WO2023185227A1 - 激光雷达的探测方法、计算机存储介质以及激光雷达 - Google Patents

激光雷达的探测方法、计算机存储介质以及激光雷达 Download PDF

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WO2023185227A1
WO2023185227A1 PCT/CN2023/073368 CN2023073368W WO2023185227A1 WO 2023185227 A1 WO2023185227 A1 WO 2023185227A1 CN 2023073368 W CN2023073368 W CN 2023073368W WO 2023185227 A1 WO2023185227 A1 WO 2023185227A1
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Prior art keywords
detection
pulse
channel
sequence
laser
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PCT/CN2023/073368
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English (en)
French (fr)
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梁峰
向少卿
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上海禾赛科技有限公司
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Publication of WO2023185227A1 publication Critical patent/WO2023185227A1/zh

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Classifications

    • 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
    • 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
    • G01S17/04—Systems determining the presence of a target
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates

Definitions

  • the present disclosure relates to the field of photoelectric detection technology, and in particular to a laser radar detection method, a computer storage medium and a laser radar.
  • Lidar as a three-dimensional measurement system, achieves three-dimensional measurement coverage of the measurement area through collected point clouds.
  • the lidar based on the Time of Flight (ToF) ranging method calculates the distance of the object based on the time difference between transmitting the detection pulse and receiving the echo reflected by the object.
  • ToF Time of Flight
  • FIG. 1 shows a schematic diagram of the signal crosstalk between channels in a laser radar.
  • the laser radar belongs to the side-axis optical path, and the laser of channel A emits light.
  • the light spot shifts.
  • channel B also receives a strong echo, and most of the echo spot may even hit the channel. B, then channel B processes the echo based on it, and it will mistakenly think that its own channel has detected a real object. Therefore, for channel B, this part of the energy is crosstalk.
  • FIG. 2 shows a schematic diagram of signal interference between two different lidars.
  • a detection pulse emitted by a certain channel of radar A enters radar B through direct or reflection.
  • a certain channel of radar B that is, the channel of radar B detects the detection pulse of radar A or its echo, thus causing interference to radar B.
  • FIG. 3 shows a schematic diagram of lidar over-decoding:
  • Channel A uses double-pulse encoding to transmit.
  • Channel A receives the echo pulse of the double-pulse reflected by the object, but there are still four crosstalk pulses and two interference pulses, the greater the number of pulses, the easier it is to It is a combination of decoding, that is, when identifying the echo pulse according to the encoding interval, not only the real echo pulse sent by channel A that is reflected back after the pulse encounters the object is identified, but also a crosstalk pulse that conforms to the encoding interval.
  • an interference pulse is also treated as an echo pulse, thus forming noise points, that is, points that do not correspond to the real object. Therefore, it is necessary to improve the radar's ability to resist crosstalk interference, thereby improving the accuracy of radar detection.
  • the content in the background art section only discloses technologies known to the inventor, and does not necessarily represent the prior art in the field.
  • the present invention relates to a detection method of lidar.
  • the lidar includes a plurality of detection channels, each detection channel includes at least one laser and at least one detector, wherein each detection channel
  • the laser of the channel is configured to emit a sequence including at least one detection pulse
  • the detection method includes:
  • S12 Dynamically adjust the coding of the detection pulse sequence of the detection channel according to the result of the judgment
  • S14 Receive the echo of the detection pulse reflected by the object, and obtain information about the object based on the echo.
  • step S11 includes: predicting whether there is an object within the first distance based on one or more of the following information:
  • the step S12 includes: according to the result of the judgment, adjusting one or more of the power of the detection pulses in the detection pulse sequence or the pulse interval or the number of the detection pulses sent by the laser of the detection channel. items are coded.
  • step S12 further includes: when there is an object within the first distance, increasing the number of detection pulses in the sequence and reducing the power of at least one detection pulse. Rate.
  • step S12 further includes: when there is no object within the first distance, reducing the number of detection pulses in the sequence or using a single detection pulse, and increasing at least one of the detection pulses in the sequence. Detect the power of the pulse.
  • the total optical power of the sequence of detection channels or the total electrical power consumption of the detection channels is below a threshold.
  • the total optical power of the sequence of one detection channel is substantially equal, or the total optical power of the sequence of each detection channel of the lidar is substantially equal.
  • the total electrical power consumption of one detection channel is substantially equal, or the total electrical power consumption of each detection channel of the lidar is substantially equal.
  • the invention also relates to a computer storage medium comprising computer executable instructions stored thereon, which when executed by a processor implement the detection method as described above.
  • the invention also relates to a laser radar, including:
  • a plurality of lasers configured to emit a sequence of detection pulses
  • a plurality of detectors configured to receive echoes reflected by the target object, wherein the plurality of lasers and the plurality of detectors constitute a plurality of detection channels, each detection channel includes at least one laser and at least one detector, each The lasers of the detection channels are configured to emit a sequence including at least one detection pulse;
  • control device is connected to the plurality of lasers and the plurality of detectors, and the control device is configured to:
  • the laser that controls the detection channel emits detection pulses according to the code
  • the echo of the detection pulse reflected by the object is received, and the information of the object is obtained based on the echo.
  • control device is further configured to: according to the following information One or more of, predict whether there is an object within the first detection distance:
  • control device is further configured to: based on the result of the judgment, control one of the power of the detection pulses in the detection pulse sequence or the pulse interval or the number of the detection pulses sent by the laser of the detection channel. or multiple items to be coded.
  • control device is further configured to: increase the number of detection pulses in the sequence and reduce the power of at least one detection pulse when there is an object within the first distance.
  • control device is further configured to: when there is no object within the first distance, reduce the number of detection pulses in the sequence or use a single detection pulse, and increase the number of detection pulses in the sequence at least The power of a detection pulse.
  • the total optical power of the sequence of detection channels or the total electrical power consumption of the detection channels is below a threshold.
  • the total optical power of the sequence of one detection channel is substantially equal, or the total optical power of the sequence of each detection channel of the lidar is substantially equal.
  • the total electrical power consumption of one detection channel is substantially equal, or the total electrical power consumption of each detection channel of the lidar is substantially equal.
  • the present invention predicts whether there is an object within a short range of the current detection, and dynamically adjusts the encoding of the detection pulse sequence while the total optical power or total electrical power consumption remains unchanged, thereby taking into account the resistance to crosstalk interference. capabilities and telemetry capabilities.
  • Figure 1 shows a schematic diagram of signal crosstalk between lidar channels
  • Figure 2 shows a schematic diagram of signal interference between lidar
  • Figure 3 shows a schematic diagram of lidar over-decoding
  • Figure 4 shows a flow chart of a lidar detection method according to an embodiment of the present invention
  • Figure 5 shows a schematic diagram of the arrangement of laser radar detection channels according to one embodiment of the present invention
  • Figure 6 shows a schematic diagram of different detection angles according to an embodiment of the present invention.
  • Figure 7 shows a schematic diagram of the laser radar using three-pulse coding to transmit the detection beam and receive the echo
  • Figures 8A-8C show schematic diagrams of lidar adjustment detection pulse coding according to an embodiment of the present invention.
  • Figure 9 shows a flow chart of a lidar detection method according to another embodiment of the present invention.
  • Figure 10 shows a schematic structural diagram of a laser radar according to an embodiment of the present invention.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, features defined as “first” and “second” may explicitly or implicitly include one or more of the described features. In the description of the present invention, “plurality” means two or more than two, unless otherwise clearly and specifically limited.
  • connection should be understood in a broad sense.
  • it can be a fixed connection or a detachable connection.
  • Connected, or integrally connected it can be mechanically connected, electrically connected or capable of communicating with each other; It can be a direct connection or an indirect connection through an intermediary. It can be an internal connection between two elements or an interaction between two elements.
  • a first feature “on” or “below” a second feature may include the first and second features being in direct contact, or may include the first and second features. Not in direct contact but through additional characteristic contact between them.
  • the terms “above”, “above” and “above” the first feature “above” the second feature include the first feature being directly above and diagonally above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “below” and “beneath” the first feature of the second feature includes the first feature being directly above and diagonally above the second feature, or simply means that the first feature is less horizontally than the second feature.
  • the invention provides a detection method of lidar.
  • the lidar includes multiple lasers and multiple detectors. These transceiver devices constitute multiple detection channels. Each detection channel covers a certain sub-field of view range. All detection channels share a common constitutes the radar's field of view. , in which the laser of each detection channel can emit multiple pulses or a single pulse.
  • the preset comparison in the direction of the channel can be predicted based on the previous detection results. Whether there is an object within a close range, and based on the judgment result, dynamically adjust the encoding of the detection pulse sequence of the detection channel to perform this ranging.
  • the complexity of the encoding will be increased.
  • the power of the pulse is increased, so that the radar's distance measurement performance and anti-interference and crosstalk capabilities can be taken into consideration.
  • Figure 4 shows a flow chart of the detection method of the lidar according to one embodiment of the present invention.
  • Figure 5 shows a schematic diagram of the laser arrangement of the lidar according to one embodiment of the present invention.
  • the lidar 20 may include 64
  • the lasers are respectively lasers 11, 12, 13, ..., etc. These lasers and corresponding detectors can form multiple detection channels, commonly known as radar wire harnesses, such as wire harness 1-wire beam 40.
  • the laser emitted by each laser after passing through the transmitting lens group, exits from the radar in different directions. For example, in Figure 5, the exit direction of line beam 1 is +7°, the exit direction of line beam 40 is -16°, and the exit direction of line beam 12 is 0°.
  • the laser of each channel and the detector of the same channel share a common sub-field of view.
  • the corresponding detector can receive the echo of the detection pulse that is reflected by an external object and then returns to the radar, and further obtains the distance and distance of the object based on the echo.
  • Reflectivity and other information so that the current position of the channel for detection can be completed (specifically, it can include horizontal and vertical positions.
  • the vertical position is the position parallel to the rotation axis of the radar, and the horizontal position can be the position perpendicular to the rotation axis of the radar. ) on a probe.
  • the detection process of sending and receiving is repeated at the next azimuth to obtain the detection result of the object at the next azimuth.
  • the point cloud information of the entire detection field of view of the radar can be formed to achieve three-dimensional detection of the surrounding environment.
  • each detection channel may include at least one laser and at least one detector.
  • the number of probe channels is the minimum number of addressable channels.
  • the laser and detector can be configured in a 1:1 configuration, that is, one laser and one detector form a detection channel. In this case, it can be considered that the number of lasers or detectors is the number of radar lines, as shown in Figure 5.
  • Each laser and each corresponding detector form a detection channel, so the concepts of laser, channel and line beam are consistent in this embodiment, and the laser 11 and the corresponding detector can be understood as forming the channel 11.
  • N max (NT, NR)
  • NT is the number of transmitting channels
  • NR is the number of receiving channels, that is, the number of lines or channels of the radar is the transmitter and receiver The smallest distinguishable unit in an end.
  • all radar lasers can be divided into four groups: Bank A, Bank B, Bank C and Bank D.
  • group Bank A includes all 1x labeled lasers
  • x is a positive integer, such as laser 11, laser 12, laser 13, etc.
  • Group Bank B includes all 2x labeled lasers, such as laser 21, laser 22, laser 23, etc.
  • group Bank C includes all 3x labeled lasers, such as laser 31, laser 32, laser 33, etc.
  • Group Bank D includes all 4x labeled lasers, such as laser 41, laser 42, laser 43, etc.
  • the channels for detection in the same batch are relatively far apart physically.
  • the channels for parallel detection in the first batch can be laser 11, laser 21, laser 31, and laser 41, and the channels for parallel detection in the second batch can be selected.
  • Laser 14, laser 24, laser 34, and laser 44 can be selected.
  • the lasers in the same group choose to emit light at different times, they can be driven by the same drive unit, thereby reducing the number of drive units, reducing the power consumption of the entire radar machine, and also reducing the size of the entire machine. .
  • the laser of each detection channel is configured to emit a sequence including at least one detection pulse when performing a detection (generating a point in the point cloud), that is, each laser can emit a single pulse or multiple pulses.
  • the detection method 10 includes steps S11-S14, specifically as follows:
  • step S11 based on the previous detection results, it is predicted whether there is an object within a first distance; where the first distance is not greater than one-tenth of the maximum detectable distance of the lidar 20 .
  • the medium and short range that is, the first distance
  • the first distance not only considers the scenario in which crosstalk occurs, but also considers the optical power and radar electrical power consumption that are safe for human eyes. The following article will discuss optical power and electrical power consumption. will be described further.
  • step S11 includes: predicting whether there is an object within the first distance based on one or more of the following information:
  • the detection results of previous detection channels that are adjacent in time or space to the detection channel are adjacent in time or space to the detection channel.
  • whether there is an object at the current moment is predicted based on the ranging results at the previous moment of each detection channel.
  • the detection channel 12 in Figure 5 detects an object in the direction detected at time T1, and the object is located within the first distance.
  • the object is relatively continuous (the size of the object is generally much larger than that of the radar continuous (resolvable interval between two detections), it can be predicted that the detection channel 12 can also detect the object within the first distance at time T2.
  • the previous time may include one or more time at which detection has been completed before the current time.
  • the detection channel can be simply based on the detection results of this channel in the previous horizontal direction, or it can be based on adjacent channels in the vertical direction.
  • detection channel 13 can be based on the detection results of adjacent detection channels 11 and 12. ;
  • the lasers of the four channels of detection channels 12, 22, 32, and 42 emit light in parallel, and then the lasers of channels 13, 23, 33, and 43 emit light in parallel. The lasers of the four channels emit light in parallel.
  • the lasers of the four channels of channels 14, 24, 34 and 44 emit light in parallel.
  • the channels that are physically as far apart as possible emit light in parallel to reduce the possibility of crosstalk.
  • channel 12 Whether there is an object within the first distance can be predicted based on the detection results of adjacent detection channels 22 in light emission timing.
  • the category of the object can be determined based on the point cloud and object recognition, and then based on the type, size and speed of the object, it can be predicted whether the detection channel 12 will detect the object within the first distance of the horizontal orientation ⁇ i+1 object.
  • the previous time may include one or more time at which detection has been completed before the current time.
  • Adjacent channels may include channels adjacent to the channel in a group of channels emitting parallel light or adjacent channels in layout.
  • the detection angle is, for example, a horizontal angle, that is, the angle range that the radar can detect in the horizontal direction. For example, if a mechanical laser radar rotates once for 360°, then the horizontal field of view range is 360°.
  • the angle between two adjacent points on the plane perpendicular to the rotation axis is the horizontal angular resolution.
  • the horizontal angular resolution is 0.1°, as shown in Figure 6, the horizontal angle ⁇ i -2 is 0°, the horizontal angle ⁇ i-1 is 0.1°, and the horizontal angle ⁇ i is 0.2°.
  • the horizontal angles between adjacent points in the point cloud can also be set non-uniformly.
  • the horizontal angle ⁇ i+2 is 0°
  • the horizontal angle ⁇ i+1 is 0.3°
  • the horizontal angle ⁇ i is 0.2°.
  • the previous ranging results are combined to predict the ranging results of the detection pulse to be sent. , based on the prediction result, determine whether there is an object within the first distance at the current moment.
  • the above embodiments illustrate how to predict whether there is an object within the first distance based on the previous detection results. The following steps will further process based on the judgment results.
  • step S12 the encoding of the detection pulse sequence of the detection channel is dynamically adjusted according to the judgment result.
  • Figure 7 shows a schematic diagram of the lidar using three-pulse coding to transmit the detection beam and receive the echo.
  • Channel A emits a three-pulse coding detection pulse sequence, receives the returned echo and decodes it: find from all received pulses
  • the coding characteristics (in Figure 7, the pulse interval is used for coding) are consistent with the pulse group of the transmitted detection pulse interval, thereby ensuring that the received pulse is emitted by its own channel, and the interference pulses from other channels or other radars are encoded The features do not match and cannot be decoded. Comparing Figure 3, we can see that using the encoding method in Figure 7 can reduce interference to a certain extent and avoid the formation of interference noise.
  • the solution in this application can reasonably set the pulse coding rules based on the pre-judgment results to balance the anti-crosstalk interference ability and distance measurement ability of the entire radar.
  • the echoes received by the detection channels are relatively strong, and crosstalk is more likely to occur between detection channels; at long distances, the intensity of the echo itself is not high, and relatively speaking, the detection channels are relatively insular. Crosstalk is prone to occur. Therefore, in order to improve the anti-crosstalk and anti-interference capabilities at medium and short distances, the inventor conceived the idea of using different coded detection pulse sequences based on the judgment results.
  • the encoding of the detection pulses can be more complicated, such as increasing the number of detection pulses, so the anti-interference ability of the radar can be improved; If there is an object, the encoding of detection pulses can be simplified, such as reducing the number of detection pulses and increasing the power of a single pulse, especially the pulse used for ranging, thereby improving the radar's range-finding capability.
  • step S12 includes: encoding one or more of the power of the detection pulse or the pulse interval or the number in the detection pulse sequence sent by the laser of the detection channel according to the judgment result.
  • the adjustment method includes: adjusting the power of the detection pulse in the detection pulse sequence, the interval between detection pulses, or Any one or more of the number of detection pulses.
  • FIG 8A shows a schematic diagram of the laser radar adjusting detection pulse coding according to an embodiment of the present invention.
  • the detection channel 13 is ready to detect in the direction of a horizontal angle of 0.1°. You can first check the detection situation in the direction of a horizontal angle of 0°: at a horizontal angle of 0 A double pulse is emitted in the ° direction to determine whether an object is detected within the first distance (for example, 3 meters) at a horizontal angle of 0°; if an object is detected at a position of 2.5 meters, adjust the For the encoding of pulses, taking the number of detection pulses as an example, the detection channel 13 can be adjusted to transmit 3 pulses and reduce the power of each single pulse, because the greater the number of encoding pulses, the stricter the decoding and the stronger the ability to resist crosstalk interference.
  • the detection channel 13 can also continue to emit double pulses at a horizontal angle of 0°, but adjust the time interval between the double pulses or adjust the power of the detection pulses to improve the ability to resist crosstalk interference.
  • the greater the number of detection pulses for pulse coding the stronger the anti-crosstalk and anti-interference capabilities, but the relatively weaker the distance measurement capability.
  • a larger number of detection pulses can be used, otherwise, a smaller number of detection pulses can be used.
  • a larger number of detection pulses and a smaller number of detection pulses must meet the requirements of distance measurement capability.
  • the range-finding capability of lidar may be limited by the total optical power, so if the total optical power is too large, there is a possibility of exceeding the eye-safe threshold.
  • step S12 further includes: when there is an object within the first distance, increasing the number of detection pulses in the sequence and reducing the power of at least one detection pulse.
  • the total optical power of the detection pulse sequence can be roughly equal to the total optical power that meets the human eye safety threshold.
  • the basic principle of human eye safety assessment for all time periods in the time base, at all assessment positions (including viewing distances) and in the eye focus state, the optical radiation entering the pupil does not exceed the achievable emission limit.
  • the detection channel 13 is ready to detect in the direction of a horizontal angle of 0.1°.
  • a double pulse is emitted in the direction of a horizontal angle of 0°, in which the optical power of pulse 1 is P1.
  • the optical power of pulse 2 is P2; confirm that the object is detected within the first distance at a horizontal angle of 0°, for example, 1.8 meters, then detect the object at a horizontal angle of 0.1°.
  • Measurement channel 13 is adjusted to emit 3 pulses, in which the optical power of pulse 1 ⁇ is P1 ⁇ , the optical power of pulse 2 ⁇ is P2 ⁇ , and the optical power of pulse 3 ⁇ is P3 ⁇ .
  • the optical power of pulse 1 ⁇ and pulse 2 ⁇ can be reduced, that is, the optical power P1 ⁇ P1, P2 ⁇ P2, so that the total optical power P1 ⁇ +P2 ⁇ +P3 ⁇ does not exceed the human eye safety threshold; also
  • the optical power of pulse 1' can be kept the same as that of pulse 1, the optical power of pulse 2' can be reduced, and pulse 3' can be emitted with a smaller power, so that the total optical power does not exceed the human eye safety threshold.
  • step S12 further includes: when there is no object within the first distance, reducing the number of detection pulses in the sequence or using a single detection pulse, and increasing the power of at least one detection pulse in the sequence.
  • the detection channel 13 is ready to detect in the direction of a horizontal angle of 0.1°.
  • a double pulse is emitted in the direction of a horizontal angle of 0°, in which the optical power of pulse 1 is P1.
  • the optical power of pulse 2 is P2; confirm that no object is detected within the first distance at a horizontal angle of 0°, for example, within 3 meters, then adjust the detection channel 13 to emit a single pulse in the direction of a horizontal angle of 0.1°.
  • the optical power of pulse 1 ⁇ is increased to P1 ⁇ , and the optical power P ⁇ meets the threshold requirements for human eye safety.
  • FIG. 8B another way of adjusting the pulse encoding is shown.
  • the detection channel 13 is ready to detect in the direction of a horizontal angle of 0.2°.
  • the power is P1
  • receive the echo and confirm that an object is detected within the first distance at a horizontal angle of 0°, for example, within 2.5 meters.
  • the detection channel 13 can be adjusted to transmit 3 pulses, in which the power of pulse 1 is P1 ⁇ , the power of pulse 2 is P2 ⁇ , and the power of pulse 3 is P3> P1, pulse 3 is used as the ranging pulse.
  • This encoding adjustment method because the pulse power used in the previous horizontal orientation is low, increases the power of the ranging pulse after the current orientation is adjusted, so it can maintain low power consumption. At the same time, it has better anti-interference and crosstalk capabilities.
  • the detection channel 13 can be adjusted to emit two pulses, where the power of pulse 1 is P1" and the power of pulse 2 is P2".
  • FIG. 8C Another way of adjusting the pulse encoding is shown with reference to Figure 8C.
  • the detection channel 13 is ready to detect in the direction of a horizontal angle of 0.1°.
  • 3 pulses were emitted at a horizontal angle of 0°, of which the optical power of pulse 1 was P1', the optical power of pulse 2 was P2', and the optical power of pulse 3 was P3.
  • the optical power was at a horizontal angle of 0 No object is detected within the first distance on °, for example, within 3 meters.
  • the detection channel 13 can be adjusted to emit double pulses, and at the same time, the optical power of the ranging pulse 2 is increased to P2.
  • the detection channel 13 can also be adjusted to emit a single pulse. This single pulse has a large optical power P1”>P2, so the source capability of the complete radar can be improved.
  • the above embodiments specifically illustrate that based on the judgment result of whether an object exists, the encoding of the detection pulse sequence can be dynamically adjusted to achieve a balance between the anti-crosstalk interference capability and the distance measurement capability.
  • the lidar can store some detection pulse sequence coding information in advance, and the detection pulse sequence coding information can include the mapping relationship between distance and reflectivity and coding. Then, by judging the distance and reflectivity information of the object detected by the detection channel, an appropriate code is selected from the pre-stored detection pulse sequence. In a specific implementation, for example, different double pulses, three pulses, or five pulses are stored in advance. Different codes are suitable for different application scenarios. According to the detection results, an optimal detection pulse sequence code is selected.
  • the total optical power W to ensure human eye safety is one of the factors that limits the distance measurement capability of lidar
  • the total electrical power consumption W of lidar is also one of the factors.
  • the more coded pulses N emitted by the radar, the less energy P N allocated to each pulse will satisfy the following relationship:
  • N ⁇ P N min (W light , W electricity )
  • the ultimate ranging or telemetry capability of radar (the farthest distance that radar can detect) is positively related to the light intensity P N of each pulse or pulse used for ranging, so each pulse or distance measured The greater the light intensity P N of the pulse at a distance, the stronger the radar's distance measurement capability. Therefore, under the constraints of the total optical power W (optical) and the total power consumption W ( electrical) , it can be seen that the ability to resist crosstalk interference and the distance measurement capability are in an opposite and balanced relationship with each other. Specifically, the greater the number N of coding pulses, the stronger the anti-crosstalk interference capability, but the weaker the distance measurement capability; the smaller the number N of coding pulses, the weaker the anti-crosstalk interference capability, but the stronger the distance measurement capability.
  • the total optical power of the sequence of detection channels is W light or detector
  • the total electrical power consumption of the measured channel W is lower than the threshold.
  • the detection channel 13 emits a double pulse in the direction of a horizontal angle of 0°, in which the optical power of pulse 1 is P1 and the optical power of pulse 2 is P2; within the first distance, for example, 2.5 meters, the object is detected. , it is predicted that the detection channel 13 at the horizontal angle of 0.1° will also detect the object.
  • the total optical power of a sequence of one detection channel is substantially equal, or the total optical power of each sequence of detection channels of the lidar 20 is substantially equal.
  • the total optical power of the detection channel can be kept basically equal during each detection and roughly equal to the human eye safety threshold; or the total optical power of each detection channel can be kept basically equal to the human eye safety threshold during each detection. equal, and approximately equal to the human eye safety threshold.
  • the total electrical power consumption of one detection channel is substantially equal, or the total electrical power consumption of each detection channel of the lidar 20 is substantially equal.
  • the total electrical power consumption of the detection channel can be kept basically equal during each detection and roughly equal to the heat dissipation limit threshold of the radar; or the total electrical power consumption of each detection channel can be kept equal during each detection.
  • the power consumption remains basically equal and roughly equal to the radar’s heat dissipation limit threshold.
  • step S13 the laser of the detection channel is controlled to emit detection pulses according to the code.
  • step S14 the echo of the detection pulse reflected by the object is received, and the information of the object is obtained based on the echo.
  • a channel is ready for detection, and it is checked whether the last detection of the channel was at a medium or close range. There is an echo. If there is an echo, that is, an object is detected at a medium or close distance, then it is predicted that this detection will receive an echo (the object will be detected), so set a higher number of coding pulses and a lower value. Single pulse luminous intensity; if there is no echo, it is predicted that this detection will not receive an echo (no object will be detected), then set a smaller number of coded pulses and set a higher single pulse luminous intensity.
  • the present invention can predict the detection based on multiple previous detection results of a detection channel, or detection results of multiple detection channels adjacent to the detection channel, or multiple detection results of multiple detection channels adjacent to the detection channel. Whether the channel detects an object in a medium or short range, the encoding of the detection pulse sequence is dynamically adjusted while the total optical power or total electrical power consumption remains unchanged, thus taking into account both the anti-crosstalk interference capability and the distance measurement capability.
  • the invention also relates to a computer storage medium comprising computer-executable instructions stored thereon, which when executed by a processor implement the detection method 10 as described above.
  • the present invention also relates to a laser radar 20, as shown in Figure 10, including:
  • a plurality of lasers 21 configured to emit a sequence of detection pulses
  • a plurality of detectors 22 are configured to receive echoes reflected by the target object, wherein the plurality of lasers 21 and the plurality of detectors 22 constitute a plurality of detection channels, and each detection channel includes at least one laser 21 and at least one a detector 22, the laser 21 of each detection channel being configured to emit a sequence comprising at least one detection pulse; and
  • control device (not shown), the control device is connected to the plurality of lasers 21 and the plurality of detectors 22, and the control device is configured to:
  • the laser 21 that controls the detection channel emits detection pulses according to the code
  • the echo of the detection pulse reflected by the object is received, and the information of the object is obtained based on the echo.
  • control device 23 is further configured to: predict whether there is an object within the first detection distance based on one or more of the following information:
  • control device 23 is further configured to: according to the result of the judgment, adjust the power or pulse interval or number of the detection pulses in the detection pulse sequence sent by the laser 21 of the detection channel. One or more of them are coded.
  • control device is further configured to: when there is an object within the first distance, increase the number of detection pulses in the sequence and reduce the power of at least one detection pulse.
  • control device is further configured to: when there is no object within the first distance, reduce the number of detection pulses in the sequence or use a single detection pulse, and increase the number of detection pulses in the sequence.
  • the total optical power of the sequence of detection channels or the total electrical power consumption of the detection channels is below a threshold.
  • the total optical power of the sequence of one detection channel is substantially equal, or the total optical power of the sequence of each detection channel of the lidar 20 is substantially equal.
  • the total electrical power consumption of one detection channel is substantially equal, or the total electrical power consumption of each detection channel of the lidar 20 is substantially equal.
  • the present invention predicts whether there is an object within a medium or short range, and dynamically adjusts the encoding of the detection pulse sequence while the total optical power or total electrical power consumption remains unchanged, thus taking into account both the ability to resist crosstalk interference and the ability to detect far ability.

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Abstract

本发明提供一种激光雷达的探测方法，激光雷达包括多个探测通道，每个探测通道包括至少一个激光器和至少一个探测器，其中每个探测通道的激光器配置成发射包括至少一个探测脉冲的序列，探测方法包括：S11：根据之前的探测结果，预判第一距离内是否存在物体；其中，第一距离不大于激光雷达最大可探测距离的十分之一；S12：根据判断的结果，动态调整探测通道的探测脉冲序列的编码；S13：控制探测通道的激光器按照所述编码发射探测脉冲；S14：接收探测脉冲经物体反射的回波，并根据所述回波得到物体的信息。本发明通过分析之前的探测结果，预判中近距离是否继续探测到物体，动态调整探测脉冲序列的编码，从而兼顾测远能力和抗干扰能力。

Description

激光雷达的探测方法、计算机存储介质以及激光雷达 技术领域
本公开涉及光电探测技术领域，尤其涉及一种激光雷达的探测方法、一种计算机存储介质以及一种激光雷达。
背景技术
激光雷达作为一种三维测量系统，通过采集的点云实现对测量区域的三维测量覆盖。基于飞行时间法(Time of Flight，ToF)测距的激光雷达，具体是根据发射探测脉冲和接收物体反射的回波的时间差，计算得到物体的距离。
对于高线束高分辨率雷达，可以采用多个通道同时发光、同时接收的方式进行扫描探测，这时候就会有串扰问题。串扰是同一台雷达不同通道之间的信号干扰，图1示出了一种激光雷达发生通道之间信号串扰的情况的示意图，在图1中，激光雷达属于旁轴光路，通道A的激光器发光进行探测，遇到相对近距离的物体后反射，光斑发生偏移，除了入射到通道A的探测器外，通道B也接收到很强的回波，甚至可能大部分回波光斑都打到通道B，则通道B根据回波进行处理，则会误认为自己通道探测到真实的物体。因此，对通道B来讲，该部分能量即为串扰。
此外，不同雷达之间也会形成信号干扰，图2示出了2个不同激光雷达之间信号干扰的示意图，例如，A雷达的某通道发出的探测脉冲，通过直射或者反射的方式进入B雷达的某通道，亦即B雷达的该通道探测到A雷达的探测脉冲或者其回波，从而形成对该B雷达的干扰。
当串扰或干扰发生的时候，会增加接收时间窗口内的脉冲数，容易出现过解码的脉冲组合。图3示出了激光雷达过解码的示意图：通道A采用双脉冲编码进行发射，通道A接收到双脉冲经过物体反射的回波脉冲，但是通道A的接收窗口内还有四个串扰脉冲和两个干扰脉冲，脉冲数越多，越容易出 现过解码的组合，亦即，根据编码间隔识别回波脉冲时，不仅识别到真正的由通道A所发的脉冲遇到物体后反射回来的回波脉冲，还将符合编码间隔的一个串扰脉冲和一个干扰脉冲也当做回波脉冲，从而形成了噪点，也即并非对应真实物体的点。因此，需要提高雷达的抗串扰干扰能力，从而提高雷达探测的精准度。背景技术部分的内容仅仅是公开发明人所知晓的技术，并不当然代表本领域的现有技术。
发明内容
有鉴于现有的一个或多个缺陷，本发明涉及一种激光雷达的探测方法，所述激光雷达包括多个探测通道，每个探测通道包括至少一个激光器和至少一个探测器，其中每个探测通道的激光器配置成发射包括至少一个探测脉冲的序列，所述探测方法包括：
S11：根据之前的探测结果，预判第一距离内是否存在物体；其中，所述第一距离不大于所述激光雷达最大可探测距离的十分之一；
S12：根据所述判断的结果，动态调整所述探测通道的探测脉冲序列的编码；
S13：控制所述探测通道的激光器按照所述编码发射探测脉冲；
S14：接收所述探测脉冲经物体反射的回波，并根据所述回波得到所述物体的信息。
根据本发明的一个方面，其中所述步骤S11包括：根据以下信息中的一个或多个，预判所述第一距离内是否存在物体：
所述探测通道之前的探测结果；
与所述探测通道在时间上或空间上邻近的探测通道之前的探测结果。
根据本发明的一个方面，其中所述步骤S12包括：根据所述判断的结果，对所述探测通道的激光器所发的探测脉冲序列中探测脉冲的功率或者脉冲间隔或数量中的一项或多项进行编码。
根据本发明的一个方面，其中所述步骤S12还包括：当所述第一距离内存在物体时，增加所述序列中探测脉冲的数量且降低至少一个探测脉冲的功 率。
根据本发明的一个方面，其中所述步骤S12还包括：当所述第一距离内不存在物体时，减少所述序列中探测脉冲的数量或者采用单个探测脉冲，且提高所述序列中至少一个探测脉冲的功率。
根据本发明的一个方面，其中所述探测通道的序列的总光功率或所述探测通道的总电功耗低于阈值。
根据本发明的一个方面，其中所述一个探测通道的序列的总光功率基本相等，或者所述激光雷达的每个探测通道的序列的总光功率基本相等。
根据本发明的一个方面，其中所述一个探测通道的总电功耗基本相等，或者所述激光雷达的每个探测通道的总电功耗基本相等。
本发明还涉及一种计算机存储介质，包括存储于其上的计算机可执行指令，所述可执行指令在被处理器执行时实施如上所述的探测方法。
本发明还涉及一种激光雷达，包括：
多个激光器，配置为发射探测脉冲的序列；
多个探测器，配置为接收经目标物反射的回波，其中所述多个激光器和所述多个探测器构成多个探测通道，每个探测通道包括至少一个激光器和至少一个探测器，每个探测通道的激光器配置成发射包括至少一个探测脉冲的序列；和
控制装置，所述控制装置与所述多个激光器和所述多个探测器连接，所述控制装置配置成：
根据之前的探测结果，预判第一距离内是否存在物体；其中，所述第一距离不大于所述激光雷达最大可探测距离的十分之一；
根据所述判断的结果，动态调整所述一个探测通道的探测脉冲的序列的编码；
控制所述探测通道的激光器按照所述编码发射探测脉冲；
接收所述探测脉冲经物体反射的回波，并根据所述回波得到所述物体的信息。
根据本发明的一个方面，其中所述控制装置还配置成：根据以下信息中 的一个或多个，预判所述第一探测距离内是否存在物体：
所述探测通道之前的探测结果；
与所述探测通道在时间上或空间上邻近的探测通道之前的探测结果。
根据本发明的一个方面，其中所述控制装置还配置成：根据所述判断的结果，对所述探测通道的激光器所发的探测脉冲序列中探测脉冲的功率或者脉冲间隔或数量中的一项或多项进行编码。
根据本发明的一个方面，其中所述控制装置还配置成：当所述第一距离内存在物体时，增加所述序列中探测脉冲的数量且降低至少一个探测脉冲的功率。
根据本发明的一个方面，其中所述控制装置还配置成：当所述第一距离内不存在物体时，减少所述序列中探测脉冲的数量或者采用单个探测脉冲，且提高所述序列中至少一个探测脉冲的功率。
根据本发明的一个方面，其中所述探测通道的序列的总光功率或所述探测通道的总电功耗低于阈值。
根据本发明的一个方面，其中所述一个探测通道的序列的总光功率基本相等，或者所述激光雷达的每个探测通道的序列的总光功率基本相等。
根据本发明的一个方面，其中所述一个探测通道的总电功耗基本相等，或者所述激光雷达的每个探测通道的总电功耗基本相等。
本发明通过分析之前的探测结果，预判当次探测中近距离内是否存在物体，在总光功率或总电功耗不变的情况下，动态调整探测脉冲序列的编码，从而兼顾抗串扰干扰能力和测远能力。
附图说明
构成本公开的一部分的附图用来提供对本公开的进一步理解，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1示出了激光雷达通道之间信号串扰的示意图；
图2示出了激光雷达之间信号干扰的示意图；
图3示出了激光雷达过解码的示意图；
图4示出了本发明一个实施例的激光雷达的探测方法流程图；
图5示出了本发明一个实施例的激光雷达探测通道排布示意图；
图6示出了本发明一个实施例的不同探测角度的示意图；
图7示出了激光雷达采用三脉冲编码发射探测光束以及接收回波的示意图；
图8A-8C示出了本发明实施例的激光雷达调整探测脉冲编码的示意图；
图9示出了本发明另一个实施例的激光雷达的探测方法流程图；
图10示出了本发明一个实施例的激光雷达结构示意图。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本发明的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
在本发明的描述中，需要理解的是，术语"中心"、"纵向"、"横向"、"长度"、"宽度"、"厚度"、"上"、"下"、"前"、"后"、"左"、"右"、"竖直"、"水平"、"顶"、"底"、"内"、"外"、"顺时针"、"逆时针"等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语"第一"、"第二"仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有"第一"、"第二"的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，"多个"的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语"安装"、"相连"、"连接"应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接:可以是机械连接，也可以是电连接或可以相互通讯； 可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之"上"或之"下"可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征"之上"、"上方"和"上面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征"之下"、"下方"和"下面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
本发明提供了一种激光雷达的探测方法，激光雷达包括多个激光器和多个探测器，这些收发器件构成多个探测通道，每个探测通道覆盖一定的子视场范围，所有的探测通道共同构成雷达的视场。，其中每个探测通道的激光器可以发射多脉冲，也可以发射单脉冲。在对每个水平子视场(垂直于雷达或者雷达中可转动部件的旋转轴的方向的视场)进行探测时，可以根据之前的探测结果，预判此次该通道方向上预设的比较近的距离范围内是否存在物体，并根据判断的结果，动态调整探测通道的探测脉冲序列的编码，进行此次的测距，比如当该近距离内存在物体时则提高编码的复杂度，当近距离不存在物体时则增大脉冲的功率，从而可以兼顾雷达的测远性能以及抗干扰串扰的能力。
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述 的优选实施例仅用于说明和解释本发明，并不用于限定本发明。
图4示出了本发明一个实施例的激光雷达的探测方法流程图，图5示出了本发明一个实施例的激光雷达的激光器的排布示意图，在图5中，激光雷达20可以包括64个激光器，分别为激光器11、12、13、……等，这些激光器与对应的探测器可以构成多个探测的通道，俗称雷达的线束，比如线束1-线束40。每个激光器发出的激光，经过发射透镜组后，从雷达出射时朝向不同的方向，比如图5中线束1出射方向为+7°，线束40出射方向为-16°，线束12的出射方向为0°。
另外，每一个通道的激光器和同一通道的探测器拥有共同的子视场。具体地，当某通道的激光器发出探测脉冲，相应的探测器则可以接收到该探测脉冲被外界物体反射后再回到雷达的回波，并进而根据该回波得到所述物体的如距离及反射率等信息，这样可以完成该探测的通道当前所处方位(具体可以包括水平方位以及垂直方位，垂直方位为与雷达的旋转轴平行的方位，水平方位可以为与雷达的旋转轴垂直的方位)上的一次探测。接着，再在下一个方位上重复该收发的探测过程，得到下一个方位上物体的探测结果，这样循环往复，就可以形成雷达整个探测视场的点云信息，实现对周围环境的三维探测。
需要说明的是，每个探测通道可以包括至少一个激光器和至少一个探测器。探测通道的数量是最小可寻址的通道的数目。激光器和探测器可以是1：1配置，也就是一个激光器和一个探测器构成一个探测通道，那么此种其情况可以认为激光器或者探测器的数目即是雷达的线数，如图5所示，每个激光器与对应的每个探测器构成一个探测通道，所以激光器、通道以及线束三者概念在此实施例中的一致的，激光器11与对应的探测器则可以理解为构成通道11。但也存在多个探测器共享一个激光器的情况，即激光器与探测器的数量比例为1：N，或者多个激光器共享1个探测器的情况，即探测器与激光器的数量比例为N:1，这两种情况的雷达整机线数或者通道数量N＝max(NT,NR)，NT为发射通道数，NR为接收通道数，也即雷达整机线数或者通道数量为发射端及接收端中的最小可被区分的单位。
继续参考图4和图5，雷达所有的激光器可以被分为四组：Bank A、Bank B、Bank C以及Bank D。其中，分组Bank A包括所有1x标号的激光器，x为正整数，如激光器11、激光器12、激光器13等，分组Bank B包括所有2x标号的激光器，如激光器21、激光器22、激光器23等，分组Bank C包括所有3x标号的激光器，如激光器31、激光器32、激光器33等，分组Bank D包括所有4x标号的激光器，如激光器41、激光器42、激光器43等。
为了降低串扰干扰，提高点云探测的精准度，对于多线束的雷达，在任一水平方位上进行探测时，所有进行探测的垂直通道可以分批次轮流探测，每批次探测部分的通道，安排在同一批次进行探测的通道在物理间隔上相对较远，比如第一批次并行做探测的通道可以选择为激光器11、激光器21、激光器31、激光器41，第二批次并行做探测的通道可以选择为激光器14、激光器24、激光器34、激光器44。并且，因为位于同一组的激光器选择不同的时间进行发光，因此可以采用同一个驱动单元进行驱动，从而可以减少驱动单元的数量，降低雷达整机的功耗的同时，还可以减少整机的体积。
另外，每个探测通道的激光器配置成进行一次探测(生成点云中的一个点)时发射包括至少一个探测脉冲的序列，也即每个激光器均可以发射单脉冲，也可以发射多脉冲。对于其中一次探测，所述探测方法10包括步骤S11-S14，具体如下：
在步骤S11根据之前的探测结果，预判第一距离内是否存在物体；其中，第一距离不大于激光雷达20最大可探测距离的十分之一。
当某个通道的回波很强时，对于与之在空间上邻近的通道而言，当前进行探测中的通道所产生的杂散光也足够强，从而形成对邻近通道的串扰。亦即，当回波足够强时，发生通道间串扰的概率较大，而一般情况下，当雷达打到中近距离的反射率较高的物体时，回波会非常强(在一定距离范围内，雷达的回波强度和距离的平方成反比)。因此，串扰较多地发生在存在中近距离物体的时候。在步骤S11中设定该中近距离，即第一距离，可以不大于激光雷达20最大可探测距离的十分之一。第一距离不仅考虑串扰发生的场景，还要考虑符合人眼安全的光功率以及雷达电功耗，关于光功率和电功耗后文 将进一步描述。
根据本发明的一个优选实施例，其中步骤S11包括：根据以下信息中的一个或多个，预判第一距离内是否存在物体：
探测通道之前的探测结果；
与探测通道在时间上或空间上邻近的探测通道之前的探测结果。
在一些实施例中，根据每个探测通道之前时刻的测距结果，预判当前时刻是否存在物体。例如，图5中的探测通道12,在T1时刻所探测的方位探测到物体，并且该物体位于第一距离内，根据该探测结果以及默认物体是相对连续的(物体的尺寸一般远大于雷达连续两次探测的可分辨间隔)，则可以预判探测通道12在T2时刻的第一距离内也能探测到物体。其中，之前时刻可以包括当前时刻之前的一个或多个已完成探测的时刻。
在另一些实施例中，根据每个探测通道和其邻近通道在之前时刻的探测结果，预测该通道在当前时刻是否能探测到物体。参考图5，探测通道可以单纯基于本通道在上一个水平方位上的探测结果，也可以基于垂直方向上的邻近通道，例如探测通道13可以基于相邻的探测通道11以及探测通道12的探测结果；又例如，基于邻近发光时序上的垂直通道，比如从发光时序上而言，探测通道12、22、32及42这4个通道的激光器并行发光，接着，通道13、23、33及43这4个通道的激光器并行发光，接着，通道14、24、34及44这4个通道的激光器并行发光，总归是物理上相隔尽量远的通道才并行发光，以降低串扰的可能性，则通道12可以基于发光时序上邻近的探测通道22的探测结果预判第一距离内是否存在物体。
在另一些实施例中，例如图5中的探测通道12，在水平方位θi没有探测到物体，但是其邻近的探测通道13和14在水平方位θi探测到了物体，并且该物体位于第一距离内，则可以根据点云和物体识别，判断物体的类别，并进而综合物体的类型、大小和速度，预判探测通道12在水平方位θi+1的第一距离内是否将探测到该物体。其中，之前时刻可以包括当前时刻之前的一个或多个已完成探测的时刻。邻近通道可以包括并行发光的一组通道中与该通道邻近的通道或者布局上邻近的通道。
在另一些实施例中，根据探测通道在多个探测角度下的探测结果，预测该通道在当前探测角度下是否能探测到物体。其中，所述探测角度例如为水平角度，亦即雷达在水平方向上可以探测的角度范围，例如机械式激光雷达旋转一周为360°，则水平视场范围为360°。雷达输出的点云图像中，与旋转轴垂直的面上相邻两个点之间的夹角为水平角分辨率，例如水平角分辨率为0.1°，如图6所示，水平角度θi-2为0°，水平角度θi-1为0.1°，水平角度θi为0.2°。在其它实施例中，点云中相邻点之间的水平夹角也可以非均匀设置，比如水平角度θi+2为0°，水平角度θi+1为0.3°，水平角度θi为0.2°。根据每个探测通道在相邻2次的水平角度θi-2及θi-1的探测结果，预测该通道在水平角度θi的第一距离内是否能探测到物体。例如图5中的探测通道12，在水平角度θi-2探测到物体，在水平角度θi-1也探测到物体，并且该物体位于第一距离之内，则预判探测通道12在水平角度θi的第一距离内也将探测到该物体。。
在另一些实施例中，结合物体识别(例如物体是否为静态物体、慢速物体或者快速移动的物体)以及距离预测等技术，综合之前的测距结果，预测待发出的探测脉冲的测距结果，基于该预测结果判断当前时刻的第一距离内是否存在物体。
以上通过实施例示例性的说明了如何基于之前的探测结果，预判第一距离内是否存在物体，以下步骤将基于判断结果进一步处理。
在步骤S12根据判断的结果，动态调整探测通道的探测脉冲序列的编码。
发明人经过研究发现，采用更多的编码脉冲可以一定程度上抑制串扰和干扰。图7示出了激光雷达采用三脉冲编码发射探测光束以及接收回波的示意图，通道A发射三脉冲编码的探测脉冲序列，接收到返回的回波并进行解码：从收到的所有脉冲中找到编码特征(在图7中，采用脉冲间隔进行编码)符合发射的探测脉冲间隔的脉冲组，从而保证收到的脉冲是自己通道发射出去的，而来自别的通道或者其它雷达的干扰脉冲因编码特征不匹配而无法被解码，对比图3看到，采用图7这种编码方式，可以一定程度降低干扰，避免形成干扰噪点。
由此可见，编码脉冲数越多，编码特征可以设置的更加复杂和独特，抗干扰和串扰能力越强。同时，编码脉冲数越多，由于总功率的限制，单个探测脉冲的功率可能越小，导致测远能力变弱。因此，本申请中的方案，可以根据预判的结果，合理地设置脉冲编码的规则，以平衡雷达整机的抗串扰干扰能力和测远能力。
在具体实施中，在中近距离，探测通道接收到的回波比较强，探测通道之间更容易发生串扰；在远距离，回波本身强度不高，相对来说，探测通道之间相对不容易发生串扰。因此，为了提高中近距离的抗串扰和抗干扰能力，发明人构思出，根据判断的结果，采用不同编码的探测脉冲序列。亦即，若在步骤S11判断第一距离内存在物体，则可以更复杂化探测脉冲的编码，比如增大探测脉冲的数量，故可以提升雷达的抗干扰能力；如果预判中近距离内不存在物体，则可以更简化探测脉冲的编码，比如减少探测脉冲的数量且提高单个脉冲，尤其是用于测距的脉冲的功率，从而可以提高雷达的测远能力。
根据本发明的一个优选实施例，其中步骤S12包括：根据判断的结果，对探测通道的激光器所发的探测脉冲序列中探测脉冲的功率或者脉冲间隔或数量中的一项或多项进行编码。
通过多脉冲编码技术可以抑制串扰和干扰，从而提高抗串扰和抗干扰的能力。因此，根据在第一距离内是否存在物体，对探测通道的激光器21所发射的探测脉冲序列的编码进行调整，调整方式包括：调整探测脉冲序列中探测脉冲的功率、探测脉冲之间的间隔或者探测脉冲的数量中的任一项或多项。
图8A示出了本发明一个实施例的激光雷达调整探测脉冲编码的示意图，探测通道13准备在水平角度0.1°方向进行探测，可以先查看在水平角度0°方向的探测情况：在水平角度0°方向发射了双脉冲，判断在水平角度0°上，在第一距离(例如3米)内是否有探测到物体；假如在2.5米位置探测到了物体，则在水平角度0.1°方向上，调整脉冲的编码，以调整探测脉冲的数量为例，探测通道13可以调整为发射3脉冲，且降低每单个脉冲的功率，因为越多的编码脉冲数，解码越严格，抗串扰干扰能力越强。
另外，由于第一距离为相对距离雷达比较近的距离，回波本身的强度很大，因此即使发射的每单个脉冲的功率被降低，仍可以对近距离障碍进行探测。其它探测通道可以同理调整，从而兼顾雷达的抗串扰干扰能力以及测距能力。在其它实施例中，探测通道13也可以在水平角度0°继续发射双脉冲，但是调整双脉冲之间的时间间隔，或者调整探测脉冲的功率，以实现提高抗串扰干扰的能力。
以调整探测脉冲的数量为例，在总功率不变的情况下，进行脉冲编码的探测脉冲的数量越多，抗串扰和抗干扰的能力越强，但是测远能力相对越弱。为了平衡抗串扰干扰的能力和测远能力，在第一距离内存在物体时，可以采用较多数量的探测脉冲，否则，可以采用较少数量的探测脉冲。但是较多数量的探测脉冲和较少数量的探测脉冲都要满足测远能力的要求。例如，激光雷达的测远能力可能受限于总光功率，因此如果总光功率太大，存在超过人眼安全的阈值的可能性。为了保证总光功率满足人眼安全阈值的要求，激光雷达发射的探测脉冲的数量越多，每个探测脉冲分到的能量就会越少。通过调整探测脉冲的功率进行编码时，也要考虑总光功率满足人眼安全阈值的要求。
根据本发明的一个优选实施例，其中步骤S12还包括：当第一距离内存在物体时，增加序列中探测脉冲的数量且降低至少一个探测脉冲的功率。
通常来说，为了实现测远能力最大化，探测脉冲序列的总光功率可以大致等于满足人眼安全阈值的总光功率。人眼安全评估的基本原则：对时间基准中所有的时间段情况，在所有评估位置(包含观察距离)以及眼部聚焦状态下，进入到瞳孔中的光辐射均不超过可达发射极限。
为了提高抗串扰干扰能力又满足总光功率不超过阈值的要求，需要在增加序列中探测脉冲数量的同时，降低至少一个探测脉冲的功率。
继续参考图8A，探测通道13准备在水平角度0.1°方向进行探测，先查看在水平角度0°方向的探测情况：在水平角度0°方向发射了双脉冲，其中脉冲1的光功率为P1，脉冲2的光功率为P2；确认在水平角度0°上的第一距离内，例如1.8米位置，探测到了物体，则在水平角度0.1°方向上，探 测通道13调整为发射3脉冲，其中脉冲1`的光功率为P1`，脉冲2`的光功率为P2`，脉冲3`的光功率为P3`。可以通过降低脉冲1`和脉冲2`的光功率，亦即光功率P1`＜P1，P2`＜P2，以使得总光功率P1`+P2`+P3`不超过人眼安全的阈值；也可以保持脉冲1`的光功率与脉冲1的光功率相同，降低脉冲2`的光功率并以较小功率发射脉冲3`，从而使得总光功率不超过人眼安全的阈值。
根据本发明的一个优选实施例，其中步骤S12还包括：当第一距离内不存在物体时，减少序列中探测脉冲的数量或者采用单个探测脉冲，且提高序列中至少一个探测脉冲的功率。
继续参考图8A，探测通道13准备在水平角度0.1°方向进行探测，先查看在水平角度0°方向的探测结果：在水平角度0°方向发射了双脉冲，其中脉冲1的光功率为P1，脉冲2的光功率为P2；确认在水平角度0°上的第一距离内，例如3米位置内，没有探测到物体，则在水平角度0.1°方向上，探测通道13调整为发射单个脉冲，同时提高脉冲1``的光功率至P1``，并且光功率P``满足人眼安全的阈值要求。
参考图8B，示出了另一种调整脉冲编码的方式。如图8B所示，探测通道13准备在水平角度0.2°方向进行探测，先查看在水平角度0°方向的探测结果：在水平角度0°方向发射了很小的单脉冲，其中脉冲1的光功率为P1，接收回波，确认在水平角度0°上的第一距离内，例如2.5米位置内，有探测到物体。则在水平角度0.2°方向上，如左部分附图所示，探测通道13可以调整为发射3个脉冲，其中脉冲1的功率为P1`,脉冲2功率为P2`,脉冲3功率为P3＞P1,采用脉冲3作为测距脉冲，这种编码调整方式，因为在上一个水平方位所采用的脉冲功率较低，在当前方位调整后提高测距脉冲的功率，因此可以在维持较低功耗的同时，拥有较好的抗干扰串扰能力。在另一实施例中，如右部分附图所示，探测通道13可以调整为发射2个脉冲，其中脉冲1的功率为P1”,脉冲2功率为P2”。
参考图8C示出了另一种调整脉冲编码的方式。如图8C所示，探测通道13准备在水平角度0.1°方向进行探测，先查看在水平角度0°方向的探测 结果：在水平角度0°方向发射了3脉冲，其中脉冲1的光功率为P1’，脉冲2的光功率为P2’,脉冲3的光功率为P3,接收回波分析后确认在水平角度0°上的第一距离内，例如3米位置内，没有探测到物体。则在水平角度0.1°方向上，可以如左部分附图所示，探测通道13调整为发射双脉冲，同时提高测距脉冲2的光功率至P2。也可以如右部分附图所示，探测通道13调整为发射单脉冲，该单脉冲具备较大的光功率P1”＞P2，因此可以提高整机雷达的策源能力。
以上通过实施例具体说明了：基于是否存在物体的判断结果，可以通过动态调整探测脉冲序列的编码，从而实现抗串扰干扰能力和测远能力的平衡。
需要说明的是，激光雷达可以预先存储一些探测脉冲序列编码信息，这些探测脉冲序列编码信息可以包括距离和反射率与编码的映射关系有。进而通过判断该探测通道探测到的物体的距离和反射率的信息，从预先存储的探测脉冲序列中选择一个合适的编码。在具体实施中，例如预先存储不同双脉冲、三脉冲或者五脉冲等，不同编码适用不同的应用场景，根据探测结果，选择一个最佳的探测脉冲序列的编码。
另外，保证人眼安全的总光功率W光是限制激光雷达的测远能力的因素之一，激光雷达的总电功耗W电也是其中一个因素。为了保证总光功率W光和总功耗W电在一定范围内，雷达发射的编码脉冲数N越多，则每个脉冲分到的能量PN就越少，满足如下关系：
N×PN＝min(W光，W电)
编码的脉冲数量N越多，被误解码的概率会越小，雷达的抗串扰干扰能力就会越强。而雷达的极限测距或者测远能力(雷达可以探测到的最远距离)是与每个脉冲或者说用以测距的脉冲的光强PN正相关，所以每个脉冲或者说用以测距的脉冲的光强PN越大，雷达的测远能力越强。因此，在总光功率W光和总功耗W电的限制下，可以看到，抗串扰干扰的能力与测远能力是彼此相反相互制衡的关系。具体的，编码脉冲数N越多，抗串扰干扰能力越强，但测远能力越弱；编码脉冲数N越少，抗串扰干扰能力越弱，但测远能力越强。
根据本发明的一个优选实施例，其中探测通道的序列的总光功率W光或探 测通道的总电功耗W电低于阈值。
继续参考图8A，探测通道13在水平角度0°方向发射了双脉冲，其中脉冲1的光功率为P1，脉冲2的光功率为P2；在第一距离内，例如2.5米位置，探测到了物体，预判在水平角度0.1°方向上探测通道13也会探测到该物体，为提高抗串扰干扰能力，对探测通道13在水平角度0.1°上的探测脉冲序列进行编码，例如发射3脉冲，其中脉冲1`的光功率为P1`，脉冲2`的光功率为P2`，脉冲3`的光功率为P3`。如果激光雷达的测远能力受限于总光功率的阈值，则P1`+P2`+P3`＝P1+P2时，可以在不增加额外光功率的情况下，兼顾抗串扰干扰能力和测远能力。
又例如，探测通道13在水平角度0°方向发射了双脉冲，其中脉冲1的光功率为P1，脉冲2的光功率为P2；在第一距离内，例如2.8米内，没有探测到物体，则预判在水平角度0.1°方向上探测通道13也不会探测到物体。对探测通道13在水平角度0.1°上的探测脉冲序列进行编码，例如发射单脉冲，即脉冲1``的光功率为P``，如果激光雷达20的测远能力受限于总光功率的阈值，则P``＝P1+P2时，可以在不降低总光功率的情况下，兼顾抗串扰干扰能力和测远能力。
如果激光雷达的测远能力受限于总电功耗，在对探测脉冲序列进行编码时，需要考虑每次探测时探测通道的总电功耗满足阈值要求。
根据本发明的一个优选实施例，其中一个探测通道的序列的总光功率基本相等，或者激光雷达20的每个探测通道的序列的总光功率基本相等。
为了实现探测能力最大化，可以将探测通道在每次探测时的总光功率保持基本相等，并大致等于人眼安全阈值；或者在每次探测时，将每个探测通道的总光功率保持基本相等，并大致等于人眼安全阈值。
根据本发明的一个优选实施例，其中一个探测通道的总电功耗基本相等，或者激光雷达20的每个探测通道的总电功耗基本相等。
为了实现探测能力最大化，可以将探测通道在每次探测时的总电功耗保持基本相等，并大致等于雷达的散热极限阈值；或者在每次探测时，将每个探测通道的总电功耗保持基本相等，并大致等于雷达的散热极限阈值。
在步骤S13控制探测通道的激光器按照编码发射探测脉冲。
在步骤S14接收探测脉冲经物体反射的回波，并根据回波得到物体的信息。
综上所述，通过步骤S11-S14以及多个实施例对探测方法10进行了介绍,可以参考图9对上述步骤进行完整回顾：某通道准备探测，查询该通道上一次探测是否在中近距离有回波，如果有回波，也即是在中近距离探测到物体，则预判本次探测将接收到回波(将探测到物体)，则设置较多编码脉冲数并且设置较低的单脉冲发光强度；如果没有回波，则预判本次探测不会接收到回波(不会探测到物体)，则设置较少编码脉冲数并且设置较高的单脉冲发光强度。根据设置的编码脉冲数和发光强度发射和探测，获得回波信息，等待下一次探测。本发明可以根据一个探测通道之前多次的探测结果、或与该探测通道邻近的多个探测通道的探测结果、或与该探测通道邻近的多个探测通道多次的探测结果，预判该探测通道在中近距离内是否探测到物体，在总光功率或总电功耗不变的情况下，动态调整探测脉冲序列的编码，从而兼顾抗串扰干扰能力和测远能力。
本发明还涉及一种计算机存储介质，包括存储于其上的计算机可执行指令，所述可执行指令在被处理器执行时实施如上所述的探测方法10。
本发明还涉及一种激光雷达20，如图10所示，包括：
多个激光器21，配置为发射探测脉冲的序列；
多个探测器22，配置为接收经目标物反射的回波，其中所述多个激光器21和所述多个探测器22构成多个探测通道，每个探测通道包括至少一个激光器21和至少一个探测器22，每个探测通道的激光器21配置成发射包括至少一个探测脉冲的序列；和
控制装置(未示出)，所述控制装置与所述多个激光器21和所述多个探测器22连接，所述控制装置配置成：
根据之前的探测结果，预判第一距离内是否存在物体；其中，所述第一距离不大于所述激光雷达20最大可探测距离的十分之一；
根据所述判断的结果，动态调整所述一个探测通道的探测脉冲的序列的 编码；
控制所述探测通道的激光器21按照所述编码发射探测脉冲；
接收所述探测脉冲经物体反射的回波，并根据所述回波得到所述物体的信息。
根据本发明的一个优选实施例，其中所述控制装置23还配置成：根据以下信息中的一个或多个，预判所述第一探测距离内是否存在物体：
所述探测通道之前的探测结果；
与所述探测通道在时间上或空间上邻近的探测通道之前的探测结果。
根据本发明的一个优选实施例，其中所述控制装置23还配置成：根据所述判断的结果，对所述探测通道的激光器21所发的探测脉冲序列中探测脉冲的功率或者脉冲间隔或数量中的一项或多项进行编码。
根据本发明的一个优选实施例，其中所述控制装置还配置成：当所述第一距离内存在物体时，增加所述序列中探测脉冲的数量且降低至少一个探测脉冲的功率。
根据本发明的一个优选实施例，其中所述控制装置还配置成：当所述第一距离内不存在物体时，减少所述序列中探测脉冲的数量或者采用单个探测脉冲，且提高所述序列中至少一个探测脉冲的功率。
根据本发明的一个优选实施例，其中所述探测通道的序列的总光功率或所述探测通道的总电功耗低于阈值。
根据本发明的一个优选实施例，其中所述一个探测通道的序列的总光功率基本相等，或者所述激光雷达20的每个探测通道的序列的总光功率基本相等。
根据本发明的一个优选实施例，其中所述一个探测通道的总电功耗基本相等，或者所述激光雷达20的每个探测通道的总电功耗基本相等。
本发明通过分析之前的探测结果，预判中近距离内是否存在物体，在总光功率或总电功耗不变的情况下，动态调整探测脉冲序列的编码，从而兼顾抗串扰干扰能力和测远能力。
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限 制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (17)

  1. 一种激光雷达的探测方法，所述激光雷达包括多个探测通道，每个探测通道包括至少一个激光器和至少一个探测器，其中每个探测通道的激光器配置成发射包括至少一个探测脉冲的序列，所述探测方法包括：
    S11：根据之前的探测结果，预判第一距离内是否存在物体；
    S12：根据所述判断的结果，动态调整所述探测通道的探测脉冲序列的编码；
    S13：控制所述探测通道的激光器按照所述编码发射探测脉冲；
    S14：接收所述探测脉冲经物体反射的回波，并根据所述回波得到所述物体的信息。
  2. 根据权利要求1所述的探测方法，其中所述步骤S11包括：根据以下信息中的一个或多个，预判所述第一距离内是否存在物体：
    所述探测通道之前的探测结果；
    与所述探测通道在探测时间上或空间上邻近的探测通道之前的探测结果。
  3. 根据权利要求1所述的探测方法，其中所述步骤S12包括：根据所述判断的结果，对所述探测通道的激光器所发的探测脉冲序列中探测脉冲的功率或者脉冲间隔或数量中的一项或多项进行编码。
  4. 根据权利要求3所述的探测方法，其中所述步骤S12还包括：当所述第一距离内存在物体时，增加所述序列中探测脉冲的数量且降低至少一个探测脉冲的功率。
  5. 根据权利要求3所述的探测方法，其中所述步骤S12还包括：当所述第一距离内不存在物体时，减少所述序列中探测脉冲的数量或者采用单个探测脉冲，且提高所述序列中至少一个探测脉冲的功率。
  6. 根据权利要求1-5中任一项所述的探测方法，其中所述探测通道的序列的 总光功率或所述探测通道的总电功耗低于阈值。
  7. 根据权利要求1-5中任一项所述的探测方法，其中所述一个探测通道的序列的总光功率基本相等，或者所述激光雷达的每个探测通道的序列的总光功率基本相等。
  8. 根据权利要求1-5中任一项所述的探测方法，其中所述一个探测通道的总电功耗基本相等，或者所述激光雷达的每个探测通道的总电功耗基本相等。
  9. 一种计算机存储介质，包括存储于其上的计算机可执行指令，所述可执行指令在被处理器执行时实施如权利要求1-8中任一项所述的探测方法。
  10. 一种激光雷达，包括：
    多个激光器，配置为发射探测脉冲的序列；
    多个探测器，配置为接收经目标物反射的回波，其中所述多个激光器和所述多个探测器构成多个探测通道，每个探测通道包括至少一个激光器和至少一个探测器，每个探测通道的激光器配置成发射包括至少一个探测脉冲的序列；和
    控制装置，所述控制装置与所述多个激光器和所述多个探测器连接，所述控制装置配置成：
    根据之前的探测结果，预判第一距离内是否存在物体；
    根据所述判断的结果，动态调整所述一个探测通道的探测脉冲的序列的编码；
    控制所述探测通道的激光器按照所述编码发射探测脉冲；
    接收所述探测脉冲经物体反射的回波，并根据所述回波得到所述物体的信息。
  11. 根据权利要求10所述的激光雷达，其中所述控制装置还配置成：根据以 下信息中的一个或多个，预判所述第一探测距离内是否存在物体：
    所述探测通道之前的探测结果；
    与所述探测通道在时间上或空间上邻近的探测通道之前的探测结果。
  12. 根据权利要求10所述的激光雷达，其中所述控制装置还配置成：根据所述判断的结果，对所述探测通道的激光器所发的探测脉冲序列中探测脉冲的功率或者脉冲间隔或数量中的一项或多项进行编码。
  13. 根据权利要求12所述的激光雷达，其中所述控制装置还配置成：当所述第一距离内存在物体时，增加所述序列中探测脉冲的数量且降低至少一个探测脉冲的功率。
  14. 根据权利要求12所述的激光雷达，其中所述控制装置还配置成：当所述第一距离内不存在物体时，减少所述序列中探测脉冲的数量或者采用单个探测脉冲，且提高所述序列中至少一个探测脉冲的功率。
  15. 根据权利要求10-14中任一项所述的激光雷达，其中所述探测通道的序列的总光功率或所述探测通道的总电功耗低于阈值。
  16. 根据权利要求10-14中任一项所述的激光雷达，其中所述一个探测通道的序列的总光功率基本相等，或者所述激光雷达的每个探测通道的序列的总光功率基本相等。
  17. 根据权利要求10-14中任一项所述的激光雷达，其中所述一个探测通道的总电功耗基本相等，或者所述激光雷达的每个探测通道的总电功耗基本相等。
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