal transmitted by other distance measuring devices, so as to solve the problem of crosstalk between different distance measuring devices .

In another example, the feature identification code is used to identify the detection signal. For example, the detection signals sent by the same ranging device at different times may correspond to different feature identification codes, thereby solving the interference problem between different detection signals. For another example, during the period when the distance measuring device transmits the detection signal, the detection signals transmitted at different times in each preset period are identified with different feature identification codes, and the feature identification codes before the current preset period can be multiplexed into the current preset period. The cycle is set, but the time interval between two detection signal transmissions sharing the same signature identification code must be greater than the preset threshold.

The signature identification code may be loaded on the carrier wave of the sounding signal in any suitable manner, for example, the signature identification code is loaded on the carrier wave of the sounding signal through channel coding.

The channel coding method can be any suitable channel coding method for visible light, for example, by using technologies such as Orthogonal Frequency Division Multiplexing (OFDM) or spatial modulation to load on the carrier wave of the detection signal. Realize high-speed communication. Among them, OFDM is a kind of multi-carrier modulation. By loading effective information on mutually orthogonal sub-carriers and using multiple sub-carrier channels for information transmission, it has the advantages of high frequency band utilization and strong anti-multipath ability. .

In an example, loading the signature identification code on the carrier of the sounding signal through channel coding includes: loading the signature identification code and preset waveform information of the sounding signal on multiple subcarriers, for example, by orthogonal frequency division multiplexing (OFDM ) load the waveform information of the signature identification code and the preset detection signal on multiple subcarriers, and the frequencies of the multiple subcarriers are orthogonal to each other; then, based on the multiple subcarriers, a time-domain signal is obtained, for example, using discrete inverse Fourier transform The information on each subcarrier is superimposed to obtain superimposed information, such as a superimposed waveform; based on the superimposed information, a time-domain signal is obtained; and the time-domain signal is used to drive the distance measuring device to transmit a detection signal including a feature identification code.

By orthogonal frequency division multiplexing (OFDM), the signature identification code and the waveform information of the preset sounding signal are loaded on multiple subcarriers, for example, including performing channel coding on the signature identification code and the waveform information of the preset sounding signal, so as to The coded information is obtained; the coded information is mapped (such as quadrature amplitude modulation (QAM)) and serial-to-parallel converted and then loaded on multiple subcarriers (such as subcarriers whose frequencies are orthogonal to each other).

In an example, the time-domain signal is obtained based on the superposition information, for example, after superimposing the information on each subcarrier by discrete inverse Fourier transform, the superposition information is subjected to cyclic prefix (Cyclic Prefix, CP for short) processing, and then Perform parallel-to-serial conversion and digital-to-analog conversion to obtain a time-domain signal, which is used for the driving information of the transmitter of the distance measuring device, and which is used to drive the transmitter to emit a detection signal that includes a feature identification code (that is, The detection signal modulated by the signature identification code).

In an example, the detection signal further includes shared information of the distance measuring device, and the shared information is used for information sharing with other distance measurement devices, so that other distance measurement devices can obtain the information to be shared by the distance measurement device that transmits the detection signal, The shared information can be any information that needs to be shared. For example, when the distance measuring device is installed on a movable platform (such as a vehicle), the shared information of the distance measuring device includes at least One, wherein the environmental information includes at least one of the following information: road condition information, traffic light information; such as road congestion, road construction, traffic light working conditions, etc.; passenger information includes at least one of the following information Types: the identity, gender, and number of passengers; for example, whether the passengers are sick or pregnant, whether the driver is female, etc.

The shared information can also be loaded on the carrier of the sounding signal through channel coding, for example, by orthogonal frequency division multiplexing (OFDM), the shared information and the waveform information of the preset sounding signal are loaded on multiple subcarriers, and the frequency of the multiple subcarriers Orthogonal to each other, the shared information and the characteristic identification code can also be loaded on the carrier of the sounding signal after channel coding, or one of the shared information and the characteristic identification code can be loaded on the carrier of the sounding signal after channel coding .

As shown in Figure 4, taking the shared information and the signature identification code loaded on the carrier of the sounding signal through channel coding as an example, first, the shared information, the signature identification code, and the waveform information of the preset sounding signal can be channel-coded, After QAM mapping and serial-to-parallel conversion, the above information features are loaded on subcarriers with mutually orthogonal frequencies, and then the information on each subcarrier is effectively superimposed by discrete inverse Fourier transform. After adding CP, parallel serial After conversion and D/A conversion, it is converted into a driving signal (also a time-domain signal) of the transmitter of the distance measuring device such as the laser at the transmitting end of the laser radar. The driving signal can be used to drive the transmitter of the distance measuring device such as the laser to transmit through the The information-modulated detection signal, such as a laser signal, is a schematic diagram of a waveform of a detection signal including a feature identification code and shared information as shown in FIG. 5 .

A specific implementation principle of OFDM is as follows:

Let f _k (k=1,2,...,N) be N subcarrier frequencies, then the general multi-carrier modulated signal s(t) can be expressed as:

Wherein, a(k) is the information carried on the subcarrier with frequency f _k . That is, the information that needs to be transmitted, such as the feature identification code and shared information, can be encoded and converted into serial-to-parallel conversion, and the information can be converted into amplitude information loaded on each subcarrier. After the information is loaded, the fast discrete inverse Fourier (IDFT) The signal on each subcarrier is converted into a time domain signal s(t).

Next, in step S320, the ranging device receives the echo signal, and obtains the distance information of the current target based on the echo signal and detects whether the echo signal contains a feature identification code, wherein, if the echo signal contains a feature identification code, then The ranging device outputs the distance information of the current target, so that the crosstalk problem can be solved while realizing the ranging.

The echo signal received by the receiver of the distance measuring device such as lidar may be the echo signal of the detection signal emitted by the distance measuring device itself, or it may be the detection signal or the detection signal emitted by other distance measuring devices The other distance measuring devices may be the distance measuring devices located on the same movable platform, or they may also be the echo signals of the detection signals sent by the distance measuring devices at different times.

In an example, the distance measuring device receives the echo signal, and obtains shared information of other distance measuring devices based on the echo signal, and the shared information is used for information sharing with the distance measuring device, for example, when the obtained echo signal is other When the detection signal or the echo signal of the emitted detection signal is transmitted by the distance measuring device, and the transmitted detection signal contains the shared information and the feature identification code, the other distance measuring device can be obtained based on the echo signal Shared information, so as to achieve communication with other distance measuring devices.

In one example, when the detection signal transmitted by the ranging device includes a feature identification code, it is possible to perform channel decoding on the echo signal to detect whether the echo signal contains the feature identification code. In another example, when the ranging When the detection signal transmitted by the device includes shared information, it is possible to detect whether the echo signal contains shared information by channel decoding the echo signal; in another example, when the detection signal transmitted by the distance measuring device includes a feature identification code When sharing information, channel decoding can be performed on the echo signal to detect whether the echo signal contains the signature identification code and the sharing information.

The echo signal can be channel-decoded to the corresponding channel decoding mode using the aforementioned channel coding mode to detect whether the echo signal contains a signature code, for example, when the aforementioned transmitting end uses Orthogonal Frequency Division Multiplexing (OFDM) When the signature identification code and the waveform information of the preset detection signal are loaded on multiple subcarriers, the echo signal is channel-decoded to detect whether the echo signal contains the signature identification code, including: obtaining the subcarrier loaded on the echo signal Feature information; perform channel decoding on the feature information to obtain decoding information, for example, perform QAM demapping and channel decoding on the feature information to obtain decoding information; detect whether the decoding information contains a feature identification code, and the decoding information can include loading The characteristic identification code of the ranging device on the subcarrier, when the shared information is loaded on the subcarrier, the decoded information may also include the shared information.

Optionally, obtaining the characteristic information loaded on the subcarrier of the echo signal includes: performing analog-to-digital conversion and discrete Fourier transform on the echo signal to obtain the characteristic information loaded on the subcarrier of the echo signal, for example, may be After sampling and analog-to-digital conversion of the echo signal, discrete Fourier transform is performed on the sampling signal to obtain the characteristic information loaded on the sub-carrier of the echo signal.

For example, the signature identification code and shared information can be obtained through the decoding information decoded in the echo signal, and the judgment of the crosstalk situation can be realized through the comparison of the signature identification code, for example, when the signature identification code and the distance measurement device itself are transmitted When the feature identification code contained in the detection signal corresponds to the echo signal, it indicates that the echo signal comes from the echo of the detection signal emitted by the distance measuring device itself. Therefore, the distance information obtained based on the echo signal is the distance information of the current target. , the distance information can accurately reflect the distance information between the current distance measuring device and the current target.

Obtaining the distance information of the current target based on the echo signal and detecting whether the echo signal contains a feature identification code can be performed simultaneously or in sequence, for example, as shown in Figure 6, the echo signal returned by the ranging device such as the laser radar itself Or after the detection signal of other lidar reaches the receiver of the ranging device, first, it is converted into an electrical signal by the avalanche photodiode of the receiver, and then the electrical signal is converted into a voltage by a transimpedance amplifier (TIA) circuit. Signal, triggering a time-to-digital converter (Time-to-Digital Converter, TDC for short) through a comparator can realize the ranging function of a ranging device such as a laser radar, thereby obtaining distance information. At the same time, after the echo signal is sampled and A/D converted, the discrete Fourier transform of the sampled signal can be used to obtain the communication information carried on the subcarrier (also referred to as communication information in this paper), after QAM demapping and channel decoding Afterwards, the shared information transmitted by the transmitter can be obtained (the shared information can be information shared by other distance measuring devices, if the echo signal is from its own distance measuring device, then the shared information is the information shared by its own distance measuring device), through the feature The identification code can extract and compare the effective information to realize the judgment of the crosstalk situation. Among them, the distance information of the current target is the echo signal based on the characteristic identification code contained in the detection signal transmitted by the transmitter. acquired. For another example, first obtain the distance information of the current target based on the echo signal, and then detect whether the echo signal contains a feature identification code (that is, whether it contains a feature identification code that is consistent with the feature identification code contained in the detection signal emitted by the transmitter) , when the feature identification code is detected, the distance information of the current target will be output. If the feature identification code is detected to be inconsistent with the feature identification code contained in the detection signal emitted by the transmitter, it indicates that the distance information is inaccurate. Output the distance information of the current target. For another example, it is also possible to first detect whether the echo signal contains a feature identification code (that is, whether it contains a feature identification code consistent with the feature identification code contained in the detection signal emitted by the transmitter), and when it is detected that the feature identification code is contained, The distance information of the current target is obtained based on the echo signal. If the signature identification code is detected to be inconsistent with the signature identification code contained in the detection signal emitted by the transmitter, the distance information is not calculated based on the echo information.

Taking OFDM-based communication as an example, for the signal receiving end (that is, the receiver end of the ranging device), after sampling the received time-domain signal, the discrete Fourier transform can be used to demodulate the information on each subcarrier a(k)', and then through parallel-to-serial conversion, the information transmitted by the transmitting end (that is, the transmitter end of the distance measuring device) can be obtained. The information includes the characteristic identification code, or the information includes the characteristic identification code and shared information. .

in

Is the sampling signal, from the front IFFT part,

It can be expressed as the following relationship:

Substitute into (1.2) to get:

when

hour:

a(k)'=Ca(k), where C is a constant, that is, the information transmitted by the sending end can be obtained by demodulation at the receiving end.

In summary, the communication method based on the distance measuring device of the present application does not need to introduce additional new signal receiving and processing equipment, such as all the transmitting and receiving equipment of the distance measuring device itself, which can be realized with lower cost and fewer sensors used , reducing the redundancy of the equipment, and through the communication method based on the distance measuring device of the present application, the received detection signals sent by other similar distance measuring devices can be effectively used, so that they can be used to transmit shared information, In order to realize the communication between devices, at the same time, the crosstalk problem between different distance measuring devices can be solved through the transmission of the characteristic identification code, and the accuracy of the ranging results of the distance measuring devices can be improved. Compared with the currently existing ranging devices that use a single-carrier method for anti-crosstalk coding, the communication method of the present application can carry feature identification codes and/or shared information, thereby effectively utilizing the channel, and through the ranging device and other The communication between the distance measuring devices can realize the communication and information sharing between the movable platform with the distance measuring device and the movable platform with other distance measuring devices, or the distance measuring device can also be applied to buildings, through Communication between distance measuring devices and other distance measuring devices can realize communication and information sharing between buildings.

Further, the present application also provides a distance measuring device. As shown in FIG. 7 , the distance measuring device 700 includes: a transmitter 710 for transmitting detection signals; a receiver 720 for receiving echo signals; a controller 730 for In: controlling the transmitter 710 to transmit a detection signal to the current target, the detection signal includes a feature identification code; obtaining the echo signal received by the receiver 730, and obtaining the distance information of the current target based on the echo signal and detecting whether the echo signal contains a feature Identification code, wherein, if the echo signal contains a characteristic identification code, the ranging device outputs the distance information of the current target, thereby solving the problem of crosstalk between different ranging devices or detection information sent at different times, thereby improving the range The accuracy of the distance detection of the device.

The distance measuring device 700 of the present application may be realized as the distance measuring device 100 shown in the foregoing FIG. 1 or the distance measuring device 200 shown in the foregoing FIG. 2 . It can be used to implement the aforementioned communication method based on the distance measuring device. For some detailed descriptions of the distance measuring device in the embodiment of the present application, reference can be made to the foregoing, and will not be repeated here.

The controller 730 is further configured to load the signature identification code on the carrier wave of the sounding signal, for example, the controller 730 is further configured to load the signature identification code on the carrier wave of the sounding signal through channel coding.

In an example, the controller 730 is also used to load the signature identification code on the carrier of the sounding signal through channel coding, including: loading the signature identification code and the preset waveform information of the sounding signal on multiple subcarriers, for example, by orthogonal Frequency division multiplexing (OFDM) loads the waveform information of the signature identification code and the preset detection signal on multiple subcarriers, and the frequencies of the multiple subcarriers are orthogonal to each other; then, based on the multiple subcarriers, time-domain signals are obtained, for example, using The discrete inverse Fourier transform superimposes the information on each subcarrier to obtain superimposed information, such as superimposed waveforms; based on the superimposed information, a time domain signal is obtained; the time domain signal is used to drive the distance measuring device to transmit a detection signal containing a signature identification code .

In an example, the detection signal further includes shared information of the distance measuring device, and the shared information is used for information sharing with other distance measurement devices, so that other distance measurement devices can obtain the information to be shared by the distance measurement device that transmits the detection signal, The shared information can be any information that needs to be shared. For example, when the distance measuring device is installed on a movable platform (such as a vehicle), the shared information of the distance measuring device includes at least One, wherein the environmental information includes at least one of the following information: road condition information, traffic light information; the passenger information includes at least one of the following information: identity, gender, and number of passengers.

The controller 730 is also configured to load the shared information on the carrier of the sounding signal through channel coding, for example, load the shared information and the waveform information of the preset sounding signal on multiple subcarriers through Orthogonal Frequency Division Multiplexing (OFDM), The frequencies of multiple subcarriers are orthogonal to each other, and the shared information and the characteristic identification code can also be loaded on the carrier of the sounding signal through channel coding, or one of the shared information and the characteristic identification code can be loaded into the on the carrier of the probe signal.

The echo signal received by the receiver 720 of the distance measuring device such as laser radar may be the echo signal of the detection signal emitted by the distance measuring device itself, or may be the detection signal or detection signal emitted by other distance measuring devices. The other distance measuring devices may be the distance measuring devices located on the same movable platform, or they may also be the echo signals of the detection signals sent by the distance measuring devices at different times.

In an example, the controller 730 is further configured to: obtain the echo signal received by the receiver 720, and obtain shared information of other distance measuring devices based on the echo signal, and the shared information is used for information sharing with the distance measuring device. For example, when the acquired echo signal is the detection signal transmitted by other distance measuring devices or the echo signal of the transmitted detection signal, and the transmitted detection signal contains shared information and feature identification code, then it can be The shared information of other distance measuring devices is obtained based on the echo signal, so as to realize communication with other distance measuring devices.

In one example, when the detection signal transmitted by the distance measuring device includes a feature identification code, the controller 730 is further configured to perform channel decoding on the echo signal to detect whether the echo signal contains the feature identification code, in another example , when the detection signal transmitted by the ranging device includes shared information, the controller 730 is also used to channel-decode the echo signal to detect whether the echo signal contains shared information; in another example, when the ranging device transmits When the detection signal includes the signature identification code and the shared information, the controller 730 is further configured to perform channel decoding on the echo signal to detect whether the echo signal contains the signature identification code and the shared information.

The controller 730 is used to obtain the distance information of the current target based on the echo signal and detect whether the echo signal contains a feature identification code, wherein the acquisition process and the detection process can be performed synchronously or in sequence, for example, a distance measuring device such as a laser After the echo signal returned by the radar itself or the detection signal of other laser radar reaches the receiver 720 of the distance measuring device, first, the avalanche photodiode of the receiver 720 is converted into an electrical signal, and then the electrical signal is passed through a transimpedance amplifier (trans- The impedance amplifier (TIA) circuit is converted into a voltage signal, and the time-to-digital converter (Time-to-Digital Converter, TDC for short) can be triggered by the comparator to realize the ranging function of the ranging device such as the laser radar, thereby obtaining the distance information. At the same time, after the echo signal is sampled and A/D converted, the discrete Fourier transform of the sampled signal can be used to obtain the communication information carried on the subcarrier (also referred to as communication information in this paper), after QAM demapping and channel decoding Afterwards, the shared information transmitted by the transmitter can be obtained (the shared information can be information shared by other distance measuring devices, if the echo signal is from its own distance measuring device, then the shared information is the information shared by its own distance measuring device), through the feature The identification code can extract and compare the effective information to realize the judgment of the crosstalk situation, wherein the distance information of the current target is the echo based on the characteristic identification code contained in the detection signal transmitted by the transmitter 710. signal is acquired. For another example, first obtain the distance information of the current target based on the echo signal, and then detect whether the echo signal contains a feature identification code (that is, whether it contains a feature identification code consistent with the feature identification code contained in the detection signal emitted by the transmitter 710 ), when it is detected that the feature identification code is included, the distance information of the current target is output, if the feature identification code is detected to be inconsistent with the feature identification code contained in the detection signal emitted by the transmitter 710, it indicates that the distance information is inaccurate, Then the distance information of the current target is not output. For another example, it is also possible to first detect whether the echo signal contains a feature identification code (that is, whether it contains a feature identification code consistent with the feature identification code contained in the detection signal emitted by the transmitter 710), and when it is detected that the feature identification code is contained , and then obtain the distance information of the current target based on the echo signal, if it is detected that the signature identification code is inconsistent with the signature identification code contained in the detection signal transmitted by the transmitter 710, then the distance information is not calculated based on the echo information.

Since the distance measuring device of the present application can implement the aforementioned communication method, it has the same advantages as the aforementioned communication method.

In one embodiment, the distance measuring device in the embodiment of the present application may be applied to a movable platform, and the distance measuring device may be installed on a platform body of the movable platform. The movable platform with the distance measuring device can measure the external environment, for example, measure the distance between the movable platform and obstacles for purposes such as obstacle avoidance, and perform two-dimensional or three-dimensional mapping of the external environment. In some embodiments, the mobile platform includes at least one of an unmanned aerial vehicle, a vehicle, a remote control vehicle, a robot, and a ship. When the ranging device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle. When the distance measuring device is applied to a vehicle, the platform body is the body of the vehicle. The vehicle may be an autonomous vehicle or a semi-autonomous vehicle, which is not limited here. When the distance measuring device is applied to the remote control car, the platform body is the body of the remote control car. When the ranging device is applied to a robot, the platform body is a robot.

Optionally, if the detection signal transmitted by the distance measuring device includes shared information of the distance measuring device, the shared information of the distance measuring device includes at least one of environment information of the movable platform (such as a vehicle) and occupant information. Optionally, the environmental information includes at least one of the following information: road condition information, traffic light information; the passenger information includes at least one of the following information: identity, gender, age, and number of passengers.

The movable platform in the embodiment of the present application includes the foregoing distance measuring device, so the movable platform has the same advantages as the foregoing distance measuring device.

In addition, the embodiment of the present application also provides a computer storage medium on which a computer program is stored. One or more computer program instructions can be stored on the computer-readable storage medium, and the processor can execute the program instructions stored in the memory to realize the functions (implemented by the processor) and/or other desired functions in the embodiments of the present application herein. Functions, for example, to execute the corresponding steps of the communication method based on the distance measuring device according to the embodiment of the present application, various application programs and various data can also be stored in the computer-readable storage medium, such as the information used and/or generated by the application program Various data etc.

For example, computer storage media may include, for example, a memory card of a smartphone, a memory component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only Memory (CD-ROM), USB memory, or any combination of the above storage media. The computer readable storage medium can be any combination of one or more computer readable storage medium. For example, a computer-readable storage medium contains computer-readable program codes for converting point cloud data into two-dimensional images, and/or computer-readable program codes for performing three-dimensional reconstruction of point cloud data, etc.

It should be understood that each part of the present application may be realized by hardware, software, firmware or a combination thereof. In the embodiments described above, various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: a discrete Logic circuits, ASICs with suitable combinational logic gates, Programmable Gate Array (hereinafter referred to as: PGA), Field Programmable Gate Array (Field Programmable Gate Array; referred to as: FPGA), etc.

Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above-described example embodiments are exemplary only, and are not intended to limit the scope of the application thereto. Various changes and modifications can be made therein by those of ordinary skill in the art without departing from the scope and spirit of the application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

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. Skilled artisans 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 several embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another device, or some features may be omitted, or not implemented.

In the description provided herein, numerous specific details are set forth. However, it is understood that the embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

Similarly, it should be understood that in the description of the exemplary embodiments of the application, in order to streamline the application and to facilitate understanding of one or more of the various inventive aspects, various features of the application are sometimes grouped together into a single embodiment, figure , or in its description. This method of application, however, is not to be interpreted as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as the corresponding claims reflect, the inventive point lies in that the corresponding technical problem may be solved by using less than all features of a single disclosed embodiment. Thus, the claims following this Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this application.

It will be appreciated by those skilled in the art that all features disclosed in this specification (including accompanying claims, abstract and drawings) and all features of any method or apparatus so disclosed may be used in any combination, except where the features are mutually exclusive. process or unit. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

In addition, those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the present application. and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

The various component embodiments of the present application may be realized in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The present application can also be implemented as an apparatus program (for example, a computer program and a computer program product) for performing a part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

Claims

A communication method based on a distance measuring device, comprising:

The ranging device transmits a detection signal to the current target, and the detection signal includes a feature identification code;

The ranging device receives the echo signal, and obtains the distance information of the current target based on the echo signal and detects whether the echo signal contains the feature identification code, if the echo signal contains the feature identification code, the distance measuring device outputs the distance information of the current target.
The method according to claim 1, wherein the feature identification code is used to identify the distance measuring device, and/or the feature identification code is used to identify the detection signal.
The method according to claim 1, wherein acquiring the distance information of the current target based on the echo signal and detecting whether the echo signal contains the feature identification code comprises: the acquisition process and the The above detection process is carried out synchronously or sequentially.
The method according to claim 1, wherein the feature identification code is loaded on the carrier wave of the sounding signal through channel coding.
The method according to claim 4, wherein the feature identification code is loaded on the carrier of the sounding signal through channel coding, comprising:

Loading the signature identification code and the waveform information of the preset detection signal on multiple subcarriers;

Obtaining a time-domain signal based on the plurality of subcarriers;

The distance measuring device is driven by the time domain signal to emit a detection signal including the feature identification code.
The method according to claim 5, wherein obtaining a time-domain signal based on the plurality of subcarriers comprises:

superimposing information on each of the subcarriers by using discrete inverse Fourier transform to obtain superposition information;

Based on the superposition information, the time domain signal is obtained.
The method of claim 1, wherein the echo signal is subjected to channel decoding to detect whether the echo signal contains the signature identification code.
The method according to claim 7, wherein the echo signal is channel-decoded to detect whether the echo signal contains the feature identification code, comprising:

Obtaining the characteristic information loaded on the subcarrier of the echo signal;

performing channel decoding on the characteristic information to obtain decoding information;

Detecting whether the decoded information contains the feature identification code.
The method according to claim 8, wherein said obtaining the characteristic information loaded on the subcarrier of said echo signal comprises:

Performing analog-to-digital conversion and discrete Fourier transform on the echo signal to obtain feature information loaded on sub-carriers of the echo signal.
The method according to claim 1, wherein the detection signal further includes shared information of the distance measuring device, and the shared information is used for information sharing with other distance measuring devices.
The method according to claim 10, wherein the shared information is loaded on the carrier of the sounding signal through channel coding.
The method of claim 1, further comprising:

The distance measuring device receives the echo signal, and obtains shared information of other distance measuring devices based on the echo signal, and the shared information is used for information sharing with the distance measuring device.
The method according to claim 12, wherein the shared information of the other ranging devices is obtained based on channel decoding of the echo signal.
The method according to any one of claims 1-13, wherein the ranging device comprises a radar ranging device.
A distance measuring device, characterized in that it comprises:

a transmitter for transmitting a detection signal;

a receiver for receiving echo signals;

controller for:

controlling the transmitter to transmit a detection signal to the current target, the detection signal including a feature identification code;

Obtain the echo signal received by the receiver, and obtain the distance information of the current target based on the echo signal and detect whether the echo signal contains the feature identification code, if the echo signal contains the If the feature identification code is used, the distance measuring device outputs the distance information of the current target.
The distance measuring device according to claim 15, wherein the feature identification code is used to identify the distance measuring device, and/or, the feature identification code is used to identify the detection signal.
The distance measuring device according to claim 15, wherein the controller is configured to obtain distance information of the current target based on the echo signal and detect whether the echo signal contains the feature identification code, comprising: The acquisition process and the detection process are performed synchronously or sequentially.
The distance measuring device according to claim 15, wherein the controller is further configured to channel encode the feature identification code onto the carrier wave of the sounding signal.
The ranging device according to claim 18, wherein the controller is further configured to load the feature identification code on the carrier of the sounding signal through channel coding, including:

Loading the signature identification code and the waveform information of the preset detection signal on multiple subcarriers;

Obtaining a time-domain signal based on the plurality of subcarriers;

The distance measuring device is driven by the time domain signal to emit a detection signal including the feature identification code.
The ranging device according to claim 19, wherein the controller obtains a time-domain signal based on the plurality of subcarriers, comprising:

superimposing information on each of the subcarriers by using discrete inverse Fourier transform to obtain superposition information;

Based on the superposition information, the time domain signal is obtained.
The distance measuring device according to claim 15, wherein the controller is further configured to detect whether the echo signal contains the feature identification code through channel decoding.
The ranging device according to claim 21, wherein the controller is channel-decoded to detect whether the echo signal contains the feature identification code, including:

Obtaining the characteristic information loaded on the subcarrier of the echo signal;

performing channel decoding on the characteristic information to obtain decoding information;

Detecting whether the decoded information contains the feature identification code.
The distance measuring device according to claim 15, wherein the detection signal further includes shared information of the distance measuring device, and the shared information is used for information sharing with other distance measuring devices.
The distance measuring device according to claim 23, wherein the controller is further configured to channel code the shared information and load it on the carrier of the sounding signal.
The distance measuring device according to claim 15, wherein the controller is also used for:

The echo signal received by the receiver is acquired, and based on the echo signal, shared information of other distance measuring devices is acquired, and the shared information is used for information sharing with the distance measuring device.
The distance measuring device according to claim 25, wherein the controller is further configured to obtain the shared information of the other distance measuring devices based on performing channel decoding on the echo signal.
The distance measuring device according to any one of claims 15-26, said distance measuring device comprising a radar distance measuring device.
A mobile platform, characterized in that it comprises:

Movable platform body;

At least one ranging device according to any one of claims 15 to 27 is provided on the movable platform body.
The mobile platform according to claim 28, wherein if the detection signal transmitted by the distance measuring device includes the shared information of the distance measuring device, the shared information of the distance measuring device includes the information of the mobile platform. At least one of the environment information at the location and the passenger information.
The mobile platform according to claim 29, wherein the environmental information includes at least one of the following information: road condition information, traffic light information; the passenger information includes at least one of the following information: identity, gender, age, number of people.
The mobile platform of claim 30, wherein the mobile platform comprises: an aircraft, a vehicle, a ship, or a robot.