CN112596066B - Laser radar ranging method, ranging device and storage medium - Google Patents
Laser radar ranging method, ranging device and storage medium Download PDFInfo
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- CN112596066B CN112596066B CN202110206389.5A CN202110206389A CN112596066B CN 112596066 B CN112596066 B CN 112596066B CN 202110206389 A CN202110206389 A CN 202110206389A CN 112596066 B CN112596066 B CN 112596066B
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- 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
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- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The invention discloses a distance measuring method, a distance measuring device and a storage medium of a laser radar. The ranging method of the laser radar according to an embodiment of the present invention includes: alternately emitting a laser beam of a first intensity and a second intensity, wherein the first intensity and the second intensity are not the same in magnitude; receiving a laser beam returned after irradiating an object outside the laser radar; respectively determining the distance between an external object and the laser radar by utilizing the returned laser beams; judging whether the spacing distances determined by the first laser beam and the second laser beam are the same or are different by a preset error value; when the judgment result is yes, the first correction distance and the second correction distance are re-determined based on the separation distances respectively determined by the first laser beam and the third laser beam, and the first correction distance and the second correction distance are equal.
Description
Technical Field
The invention relates to a laser radar, in particular to a distance measuring method of the laser radar.
Background
In the field of autonomous driving, autonomous vehicles may detect surrounding objects by means of a device such as a laser radar (LIDAR). The lidar may emit a laser beam as a detection laser to a surrounding three-dimensional space, and may cause the laser beam to be reflected after being irradiated to an object in the surrounding space to become an echo laser and return, and the lidar may compare the received echo laser with the emitted detection laser, thereby obtaining distance information about the surrounding object.
The currently used method is to measure the time of receiving a laser beam for the echo of the laser beam, and thus calculate the distance of an external object relative to the lidar. However, this measurement method may be different due to the method of determining the echo by the laser radar.
Disclosure of Invention
The invention provides a laser radar ranging method capable of measuring the distance between external objects more accurately.
The ranging method of the laser radar according to an embodiment of the present invention includes: alternately emitting a laser beam of a first intensity and a second intensity, wherein the first intensity and the second intensity are not the same in magnitude; receiving a laser beam returned after irradiating an object outside the laser radar; respectively determining the distance between an external object and the laser radar by utilizing the returned laser beams; judging whether the spacing distances determined by using a first laser beam and a second laser beam are the same or differ by a preset error value, wherein the first laser beam and the second laser beam are adjacent laser beams with first intensity in space; when the determination result is yes, a first correction distance and a second correction distance are newly determined based on the separation distances respectively determined using the first laser beam and the third laser beam, the first correction distance and the second correction distance being equal, the first correction distance being a distance corresponding to the first laser beam, the second correction distance being a distance corresponding to the third laser beam, the third laser beam being a laser beam of a second intensity spatially located between the first laser beam and the second laser beam.
And, the distance of the external object from the laser radar may be determined by determining the reception time of the returned laser beam using a preset threshold value.
Also, the first correction distance and the second correction distance may be sized between a spaced distance determined using the first laser beam and a spaced distance determined using the third laser beam.
Also, the first correction distance and the second correction distance may be greater than or less than a spaced distance determined using the first laser beam and a spaced distance determined using the third laser beam.
Also, the first correction distance and the second correction distance may be newly determined based on a relationship between the separation distances respectively determined using the first laser beam and the third laser beam.
And, may further include: judging whether the spacing distances determined by using a second laser beam and a fourth laser beam are the same or are different by a preset error value, wherein the first laser beam, the second laser beam and the fourth laser beam are laser beams with first intensity which are spatially and sequentially arranged; when the determination results regarding the second laser beam and the fourth laser beam are yes, a third correction distance and a fourth correction distance are newly determined based on the separation distances respectively determined using the second laser beam and a fifth laser beam, the third correction distance and the fourth correction distance being equal, the third correction distance being a distance corresponding to the second laser beam, the fourth correction distance being a distance corresponding to the fifth laser beam, the fifth laser beam being a laser beam of a second intensity spatially located between the second laser beam and the fourth laser beam.
A ranging method of a laser radar according to another embodiment of the present invention includes: alternately emitting a laser beam of a first intensity and a second intensity, wherein the first intensity and the second intensity are not the same in magnitude; receiving a laser beam returned after irradiating an object outside the laser radar; respectively determining the distance between an external object and the laser radar by utilizing the returned laser beams; judging whether the distance between the first laser beam and the second laser beam is different from a preset error value or not, wherein the first laser beam and the second laser beam are respectively adjacent laser beams with first intensity and second intensity in space; when the determination result is yes, a first correction distance and a second correction distance, which are equal, are newly determined based on the separation distances respectively determined using the first laser beam and the second laser beam, the first correction distance being a distance corresponding to the first laser beam, and the second correction distance being a distance corresponding to the second laser beam.
And, the distance of the external object from the laser radar may be determined by determining the reception time of the returned laser beam using a preset threshold value.
And, may further include: the same first correction distance and second correction distance are newly determined based on the relationship between the separation distances respectively determined using the first laser beam and the second laser beam.
A ranging apparatus according to another embodiment of the present invention includes: the laser device comprises an emitting module, a laser module and a laser module, wherein the emitting module alternately emits laser beams with first intensity and second intensity, and the first intensity and the second intensity are different in size; the receiving module is used for receiving a laser beam returned after irradiating an object outside the laser radar; the calculation module is used for respectively determining the distance between an external object and the laser radar by utilizing the returned laser beams; the judging module is used for judging whether the spacing distances determined by different laser beams are the same or are different by a preset error value; and a correction module for re-determining a correction distance using the plurality of spaced distances calculated by the calculation module, the ranging apparatus being configured to perform the method as described above.
A ranging apparatus according to another embodiment of the present invention includes: a processor and a memory for storing computer programs or instructions, the processor for executing the computer programs or instructions in the memory to implement the method as described above.
A computer-readable storage medium according to another embodiment of the invention has stored thereon a computer program which is executed by a processor to implement the method as described above.
According to an embodiment of the present invention, by alternately emitting high-intensity and low-intensity laser beams, more accurate distance measurement can be performed using echo signals of the high-intensity laser beam and the low-intensity laser beam, compared to a case where the distance is calculated using only echo signals of the high-intensity laser beam or the low-intensity laser beam.
The effects of the present invention are not limited to the above-described effects, and those skilled in the art can derive the effects not described above from the following description.
Drawings
Fig. 1 is a schematic diagram illustrating a lidar in accordance with an embodiment of the present invention.
Fig. 2 is a schematic diagram showing an echo signal in the form of an analog signal output from an amplifier.
Fig. 3 to 7 are a flowchart and a schematic diagram illustrating a ranging method of a laser radar according to an embodiment of the present invention.
FIGS. 8 to 9 are schematic views illustrating a ranging method of a laser radar according to another embodiment of the present invention.
FIGS. 10-11 are schematic diagrams illustrating the intensity of a laser beam emitted from a lidar.
Fig. 12 is a schematic view illustrating a ranging apparatus according to an embodiment.
Detailed Description
The technical solutions of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings of the embodiments of the present invention. It is to be understood that the following disclosed embodiments are merely exemplary of the invention, and are not intended to be exhaustive or all exemplary embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the following examples, belong to the scope of protection of the present invention. Also, while various embodiments have been described herein, features and/or steps of various embodiments may be combined with other embodiments without being mutually exclusive.
In order to make the objects, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic diagram illustrating a lidar in accordance with an embodiment of the present invention.
As shown in fig. 1, lidar 10 may include a transmitting portion 100, a receiving portion 200, and a processor 300.
The transmitting part 100 may emit laser light to return the laser light to the laser radar after the laser light is reflected by an object outside the laser radar, so that a distance between a surrounding object and the laser radar may be measured by a time of flight (TOF) method.
The receiving unit 200 may receive laser light reflected by an object outside the laser radar after being transmitted from the transmitting unit 100. Also, the receiving part 200 may further include a receiver 210, an amplifier 220, and a converter 230.
The receiver 210 may receive the returned laser light to generate an analog signal corresponding to the returned laser light. The receiver 210 may be a photosensor such as an APD and SPAD.
The amplifier 220 may amplify the analog signal received by the receiver 210. For example, the amplifier 220 may be a transimpedance amplifier (TIA).
The converter 230 may convert the echo signal in the form of an analog signal output from the amplifier 220 into a digital signal.
The digital signal output from the converter 230 may be input to the processor 300. The processor 300 may calculate information of a distance, a reflectivity, etc. of an external object of the lidar based on the received digital signal.
The entire detection method of the laser radar is explained above. Next, a ranging method of a laser radar according to an embodiment of the present invention will be described. The ranging method of the laser radar according to the present invention can be applied to the laser radar so that the laser radar can calculate the spaced distance of the external object more accurately.
Fig. 2 is a diagram showing an example of an echo signal in the form of an analog signal output from the amplifier 220. Also, fig. 2 is a diagram showing echo signals when two different laser beams of high intensity and low intensity are irradiated to the same point and then returned.
As shown in fig. 2, when the reception of the echo signal is determined by the threshold V, the determined reception time t0 of the echo signal of high intensity is earlier than the determined reception time t1 of the echo signal of low intensity. The difference in the judged reception times results in a difference in the calculated separation distance (which can be measured using the time-of-flight method). Therefore, there is a difference in the distance between the external objects detected by the high intensity laser beam and the low intensity laser beam.
Hereinafter, a ranging method of the laser radar according to the present invention will be described.
< first embodiment >
Hereinafter, a ranging method of a laser radar according to a first embodiment of the present invention will be described with reference to fig. 3 to 7.
Fig. 3 is a schematic diagram illustrating a ranging method of a laser radar according to an embodiment of the present invention. As shown in fig. 3, the ranging method of the laser radar according to the first embodiment of the present invention may include the following steps.
Step S101: the laser beam of the first intensity and the laser beam of the second intensity are alternately emitted from the laser radar to the outside, and the laser beam returned after being irradiated to the object outside the laser radar is received.
Wherein the first intensity and the second intensity are different in magnitude, and the emitted laser beams are spatially located at different positions. For example, the lidar may emit high-low-high intensity laser beams a-c to the outside as shown in FIG. 4. In fig. 4, the circles indicate spots of light hitting objects outside the laser radar. The circles with higher fringe density in the plurality of circles indicate spots formed by high-intensity laser beams, and the circles with lower fringe density in the plurality of circles indicate spots formed by low-intensity laser beams.
The intensity distribution of the light emitted from the laser radar can be as shown in fig. 10 and 11. Fig. 10 and 11 show a case where a high-intensity laser beam and a low-intensity laser beam are alternately emitted. As shown in fig. 10, the laser beams of the same column are all high/low intensity, and the subsequent steps can be performed by using the laterally adjacent laser beams. As shown in fig. 11, the high-intensity and low-intensity lasers are alternately arranged in both the lateral direction and the longitudinal direction. So that subsequent processing can be performed with either laterally adjacent or longitudinally adjacent laser beams.
Step S102: the distance separating the external object from the laser radar is determined by the returned laser beam.
Wherein, step S102 may include: determining a receiving time of the laser beam by using a threshold value; and calculating the separation distance of the external object using the reception time and the emission time of the laser beam.
As shown in fig. 2, the laser radar may determine a time when the intensity of the echo signal starts to be higher than the threshold value as the reception time of the echo signal. Since the receiver 210 of the laser radar may receive stray light from the external environment, it is possible to avoid determining external stray light as an echo signal by setting an appropriate threshold value. In this case, the time when the intensity of the echo signal starts to be higher than the threshold V may be determined as the reception time of the echo signal, or the more accurate reception time of the echo signal (the time when the waveform starts) may be estimated using the time t0 when the intensity of the echo signal starts to be higher than the threshold and the waveform information of the echo signal.
The separation distance may be a separation distance of an object that externally reflects the laser beam from the laser radar. The emission time of the laser beam can be derived from the controller. The standoff distance can be obtained by multiplying the time difference between the receive time and the transmit time by the speed of light and then dividing by 2.
Step S103: and judging whether the distances calculated by using the adjacent laser beams with the same intensity are the same or whether the distances calculated by using the adjacent laser beams with the same intensity are within a preset error.
That is, when it is determined that the distances calculated using adjacent laser beams of the same intensity are the same, it can be considered that the two laser beams hit the same object. Therefore, it can be considered that laser beams of different intensities between adjacent laser beams of the same intensity also impinge on the same object. In the actual ranging process, the calculated distances may not be completely the same due to the detection error, so that a predetermined tolerable error may be set at the time of judgment, and when the distance difference is smaller than the tolerable error, it may be considered that the two laser beams hit the same object.
With the development of the laser radar in the prior art, a laser radar of higher angular resolution can be realized. When the angular resolution of the lidar is sufficiently high (for example, when the angular resolution is higher than the size of one spot), the adjacent laser beams a and b may strike almost the same position of an object outside the lidar, so that a distance error of judgment caused by the non-parallelism of the reflection surface of the object with respect to the lidar may be ignored. The ranging method of the present invention may also be used when the above angular resolution condition is not met, but may result in reduced accuracy.
Step S104: when the judgment result in step S103 is yes, two identical correction distances are newly determined based on the separation distances respectively determined using one of the adjacent laser beams of the same intensity and the laser beam between the adjacent laser beams of the same intensity.
For example, as shown in fig. 4, when the determination result of step S103 is yes, it may be determined that the first laser beam a and the third laser beam c hit the same object, and the second laser beam b between the first laser beam a and the third laser beam c may also be considered as hitting the same object. However, since the first and third laser beams a and c have different intensities from the second laser beam b, the separation distance calculated using the threshold value may be different. The separation distance calculated using the first to third laser beams a to c having alternating intensities may be as shown in fig. 5.
As shown in fig. 5, since the laser beam a is a high-intensity laser beam, the threshold is reached more quickly (as shown in fig. 2), and thus the propagation time of the laser is short, so that the calculated separation distance is also a little shorter than that of the low-intensity laser beam b. Therefore, the distances calculated by the first to third laser beams a to c may be staggered as shown in FIG. 5. In this case, the distances calculated by the first to third laser beams a to c may not be the most accurate distances, and may have a certain error due to the selection of the threshold value.
The method of re-determining the correction distance in step S104 may be as follows.
The method comprises the following steps:
as shown in fig. 7, in the case where the time at which the intensity of the echo signal starts to be higher than the threshold value V is directly used as the reception time of the laser beam, the resulting reception time of the laser beam is later than the actual reception time (start time of the waveform). Also, (a) and (b) of fig. 7 are reception times of echo signals in the case of short distance/long distance or high reflectance/low reflectance determined using a threshold value. Therefore, referring to fig. 6, it can be seen that the difference between the time t0 at which the high-intensity echo signal starts to be higher than the threshold value and the actual reception time (the time at which the waveform starts) differs depending on the flight distance or the reflectivity of the laser beam. Therefore, the reception time of the actual laser beam cannot be obtained by directly subtracting a predetermined value from the time t0 of the echo signal of the high-intensity laser beam.
Referring to fig. 7, it can be seen that the greater the difference between the time t0 at which the echo signal of the high-intensity laser beam starts to be higher than the threshold value and the time t1 at which the echo signal of the low-intensity laser beam starts to be higher than the threshold value, the greater the difference between the time t0 at which the echo signal of the high-intensity laser beam starts to be higher than the threshold value and the actual reception time.
Therefore, the t0 time can be compensated by the difference between the t0 time and the t1 time, and more accurate receiving time of the echo signal can be obtained. For example, it can be directly calculated as follows.
Formula 1: t = Tt0-k（Tt1-Tt0）
Where T is the reception time of the echo signal of the high intensity laser beam (or the low intensity laser beam) that is newly determined.
Tt0Is the time at which the echo signal of the high intensity laser beam starts to be above the threshold value.
Tt1Is the time at which the echo signal of the low intensity laser beam starts to be above the threshold value.
k may be any positive number, and may be 1, for example.
Where k can be set as appropriate by those skilled in the art.
Also, for a re-determined reception time of an echo signal of a low-intensity laser beam located between high-intensity laser beams, the corrected value may be the same as the reception time of a high-intensity echo signal since it is assumed to hit the same position as the high-intensity laser beam.
After the reception time of the echo signal is newly determined as described above, the separation distance can be determined using the speed of light and the transmission time. Alternatively, the same calculation may be performed by directly using the separation distance (separation distance calculated by using the time) in the above formula 1.
Therefore, the corrected distance may be as shown in fig. 6, and the corrected distance is closer than the distance calculated with the high intensity laser beam and the distance calculated with the low intensity laser beam and is at the same distance from each other.
In the above method, a method of re-determining the correction distance by compensating for a multiple of the difference between the t0 time and the t1 time has been described. However, the present invention is not limited to this, and the difference between the time t0 and the time t1 may be compensated by a multiple of the distance corresponding to the time t0, or the difference may be compensated by taking the logarithm of the distance calculated at the time t0, the time t1, or the time t0 and the time t 1.
The method 2 comprises the following steps:
as shown in fig. 8, one skilled in the art may choose not to directly use the time when the intensity of the echo signal starts to be higher than the threshold V, but to use the time when the intensity of the echo signal starts to be higher than the threshold V and the slope of the echo signal at that time to estimate the reception time of the echo signal. Here, the estimated reception time of the echo signal of the high-intensity laser beam is t0, and the estimated reception time of the echo signal of the low-intensity laser beam is t 1.
In the case of estimating the reception time in this way, as shown in fig. 8, the estimated time may be earlier than the actual reception time (start time of the waveform). Also, (a) and (b) of fig. 8 are reception times of echo signals in the case of short distance/long distance or high reflectance/low reflectance determined using a threshold value. Therefore, referring to fig. 8, it can be seen that the difference between the reception time t0 calculated by this method and the actual reception time (the time at which the waveform starts) differs depending on the flight distance or the reflectivity of the laser beam. Therefore, the reception time of the echo signal cannot be estimated only by the method described above.
Referring to fig. 8, it can be seen that the larger the time difference between the reception time t0 of the echo signal of the high-intensity laser beam estimated by the method and the reception time t1 of the echo signal of the low-intensity laser beam, the larger the difference between the reception time t0 of the echo signal of the high-intensity laser beam estimated by the method and the actual reception time.
Therefore, the t0 time can be compensated by the difference between the t0 time and the t1 time, and more accurate receiving time of the echo signal can be obtained. For example, it can be calculated as follows.
Formula 2: t = Tt0+k（Tt0-Tt1）
Where T is the reception time of the echo signal of the corrected high-intensity laser beam (or low-intensity laser beam).
Tt0Is the reception time of the echo signal estimated using the time at which the echo signal of the high intensity laser beam starts to be above the threshold value and the slope of the point.
Tt1Is the time of reception of the echo signal estimated using the time at which the echo signal of the low-intensity laser beam starts to be above the threshold value and the slope of the point.
k may be any positive number.
Where k can be set as appropriate by those skilled in the art.
Also, since the reception time of the echo signal of the low-intensity laser beam located between the high-intensity laser beams is assumed to reach the same position as the high-intensity laser beam, the corrected value may be the same as the reception time of the high-intensity echo signal.
After the reception time of the echo signal is newly determined as described above, the separation distance can be determined using the speed of light and the transmission time. Alternatively, the same calculation may be performed by directly using the separation distance (separation distance calculated by the time) in the above equation 2.
Therefore, the corrected distance may be as shown in fig. 9, and the corrected distance is farther than the distance calculated with the high-intensity laser beam and the distance calculated with the low-intensity laser beam, and is at the same distance from each other.
In the above method, a method of compensating for a multiple of the difference between the t0 time and the t1 time is described. However, the present invention is not limited to this, and the difference between the time t0 and the time t1 may be compensated by a multiple of the distance corresponding to the time t0, or the difference may be compensated by taking the logarithm of the distance calculated at the time t0, the time t1, or the time t0 and the time t 1.
In the above methods 1 and 2, the manner of re-determining the correction distance based on the separation distance determined using the high-intensity and low-intensity laser beams is explained. Although the case where the distance after correction is larger/smaller than the separation distance before correction is described in method 1 and method 2, respectively, the present invention is not limited thereto. The corrected distance may also be located between the stand-off distances calculated using the high intensity and low intensity laser beams before correction. The reason for this may be that due to the transmission delay, the transmission time obtained by the controller may not be the true transmission time and there may be a delay in the actual transmission time. To correct for this error, the corrected distance may be between the stand-off distances calculated using the high and low intensity laser beams before correction.
In the above, a method of correcting the distance calculated from the echo signal satisfying the condition of step S103 is described. The specific correction method is not limited to the method mentioned in the present invention. The shape of the echo signal in the form of the received analog signal may vary depending on the design of the analog circuit. Therefore, the corresponding correction method may be different depending on the form of the echo signal and the determination criterion of the reception time selected by a person skilled in the art. The common point is that the distances corresponding to the high-intensity laser beam and the low-intensity laser beam are corrected by using the distance corresponding to the high-intensity laser beam and the distance corresponding to the low-intensity laser beam to obtain corrected distances. More specifically, the distance corresponding to the high-intensity laser beam/the distance corresponding to the low-intensity laser beam may be corrected by using the distance corresponding to the high-intensity laser beam and the distance corresponding to the low-intensity laser beam, so as to obtain a corrected distance.
In addition, in the present application, the corrected distance is calculated using the distances corresponding to the high-intensity laser beam and the low-intensity laser beam, and more accurate ranging can be performed compared to a case where the distance corresponding to the high-intensity laser beam or the distance corresponding to the low-intensity laser beam is compensated using only the compensation value (for example, if only the distance corresponding to a single laser beam is compensated by a fixed value, the compensation may not be accurate enough due to lack of information such as distance/reflectivity or some positional information).
< second embodiment >
Hereinafter, a ranging method of a laser radar according to a second embodiment of the present invention will be described.
The ranging method of the laser radar according to the second embodiment of the present invention is similar to the ranging method of the laser radar of the first embodiment, except that, in step S103 of the first embodiment, it is not determined whether the distances calculated using the adjacent laser beams of the same intensity are the same or similar, but it is determined whether the spaced distances calculated using the adjacent laser beams of different intensities are below a preset error value.
For example, as shown in FIGS. 4 to 5, it can be determined whether the separation distance determined by the laser beams a and b is less than a preset error value.
When the determination result is yes, it can be considered that the laser beam a and the laser beam b hit the same object. So that the same correction distance can be re-determined using the above-mentioned separation distance determined by the two laser beams, respectively.
Here, the manner of re-determining the correction distance is the same as that of the first embodiment, and therefore, a description thereof is omitted here.
< third embodiment >
Hereinafter, a ranging method of a laser radar according to a third embodiment of the present invention will be described.
A ranging method of a laser radar according to a third embodiment of the present invention is similar to the ranging method of the laser radar according to the first and second embodiments, except that the following steps are further included.
Step S105: the same decision is made for the separation distance determined with the laser beam of the next adjacent group.
For example, in the first embodiment, after determining whether the laser beam a and the laser beam c satisfy the determination of step S103 and re-determination in the case where the determination result is yes (or in the case where the determination result is no), it may be determined whether the laser beam c and the laser beam e satisfy the determination condition of step S103. If the laser beam c and the laser beam e satisfy the condition, step S104 may be performed for this. The determination of other laser beams can also be continued.
Similarly, in the second embodiment, after judging whether the laser beams a and b satisfy the judgment conditions, it is possible to continue judging whether the laser beams c and d satisfy the judgment conditions. If the laser beam c and the laser beam d satisfy the condition, the correction distance can be recalculated for this. The determination of other laser beams can also be continued.
As described above, by alternately emitting high-intensity and low-intensity laser beams, it is possible to recalculate the correction distance for each set of adjacent high-intensity and low-intensity laser beams satisfying the condition to improve the accuracy of ranging.
< fourth embodiment >
Fig. 12 is a schematic structural diagram of a distance measuring device according to a fourth embodiment of the invention. As shown in fig. 12, the ranging apparatus as described above may include: a transmitting module 1001; a receiving module 1002; a calculation module 1003; a judging module 1004; a correction module 1005.
Wherein, the emitting module 1001 may alternately emit the laser beam of the first intensity and the second intensity. The receiving module 1002 may receive a laser beam returned after being irradiated to an object outside the laser radar. The calculation module 1003 may determine the distance between the external object and the laser radar by using the returned laser beams, respectively; the determining module 1004 may determine whether the distances determined by the different laser beams are the same or differ by a predetermined error value or less; the correction module 1005 may re-determine the same first correction distance and second correction distance based on the separation distances respectively determined using the first laser beam and the second laser beam when the determination result is yes.
The technical solutions according to the first to third embodiments can be implemented by using the distance measuring device provided in this embodiment, and the implementation principle and technical effects are similar, which are not described herein again.
Alternatively, when part or all of the ranging method of the laser radar of the above-described embodiment is implemented by software, the apparatus may also include only a processor in addition to the transmitting module 1001 and the receiving module 1002. A memory for storing the program may be located outside the device, the processor being connected to the memory by means of circuits/wires for reading and executing the program stored in the memory.
The processor may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP.
The processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.
The memory may include volatile memory (volatile memory), such as random-access memory (RAM); the memory may also include a non-volatile memory (non-volatile) such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD); the memory may also comprise a combination of memories of the kind described above.
The embodiment of the application also provides a computer storage medium, which stores a computer program, and the computer program is used for executing the laser radar ranging method provided by the embodiment.
Embodiments of the present application further provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the ranging method for lidar provided in the above embodiments.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The embodiments described above with respect to the apparatus and method are merely illustrative, where separate units described may or may not be physically separate, and the components shown as units may or may not be physical units, i.e. may be located in one location, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to implement the technical solution of the present invention.
Claims (12)
1. A ranging method of a laser radar, comprising:
emitting laser beams of a first intensity and a second intensity from different positions, the emission positions of the laser beams of the first intensity and the laser beams of the second intensity being spatially alternated, wherein the first intensity and the second intensity are not the same in magnitude;
receiving a laser beam returned after irradiating an object outside the laser radar;
respectively determining the distance between an external object and the laser radar by utilizing the returned laser beams;
judging whether the spacing distances determined by using a first laser beam and a second laser beam are the same or differ by a preset error value, wherein the first laser beam and the second laser beam are adjacent laser beams with first intensity in space;
when the determination result is yes, a first correction distance and a second correction distance are newly determined based on the separation distances respectively determined using the first laser beam and the third laser beam, the first correction distance and the second correction distance being equal, the first correction distance being a distance corresponding to the first laser beam, the second correction distance being a distance corresponding to the third laser beam, the third laser beam being a laser beam of a second intensity spatially located between the first laser beam and the second laser beam.
2. The lidar ranging method according to claim 1,
and determining the receiving time of the returned laser beam by using a preset threshold value so as to determine the distance between the external object and the laser radar.
3. The lidar ranging method according to claim 1,
the first correction distance and the second correction distance are sized between the separation distance determined by the first laser beam and the separation distance determined by the third laser beam.
4. The lidar ranging method according to claim 1,
the first correction distance and the second correction distance are greater than or less than a separation distance determined by the first laser beam and a separation distance determined by the third laser beam.
5. The lidar ranging method according to claim 1,
the first correction distance and the second correction distance are newly determined based on a relationship between the separation distances respectively determined using the first laser beam and the third laser beam.
6. The lidar ranging method according to claim 1, further comprising:
judging whether the spacing distances determined by using a second laser beam and a fourth laser beam are the same or are different by a preset error value, wherein the first laser beam, the second laser beam and the fourth laser beam are laser beams with first intensity which are spatially and sequentially arranged;
when the determination results regarding the second laser beam and the fourth laser beam are yes, a third correction distance and a fourth correction distance are newly determined based on the separation distances respectively determined using the second laser beam and a fifth laser beam, the third correction distance and the fourth correction distance being equal, the third correction distance being a distance corresponding to the second laser beam, the fourth correction distance being a distance corresponding to the fifth laser beam, the fifth laser beam being a laser beam of a second intensity spatially located between the second laser beam and the fourth laser beam.
7. A ranging method of a laser radar, comprising:
emitting laser beams of a first intensity and a second intensity from different positions, the emission positions of the laser beams of the first intensity and the laser beams of the second intensity being spatially alternated, wherein the first intensity and the second intensity are not the same in magnitude;
receiving a laser beam returned after irradiating an object outside the laser radar;
respectively determining the distance between an external object and the laser radar by utilizing the returned laser beams;
judging whether the distance between the first laser beam and the second laser beam is different from a preset error value or not, wherein the first laser beam and the second laser beam are respectively adjacent laser beams with first intensity and second intensity in space;
when the determination result is yes, a first correction distance and a second correction distance, which are equal, are newly determined based on the separation distances respectively determined using the first laser beam and the second laser beam, the first correction distance being a distance corresponding to the first laser beam, and the second correction distance being a distance corresponding to the second laser beam.
8. The lidar ranging method according to claim 7,
and determining the receiving time of the returned laser beam by using a preset threshold value so as to determine the distance between the external object and the laser radar.
9. The lidar ranging method according to claim 7, further comprising:
the first correction distance and the second correction distance are newly determined based on a relationship between the separation distances respectively determined using the first laser beam and the second laser beam.
10. A ranging apparatus, comprising:
the laser device comprises an emitting module, a laser module and a control module, wherein the emitting module emits laser beams with first intensity and second intensity from different positions, the emitting positions of the laser beams with the first intensity and the laser beams with the second intensity are alternated in space, and the first intensity and the second intensity are different in size;
the receiving module is used for receiving a laser beam returned after irradiating an object outside the laser radar;
the calculation module is used for respectively determining the distance between an external object and the laser radar by utilizing the returned laser beams;
the judging module is used for judging whether the spacing distances determined by different laser beams are the same or are different by a preset error value;
a correction module for re-determining a correction distance using the plurality of separation distances determined by the calculation module,
the ranging device is configured to perform the method of any of claims 1-9.
11. A ranging apparatus comprising a processor and a memory, the memory being arranged to store a computer program or instructions, the processor being arranged to execute the computer program or instructions in the memory to implement the method of any of claims 1 to 9.
12. A computer-readable storage medium, on which a computer program is stored, which computer program is executable by a processor to implement the method according to any one of claims 1-9.
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