WO2023133964A1 - Laser radar system and ambient light denoising method therefor - Google Patents
Laser radar system and ambient light denoising method therefor Download PDFInfo
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- WO2023133964A1 WO2023133964A1 PCT/CN2022/076490 CN2022076490W WO2023133964A1 WO 2023133964 A1 WO2023133964 A1 WO 2023133964A1 CN 2022076490 W CN2022076490 W CN 2022076490W WO 2023133964 A1 WO2023133964 A1 WO 2023133964A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
Definitions
- the present disclosure relates to the field of advanced driver assistance systems (ADAS) and automatic driving systems, and in particular to the laser radar technology applied in the advanced driver assistance systems and automatic driving systems.
- ADAS advanced driver assistance systems
- laser radar technology applied in the advanced driver assistance systems and automatic driving systems.
- lidar In advanced driver assistance systems and automatic driving systems, lidar is widely used for spatial distance measurement and three-dimensional environment reconstruction of the surrounding environment of the vehicle, which is an important prerequisite for realizing high-precision automatic driving control.
- Lidar is susceptible to interference from ambient light during use. In particular, in different scenarios, such as sunny, cloudy, rainy, night, tunnel, smog, etc., ambient light will have different effects on the lidar detection capability. To this end, lidar needs to set noise thresholds for different ambient lights in different scenes to overcome the impact of ambient light on lidar performance.
- the present disclosure further improves the laser radar system, so as to improve the good performance of the laser radar in various ambient light scenarios.
- an ambient light denoising method for a lidar system comprising:
- the ambient light noise threshold of each pixel unit is determined according to the number of detected light excitation signals.
- the pixel unit is a single pixel on the photodetector.
- the pixel unit comprises two or more pixels of a photodetector.
- the noise threshold table includes a plurality of thresholds, and each threshold has a preset amount of optical excitation signals.
- the acquisition of the total amount of optical excitation signals of the predetermined pixel unit includes:
- the preset time period is set to be composed of multiple time series, and each time series includes multiple time units;
- the photoexcitation signal output of the predetermined pixel unit of the photodetector in each time unit is recorded, and the photoexcitation signals of all the time units of the time series are accumulated to obtain the total amount of photoexcitation signals.
- the predetermined pixel unit is a single pixel unit of the photodetector.
- the predetermined pixel unit is two or more pixel units of the photodetector.
- the photodetector is a single photon avalanche diode chip.
- yet another ambient light denoising method for a lidar system comprising:
- the noise threshold table includes multiple thresholds, and each threshold has a preset amount of optical excitation signals.
- the acquisition of the total amount of optical excitation signals of each pixel unit includes:
- the preset time period is set to be composed of multiple time series, and each time series includes multiple time units;
- optical excitation signal output of each pixel unit in each time unit is recorded and counted to obtain the total amount of optical excitation signal.
- the photodetector is a single photon avalanche diode chip.
- the pixel unit is a single pixel of the photodetector.
- the pixel unit is two or more pixels of the photodetector.
- yet another lidar system comprising:
- a laser configured to emit laser pulses into the detection area
- a photodetector configured to generate a photoexcitation signal upon receipt of a photon signal
- a collector which is configured to count the total amount of light excitation signals generated by each pixel unit of the photodetector within a preset period of time
- a comparator configured to receive the total amount of the optical excitation signal and compare it with a noise threshold table to determine the ambient light noise threshold, wherein the noise threshold table includes a plurality of thresholds, each threshold having a preset optical excitation signal quantity.
- the collector is further configured as:
- optical excitation signal output of each pixel unit in each time unit is recorded and the total amount of optical excitation signal is obtained by statistics.
- the pixel unit of the photodetector is a single pixel of the photodetector.
- the pixel unit of the photodetector is two or more pixels of the photodetector.
- an electronic device including: at least one processor and a memory communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor.
- the at least one processor is executed to perform the method described in the present disclosure.
- Fig. 1 shows a structural block diagram of a lidar system according to one or more embodiments
- Fig. 2 shows a flow chart of an ambient light denoising method for a lidar system according to one or more embodiments
- Fig. 3 shows a pixel schematic diagram of a single photon avalanche diode (Single-Photon Avalanche Diode, hereinafter referred to as SPAD) sensor applied according to one or more embodiments;
- SPAD Single-Photon Avalanche Diode
- FIG. 4 shows another ambient light denoising method for a lidar system according to one or more embodiments
- Fig. 5 shows a schematic diagram of the steps of acquiring the number of optical excitation signals of a predetermined pixel unit applied according to one or more embodiments
- Fig. 6 shows yet another ambient light denoising method for a lidar system according to one or more embodiments.
- Fig. 1 shows a structural block diagram of a lidar system according to one or more embodiments of the present disclosure, in which only some components, electronic devices or functional modules of the lidar system are shown. Those skilled in the art may think that after understanding the principle of the present disclosure, in order to realize the present disclosure, other related units, devices or modules need or may be added to the system in the figure.
- the laser radar system includes a laser 1 and a controller 2, wherein the laser 1 emits a laser pulse to the detection area 3 under the control of the controller 2, and the laser pulse forms a diffuse reflection echo on the surface of the detection area in the form of a laser beam and is detected by the laser. Radar system detection for functions such as distance measurement of the detection area.
- the laser 1 may be any form of laser known in the art, such as a semiconductor laser such as a distributed feedback laser or a vertical cavity surface emitting laser.
- the controller sends a pulse signal to the laser according to a preset time sequence, and the laser emits a laser pulse to the detection area after receiving the pulse signal.
- the controller 2 is used to send working instructions to the laser, such as pulse signals, so as to realize functions such as turning on and off the laser and adjusting laser pulse width, repetition frequency, and energy parameters.
- the controller can be a dedicated electronic control device, or the control function can be realized through a central processing unit.
- the lidar system also includes a photodetector 4, which is configured to generate a light excitation signal when receiving an external light wave.
- the photodetector 4 is, for example, a CCD light sensor, a CMOS sensor, a PD photodiode, an APD avalanche diode, a SPAD single photon avalanche diode, and the like.
- a SPAD chip Single Photon Avalanche Diode
- the SPAD chip is a digital chip with a pixel array composed of multiple pixels.
- Each pixel is in an avalanche state under an external high voltage difference (in some special scenarios, its magnification is not the maximum state, and it can also be in a linear magnification state. Geiger pattern).
- the avalanche state when the pixel unit receives the photon signal of laser diffuse reflection echo or external ambient light, it is excited and discharged by the photon signal, and the output value is "1". If it does not receive the laser diffuse reflection echo or external ambient light It is not excited, does not output any value or the output value is "0".
- the lidar system further includes a collector 5 configured to collect emission time information of the laser and count the total amount of optical excitation signals generated by the pixel units of the photodetector within a preset period of time.
- the TDC circuit directly calculates the time difference of the laser pulse from emitting the laser to receiving the diffuse echo as the distance between the lidar system and the detection area, eliminating the need for optical signals-analog signals-digital signals when using other photosensitive elements
- the signal change process has higher execution efficiency.
- the laser radar system also includes a comparator 6, which receives the total amount of the optical excitation signal generated by the predetermined pixel unit of the photodetector, and compares the total amount of the optical excitation signal with a preset noise threshold table to determine the environmental Light noise threshold.
- the noise threshold table includes a plurality of thresholds, and each threshold has a preset number of optical excitation signals.
- the setting method of the noise threshold table place the lidar completely in different scenes, such as at night, cloudy, rainy, cloudy, sunny, etc., test against a distance, and obtain the total excitation of a single pixel in the photodetector amount, and use this as a standard to set the noise threshold.
- Another method for setting the noise threshold table is to set different illuminances in the laboratory, collect the total excitation amount of a single pixel, and set the corresponding noise threshold.
- the lidar system further includes a memory 7, which is, for example, a non-volatile computer-readable storage medium for storing non-volatile software programs, non-volatile computer-executable programs, modules, and the like.
- the non-volatile software programs, instructions and modules stored in the memory are run by the controller or other processors to execute various functional applications and data processing of the system.
- the memory may include a program storage area and a data storage area, wherein the program storage area may store, for example, an operating system, an application program required by at least one function, etc.; the data storage area may store, for example, an option list, a noise threshold table, and the like.
- the memory may include memory that is remotely located relative to the processor, and these remote memories may be connected to external devices through a network. Examples of the network include but are not limited to the Internet, intranets, local area networks, mobile communication networks, and its combination.
- Fig. 2 shows an ambient light denoising method for a lidar system according to one or more embodiments, the method includes:
- S101 Transmit laser pulses to the detection area.
- the laser pulse can be a laser pulse emitted separately for detecting ambient light, or it can be a laser pulse emitted by the lidar in actual detection work.
- the laser of the lidar system emits a laser pulse to the detection area under the control of the controller, and the laser pulse forms a diffuse reflection echo on the surface of the detection area in the form of a laser beam and is received by the photodetector A light excitation signal occurs.
- the laser starts to work at a predetermined time, and emits a laser beam with predetermined parameters such as pulse width, repetition frequency, and energy.
- S102 Detect the number of optical excitation signals generated by each pixel unit of the photodetector within a predetermined period of emitting laser pulses.
- a photodetector is generally provided with a plurality of pixel units.
- the pixel unit is arranged as a single pixel on a photodetector, for example.
- the pixel unit is configured as two or more pixels on a photodetector, for example.
- the collector acquires the photoexcitation signal of each pixel of the photodetector, and counts the number of photoexcitation signals generated by the plurality of pixels constituting the pixel unit within a predetermined period of time.
- Fig. 3 shows a pixel schematic diagram of a specific photodetector applied according to one or more embodiments
- the photodetector is, for example, a SPAD sensor, and the sensor is provided with a pixel array (20 ⁇ 10), including 20 pixels Unit 42, each pixel unit includes 10 pixels 41, when each pixel receives the photon signal of laser diffuse reflection echo or external ambient light, it is excited and discharged by the photon signal, and the output value is "1", if there is no is excited, no value is output or the output value is "0".
- 10 pixels in the pixel unit are lasered by an optical signal, and the collector collects the amount of laser light of each pixel in each time unit.
- Other pixel units are also detected in the same way to determine the total number of light excitation signals of a single pixel within a predetermined period of time.
- S103 Determine an ambient light noise threshold for each pixel unit according to the number of detected light excitation signals.
- the comparator of the lidar system receives the total amount of the optical excitation signal of each pixel unit and compares it with a preset noise threshold table to determine the position of the detection area corresponding to each pixel unit Ambient light noise threshold.
- the noise threshold table is preset with a plurality of thresholds, and each threshold has a preset number of optical excitation signals.
- the noise threshold table presets N thresholds, and the preset photo-excitation numbers of each threshold are K1, K2, ..., Kn respectively, and the preset photo-excitation numbers may be specific values or ranges of values. By comparing the number of optical excitation signals of each pixel unit with the noise threshold table, determine the specific threshold it falls into.
- the lidar in different scenarios, such as night, rainy day, cloudy day, cloudy day, sunny day, etc., and test it against the distance.
- the total excitation amount within the preset time will be measured and averaged to obtain a set of data.
- the excitation amount measured at night is 1000
- rainy days are 2000
- cloudy days are 3000
- cloudy days are 5000
- sunny days are 8000
- take this as the default value set K1 to 2000, K2 to 3000, K3 to 5000, and K4 to 8000, and record them into the memory.
- the number of optical excitation signals is compared with the preset K value to interpret the environment measured by each pixel.
- a preset value method which is set according to the illuminance of the environment.
- different illuminance is set, and the illuminance is set to 500Lux, 10000Lux, 20000Lux, 100000Lux, respectively, for each pixel of the pixel unit of the laser radar.
- different intervals of illumination and different numbers of illumination levels can be set, so as to set the environmental threshold and threshold number of different intervals.
- FIG. 4 shows another ambient light denoising method for a lidar system according to one or more embodiments, the method includes:
- S201 Obtain the total amount of optical excitation signals generated by predetermined pixel units of the photodetector within a preset period of time when the laser emits laser pulses to the detection area.
- the predetermined pixel unit is, for example, set as a single pixel on the photodetector, or includes two or more pixels on the photodetector.
- the preset time period is composed of multiple time series, and each time series includes multiple time units.
- the total amount of the light excitation signal is obtained by recording and counting the output of the light excitation signal of the predetermined pixel unit of the photodetector in each time unit.
- the laser pulses form diffuse reflection echoes on the surface of the detection area in the form of laser beams, and the echoes and other ambient light are received by the photodetector to generate light fire signal.
- a collector is used to monitor the light excitation signal of a predetermined pixel unit of the photodetector, and the number of light excitation signals of the predetermined pixel unit within a preset period of time is counted.
- Fig. 5 illustrates a specific method for counting the number of optical excitation signals of a predetermined pixel unit within a preset period according to one or more embodiments:
- the controller sends a pulse signal to the laser, the laser emits the first laser pulse to the test area, the TDC circuit starts timing, every other time unit T unit , the light excitation signal of the predetermined pixel unit of the photodetector in the time unit
- the output situation is recorded, a total of M time units, T sum time is required in total, and the output results of the optical excitation signal of M time units are recorded.
- the laser After the connection, the laser emits the second laser pulse to the detection area, and the TDC circuit starts timing again. Every time unit T unit , record the output of the light excitation signal of the predetermined pixel unit of the photodetector in the time unit, and the total For M time units, T sum time is required in total, and the output results of the optical excitation signals of M time units are recorded.
- the number of optical excitation signals of each pixel of the predetermined pixel unit within a predetermined period N*M*T unit is accumulated, which is recorded as the total amount of optical excitation signals K.
- the controller sends a pulse signal to the laser, the laser emits the first laser pulse to the test area, the TDC circuit starts timing, and the main frequency of the TDC circuit is 500MHz, that is, every other time unit 2ns
- the photoexcitation signal output of the predetermined pixel unit is recorded for a total of 1000 time units, which takes 2 ⁇ s in total, and the photoexcitation signal output results of 1000 time units are stored in a register, for example.
- the laser After connection, the laser emits the second laser pulse to the detection area, and the TDC circuit starts timing again, and records the output of the optical excitation signal of the predetermined pixel unit of the photodetector in the time unit every 2ns, a total of 1000 time unit, a total of 2 ⁇ s is required, and the output results of the optical excitation signal for 1000 time units are stored in a register, for example.
- S202 Compare the total amount of light excitation signals with a noise threshold table to determine an ambient light noise threshold.
- the noise threshold table is preset with a plurality of thresholds, and each threshold has a preset number of optical excitation signals.
- the noise threshold table presets N thresholds, and the preset photo-excitation numbers of each threshold are K1, K2, ..., Kn respectively, and the preset photo-excitation numbers may be specific values or ranges of values.
- the comparator of the lidar system receives the total amount of optical excitation signals of the predetermined pixel unit and compares it with a preset noise threshold table to determine the ambient light noise threshold.
- Fig. 6 shows yet another ambient light denoising method for a lidar system according to one or more embodiments, the method comprising:
- S301 Obtain the total amount of optical excitation signals generated by each pixel unit of the photodetector within a preset period of time during which the laser emits laser pulses to the detection area.
- the photodetector of the laser system is provided with a plurality of pixel units, and the pixel unit can be provided as a single pixel, or as two or more pixels on the photodetector.
- the preset time period is composed of multiple time series, and each time series includes multiple time units.
- the total amount of the light excitation signal is obtained by recording and counting the light excitation signal output of the photodetector pixel unit in each time unit.
- the laser pulses within a preset period of time when the laser emits laser pulses to the detection area, the laser pulses form diffuse reflection echoes on the surface of the detection area in the form of laser beams, and the echoes are detected by the photodetector along with other ambient light.
- a photoexcitation signal is generated upon receipt.
- the collector is used to monitor the light excitation signal of each pixel unit of the photodetector, and the number of light excitation signals of each pixel unit in the preset unit is counted to obtain the total amount of light excitation signal.
- S302 Compare the total amount of light excitation signals with the noise threshold table, and determine the ambient light noise threshold of each pixel unit.
- the comparator of the lidar system receives the total amount of optical excitation signal of each pixel unit of the photodetector and compares it with a preset noise threshold table to determine the environment of each pixel unit Light noise threshold.
- the noise threshold table is preset with a plurality of thresholds, and each threshold has a preset number of optical excitation signals.
- the noise threshold table presets N thresholds, and the preset photo-excitation numbers of each threshold are K1, K2, ..., Kn respectively, and the photo-excitation preset numbers can be specific values or ranges of values.
- the total output value is determined by recording, storing, reading, and counting the output of the optical excitation signal of each pixel unit of the photodetection unit within a predetermined period of time, and each pixel unit Setting the denoising threshold can more accurately reflect the actual ambient light conditions in the monitored area, avoiding the denoising of determining the entire ambient light by one pixel. Furthermore, the ambient light noise threshold of each pixel will change as the light intensity changes, which improves the timeliness and accuracy of lidar ambient light denoising. In addition, by setting different threshold levels, it can better meet the ambient light noise threshold in different scenes. In addition, the laser radar in the present invention collects ambient light data in the same method and data as the laser radar detection distance, and is the same set of data, without additional data collection work, which increases the laser radar test efficiency.
- the storage medium includes: various media capable of storing program codes such as U disk, mobile hard disk, read-only memory, random access memory, magnetic disk or optical disk.
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Abstract
An ambient light denoising method for a laser radar system, the laser radar system, and an electronic device. The method comprises: emitting a laser pulse to a detection region (S101); detecting the number of light excitation signals generated by each pixel unit (42) of a photoelectric detector (4) within a predetermined time period of the emitted laser pulse (S102); and determining an ambient light noise threshold of each pixel unit (42) according to the detected number of light excitation signals (S103).
Description
本申请要求于2022年1月13日递交的中国专利申请第202210034793.3号的优先权,在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。This application claims the priority of Chinese Patent Application No. 202210034793.3 submitted on January 13, 2022, and the content disclosed in the above Chinese Patent Application is cited in its entirety as a part of this application.
本公开涉及先进驾驶辅助系统(ADAS)和自动驾驶系统领域,尤其涉及先进驾驶辅助系统和自动驾驶系统中所应用的激光雷达技术。The present disclosure relates to the field of advanced driver assistance systems (ADAS) and automatic driving systems, and in particular to the laser radar technology applied in the advanced driver assistance systems and automatic driving systems.
在先进驾驶辅助系统和自动驾驶系统中,激光雷达被广泛用于对车辆周边环境进行空间距离测量和三维环境重建,是实现高精度自动驾驶控制的重要前提条件。激光雷达在使用中容易受到环境光的干扰。尤其是,在不同的场景中,例如晴天、阴天、下雨、夜晚、隧道,雾霾等,环境光对激光雷达探测能力会产生不同的影响。为此,激光雷达需要针对不同场景的不同环境光设置噪点阈值,以克服环境光对激光雷达性能的影响。In advanced driver assistance systems and automatic driving systems, lidar is widely used for spatial distance measurement and three-dimensional environment reconstruction of the surrounding environment of the vehicle, which is an important prerequisite for realizing high-precision automatic driving control. Lidar is susceptible to interference from ambient light during use. In particular, in different scenarios, such as sunny, cloudy, rainy, night, tunnel, smog, etc., ambient light will have different effects on the lidar detection capability. To this end, lidar needs to set noise thresholds for different ambient lights in different scenes to overcome the impact of ambient light on lidar performance.
现有技术的激光雷达通常使用单一预设阈值来去除环境光噪点。然而,外部场景变化莫测,变化范围难以确定,即使在同一场景下,不同的探测角度和测试距离所对应的环境光光强也不一样。因此,使用单一阈值很难对外部环境光强进行准确去噪,导致激光雷达的性能大受影响。State-of-the-art lidars typically use a single preset threshold to remove ambient light noise. However, the external scene is unpredictable and the range of change is difficult to determine. Even in the same scene, the ambient light intensity corresponding to different detection angles and test distances is different. Therefore, it is difficult to accurately denoise the external ambient light intensity using a single threshold, which greatly affects the performance of LiDAR.
发明内容Contents of the invention
本公开针对现有技术的缺陷,对激光雷达系统做进一步改进,以提高激光雷达在各种环境光场景下均具有良好的使用性能。In view of the defects in the prior art, the present disclosure further improves the laser radar system, so as to improve the good performance of the laser radar in various ambient light scenarios.
一方面,提供一种用于激光雷达系统的环境光去噪方法,该方法包括:In one aspect, an ambient light denoising method for a lidar system is provided, the method comprising:
向探测区域发射激光脉冲;emit laser pulses to the detection area;
检测在发射激光脉冲的预定时段内光电探测器的每个像素单元所发生的光激发信号数量;Detecting the number of optical excitation signals generated by each pixel unit of the photodetector during the predetermined period of emitting the laser pulse;
根据所检测的光激发信号数量确定每个像素单元的环境光噪点阈值。The ambient light noise threshold of each pixel unit is determined according to the number of detected light excitation signals.
有益的是,所述像素单元为所述光电探测器上的单个像素。Advantageously, the pixel unit is a single pixel on the photodetector.
有益的是,所述像素单元包括光电探测器的两个或两个以上像素。Advantageously, the pixel unit comprises two or more pixels of a photodetector.
另一方面,提供另一种用于激光雷达系统的环境光去噪方法,该方法包括:On the other hand, another ambient light denoising method for a lidar system is provided, the method comprising:
获取光电探测器的预定像素单元在激光器向探测区域发射激光脉冲过程的预设时段内发生的光激发信号总量;和Obtaining the total amount of optical excitation signals generated by the predetermined pixel unit of the photodetector within a preset period of time during which the laser emits laser pulses to the detection area; and
比较所述光激发信号总量与噪点阈值表,确定环境光噪点阈值,其中所述噪点阈值表包括多个阈值,每个阈值具有预设的光激发信号数量。Comparing the total amount of optical excitation signals with the noise threshold table to determine the ambient light noise threshold, wherein the noise threshold table includes a plurality of thresholds, and each threshold has a preset amount of optical excitation signals.
有益的是,所述预定像素单元的光激发信号总量的获取包括:Advantageously, the acquisition of the total amount of optical excitation signals of the predetermined pixel unit includes:
设置所述预设时段由多个时间序列组成,每个时间序列包括多个时间单元;The preset time period is set to be composed of multiple time series, and each time series includes multiple time units;
对光电探测器的预定像素单元在每个时间单元的光激发信号输出进行记录并将所述时间序列的所有所述时间单元的光激发信号累加得到光激发信号总量。The photoexcitation signal output of the predetermined pixel unit of the photodetector in each time unit is recorded, and the photoexcitation signals of all the time units of the time series are accumulated to obtain the total amount of photoexcitation signals.
有益的是,连续的两个时间序列之间存在序列时间间隔。Beneficially, there is a serial time interval between two consecutive time series.
有益的是,所述预定像素单元为光电探测器的单个像素单元。Advantageously, the predetermined pixel unit is a single pixel unit of the photodetector.
有益的是,所述预定像素单元为光电探测器的两个或两个以上像素单元。Advantageously, the predetermined pixel unit is two or more pixel units of the photodetector.
有益的是,所述光电探测器为单光子雪崩二极管芯片。Advantageously, the photodetector is a single photon avalanche diode chip.
又一方面,提供又一种用于激光雷达系统的环境光去噪方法,该方法包括:In yet another aspect, there is provided yet another ambient light denoising method for a lidar system, the method comprising:
获取光电探测器的每个像素单元在激光器向探测区域发射激光脉冲过程的预设时段内发生的光激发信号总量;和Obtaining the total amount of optical excitation signals generated by each pixel unit of the photodetector within a preset period of time during which the laser emits laser pulses to the detection area; and
比较所述光激发信号总量与噪点阈值表,确定每个像素单元的环境光噪点阈值,其中所述噪点阈值表包括多个阈值,每个阈值具有预设的光激发信号数量。Comparing the total amount of optical excitation signals with the noise threshold table to determine the ambient light noise threshold of each pixel unit, wherein the noise threshold table includes multiple thresholds, and each threshold has a preset amount of optical excitation signals.
有益的是,所述每个像素单元的光激发信号总量的获取包括:Beneficially, the acquisition of the total amount of optical excitation signals of each pixel unit includes:
设置所述预设时段由多个时间序列组成,每个时间序列包括多个时间单元;The preset time period is set to be composed of multiple time series, and each time series includes multiple time units;
对每个像素单元在每个时间单元的光激发信号输出进行记录并统计得到光激发信号总量。The optical excitation signal output of each pixel unit in each time unit is recorded and counted to obtain the total amount of optical excitation signal.
有益的是,连续的两个时间序列之间存在序列时间间隔。Beneficially, there is a serial time interval between two consecutive time series.
有益的是,所述光电探测器为单光子雪崩二极管芯片。Advantageously, the photodetector is a single photon avalanche diode chip.
有益的是,所述像素单元为所述光电探测器的单个像素。Advantageously, the pixel unit is a single pixel of the photodetector.
有益的是,所述像素单元为所述光电探测器的两个或两个以上像素。Advantageously, the pixel unit is two or more pixels of the photodetector.
又一方面,提供又一种激光雷达系统,包括:In yet another aspect, yet another lidar system is provided, comprising:
激光器,其被设置为向探测区域发射激光脉冲;a laser configured to emit laser pulses into the detection area;
光电探测器,其被设置为在接收到光子信号时发生光激发信号;a photodetector configured to generate a photoexcitation signal upon receipt of a photon signal;
采集器,其被设置为统计在预设时段内光电探测器的每个像素单元发生的光激发信号总量;a collector, which is configured to count the total amount of light excitation signals generated by each pixel unit of the photodetector within a preset period of time;
比较器,其被设置为接收所述光激发信号总量并与噪点阈值表比较,以确定环境光噪点阈值,其中所述噪点阈值表包括多个阈值,每个阈值具有预设的光激发信号数量。a comparator configured to receive the total amount of the optical excitation signal and compare it with a noise threshold table to determine the ambient light noise threshold, wherein the noise threshold table includes a plurality of thresholds, each threshold having a preset optical excitation signal quantity.
有益的是,所述采集器被进一步设置为:Advantageously, the collector is further configured as:
记录所述预设时段,其中该预设时段由多个时间序列组成,每个时间序列包括多个时间单元;Recording the preset period of time, wherein the preset period of time is composed of multiple time series, and each time series includes multiple time units;
记录每个像素单元在每个时间单元的光激发信号输出并统计得到光激发信号总量。The optical excitation signal output of each pixel unit in each time unit is recorded and the total amount of optical excitation signal is obtained by statistics.
有益的是,所述光电探测器的像素单元为光电探测器的单个像素。Advantageously, the pixel unit of the photodetector is a single pixel of the photodetector.
有益的是,所述光电探测器的像素单元为光电探测器的两个或两个以上像素。Advantageously, the pixel unit of the photodetector is two or more pixels of the photodetector.
又一个方面,提供一种电子设备,包括:至少一个处理器以及与所述至少一个处理器通信连接的存储器,该存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处理器执行以执行本公开所述的方法。In yet another aspect, an electronic device is provided, including: at least one processor and a memory communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor. The at least one processor is executed to perform the method described in the present disclosure.
以下将结合附图进一步详细介绍本公开的其他细节和优点,其中:Other details and advantages of the present disclosure will be further described in detail below in conjunction with the accompanying drawings, wherein:
图1示出了根据一个或多个实施例的一种激光雷达系统的结构框图;Fig. 1 shows a structural block diagram of a lidar system according to one or more embodiments;
图2示出了根据一个或多个实施例的一种用于激光雷达系统的环境光去 噪方法流程图;Fig. 2 shows a flow chart of an ambient light denoising method for a lidar system according to one or more embodiments;
图3示出了根据一个或多个实施例所应用的一种单光子雪崩二极管(Single-Photon Avalanche Diode,下称SPAD)传感器的像素示意图;Fig. 3 shows a pixel schematic diagram of a single photon avalanche diode (Single-Photon Avalanche Diode, hereinafter referred to as SPAD) sensor applied according to one or more embodiments;
图4示出了根据一个或多个实施例的另一种用于激光雷达系统的环境光去噪方法;FIG. 4 shows another ambient light denoising method for a lidar system according to one or more embodiments;
图5示出了根据一个或多个实施例所应用的获取预定像素单元的光激发信号数量的步骤示意图;Fig. 5 shows a schematic diagram of the steps of acquiring the number of optical excitation signals of a predetermined pixel unit applied according to one or more embodiments;
图6示出了根据一个或多个实施例的又一种用于激光雷达系统的环境光去噪方法。Fig. 6 shows yet another ambient light denoising method for a lidar system according to one or more embodiments.
图1示出了根据本公开一个或多个实施例的一种激光雷达系统的结构框图,图中仅仅示出了激光雷达系统的部分组成单元、电子器件或者功能模块。本领域技术人员在明白本公开的原理后可以想到,为了实现本公开,图中系统需要或者可以增加其他相关的单元、器件或者模块。Fig. 1 shows a structural block diagram of a lidar system according to one or more embodiments of the present disclosure, in which only some components, electronic devices or functional modules of the lidar system are shown. Those skilled in the art may think that after understanding the principle of the present disclosure, in order to realize the present disclosure, other related units, devices or modules need or may be added to the system in the figure.
所述激光雷达系统包括激光器1和控制器2,其中激光器1在控制器2的控制下向探测区域3发射激光脉冲,该激光脉冲以激光束的形式在探测区域表面形成漫反射回波被激光雷达系统检测,以实现例如探测区域的距离测量等功能。The laser radar system includes a laser 1 and a controller 2, wherein the laser 1 emits a laser pulse to the detection area 3 under the control of the controller 2, and the laser pulse forms a diffuse reflection echo on the surface of the detection area in the form of a laser beam and is detected by the laser. Radar system detection for functions such as distance measurement of the detection area.
所述激光器1可以为本领域已知的任何形式的激光器,例如分布式反馈激光器或垂直腔面发射激光器等半导体激光器。在一个或多个实施例中,控制器根据预设的时间序列向激光器发出脉冲信号,激光器在收到脉冲信号后 向探测区域发射激光脉冲。The laser 1 may be any form of laser known in the art, such as a semiconductor laser such as a distributed feedback laser or a vertical cavity surface emitting laser. In one or more embodiments, the controller sends a pulse signal to the laser according to a preset time sequence, and the laser emits a laser pulse to the detection area after receiving the pulse signal.
所述控制器2用于向激光器发出工作指令,例如脉冲信号,以实现激光器的开启、关闭以及调节激光脉宽、重频、能量参数等功能。所述控制器可以为专用的电子控制器件,也可以通过中央处理器来实现所述控制功能。The controller 2 is used to send working instructions to the laser, such as pulse signals, so as to realize functions such as turning on and off the laser and adjusting laser pulse width, repetition frequency, and energy parameters. The controller can be a dedicated electronic control device, or the control function can be realized through a central processing unit.
所述激光雷达系统还包括光电探测器4,其被设置为在接收到外部光波时发生光激发信号。所述光电探测器4例如为CCD光传感器、CMOS传感器、PD光电二极管、APD雪崩二极管、SPAD单光子雪崩二极管等。在一个或多个实施例中,采用SPAD芯片(单光子雪崩二极管)作为光电探测传感器。SPAD芯片是一种数字芯片,具有由多个像素组成的像素阵列,每个像素在外加高电压差下,处于雪崩状态(在一些特殊场景下其放大倍数非最大状态,也可以为线性放大状态的盖革模式)。在雪崩状态下,像素单元在接收到激光漫反射回波或者外部环境光的光子信号时,被光子信号激发放电,输出值为“1”,如果没有接收激光漫反射回波或者外在环境光则不被激发,不输出任何值或输出值为“0”。The lidar system also includes a photodetector 4, which is configured to generate a light excitation signal when receiving an external light wave. The photodetector 4 is, for example, a CCD light sensor, a CMOS sensor, a PD photodiode, an APD avalanche diode, a SPAD single photon avalanche diode, and the like. In one or more embodiments, a SPAD chip (Single Photon Avalanche Diode) is used as the photodetection sensor. The SPAD chip is a digital chip with a pixel array composed of multiple pixels. Each pixel is in an avalanche state under an external high voltage difference (in some special scenarios, its magnification is not the maximum state, and it can also be in a linear magnification state. Geiger pattern). In the avalanche state, when the pixel unit receives the photon signal of laser diffuse reflection echo or external ambient light, it is excited and discharged by the photon signal, and the output value is "1". If it does not receive the laser diffuse reflection echo or external ambient light It is not excited, does not output any value or the output value is "0".
所述激光雷达系统还包括采集器5,其被设置为采集激光器的发射时间信息和统计在预设时段内光电探测器的像素单元发生的光激发信号总量。在一个或多个实施例中,所述采集器5包括TDC电路(Time-Distance Convert,时间距离转换),其与SPAD芯片连接,以确定激光发射以及SPAD光电探测器检测到激光漫反射回波的时间差,以计算出探测区域到激光雷达的距离,计算公式为:S=光速×时间差/2。TDC电路通过将激光脉冲从发射激光至收到漫反射回波的时间差直接计算成激光雷达系统与探测区域之间的距离,省去使用其他感光元件时所需的光信号-模拟信号-数字信号的信号变化流程,具有更 高的执行效率。The lidar system further includes a collector 5 configured to collect emission time information of the laser and count the total amount of optical excitation signals generated by the pixel units of the photodetector within a preset period of time. In one or more embodiments, the collector 5 includes a TDC circuit (Time-Distance Convert, time-distance conversion), which is connected with the SPAD chip to determine that the laser is emitted and that the SPAD photodetector detects the diffuse reflection echo of the laser To calculate the distance from the detection area to the lidar, the calculation formula is: S = speed of light × time difference/2. The TDC circuit directly calculates the time difference of the laser pulse from emitting the laser to receiving the diffuse echo as the distance between the lidar system and the detection area, eliminating the need for optical signals-analog signals-digital signals when using other photosensitive elements The signal change process has higher execution efficiency.
所述激光雷达系统还包括比较器6,其接收光电探测器的预定像素单元所发生的光激发信号总量,并通过将所述光激发信号总量与预设的噪点阈值表比较,确定环境光噪点阈值。所述噪点阈值表包括多个阈值,每个阈值具有预设的光激发信号数量。The laser radar system also includes a comparator 6, which receives the total amount of the optical excitation signal generated by the predetermined pixel unit of the photodetector, and compares the total amount of the optical excitation signal with a preset noise threshold table to determine the environmental Light noise threshold. The noise threshold table includes a plurality of thresholds, and each threshold has a preset number of optical excitation signals.
所述噪点阈值表的设置方法:将激光雷达完全置于不同的场景中,如在夜晚,阴天、雨天、多云、晴天等,对照远处进行测试,得到的光探测器中单个像素总激发量,以此为标准进行设置噪点阈值。The setting method of the noise threshold table: place the lidar completely in different scenes, such as at night, cloudy, rainy, cloudy, sunny, etc., test against a distance, and obtain the total excitation of a single pixel in the photodetector amount, and use this as a standard to set the noise threshold.
噪点阈值表的另一设置方法为,在实验室中设置不同的照度,采集单个像素的总激发量,并设置相应的噪点阈值。Another method for setting the noise threshold table is to set different illuminances in the laboratory, collect the total excitation amount of a single pixel, and set the corresponding noise threshold.
所述激光雷达系统还包括存储器7,其例如为一种非易失性计算机可读存储介质,用于存储非易失性软件程序、非易失性计算机可执行程序以及模块等。存储在存储器中的非易失性软件程序、指令以及模块等由控制器或者其他的处理器运行,以执行系统的各种功能应用以及数据处理。存储器可以包括程序存储区和数据存储区,其中,程序存储区可存储例如操作系统、至少一个功能所需要的应用程序等;数据存储区可存储例如选项列表、噪点阈值表等。在一些实施例中,存储器可包括相对于处理器远程设置的存储器,这些远程存储器可以通过网络连接至外接设备,所述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The lidar system further includes a memory 7, which is, for example, a non-volatile computer-readable storage medium for storing non-volatile software programs, non-volatile computer-executable programs, modules, and the like. The non-volatile software programs, instructions and modules stored in the memory are run by the controller or other processors to execute various functional applications and data processing of the system. The memory may include a program storage area and a data storage area, wherein the program storage area may store, for example, an operating system, an application program required by at least one function, etc.; the data storage area may store, for example, an option list, a noise threshold table, and the like. In some embodiments, the memory may include memory that is remotely located relative to the processor, and these remote memories may be connected to external devices through a network. Examples of the network include but are not limited to the Internet, intranets, local area networks, mobile communication networks, and its combination.
图2示出了根据一个或多个实施例的一种用于激光雷达系统的环境光去噪方法,该方法包括:Fig. 2 shows an ambient light denoising method for a lidar system according to one or more embodiments, the method includes:
S101:向探测区域发射激光脉冲。S101: Transmit laser pulses to the detection area.
激光脉冲作为检测信号源,可以是为了检测环境光而单独发射的激光脉冲,也可以是激光雷达在实际探测工作中所发射的激光脉冲。在一个或多个实施例中,激光雷达系统的激光器在控制器的控制下向探测区域发射激光脉冲,该激光脉冲以激光束的形式在探测区域表面形成漫反射回波并被光电探测器接收而发生光激发信号。例如,根据激光雷达系统的控制器发出的工作指令,激光器在预定时间开始工作,发出具有预定脉宽、重频、能量等参数的激光束。As the detection signal source, the laser pulse can be a laser pulse emitted separately for detecting ambient light, or it can be a laser pulse emitted by the lidar in actual detection work. In one or more embodiments, the laser of the lidar system emits a laser pulse to the detection area under the control of the controller, and the laser pulse forms a diffuse reflection echo on the surface of the detection area in the form of a laser beam and is received by the photodetector A light excitation signal occurs. For example, according to the work instructions issued by the controller of the laser radar system, the laser starts to work at a predetermined time, and emits a laser beam with predetermined parameters such as pulse width, repetition frequency, and energy.
S102:检测在发射激光脉冲的预定时段内光电探测器的每个像素单元所发生的光激发信号数量。S102: Detect the number of optical excitation signals generated by each pixel unit of the photodetector within a predetermined period of emitting laser pulses.
光电探测器一般设置有多个像素单元。在一个实例中,所述像素单元例如被设置为光电探测器上的单个像素。在另一个实例中,所述像素单元例如被设置为光电探测器上的两个或两个以上像素。图2中的方法例如由采集器获取光电探测器的每个像素的光激发信号,并对组成像素单元的多个像素在预定时段内所发生的光激发信号数量予以统计。A photodetector is generally provided with a plurality of pixel units. In one example, the pixel unit is arranged as a single pixel on a photodetector, for example. In another example, the pixel unit is configured as two or more pixels on a photodetector, for example. In the method in FIG. 2 , for example, the collector acquires the photoexcitation signal of each pixel of the photodetector, and counts the number of photoexcitation signals generated by the plurality of pixels constituting the pixel unit within a predetermined period of time.
图3示出了根据一个或多个实施例所应用的一种具体光电探测器的像素示意图,该光电探测器例如为SPAD传感器,该传感器设置有像素阵列(20×10),包括20个像素单元42,每个像素单元包括10个像素41,每个像素在接收到激光漫反射回波或者外在环境光的光子信号时,被光子信号激发放电输出,输出值为“1”,如果没有被激发,则不输出任何值或输出值为“0”。如图中所示,在预定时段内,所述像素单元内的10个像素被光信号激光,采集器采集每个像素每个时间单元内的激光量。其他的像素单元也以同样的方法进行检测,以确定其在预定时段内的单个像素的光激发信号总数量。Fig. 3 shows a pixel schematic diagram of a specific photodetector applied according to one or more embodiments, the photodetector is, for example, a SPAD sensor, and the sensor is provided with a pixel array (20×10), including 20 pixels Unit 42, each pixel unit includes 10 pixels 41, when each pixel receives the photon signal of laser diffuse reflection echo or external ambient light, it is excited and discharged by the photon signal, and the output value is "1", if there is no is excited, no value is output or the output value is "0". As shown in the figure, within a predetermined period of time, 10 pixels in the pixel unit are lasered by an optical signal, and the collector collects the amount of laser light of each pixel in each time unit. Other pixel units are also detected in the same way to determine the total number of light excitation signals of a single pixel within a predetermined period of time.
S103:根据所检测的光激发信号数量确定每个像素单元的环境光噪点阈值。S103: Determine an ambient light noise threshold for each pixel unit according to the number of detected light excitation signals.
在一个或多个实施例中,所述激光雷达系统的比较器接收每个像素单元的光激发信号总量并与预设的噪点阈值表比较,以确定每个像素单元对应的探测区域位置的环境光噪点阈值。所述噪点阈值表预设有多个阈值,每个阈值具有预设的光激发信号数量。In one or more embodiments, the comparator of the lidar system receives the total amount of the optical excitation signal of each pixel unit and compares it with a preset noise threshold table to determine the position of the detection area corresponding to each pixel unit Ambient light noise threshold. The noise threshold table is preset with a plurality of thresholds, and each threshold has a preset number of optical excitation signals.
例如,噪点阈值表预设N个阈值,每个阈值预设的光激发数量分别为K1、K2、……、Kn,所述预设光激发数量可以为具体数值,也可以为数值范围。通过比较每个像素单元的光激发信号数量与噪点阈值表,确定其落入的具体阈值。For example, the noise threshold table presets N thresholds, and the preset photo-excitation numbers of each threshold are K1, K2, ..., Kn respectively, and the preset photo-excitation numbers may be specific values or ranges of values. By comparing the number of optical excitation signals of each pixel unit with the noise threshold table, determine the specific threshold it falls into.
首先将激光雷达完全置于不同的场景下,如在夜晚,、雨天、阴天、多云、晴天等,对照远处进行测试,得到的光探测器总激发量,激光雷达探测器阵列的所有像素都会测到预设时间内的总激发量,并对其平均化处理,得到一组数据,如夜晚测得的激发量为1000,雨天为2000,阴天为3000、多云为5000、晴天为8000,以此为预设值,将K1设为2000,K2设为3000,K3设为5000,K4设为8000,并录入到存储器中,在激光雷达实际的测试中,通过比较每个像素单元的光激发信号数量与预设K值比较,判读每个像素测到的环境。First, put the lidar in different scenarios, such as night, rainy day, cloudy day, cloudy day, sunny day, etc., and test it against the distance. The total excitation amount within the preset time will be measured and averaged to obtain a set of data. For example, the excitation amount measured at night is 1000, rainy days are 2000, cloudy days are 3000, cloudy days are 5000, and sunny days are 8000 , take this as the default value, set K1 to 2000, K2 to 3000, K3 to 5000, and K4 to 8000, and record them into the memory. In the actual test of the lidar, by comparing the The number of optical excitation signals is compared with the preset K value to interpret the environment measured by each pixel.
还有一种预设值方法,根据环境的照度进行设置,在照度标准实验室中,设置不同的照度,分别设置照度为500Lux,10000Lux,20000Lux,100000Lux,对激光雷达的像素单元的每个像素的激发量进行统计,可根据实际需求情况,设置不同间隔的照度和不同数量的照度级别,以此来设置不同间隔的环境阈 值和阈值数量。There is also a preset value method, which is set according to the illuminance of the environment. In the illuminance standard laboratory, different illuminance is set, and the illuminance is set to 500Lux, 10000Lux, 20000Lux, 100000Lux, respectively, for each pixel of the pixel unit of the laser radar. According to the actual demand, different intervals of illumination and different numbers of illumination levels can be set, so as to set the environmental threshold and threshold number of different intervals.
图4示出了根据一个或多个实施例的另一种用于激光雷达系统的环境光去噪方法,该方法包括:FIG. 4 shows another ambient light denoising method for a lidar system according to one or more embodiments, the method includes:
S201:获取光电探测器的预定像素单元在激光器向探测区域发射激光脉冲的预设时段内发生的光激发信号总量。S201: Obtain the total amount of optical excitation signals generated by predetermined pixel units of the photodetector within a preset period of time when the laser emits laser pulses to the detection area.
所述预定像素单元例如被设置为光电探测器上的单个像素,或者包括所述光电探测器上的两个或两个以上像素。The predetermined pixel unit is, for example, set as a single pixel on the photodetector, or includes two or more pixels on the photodetector.
所述预设时段由多个时间序列组成,每个时间序列包括多个时间单元。通过对每个时间单元中光电探测器的预定像素单元的光激发信号输出进行记录并统计得到光激发信号总量。在一个实例中,连续的两个时间序列之间存在序列时间间隔。The preset time period is composed of multiple time series, and each time series includes multiple time units. The total amount of the light excitation signal is obtained by recording and counting the output of the light excitation signal of the predetermined pixel unit of the photodetector in each time unit. In one example, there is a serial time interval between two consecutive time series.
在此步骤中,激光器被控制器启动向探测区域发射激光脉冲后,激光脉冲以激光束的形式在探测区域表面形成漫反射回波,该回波与其他环境光被光电探测器接收而发生光激发信号。与此同时,例如使用采集器来监测光电探测器的预定像素单元的光激发信号,并对该预定像素单元在预设时段内的光激发信号数量予以统计。In this step, after the laser is activated by the controller to emit laser pulses to the detection area, the laser pulses form diffuse reflection echoes on the surface of the detection area in the form of laser beams, and the echoes and other ambient light are received by the photodetector to generate light fire signal. At the same time, for example, a collector is used to monitor the light excitation signal of a predetermined pixel unit of the photodetector, and the number of light excitation signals of the predetermined pixel unit within a preset period of time is counted.
图5例示了根据一个或多个实施例的一种具体的统计预定像素单元在预设时段内的光激发信号数量的方法:Fig. 5 illustrates a specific method for counting the number of optical excitation signals of a predetermined pixel unit within a preset period according to one or more embodiments:
首先,控制器向激光器发出脉冲信号,激光器向测试区域发射第1次激光脉冲,TDC电路开始计时,每隔一个时间单元T
unit,对该时间单元内光电探测器的预定像素单元的光激发信号输出情况进行记录,总计M个时间单元,共需T
sum时间,并记录M个时间单元的光激发信号输出结果。
First, the controller sends a pulse signal to the laser, the laser emits the first laser pulse to the test area, the TDC circuit starts timing, every other time unit T unit , the light excitation signal of the predetermined pixel unit of the photodetector in the time unit The output situation is recorded, a total of M time units, T sum time is required in total, and the output results of the optical excitation signal of M time units are recorded.
接后,激光器向探测区域发射第2次激光脉冲,TDC电路再次开始计时,每隔一个时间单元T
unit,对该时间单元内光电探测器的预定像素单元的光激发信号输出情况进行记录,总计M个时间单元,共需T
sum时间,并记录M个时间单元的光激发信号输出结果。
After the connection, the laser emits the second laser pulse to the detection area, and the TDC circuit starts timing again. Every time unit T unit , record the output of the light excitation signal of the predetermined pixel unit of the photodetector in the time unit, and the total For M time units, T sum time is required in total, and the output results of the optical excitation signals of M time units are recorded.
再后,在激光器发出N次激光脉冲后,对所述预定像素单元每个像素在预定时段N*M*T
unit内的光激发信号数量进行累加,记为光激发信号总量K。
Then, after the laser emits N times of laser pulses, the number of optical excitation signals of each pixel of the predetermined pixel unit within a predetermined period N*M*T unit is accumulated, which is recorded as the total amount of optical excitation signals K.
更具体的,控制器向激光器发出脉冲信号,激光器向测试区域发射第1次激光脉冲,TDC电路开始计时,TDC电路主频500MHz,即每隔一个时间单元2ns,对该时间单元内光电探测器的预定像素单元的光激发信号输出情况进行记录,总计1000个时间单元,共需2μs,并将1000个时间单元的光激发信号输出结果例如存入寄存器。More specifically, the controller sends a pulse signal to the laser, the laser emits the first laser pulse to the test area, the TDC circuit starts timing, and the main frequency of the TDC circuit is 500MHz, that is, every other time unit 2ns The photoexcitation signal output of the predetermined pixel unit is recorded for a total of 1000 time units, which takes 2 μs in total, and the photoexcitation signal output results of 1000 time units are stored in a register, for example.
接后,激光器向探测区域发射第2次激光脉冲,TDC电路再次开始计时,每隔一个时间单元2ns,对该时间单元内光电探测器的预定像素单元的光激发信号输出情况进行记录,总计1000个时间单元,共需2μs时间,并将1000个时间单元的光激发信号输出结果例如存入寄存器。After connection, the laser emits the second laser pulse to the detection area, and the TDC circuit starts timing again, and records the output of the optical excitation signal of the predetermined pixel unit of the photodetector in the time unit every 2ns, a total of 1000 time unit, a total of 2 μs is required, and the output results of the optical excitation signal for 1000 time units are stored in a register, for example.
重复之前的步骤,直至激光器发出150次激光脉冲后,对所述预定像素单元每个像素在预定时段0.3ms内的光激发信号数量进行累加,记为光激发信号总量K。Repeat the previous steps until the laser emits 150 laser pulses, then accumulate the number of optical excitation signals of each pixel of the predetermined pixel unit within a predetermined period of 0.3 ms, and record it as the total amount of optical excitation signals K.
S202:比较所述光激发信号总量与噪点阈值表,确定环境光噪点阈值。S202: Compare the total amount of light excitation signals with a noise threshold table to determine an ambient light noise threshold.
所述噪点阈值表预设有多个阈值,每个阈值具有预设的光激发信号数量。例如,噪点阈值表预设N个阈值,每个阈值预设的光激发数量分别为K1、 K2、……、Kn,所述预设的光激发数量可以为具体数值,也可以为数值范围。通过比较所述预定像素单元在预定时段N*M*T
unit内的光激发信号总量K与噪点阈值表,确定其落入的具体阈值。
The noise threshold table is preset with a plurality of thresholds, and each threshold has a preset number of optical excitation signals. For example, the noise threshold table presets N thresholds, and the preset photo-excitation numbers of each threshold are K1, K2, ..., Kn respectively, and the preset photo-excitation numbers may be specific values or ranges of values. By comparing the total amount K of the optical excitation signal of the predetermined pixel unit within the predetermined period N*M*T unit with the noise threshold table, the specific threshold it falls into is determined.
例如,所述激光雷达系统的比较器接收所述预定像素单元的光激发信号总量并与预设的噪点阈值表比较,以确定环境光噪点阈值。For example, the comparator of the lidar system receives the total amount of optical excitation signals of the predetermined pixel unit and compares it with a preset noise threshold table to determine the ambient light noise threshold.
图6示出了根据一个或多个实施例的又一种用于激光雷达系统的环境光去噪方法,该方法包括:Fig. 6 shows yet another ambient light denoising method for a lidar system according to one or more embodiments, the method comprising:
S301:获取光电探测器的每个像素单元在激光器向探测区域发射激光脉冲过程的预设时段内发生的光激发信号总量。S301: Obtain the total amount of optical excitation signals generated by each pixel unit of the photodetector within a preset period of time during which the laser emits laser pulses to the detection area.
激光系统的光电探测器设置有多个像素单元,所述像素单元可以被设置为单个像素,或者被设置为所述光电探测器上的两个或两个以上像素。The photodetector of the laser system is provided with a plurality of pixel units, and the pixel unit can be provided as a single pixel, or as two or more pixels on the photodetector.
所述预设时段由多个时间序列组成,每个时间序列包括多个时间单元。通过对每个时间单元中光电探测器像素单元的光激发信号输出进行记录并统计得到光激发信号总量。在一个实例中,连续的两个时间序列之间存在序列时间间隔。The preset time period is composed of multiple time series, and each time series includes multiple time units. The total amount of the light excitation signal is obtained by recording and counting the light excitation signal output of the photodetector pixel unit in each time unit. In one example, there is a serial time interval between two consecutive time series.
又根据一个或多个实施例,激光器向探测区域发射激光脉冲的预设时段内,激光脉冲以激光束的形式在探测区域表面形成漫反射回波,该回波与其他环境光被光电探测器接收而发生光激发信号。利用采集器来监测光电探测器的每个像素单元的光激发信号,并对每个像素单元在预设单元内的光激发信号数量予以统计获得光激发信号总量。According to one or more embodiments, within a preset period of time when the laser emits laser pulses to the detection area, the laser pulses form diffuse reflection echoes on the surface of the detection area in the form of laser beams, and the echoes are detected by the photodetector along with other ambient light. A photoexcitation signal is generated upon receipt. The collector is used to monitor the light excitation signal of each pixel unit of the photodetector, and the number of light excitation signals of each pixel unit in the preset unit is counted to obtain the total amount of light excitation signal.
S302:比较所述光激发信号总量与噪点阈值表,确定每个像素单元的环境光噪点阈值。S302: Compare the total amount of light excitation signals with the noise threshold table, and determine the ambient light noise threshold of each pixel unit.
在一个或多个实施例中,所述激光雷达系统的比较器接收光电探测器的每个像素单元的光激发信号总量并与预设的噪点阈值表比较,以确定每个像素单元的环境光噪点阈值。所述噪点阈值表预设有多个阈值,每个阈值具有预设的光激发信号数量。例如,噪点阈值表预设N个阈值,每个阈值预设的光激发数量分别为K1、K2、……、Kn,所述光激发预设数量可以为具体数值,也可以为数值范围。通过比较每个像素单元的光激发信号总量与噪点阈值表,确定其落入的具体阈值。In one or more embodiments, the comparator of the lidar system receives the total amount of optical excitation signal of each pixel unit of the photodetector and compares it with a preset noise threshold table to determine the environment of each pixel unit Light noise threshold. The noise threshold table is preset with a plurality of thresholds, and each threshold has a preset number of optical excitation signals. For example, the noise threshold table presets N thresholds, and the preset photo-excitation numbers of each threshold are K1, K2, ..., Kn respectively, and the photo-excitation preset numbers can be specific values or ranges of values. By comparing the total amount of optical excitation signal of each pixel unit with the noise threshold table, determine the specific threshold it falls into.
在一个或多个实施例中,通过对光电检测单元的每个像素单元在预定时段内的光激发信号输出情况进行记录、存储、读取、统计,确定总输出值,并对每个像素单元设置去噪阈值,更准确地反应了监测区域的实际环境光情况,避免了由一个像素确定整个环境光的去噪。再者,每个像素的环境光噪点阈值会随着光强变化的改变,提高了激光雷达环境光去噪的时效性和准确性。此外,通过设置不同的阈值等级,更能符合不同场景下的环境光噪点阈值。另外,本发明中的激光雷达对环境光的数据的采集与激光雷达探测距离所采集的方法和数据相同,为同一组数据,无需进行另外的数据采集工作,增加了激光雷达测试效率。In one or more embodiments, the total output value is determined by recording, storing, reading, and counting the output of the optical excitation signal of each pixel unit of the photodetection unit within a predetermined period of time, and each pixel unit Setting the denoising threshold can more accurately reflect the actual ambient light conditions in the monitored area, avoiding the denoising of determining the entire ambient light by one pixel. Furthermore, the ambient light noise threshold of each pixel will change as the light intensity changes, which improves the timeliness and accuracy of lidar ambient light denoising. In addition, by setting different threshold levels, it can better meet the ambient light noise threshold in different scenes. In addition, the laser radar in the present invention collects ambient light data in the same method and data as the laser radar detection distance, and is the same set of data, without additional data collection work, which increases the laser radar test efficiency.
本领域技术人员可以明白,实现上述实施例方法中的全部或部分步骤可以通过程序来指令相关的硬件予以执行,该程序存储在存储介质中,包括若干指令以使得一个设备(可以是单片机,芯片等)或处理器执行本申请各实施例所述方法的全部或部分步骤。所述存储介质包括:U盘、移动硬盘、只读存储器、随机存取存储器、磁碟或者光盘等各种能够存储程序代码的介质。Those skilled in the art can understand that all or part of the steps in the method of the above-mentioned embodiments can be executed by instructing the relevant hardware through a program. etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The storage medium includes: various media capable of storing program codes such as U disk, mobile hard disk, read-only memory, random access memory, magnetic disk or optical disk.
Claims (20)
- 一种用于激光雷达系统的环境光去噪方法,该方法包括:An ambient light denoising method for a laser radar system, the method comprising:向探测区域发射激光脉冲;emit laser pulses to the detection area;检测在发射激光脉冲的预定时段内光电探测器的每个像素单元所发生的光激发信号数量;Detecting the number of optical excitation signals generated by each pixel unit of the photodetector during the predetermined period of emitting the laser pulse;根据所检测的光激发信号数量确定每个像素单元的环境光噪点阈值。The ambient light noise threshold of each pixel unit is determined according to the number of detected light excitation signals.
- 根据权利要求1所述的环境光去噪方法,其特征在于,所述像素单元为所述光电探测器上的单个像素。The ambient light denoising method according to claim 1, wherein the pixel unit is a single pixel on the photodetector.
- 根据权利要求1所述的环境光去噪方法,其特征在于,所述像素单元包括光电探测器的两个或两个以上像素。The ambient light denoising method according to claim 1, wherein the pixel unit comprises two or more pixels of a photodetector.
- 一种用于激光雷达系统的环境光去噪方法,该方法包括:An ambient light denoising method for a laser radar system, the method comprising:获取光电探测器的预定像素单元在激光器向探测区域发射激光脉冲过程的预设时段内发生的光激发信号总量;和Obtaining the total amount of optical excitation signals generated by the predetermined pixel unit of the photodetector within a preset period of time during which the laser emits laser pulses to the detection area; and比较所述光激发信号总量与噪点阈值表,确定环境光噪点阈值,其中所述噪点阈值表包括多个阈值,每个阈值具有预设的光激发信号数量。Comparing the total amount of optical excitation signals with the noise threshold table to determine the ambient light noise threshold, wherein the noise threshold table includes a plurality of thresholds, and each threshold has a preset amount of optical excitation signals.
- 根据权利要求4所述的环境光去噪方法,其特征在于,所述预定像素单元的光激发信号总量的获取包括:The ambient light denoising method according to claim 4, wherein the acquisition of the total amount of optical excitation signals of the predetermined pixel unit comprises:设置所述预设时段由多个时间序列组成,每个时间序列包括多个时间单元;The preset time period is set to be composed of multiple time series, and each time series includes multiple time units;对光电探测器的预定像素单元在每个时间单元的光激发信号输出进行记录并将所述时间序列的所有所述时间单元的光激发信号累加得到光激发信号 总量。The photoexcitation signal output of the predetermined pixel unit of the photodetector in each time unit is recorded, and the photoexcitation signals of all the time units of the time series are accumulated to obtain the total amount of photoexcitation signals.
- 根据权利要求5所述的环境光去噪方法,其特征在于,连续的两个时间序列之间存在序列时间间隔。The ambient light denoising method according to claim 5, characterized in that there is a sequence time interval between two consecutive time sequences.
- 根据权利要求5所述的环境光去噪方法,其特征在于,所述预定像素单元为光电探测器的单个像素单元。The ambient light denoising method according to claim 5, wherein the predetermined pixel unit is a single pixel unit of a photodetector.
- 根据权利要求5所述的环境光去噪方法,其特征在于,所述预定像素单元为光电探测器的两个或两个以上像素单元。The ambient light denoising method according to claim 5, wherein the predetermined pixel unit is two or more pixel units of a photodetector.
- 根据权利要求4所述的环境光去噪方法,其特征在于,所述光电探测器为单光子雪崩二极管芯片。The ambient light denoising method according to claim 4, wherein the photodetector is a single photon avalanche diode chip.
- 一种用于激光雷达系统的环境光去噪方法,该方法包括:An ambient light denoising method for a laser radar system, the method comprising:获取光电探测器的每个像素单元在激光器向探测区域发射激光脉冲过程的预设时段内发生的光激发信号总量;和Obtaining the total amount of optical excitation signals generated by each pixel unit of the photodetector within a preset period of time during which the laser emits laser pulses to the detection area; and比较所述光激发信号总量与噪点阈值表,确定每个像素单元的环境光噪点阈值,其中所述噪点阈值表包括多个阈值,每个阈值具有预设的光激发信号数量。Comparing the total amount of optical excitation signals with the noise threshold table to determine the ambient light noise threshold of each pixel unit, wherein the noise threshold table includes multiple thresholds, and each threshold has a preset amount of optical excitation signals.
- 根据权利要求10所述的环境光去噪方法,其特征在于,所述每个像素单元的光激发信号总量的获取包括:The ambient light denoising method according to claim 10, wherein the acquisition of the total amount of optical excitation signals of each pixel unit comprises:设置所述预设时段由多个时间序列组成,每个时间序列包括多个时间单元;The preset time period is set to be composed of multiple time series, and each time series includes multiple time units;对每个像素单元在每个时间单元的光激发信号输出进行记录并统计得到光激发信号总量。The optical excitation signal output of each pixel unit in each time unit is recorded and counted to obtain the total amount of optical excitation signal.
- 根据权利要求11所述的环境光去噪方法,其特征在于,连续的两个 时间序列之间存在序列时间间隔。Ambient light denoising method according to claim 11, characterized in that there is a sequence time interval between two continuous time series.
- 根据权利要求10所述的环境光去噪方法,其特征在于,所述光电探测器为单光子雪崩二极管芯片。The ambient light denoising method according to claim 10, wherein the photodetector is a single photon avalanche diode chip.
- 根据权利要求10所述的环境光去噪方法,其特征在于,所述像素单元为所述光电探测器的单个像素。The ambient light denoising method according to claim 10, wherein the pixel unit is a single pixel of the photodetector.
- 根据权利要求10所述的环境光去噪方法,其特征在于,所述像素单元为所述光电探测器的两个或两个以上像素。The ambient light denoising method according to claim 10, wherein the pixel unit is two or more pixels of the photodetector.
- 一种激光雷达系统,包括:A lidar system comprising:激光器,其被设置为向探测区域发射激光脉冲;a laser configured to emit laser pulses into the detection area;光电探测器,其被设置为在接收到光子信号时发生光激发信号;a photodetector configured to generate a photoexcitation signal upon receipt of a photon signal;采集器,其被设置为统计在预设时段内光电探测器的每个像素单元发生的光激发信号总量;a collector, which is configured to count the total amount of light excitation signals generated by each pixel unit of the photodetector within a preset period of time;比较器,其被设置为接收所述光激发信号总量并与噪点阈值表比较,以确定环境光噪点阈值,其中所述噪点阈值表包括多个阈值,每个阈值具有预设的光激发信号数量。a comparator configured to receive the total amount of the optical excitation signal and compare it with a noise threshold table to determine the ambient light noise threshold, wherein the noise threshold table includes a plurality of thresholds, each threshold having a preset optical excitation signal quantity.
- 根据权利要求16所述的激光雷达系统,其特征在于,所述采集器被进一步设置为:The laser radar system according to claim 16, wherein the collector is further configured as:记录所述预设时段,其中该预设时段由多个时间序列组成,每个时间序列包括多个时间单元;Recording the preset period of time, wherein the preset period of time is composed of multiple time series, and each time series includes multiple time units;记录每个像素单元在每个时间单元的光激发信号输出并统计得到光激发信号总量。The optical excitation signal output of each pixel unit in each time unit is recorded and the total amount of optical excitation signal is obtained by statistics.
- 根据权利要求16所述的激光雷达系统,其特征在于,所述光电探测 器的像素单元为光电探测器的单个像素。The lidar system according to claim 16, wherein the pixel unit of the photodetector is a single pixel of the photodetector.
- 根据权利要求16所述的激光雷达系统,其特征在于,所述光电探测器的像素单元为光电探测器的两个或两个以上像素。The lidar system according to claim 16, wherein the pixel unit of the photodetector is two or more pixels of the photodetector.
- 一种电子设备,包括:至少一个处理器以及与所述至少一个处理器通信连接的存储器,该存储器存储有可被所述至少一个处理器执行的指令,其特征在于,所述指令被所述至少一个处理器执行以执行权利要求1-15中任一项所述的方法。An electronic device, comprising: at least one processor and a memory communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, wherein the instructions are executed by the At least one processor is executed to perform the method of any one of claims 1-15.
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