WO2023133964A1 - Système radar laser et procédé de débruitage de lumière ambiante associé - Google Patents

Système radar laser et procédé de débruitage de lumière ambiante associé Download PDF

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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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pixel unit
ambient light
photodetector
time
optical excitation
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PCT/CN2022/076490
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English (en)
Chinese (zh)
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常健忠
寿翔
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杭州宏景智驾科技有限公司
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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
    • 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
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un procédé de débruitage de lumière ambiante pour un système radar laser, le système radar laser et un dispositif électronique. Le procédé consiste : à émettre une impulsion laser vers une région de détection (S101) ; à détecter le nombre de signaux d'excitation de lumière générés par chaque unité de pixel (42) d'un détecteur photoélectrique (4) dans une période de temps prédéterminée de l'impulsion laser émise (S102) ; et à déterminer un seuil de bruit de lumière ambiante de chaque unité de pixel (42) en fonction du nombre détecté de signaux d'excitation de lumière (S103).
PCT/CN2022/076490 2022-01-13 2022-02-16 Système radar laser et procédé de débruitage de lumière ambiante associé WO2023133964A1 (fr)

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CN202210034793.3A CN114594494B (zh) 2022-01-13 2022-01-13 激光雷达系统及其环境光去噪方法
CN202210034793.3 2022-01-13

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