CN116413700A

CN116413700A - Signal processing method, device, laser radar and computer storage medium

Info

Publication number: CN116413700A
Application number: CN202111636671.3A
Authority: CN
Inventors: 谭斌; 江申
Original assignee: Suteng Innovation Technology Co Ltd
Current assignee: Suteng Innovation Technology Co Ltd
Priority date: 2021-12-29
Filing date: 2021-12-29
Publication date: 2023-07-11

Abstract

The application discloses a signal processing method, a signal processing device, a laser radar and a storage medium. Wherein the method is applied to a lidar comprising a receiving sensor, the method comprising: continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value within a preset time period, and continuously adjusting the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value; the difference value between the first voltage value and the second voltage value is larger than a first preset threshold value, and the time length of the preset time period is smaller than a second preset threshold value; the forward bias voltage is a voltage applied to the cathode of the receiving sensor; the negative bias voltage is a voltage applied to the anode of the receiving sensor; and receiving echo signals based on the positive bias and the negative bias of the receiving sensor, so that the leading signals can be pressed at any time when the laser radar operates, and the laser radar can realize short-distance ranging and ensure ranging precision.

Description

Signal processing method, device, laser radar and computer storage medium

Technical Field

The present disclosure relates to the field of detection, and in particular, to a signal processing method, a device, a laser radar, and a computer storage medium.

Background

In the process of using the laser radar for short-range distance measurement, the preamble signal causes large oscillation, thereby affecting the short-range distance measurement of the radar. There are two main methods of suppressing the preamble signal. In the first method, when the receiving sensor is about to receive the leading light, the voltage at two ends of the receiving sensor is disconnected through the rapid power switch, so that the receiving capability of the receiving sensor is reduced, and the purpose of inhibiting the leading signal is achieved. In the second method, because the negative bias voltage is adjustable, the negative bias voltage of the receiving sensor is firstly adjusted to the lowest before the leading light comes, and the negative bias voltage is restored to the normal working voltage amplitude after the leading light passes. Both of these methods can affect the close range of the lidar.

Disclosure of Invention

The embodiment of the application provides a signal processing method, a signal processing device, a laser radar and a computer storage medium, which can press a leading signal at any time when the laser radar operates, and ensure the short-distance ranging and ranging precision of the radar. The technical scheme is as follows:

In a first aspect, an embodiment of the present application provides a signal processing method applied to a laser radar, where the laser radar includes a receiving sensor, the method includes:

continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value within a preset time period, and continuously adjusting the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value; the difference value between the first voltage value and the second voltage value is larger than a first preset threshold value, and the time length of the preset time period is smaller than a second preset threshold value; the forward bias voltage is a voltage applied to the cathode of the receiving sensor; the negative bias voltage is a voltage applied to the anode of the receiving sensor;

echo signals are received based on the positive bias voltage and the negative bias voltage of the receiving sensor.

In one possible implementation manner, before continuously adjusting the positive bias voltage of the receiving sensor from a first voltage value to a second voltage value and continuously adjusting the positive bias voltage from the second voltage value to the first voltage value within a preset period of time, the method further includes:

and determining the starting time of the preset time period according to the time of the laser radar to emit the laser beam.

In one possible implementation, after the receiving echo signals based on the positive bias voltage and the negative bias voltage of the receiving sensor, the method further includes:

judging whether the pulse amplitude of the preamble signal is larger than a third preset threshold value;

if the pulse amplitude of the preamble signal is larger than the third preset threshold value, adjusting the starting moment of the preset time period to obtain updated starting moment; the updated starting time is later than the starting time before updating;

and obtaining an updated preset time period based on the updated starting time, and executing the steps of continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value in the preset time period and continuously adjusting the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value again until the pulse amplitude of the preamble signal is smaller than or equal to the third preset threshold value.

In one possible implementation manner, if the pulse amplitude of the preamble signal is greater than the third preset threshold, adjusting the starting time of the preset time period to obtain an updated starting time includes:

and if the pulse amplitude of the preamble signal is larger than the third preset threshold value, adjusting the starting time of the preset time period according to a preset step length to obtain updated starting time.

and if the pulse amplitude of the leading signal is larger than the third preset threshold value, adjusting the starting moment of the preset time period according to the pulse amplitude of the leading signal and the third preset threshold value to obtain updated starting moment.

In one possible implementation manner, after the determining whether the pulse amplitude of the preamble signal is greater than the third preset threshold, the method further includes:

if the pulse amplitude of the preamble signal is smaller than or equal to the third preset threshold value, determining a corresponding minimum ranging distance based on the ranging signal received by the receiving sensor;

if the minimum distance measurement distance is greater than a preset distance threshold, adjusting the starting time of the preset time period according to a preset step length to obtain updated starting time; the updated starting time is earlier than the starting time before updating;

and obtaining an updated preset time period based on the updated starting time, and executing the steps of continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value in the preset time period and continuously adjusting the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value again until the minimum ranging distance is smaller than or equal to a preset distance threshold value.

In one possible implementation manner, the continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value and from the second voltage value to the first voltage value within a preset period of time includes:

continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value and continuously adjusting the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value in a preset time period by adopting a second-order impulse response system; the second order impulse response system comprises a high voltage amplifier; the preset time period is the pulse width of the output pulse of the second-order impulse response system.

In a second aspect, an embodiment of the present application provides a signal processing apparatus, including:

the adjusting module is used for continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value within a preset time period and continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from the second voltage value to the first voltage value; the difference value between the first voltage value and the second voltage value is larger than a first preset threshold value, and the time length of the preset time period is smaller than a second preset threshold value; the forward bias voltage is a voltage applied to the cathode of the receiving sensor; the negative bias voltage is a voltage applied to the anode of the receiving sensor;

And the receiving module is used for receiving echo signals based on the positive bias voltage and the negative bias voltage of the receiving sensor.

In one possible implementation, the apparatus further includes:

and the determining module is used for determining the starting time of the preset time period according to the time of the laser radar to emit the laser beam.

In one possible implementation, the apparatus further includes:

the judging module is used for judging whether the pulse amplitude of the leading signal is larger than a third preset threshold value or not;

the adjusting module is further configured to adjust a start time of the preset time period if the pulse amplitude of the preamble signal is greater than the third preset threshold value, so as to obtain an updated start time; the updated starting time is later than the starting time before updating;

and the updating module is used for obtaining an updated preset time period based on the updated starting moment, and executing the step of continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value and continuously adjusting the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value in the preset time period again until the pulse amplitude of the leading signal is smaller than or equal to the third preset threshold value.

In one possible implementation manner, the adjusting module is further configured to adjust the starting time of the preset time period according to a preset step length if the pulse amplitude of the preamble signal is greater than the third preset threshold value, to obtain an updated starting time.

In one possible implementation manner, the adjusting module is further configured to adjust the starting time of the preset time period according to the pulse amplitude of the preamble signal and the third preset threshold value if the pulse amplitude of the preamble signal is greater than the third preset threshold value, so as to obtain an updated starting time.

In a possible implementation manner, the determining module is further configured to determine, based on the ranging signal received by the receiving sensor, a corresponding minimum ranging distance if a pulse amplitude of the preamble signal is less than or equal to the third preset threshold;

the adjusting module is further configured to adjust a starting time of the preset time period according to a preset step length if the minimum ranging distance is greater than a preset distance threshold value, so as to obtain an updated starting time; the updated starting time is earlier than the starting time before updating;

the updating module is further configured to obtain an updated preset time period based on the updated starting time, and execute the step of continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from the first voltage value to the second voltage value in the preset time period again, and continuously adjusting the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value until the minimum ranging distance is less than or equal to a preset distance threshold.

In a possible implementation manner, the adjusting module is further configured to continuously adjust the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value and continuously adjust the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value in a preset time period by adopting a second-order impulse response system; the second order impulse response system comprises a high voltage amplifier; the preset time period is the pulse width of the output pulse of the second-order impulse response system.

In a third aspect, embodiments of the present application provide a lidar, the lidar comprising: a laser transmitter, a receiving sensor, a processor and a memory; the processor is connected with the memory, the laser transmitter and the receiving sensor;

the laser transmitter is used for transmitting laser beams;

the receiving sensor is used for receiving echo signals generated by the laser beams;

the memory is used for storing executable program codes;

the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for performing the method steps provided by the first aspect of the embodiments of the present application or any one of the possible implementations of the first aspect.

In a fourth aspect, embodiments of the present application provide a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method steps provided by the first aspect of the embodiments of the present application or any one of the possible implementations of the first aspect.

The technical scheme provided by some embodiments of the present application has the beneficial effects that at least includes:

in one or more embodiments of the present application, the voltage of the cathode and/or the anode of the receiving sensor is continuously adjusted and reduced from the first voltage value to the second voltage value in a preset time period, and continuously adjusted and increased from the second voltage value to the first voltage value, and the echo signal is received based on the voltage of the cathode and the voltage of the anode of the receiving sensor, so that the preamble signal can be pressed at any time of the operation of the laser radar, the short-range ranging and the ranging precision of the laser radar are ensured, and meanwhile, the sensor cannot always work under a larger bias voltage, and the power consumption is further reduced.

The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above and other objects, features and advantages of the present invention more clearly understood, the following specific embodiments of the present invention will be described.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a signal processing system according to an embodiment of the present application;

FIG. 2A is a schematic diagram of a forward and backward variation of a forward bias voltage through a second-order impulse response system according to an embodiment of the present application;

FIG. 2B is a schematic diagram showing a back-and-forth variation of a negative bias voltage through a second-order impulse response system according to an embodiment of the present application;

fig. 3 is a schematic flow chart of a signal processing method according to an embodiment of the present application;

FIG. 4A is a schematic diagram of a positive bias variation curve of a receiving sensor according to an embodiment of the present disclosure;

FIG. 4B is a schematic diagram of a negative bias variation curve of a receiving sensor according to an embodiment of the present disclosure;

FIG. 4C is a schematic diagram of a variation curve of a receiving sensor according to an embodiment of the present disclosure in which the positive bias and the negative bias are simultaneously varied;

Fig. 5 is a schematic flow chart of another signal processing method according to an embodiment of the present application;

fig. 6 is a schematic diagram of voltages at two ends of a receiving sensor when the receiving sensor receives a preamble signal according to an embodiment of the present application;

fig. 7 is a schematic diagram of forward bias change before and after updating the starting time of a preset time period according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a change of forward bias before and after updating the start time of another preset time period according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a change of forward bias before and after updating the start time of another preset time period according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a signal processing device according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a lidar according to an embodiment of the present application.

Detailed Description

In order to make the features and advantages of the present application more comprehensible, the following description will be given in detail with reference to the accompanying drawings in which embodiments of the present application are shown, and it is apparent that the described embodiments are merely some but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The terms first, second, third and the like in the description and in the claims of the application and in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1, fig. 1 schematically illustrates a structure of a signal processing system according to an embodiment of the present application. As shown in fig. 1, the signal processing system 100 may include: a laser transmitter 110, a spectroscopic unit 120, a controller 130, a receiving sensor 140, a positive bias module 150, a negative bias module 160, and a target object 170. Wherein:

laser transmitter 110 may be used to transmit laser beam TX0.

The beam splitter 120 may receive the laser beam TX emitted by the laser emitter 110, and direct most of the laser beam TX, for example, direct 99.99% of the laser beam TX, strike the surface of the target object 170, and return along the original optical path, where the returned laser beam RX1 is reflected by the beam splitter 120 to the receiving sensor 140, which is a normal ranging echo signal. However, at the same time, a small portion of the laser beam TX, for example, 0.01%, may generate a preamble signal due to the specular reflection of the emitted light from the optical device on the optical path where the emitted light reaches the window, for example, when the laser beam TX passes through the beam splitting unit 120, the reflected laser beam RX0 is directly generated and reflected to the surface of the receiving sensor 140, so that a strong echo is generated at a near distance, which is simply called as a preamble, and directly affects the ranging of the near-distance real target object. The spectroscopic unit 120 may include a mirror surface of an optical device such as a polarization beam splitter prism, which is not particularly limited in the present application.

The receiving sensor 140 may be a photodiode or the like for receiving the laser beam RX1 and converting it into a ranging signal; meanwhile, the receiving sensor 140 may also be used to receive the laser beam RX0 and convert it into a preamble signal.

The positive bias module 150 may be used to apply a voltage to the cathode of the receiving sensor 140. The positive bias module 150 may include a second order impulse response system, a positive power supply, etc. The second order impulse response system includes a high voltage amplifier. As shown in fig. 2A, the second-order impulse response system can convert the pulse 210, which is applied to the cathode of the receiving sensor 140, with a small amplitude and a step change with an edge jump, into a pulse 220 with a gentle edge and a large amplitude, i.e. a large difference between the first voltage value and the second voltage value. At this time, the width of the pulse is the time required for the forward bias to change, i.e., a preset period of time.

The negative bias module 160 may be used to apply a voltage to the anode of the receiving sensor 140. The negative bias module 160 may include a second order impulse response system, a negative power supply, and the like. The second order impulse response system includes a high voltage amplifier. As shown in fig. 2B, the second-order impulse response system can convert the pulse 230, which is applied to the anode of the receiving sensor 140, with a small amplitude and a step change with an edge jump, into a pulse 240 with a gentle edge and a large amplitude, i.e. a large difference between the first voltage value and the second voltage value. At this time, the width of the pulse is the time required for the negative bias voltage to change, i.e., a preset period of time.

The controller 130 is electrically connected to the laser emitter 110, the positive bias module 150 and the negative bias module 160, and is used for controlling the laser emitter 110 to emit the laser beam TX, and controlling the voltage value and the time of applying the voltage of the positive bias module 150 and the negative bias module 160.

Next, a signal processing method provided in an embodiment of the present application is described with reference to fig. 1 to fig. 2. Referring to fig. 3, a flow chart of a signal processing method is provided in an embodiment of the present application. As shown in fig. 3, the signal processing method includes the following steps:

step 301, continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value within a preset time period, and continuously adjusting the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value.

Alternatively, since the smaller the bias voltage across the receiving sensor, the weaker its receiving capability, the negative bias of the receiving sensor remains unchanged when the preamble signal is coming, and the preamble signal can be suppressed by continuously adjusting the positive bias of the receiving sensor. As shown in fig. 4A in particular, the forward bias 410 of the receiving sensor can be quickly and directly moved from the first voltage value V ₁ Continuously regulating and reducing to a second voltage value V ₂ Ensuring that the time when the preamble signal is received is exactly the time when the preamble signal is forward biased to be at the second voltage value V corresponding to the forward bias ₂ The bias voltage at the two ends of the receiving sensor is changed from V ₁ -V ₀ Reduced to V ₂ -V ₀ The receiving capacity of the receiving sensor is weakened, so that the effect of suppressing the preamble signal is achieved. The forward bias voltage is a voltage applied to the receiving sensor cathode. Second voltage value V ₂ Less than the first voltage value V ₁ . As shown in fig. 4A, to better achieve the effect of suppressing the preamble signal, the first voltage value V ₁ And the second voltage value V ₂ The difference of (c) needs to be greater than a first preset threshold. The first preset threshold may be, for example, 1V, 3V, etc., which is not limited in the present application. The larger the first preset threshold value is, the smaller the bias voltage between the positive bias voltage and the negative bias voltage of the receiving sensor is, that is, the weaker the receiving capability of the receiving sensor is, the better the suppression effect on the preamble signal is in the process of signal processing. In order not to affect the normal short distance ranging, the forward bias of the receiving sensor is required to be controlled from the first voltage value V within a preset time ₁ Continuously adjusting to a second voltage value V ₂ And from the second voltage value V ₂ Continuously adjusting to the first voltage value V ₁ . The time length of the preset time period is smaller than a second preset threshold value. The second preset threshold value may be, for example, 50ns, 100ns, etc., which is not limited in the present applicationAnd (5) setting. The smaller the second preset threshold value is, the smaller the influence on the short-range distance measurement is in the process of suppressing the preamble signal.

Alternatively, since the smaller the bias voltage is, the weaker the receiving capability is, so that the forward bias of the receiving sensor can be kept unchanged in addition to the forward bias suppressing of the receiving sensor by continuously adjusting the forward bias of the receiving sensor, and the effect of suppressing the preamble signal can be achieved by continuously adjusting the negative bias of the receiving sensor. Specifically, as shown in FIG. 4B, the negative bias 420 of the receiving sensor can be quickly and directly moved from the first voltage value V when the leading signal is on ₀ Continuously regulating and increasing to a second voltage value V ₃ Ensuring that the negative bias voltage of the preamble signal is at the second voltage value V at the moment of receiving the preamble signal ₃ The bias voltage at the two ends of the receiving sensor is changed from V ₁ -V ₀ Reduced to V ₁ -V ₃ The receiving capacity of the receiving sensor is weakened, so that the effect of suppressing the preamble signal is achieved. The negative bias voltage is a voltage applied to the anode of the receiving sensor. Second voltage value V ₃ Is greater than the first voltage value V ₀ . As shown in fig. 4B, to better achieve the effect of suppressing the preamble signal, the first voltage value V ₀ And the second voltage value V ₃ The difference of (c) needs to be greater than a first preset threshold. The first preset threshold may be, for example, 1V, 3V, etc., which is not limited in the present application. The larger the first preset threshold value is, the smaller the bias voltage between the positive bias voltage and the negative bias voltage of the receiving sensor is, that is, the weaker the receiving capability of the receiving sensor is, the better the suppression effect on the preamble signal is in the process of signal processing. In order not to affect the normal short distance ranging, the negative bias voltage of the receiving sensor is required to be controlled from the first voltage value V within a preset time ₀ Continuously adjusting to a second voltage value V ₃ And from the second voltage value V ₃ Continuously adjusting to the first voltage value V ₀ . The time length of the preset time period is smaller than a second preset threshold value. The second preset threshold may be, for example, 50ns, 100ns, etc., which is not limited in this application. The smaller the second preset threshold value is, the before the inhibitionThe less the influence on the short range distance measurement during signal transduction.

Alternatively, since the smaller the bias voltage across the receiving sensor is, the weaker the receiving capability thereof is, the positive bias and the negative bias of the receiving sensor can be continuously adjusted simultaneously, in addition to suppressing the preamble signal by continuously adjusting the positive bias or the negative bias of the receiving sensor, at the time of the preamble signal. As shown in fig. 4C, the forward bias 410 of the receiving sensor can be quickly and directly moved from the first voltage V upon the preamble signal ₁ Continuously regulating and reducing to a second voltage value V ₂ And simultaneously, the negative bias voltage 420 of the receiving sensor is quickly and directly from the first voltage value V by the second-order impulse response system ₀ Continuously regulating and increasing to a second voltage value V ₃ Ensuring that the forward bias 410 is at the second voltage value V right at the time the preamble signal is received ₂ And its negative bias 420 at a second voltage value V ₃ The bias voltage at the two ends of the receiving sensor is changed from V ₁ -V ₀ Reduced to V ₂ -V ₃ The receiving capacity of the receiving sensor is weakened, so that the effect of suppressing the preamble signal is achieved. The forward bias voltage is a voltage applied to the receiving sensor cathode. A second voltage value V corresponding to the positive bias voltage 410 ₂ Is smaller than the first voltage value V corresponding to the positive bias voltage 410 ₁ . The negative bias voltage is a voltage applied to the anode of the receiving sensor. A second voltage value V corresponding to the negative bias voltage 420 ₃ Is greater than the first voltage value V corresponding to the negative bias voltage 420 ₀ . As shown in fig. 4C, to better suppress the preamble signal, the positive bias voltage 410 corresponds to the second voltage V ₂ A second voltage value V corresponding to the negative bias voltage 420 ₃ The difference of (c) needs to be greater than a first preset threshold. The first preset threshold may be, for example, 1V, 3V, etc., which is not limited in the present application. The smaller the first preset threshold value, the smaller the bias voltage between the positive bias voltage and the negative bias voltage of the receiving sensor, that is, the weaker the receiving capability of the receiving sensor, the better the suppression effect on the preamble signal in the signal processing process. In order not to affect normal short distance ranging, the distance is required to be measured at a preset time The negative bias 420 of the receiving sensor is shifted from the first voltage value V ₀ Continuously adjusting to a second voltage value V ₃ And from the second voltage value V ₃ Continuously adjusting to the first voltage value V ₀ And simultaneously forward biasing 410 the receiving sensor from a first voltage value V ₁ Continuously adjusting to a second voltage value V ₂ And from the second voltage value V ₂ Continuously adjusting to the first voltage value V ₁ . The time length of the preset time period is smaller than a second preset threshold value. The second preset threshold may be, for example, 50ns, 100ns, etc., which is not limited in this application. The smaller the second preset threshold value is, the smaller the influence on the short-range distance measurement is in the process of suppressing the preamble signal.

In particular, in order to avoid that the positive bias and/or the negative bias jump too quickly causes a large oscillation to affect the short distance ranging, the oscillation caused by the change of the positive bias and/or the negative bias can be reduced by means of continuous adjustment. Since the speed of the laser light emitted by the laser emitter is fast, the moment when the receiving sensor receives the preamble signal is approximately regarded as the moment when the laser light is emitted, that is, the time when the positive bias and/or the negative bias of the receiving sensor is continuously adjusted from the first voltage value to the second voltage value is also fast, so that the starting moment of the preset time period can be determined as the moment when the laser radar emits the laser beam. The positive bias and/or the negative bias of the receiving sensor can be continuously adjusted from the first voltage value to the second voltage value from the moment the laser emits, i.e. the moment the receiving sensor receives the preamble signal, i.e. the positive bias is exactly at the second voltage value V as shown in fig. 4A ₂ And/or its negative bias at a second voltage value V as shown in FIG. 4B ₃ I.e. the receiving sensor receives the preamble signal, its receiving capacity is the weakest, so that the preamble signal can be suppressed better.

Specifically, since the distance between the laser transmitter and the beam splitting unit and the receiving sensor is fixed, the time difference between the time when the laser transmitter transmits the laser beam and the time when the receiving sensor receives the preamble signal is also fixed, so that the starting time of the preset time period can be defined as the time when the laser radar transmits the laser beam, the time required for continuously adjusting and reducing the positive bias voltage and/or the negative bias voltage from the first voltage value to the second voltage value is aligned with the time difference between the time when the laser transmitter transmits the laser beam and the time when the receiving sensor receives the preamble signal, that is, the time when the receiving sensor receives the preamble signal is exactly the time when the positive bias voltage and/or the negative bias voltage of the receiving sensor is at the second voltage value, that is, the receiving capacity of the receiving sensor is the weakest, and therefore the preamble signal can be better restrained.

Specifically, in order to suppress the preamble signal without affecting the normal close range, the forward bias module 150 of fig. 1 may be a second order impulse response system, so as to output the same pulse 410 of fig. 4A, so as to implement the forward bias of the receiving sensor from the first voltage value V within the preset time period ₁ Continuously adjusting to a second voltage value V ₂ And from the second voltage value V ₂ Continuously adjusting to the first voltage value V ₁ . The negative bias module 160 of FIG. 1 may also be a second order impulse response system, outputting the same pulse 420 of FIG. 4B, to effect the negative bias of the receiving sensor from the first voltage value V for a predetermined period of time ₀ Continuously adjusting to a second voltage value V ₃ And from the second voltage value V ₃ Continuously adjusting to the first voltage value V ₀ . The second order impulse response system comprises a high voltage amplifier; the preset time period is the pulse width of the output pulse of the second-order impulse response system. In this embodiment, the second-order impulse response system is used to adjust the positive bias and/or the negative bias of the receiving sensor, so that the continuous adjustment of the positive bias and/or the negative bias from the first voltage value to the second voltage value can be ensured to be smooth and rapid, i.e. no large oscillation is caused, the response time is short, the effect of suppressing the preamble signal can be ensured due to the pressure difference between the first voltage value and the second voltage value, and the normal short-distance ranging is not affected.

Step 302, receiving an echo signal based on the positive bias and the negative bias of the receiving sensor.

Alternatively, as shown in fig. 4A, the positive bias 410 continuously adjusted for a preset period of time based on one end of the receiving sensor and the negative bias V, the other end of which remains unchanged, are used ₀ The generated bias voltage receives the echo signal. The echo signals include a preamble signal and a ranging signal. Since the preamble signal is generated by directly reflecting the laser beam by the beam-splitting unit, and the ranging signal needs to pass through the surface of the target object before being reflected back to the receiving sensor via the beam-splitting unit, the receiving sensor receives the preamble signal in the actual ranging process, and thus the forward bias voltage 410 of the receiving sensor starts to be controlled from the first voltage value V within the preset time period at the same time when the laser transmitter emits the laser beam ₁ Continuously adjusting to a second voltage value V ₂ And from the second voltage value V ₂ Continuously adjusting to the first voltage value V ₁ And is based on the continuously varying positive bias 410 and the fixed negative bias V ₀ The echo signals are received, so that the effects that the leading signals can be restrained and the ranging signals can be received without affecting the short-distance ranging are achieved.

Alternatively, as shown in fig. 4B, the negative bias 420 continuously adjusted for a preset period of time based on one end of the receiving sensor and the positive bias V with the other end kept unchanged are used ₁ The generated bias voltage receives the echo signal. The echo signals include a preamble signal and a ranging signal. Since the leading signal is generated by directly reflecting the laser beam by the beam-splitting unit, and the ranging signal is required to pass through the surface of the target object to be reflected to the receiving sensor by the beam-splitting unit, the receiving sensor receives the leading signal in the actual ranging process, and thus the negative bias voltage of the receiving sensor is simultaneously started to be reduced from the first voltage value V within the preset time period when the laser transmitter transmits the laser beam ₀ Continuously adjusting to a second voltage value V ₃ And from the second voltage value V ₃ Continuously adjusting to the first voltage value V ₀ And is based on the continuously variable negative bias 420 and the fixed positive bias V ₁ Receiving echo signals, thereby achieving the purposes of not only suppressing the leading signals, but also receiving the ranging signals without affecting the short distanceEffect of distance measurement.

Alternatively, as shown in fig. 4C, the echo signal is received based on the bias voltage generated by the positive bias 410 and the negative bias 420 continuously adjusted across the receiving sensor for a preset period of time. The echo signals include a preamble signal and a ranging signal. Since the preamble signal is generated by directly reflecting the laser beam by the beam-splitting unit, and the ranging signal needs to pass through the surface of the target object before being reflected back to the receiving sensor via the beam-splitting unit, the receiving sensor receives the preamble signal in the actual ranging process, and thus the negative bias voltage 420 of the receiving sensor is simultaneously started to be reduced from the first voltage value V within the preset time period when the laser transmitter transmits the laser beam ₀ Continuously adjusting to a second voltage value V ₃ And from the second voltage value V ₃ Continuously adjusting to the first voltage value V ₀ While simultaneously receiving the forward bias voltage 410 of the sensor from the first voltage value V ₁ Continuously adjusting to a second voltage value V ₂ And from the second voltage value V ₂ Continuously adjusting to the first voltage value V ₁ And receives echo signals based on the continuously varying negative bias voltage 420 and the continuously varying positive bias voltage 410, thereby achieving the effect that the preamble signal can be suppressed and the ranging signal can be received without affecting the short range ranging.

In the embodiment of the application, the bias voltage at two ends of the receiving sensor is changed by continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor, so that the receiving capability of the receiving sensor is weakened temporarily only by the leading signal, the leading signal is pressed at any time when the laser radar operates, and the laser radar is ensured to realize short-distance ranging and ensure ranging precision.

Please refer to fig. 5, which is a flowchart illustrating another signal processing method according to an embodiment of the present application. As shown in fig. 5, the signal processing method includes the following steps:

step 501, continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value within a preset time period, and continuously adjusting the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value.

Specifically, step 501 corresponds to step 301, and will not be described herein.

Step 502 receives an echo signal based on the positive bias and the negative bias of the receiving sensor.

Specifically, step 502 corresponds to step 302, and is not described here.

In step 503, it is determined whether the pulse amplitude of the preamble signal is greater than a third preset threshold.

Specifically, due to temperature variation, device aging, etc., the relationship between the start time of the preset time period adjusted at the time of shipping and the time of the laser beam emitted by the laser emitter may change, which may result in the time t when the receiving sensor receives the preamble signal ₁ Time t, which is later than the time t when the positive bias and/or the negative bias is at the second voltage value ₀ . At this time, as shown in FIG. 6, the receiving sensor receives the preamble signal and the bias voltage V of the corresponding two ends ₄ -V ₀ Obviously than the original bias voltage V ₂ -V ₀ Since the receiving capability of the receiving sensor is large, that is, the bias voltage across the receiving sensor may not be sufficient to suppress the preamble signal at all, it is necessary to determine whether the pulse amplitude of the preamble signal in the echo signal received by the receiving sensor is greater than the third preset threshold value after receiving the echo signal based on the positive bias and the negative bias of the receiving sensor. The third preset threshold is, for example, but not limited to, 1V, 2V, etc. It can be seen that the smaller the third preset threshold value is, the higher the requirement of the laser radar on the light guiding inhibition effect is, and the higher the performance of the laser radar ranging is.

Step 504, if the pulse amplitude of the preamble signal is greater than the third preset threshold, adjusting the starting time of the preset time period to obtain the updated starting time.

Optionally, if the pulse amplitude of the preamble signal is greater than a third preset threshold, for example, when the pulse amplitude of the preamble signal is 5V and the third preset threshold is 2V, it may be determined that the pulse amplitude of the preamble signal is greater than the third preset threshold, and the starting time of the preset time period needs to be adjusted according to a preset step length, so as to obtain the updated starting time. If the pulse amplitude of the preamble signal is greater than the third preset threshold, the starting time of the preset time period of the positive bias voltage and/or the negative bias voltage continuously adjusted in step 501 is adjusted backward to obtain the updated starting time. After obtaining the updated starting time, step 508 is performed, an updated preset time period is obtained based on the updated starting time, step 501 is performed again, and the step of continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from the first voltage value to the second voltage value and continuously adjusting the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value in the preset time period is performed until the pulse amplitude of the preamble signal is less than or equal to the third preset threshold value. The preset step length may be 0.5ns, 1ns, etc., and may be set according to the actual short-distance ranging condition, which is not specifically limited in this application. The updated starting time is later than the starting time before updating.

Illustratively, if the negative bias of the receiving sensor remains unchanged in step 501 by continuously adjusting the positive bias of the receiving sensor to suppress the preamble signal, then when the receiving sensor receives a signal at t ₁ When the preamble signal is received at the moment and the pulse amplitude of the preamble signal received at the moment is greater than the third preset threshold value and the preset step length is 0.25ns, as shown in fig. 7, the time t when the preamble signal is received by the receiving sensor at the moment ₁ The corresponding pulse 710 receiving the forward bias of the sensor is V ₄ I.e. receiving the bias voltage V across the sensor ₄ -V ₀ Too large, its reception capacity is too strong to suppress the preamble signal well, so the start time of the preset time period in the original forward biased pulse 710 may be adjusted back by 0.25ns to obtain the updated start time of 3.25ns. After obtaining the updated starting time, step 508 is performed, an updated preset time period is obtained based on the updated starting time, and step 501 is performed again, wherein the positive bias and/or the negative bias of the receiving sensor is continuously adjusted from the first voltage value to the second voltage value and from the second voltage value to the first voltage within the preset time period The step of the values is known from the pulse 720 of the positive bias voltage of the receiving sensor in fig. 7, the pulse 720 of the positive bias voltage of the receiving sensor and the constant negative bias voltage V continuously adjusted in a preset period based on the update ₀ When receiving echo signals, the receiving sensor receives the leading signals at the time t ₁ The corresponding receiving sensor has a positive bias of V ₅ And as can be seen from FIG. 7, V ₅ <V ₄ That is, the bias voltage across the receiving sensor is significantly reduced and its receiving capability is weakened, so that it can be once again judged that the pulse 720 based on the positive bias voltage of the receiving sensor in fig. 7 and the negative bias voltage V ₀ If the pulse amplitude of the received preamble is greater than the third preset threshold, if the pulse amplitude of the received preamble is still greater than the third preset threshold, step 504 is executed again until the pulse amplitude of the preamble is less than or equal to the third preset threshold.

Optionally, if the pulse amplitude of the preamble signal is greater than the third preset threshold, adjusting the starting time of the preset time period according to the pulse amplitude of the preamble signal and the third preset threshold to obtain the updated starting time. If the pulse amplitude of the preamble signal is greater than the third preset threshold and the pulse amplitude of the preamble signal is different from the third preset threshold by Δv, determining a time t corresponding to the pulse amplitude when the pulse amplitude is different from the pulse amplitude of the preamble signal by Δv according to the pulse amplitude output by the second-order response system corresponding to the time when the receiving sensor receives the preamble signal in the continuously adjusted positive bias voltage and/or negative bias voltage change curve in step 501 ₁ The last moment before, i.e. the pulse phase t ₂ Then calculate t ₁ And t ₂ Time difference Δt=t between them ₁ -t ₂ And directly starting time t of the preset time period ₀ The back delta t time period is adjusted back.

Illustratively, if the negative bias voltage of the receiving sensor remains unchanged in step 501, and the forward bias voltage of the receiving sensor is continuously adjusted to suppress the forward signal, then when the difference between the pulse amplitude of the forward signal and the third preset threshold is 2V, as shown in fig. 8, the output of the second-order response system can be obtained according to the positive bias voltage variation curveTime t at which the receiving sensor receives the preamble signal in pulse 810 ₁ Pulse amplitude V output by corresponding second-order response system ₄ Determining pulse amplitude V differing from it by 2V ₅ Corresponding time t ₁ The last moment before, i.e. the pulse phase t ₂ Then calculate t ₁ And t ₂ Time difference Δt=t between them ₁ -t ₂ Directly starting time t of preset time period ₀ And step 508, obtaining an updated pulse 820 based on the updated preset time period, and step 501, continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from the first voltage value to the second voltage value and continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from the second voltage value to the first voltage value in the preset time period. As can be seen from the pulse 820 of the positive bias voltage of the receiving sensor in fig. 8, the pulse 820 of the positive bias voltage of the receiving sensor and the constant negative bias voltage V are continuously adjusted in a preset period based on the update ₀ When receiving echo signals, the receiving sensor receives the leading signals at the time t ₁ The corresponding receiving sensor has a positive bias of V ₅ The preamble signal can be suppressed exactly at this time. That is, when step 503 is performed later, it may be determined that the pulse amplitude of the preamble signal is equal to the third preset threshold, that is, step 505 may be performed.

In step 505, if the pulse amplitude of the preamble signal is less than or equal to the third preset threshold, the corresponding minimum ranging distance is determined based on the ranging signal received by the receiving sensor.

Specifically, if the pulse amplitude of the preamble signal is less than or equal to the third preset threshold, the controller determines the measurable minimum ranging distance according to all measured distances corresponding to all ranging signals that the receiving sensor can receive.

Step 506, determining whether the minimum ranging distance is greater than a preset distance threshold.

Specifically, after determining the measurable minimum ranging distance, it is further required to determine whether the minimum ranging distance is greater than a preset ranging threshold, that is, whether the starting time of the preset time period in step 504 is adjusted excessively, so that the bias voltage at both ends of the receiving sensor is too small, and the receiving capability is too weak, which is equivalent to determining whether the adjustment of the starting time of the preset time period in step 504 affects the normal close range ranging. The preset distance threshold may be 10cm, 15cm, etc., and may be specifically set according to the actual short-range ranging performance and requirements of the lidar, which is not specifically limited in this application.

Step 507, if the minimum ranging distance is greater than the preset distance threshold, adjusting the starting time of the preset time period according to a preset step length to obtain an updated starting time.

Specifically, when the minimum ranging distance is greater than a preset distance threshold, the starting time of the preset time period is adjusted according to a preset step length, and the updated starting time is obtained. The updated start time is earlier than the pre-update start time. I.e. the minimum distance measurement is greater than the preset distance threshold, the starting time t of the preset time period in the continuously adjusted positive bias and/or negative bias change curve in step 501 may be determined ₀ The preset step length, namely delta t time lengths, is adjusted forwards to obtain updated starting time t ₀ - Δt. Then step 405 is executed, based on the updated preset time period obtained from the updated starting time, the pulse corresponding to the updated positive bias voltage and/or negative bias voltage is obtained, step 501 is executed again based on the updated preset time period, the positive bias voltage and/or the negative bias voltage of the receiving sensor is continuously adjusted from the first voltage value to the second voltage value in the preset time period, and the step 502 is executed directly until the minimum ranging distance is smaller than or equal to the preset distance threshold, the echo signal is received based on the positive bias voltage and the negative bias voltage of the receiving sensor,

Illustratively, if the negative bias voltage of the receiving sensor remains unchanged in step 501, the positive bias voltage of the receiving sensor is continuously adjusted to suppress the preamble signal, as shown in FIG. 9, at time t when the receiving sensor receives the preamble signal ₁ Due toThe adjustment of the starting time of the preset time period in the above step 504 is at the time t when the receiving sensor receives the ranging signal after the falling edge of the forward bias 910 in fig. 9 ₂ The bias voltages at the two ends of the corresponding receiving sensor are far higher than t ₁ Bias voltage V at two ends of receiving sensor corresponding to moment ₄ -V ₀ If the minimum distance is 10cm and the preset distance is 5cm, the minimum distance is larger than the preset distance. When the preset step is Δt, the start time t of the preset time period of the pulse 910 corresponding to the forward bias in FIG. 9 can be set to ₀ Adjusting delta t time lengths forwards to obtain updated starting time t ₀ - Δt. Step 405 is then performed to obtain an updated preset time period based on the updated start time, obtain a pulse 920 corresponding to the updated positive bias voltage, and perform step 501 again based on the updated preset time period, continuously adjust the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value and continuously adjust the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value in the preset time period, further perform step 502 based on the pulse 920 of the updated positive bias voltage and the fixed negative bias voltage V ₀ Receiving echo signals, at the moment t when the receiving sensor receives ranging signals ₂ Corresponding positive bias V ₅ The receiving capacity of the receiving sensor is increased, and the minimum distance that can be measured is also decreased, and then step 503 is executed again, until the minimum distance measurement distance is less than or equal to the preset distance threshold, step 502 is executed directly, and the echo signal is received based on the positive bias voltage and the negative bias voltage of the receiving sensor, that is, the accuracy of the ranging result obtained after the echo signal is received in step 502 can be ensured until the preamble signal can be suppressed and the near distance ranging is not affected.

Step 508, obtaining an updated preset time period based on the updated starting time.

Specifically, based on the updated starting time in the

above steps

504 and 507, an updated preset time period can be obtained, that is, the starting time of the updated preset time period is the updated starting time, and the time length of the preset time period remains unchanged.

In this embodiment, by judging whether the pulse amplitude of the preamble signal is greater than a third preset threshold, if the pulse amplitude of the preamble signal is greater than the third preset threshold, adjusting the starting time of the preset time period to obtain updated starting time and the like to achieve the effect of suppressing the preamble signal, and meanwhile, under the precondition that the preamble can be suppressed, judging whether the minimum ranging distance is greater than the preset distance threshold, if the minimum ranging distance is greater than the preset distance threshold, adjusting the starting time of the preset time period according to a preset step length to obtain updated starting time and the like to ensure that the short-distance ranging is not affected in the process of suppressing the preamble, that is, the embodiment of the application can suppress the preamble at any time of the operation of the laser radar to ensure the short-distance ranging and ranging accuracy of the radar; and meanwhile, the pulse output by a second-order impulse response system formed by a high-voltage operational amplifier is used, and the pulse voltage can be pulled down in non-detection time, so that the receiving sensor can not work under a larger bias voltage all the time, and the power consumption is further reduced.

Please refer to fig. 10, which provides a signal processing apparatus for an embodiment of the present application. The signal processing apparatus 1000 includes:

an adjustment module 1010 for continuously adjusting the positive bias and/or the negative bias of the receiving sensor from a first voltage value to a second voltage value and from the second voltage value to the first voltage value within a preset period of time; the difference value between the first voltage value and the second voltage value is larger than a first preset threshold value, and the time length of the preset time period is smaller than a second preset threshold value; the forward bias voltage is a voltage applied to the cathode of the receiving sensor; the negative bias voltage is a voltage applied to the anode of the receiving sensor;

a receiving module 1020 for receiving echo signals based on the positive bias and the negative bias of the receiving sensor.

In one possible implementation, the apparatus 1000 further includes:

The adjusting module 1010 is further configured to adjust a start time of the preset time period if the pulse amplitude of the preamble signal is greater than the third preset threshold value, to obtain an updated start time; the updated starting time is later than the starting time before updating;

In a possible implementation manner, the adjusting module 1010 is further configured to adjust the starting time of the preset time period according to a preset step size if the pulse amplitude of the preamble signal is greater than the third preset threshold value, to obtain an updated starting time.

In a possible implementation manner, the adjusting module 1010 is further configured to adjust the start time of the preset time period according to the pulse amplitude of the preamble signal and the third preset threshold value if the pulse amplitude of the preamble signal is greater than the third preset threshold value, to obtain an updated start time.

the adjusting module 1010 is further configured to adjust the starting time of the preset time period according to a preset step length if the minimum ranging distance is greater than a preset distance threshold, so as to obtain an updated starting time; the updated starting time is earlier than the starting time before updating;

In one possible implementation, the adjustment module 1010 is further configured to continuously adjust the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value and from the second voltage value to the first voltage value over a preset period of time using a second order impulse response system; the second order impulse response system comprises a high voltage amplifier; the preset time period is the pulse width of the output pulse of the second-order impulse response system.

The above-described division of the modules in the signal processing device is merely for illustration, and in other embodiments, the signal processing device may be divided into different modules as needed to perform all or part of the functions of the signal processing device. The implementation of each module in the signal processing apparatus provided in the embodiments of the present specification may be in the form of a computer program. The computer program may run on a terminal or a server. Program modules of the computer program may be stored in the memory of the terminal or server. Which when executed by a processor, performs all or part of the steps of the signal processing method described in the embodiments of the present specification.

Referring to fig. 11, a schematic structural diagram of a lidar is provided in an embodiment of the present application. As shown in fig. 11, the lidar 1100 may include: at least one processor 1110, at least one communication module 1120, a user interface 1130, a memory 1140, a laser transmitter 1150, a receive sensor 1160, a power supply 1170, and at least one communication bus 1180.

Wherein a communication bus 1180 is used to enable connected communications between these components.

The user interface 1130 may include keys or a keyboard, among other things, and the optional user interface 1130 may also include a standard wired interface, a wireless interface.

The communication module 1120 may optionally include a bluetooth low energy module, a near field communication (Near Field Communication, NFC) module, a wireless fidelity (Wireless Fidelity, wi-Fi) module, and the like.

Wherein a laser transmitter 1150 is used to transmit a laser beam.

The memory 1140 is used for storing information input by the user interface 1130, echo signals generated by the receiving sensor 1160 receiving the laser beam, starting time of a preset time period obtained by processing by the processor 1110, forward bias of the receiving sensor 1160, time of the laser transmitter 1150 transmitting the laser beam, executable program code, and the like.

The receiving sensor 1160 is configured to receive an echo signal generated by the laser beam, and provides support for the processor 1110 to adjust a positive bias voltage of a cathode of the receiving sensor 1160.

Wherein the power supply 1170 includes an input and an output. The input of the power supply 1170 is connected to an external device, and receives power provided by the external device through the input. The output of the power supply 1170 is coupled to the processor 1110, the communication module 1120, the user interface 1130, the memory 1140, the laser transmitter 1150, and the receiving sensor 1160, respectively, and power is transmitted to the processor 1110, the communication module 1120, the user interface 1130, the memory 1140, the laser transmitter 1150, and the receiving sensor 1160, respectively.

Wherein processor 1110 may include one or more processing cores. The processor 1110 utilizes various interfaces and lines to connect various portions of the overall lidar 1100, performing various functions of the lidar 1100 and processing data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 1140, and invoking data stored in the memory 1140. Alternatively, the processor 1110 may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 1110 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 1110 and may be implemented on a single chip.

The Memory 1140 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (ROM). Optionally, the memory 1140 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). Memory 1140 may be used to store instructions, programs, code sets, or instruction sets. The memory 1140 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (e.g., a throttling function, a determining function, a receiving function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data or the like referred to in the above respective method embodiments. Memory 1140 may also optionally be at least one storage device located remotely from the aforementioned processor 1110. As shown in fig. 11, an operating system, network communication modules, user interface modules, and application programs may be included in the memory 1140, which is one type of computer storage medium.

In the lidar 1100 shown in fig. 11, the user interface 1130 is mainly used as an interface for providing input for a user, and obtains data input by the user; and processor 1110 may be configured to invoke applications stored in memory 1140 and to perform the following operations in particular:

Continuously adjusting the positive bias voltage and/or the negative bias voltage of the receiving sensor from a first voltage value to a second voltage value within a preset time period, and continuously adjusting the positive bias voltage and/or the negative bias voltage from the second voltage value to the first voltage value; the difference value between the first voltage value and the second voltage value is larger than a first preset threshold value, and the time length of the preset time period is smaller than a second preset threshold value; the positive bias is a voltage applied to the cathode of the receiving sensor and the negative bias is a voltage applied to the anode of the receiving sensor.

In some possible embodiments, the processor 1110 further performs:

if the pulse amplitude of the preamble signal is larger than the third preset threshold value, adjusting the starting moment of the preset time period to obtain updated starting moment; the updated starting time is later than the starting time before updating.

In some possible embodiments, the processor 1110 specifically further performs:

In some possible embodiments, the processor 1110 further performs:

and if the pulse amplitude of the preamble signal is smaller than or equal to the third preset threshold value, determining a corresponding minimum ranging distance based on the ranging signal received by the receiving sensor.

If the minimum distance measurement distance is greater than a preset distance threshold, adjusting the starting time of the preset time period according to a preset step length to obtain updated starting time; the updated start time is earlier than the pre-update start time.

In some possible embodiments, the processor 1110 specifically further performs:

Embodiments also provide a computer storage medium having instructions stored therein which, when run on a computer or processor, cause the computer or processor to perform one or more steps of any of the methods described above. The respective constituent modules of the related devices connected to the above-described signal processing device may be stored in the storage medium if implemented in the form of software functional units and sold or used as independent products.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (Digital Subscriber Line, DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disk (Digital Versatile Disc, DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.

Those skilled in the art will appreciate that implementing all or part of the above-described embodiment methods may be accomplished by way of a computer program, which may be stored in a computer-readable storage medium, instructing relevant hardware, and which, when executed, may comprise the embodiment methods as described above. And the aforementioned storage medium includes: various media capable of storing program code, such as ROM, RAM, magnetic or optical disks. The technical features in the present examples and embodiments may be arbitrarily combined without conflict.

The above-described embodiments are merely illustrative of the preferred embodiments of the present application and are not intended to limit the scope of the present application, and various modifications and improvements made by those skilled in the art to the technical solutions of the present application should fall within the protection scope defined by the claims of the present application without departing from the design spirit of the present application.

Claims

1. A signal processing method for use with a lidar, the lidar including a receiving sensor, the method comprising:

2. The method of claim 1, wherein the continuously adjusting the positive bias and/or the negative bias of the receiving sensor from a first voltage value to a second voltage value over a preset period of time, and before continuously adjusting from the second voltage value to the first voltage value, the method further comprises:

3. The method of claim 1, wherein after the receiving echo signals based on the positive bias voltage and the negative bias voltage of the receiving sensor, the method further comprises:

4. The method of claim 3, wherein adjusting the starting time of the preset time period if the pulse amplitude of the preamble signal is greater than the third preset threshold value, to obtain the updated starting time, comprises:

5. The method of claim 3, wherein adjusting the starting time of the preset time period if the pulse amplitude of the preamble signal is greater than the third preset threshold value, to obtain the updated starting time, comprises:

6. The method of claim 3, wherein after said determining if the pulse amplitude of the preamble signal is greater than the third predetermined threshold, the method further comprises:

7. The method of claim 1, wherein continuously adjusting the positive bias and/or the negative bias of the receiving sensor from a first voltage value to a second voltage value and from the second voltage value to the first voltage value over a preset period of time comprises:

8. A signal processing apparatus, the apparatus comprising:

9. A lidar, comprising: a laser transmitter, a receiving sensor, a processor and a memory; the processor is connected with the memory, the laser transmitter and the receiving sensor;

the laser transmitter is used for transmitting laser beams;

the memory is used for storing executable program codes;

The processor runs a program corresponding to executable program code stored in the memory by reading the executable program code for performing the method according to any one of claims 1-7.

10. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method steps of any of claims 1-7.