A point cloud processing method and a radar. The point cloud processing method comprises: obtaining a point cloud, wherein points in the point cloud have reflectivities; in response to the point cloud, dividing the point cloud into first-type points and/or second-type points on the basis of the reflectivities of the points in the point cloud, wherein the reflectivity of the first-type points is higher than a first reflectivity threshold, and the reflectivity of the second-type points is lower than a second reflectivity threshold; and if the second-type points and the first-type points are connected and the second-type points meet a deletion condition, deleting the second-type points, wherein the deletion condition represents that the second-type points belong to swell noise.
A method for processing a point cloud, and a radar. The method for processing a point cloud comprises: acquiring a point cloud, the point cloud comprising outliers (S310); determining ground points in the point cloud, the ground points comprising a first type of points among the outliers, the first type of points meeting a height requirement, and the height requirement being determined on the basis of the height of ground points in the previous point cloud frame of the current point cloud frame (S320); and at least outputting the ground points (S330). The method for processing a point cloud can remove abnormal noise points in point clouds, and effectively identify ground points while meeting sensing requirements of LIDARs, thereby ensuring the accuracy of ground point identification.
Disclosed in the present application is a frequency-modulated continuous wave laser radar (1b), comprising a frequency modulation light source (100b), a transceiving module (200b) and an optical chip module. The frequency modulation light source (100b) is used for emitting a laser beam; the optical chip module is connected between the frequency modulation light source (100b) and the transceiving module (200b), and comprises a light splitting module and a coherent receiving module (400b), the light splitting module being used for splitting the received laser beam into at least one beam of detection light and at least one beam of local oscillation light; the transceiving module (200b) is used for receiving the detection light, shaping and collimating the detection light, and then controlling the detection light to scan a target object, and is also used for receiving an echo signal reflected by the target object, and transmitting the echo signal to the optical chip module; and the coherent receiving module (400b) is respectively connected to the light splitting module and the transceiving module (200b), and the coherent receiving module (400b) is used for receiving the local oscillation light output by the light splitting module and the echo signal output by the transceiving module (200b), combining the local oscillation light and the echo signal, and performing a coherent beat frequency. The frequency-modulated continuous wave laser radar (1b) provided in the present application has a small size and a high integration level.
G01S 17/00 - Systèmes utilisant la réflexion ou la reradiation d'ondes électromagnétiques autres que les ondes radio, p.ex. systèmes lidar
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
4.
METHOD AND DEVICE FOR IMPROVING LASER RANGING CAPABILITY OF RADAR SYSTEM AND STORAGE MEDIUM
A method and device for improving laser ranging capability of a radar system and a storage medium. The method comprises: acquiring a first current signal output by a receiving sensor and a second current signal output by a reference sensor (S401); determining a cancellation residual on the basis of the first current signal and the second current signal (S402); determining, on the basis of the cancellation residual, whether there is strong light noise in echo light (S403); and when there is strong light noise in the echo light, adjusting a bias voltage of a receiving end of the radar system (S404). In the method, whether there is strong light noise in the echo light can be detected by providing the receiving sensor and the reference sensor on the receiving end of the radar system, and if there is strong light noise, the bias voltage of the receiving end is reduced, so as to reduce the average current of the receiving sensor and reduce noise excitation, thereby improving the accuracy of ranging capability of the radar system.
G01S 7/483 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails de systèmes à impulsions
A laser radar and a laser radar control method, the laser radar comprising a frequency modulation light source (111), an optical amplifier (112), at least one circulator (113), a light beam control module (114) corresponding to each circulator, and a data processing module (115), the data processing module (115) being integrated with at least one detection optical path (1151). In the laser radar, devices comprised in the detection optical path (1151) are integrated into the data processing module (115), no longer using multiple individual devices and connecting the devices by means of optical fibers or spatial light as in the related art. Thus, the laser radar can achieve a highly integrated system architecture, thereby reducing the size of the laser radar and reducing costs.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/491 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails des systèmes non pulsés
G01S 17/32 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées
G01S 17/58 - Systèmes de détermination de la vitesse ou de la trajectoire; Systèmes de détermination du sens d'un mouvement
6.
OBSTACLE RECOGNITION METHOD AND APPARATUS, STORAGE MEDIUM, AND ELECTRONIC DEVICE
Disclosed in embodiments of the present application are an obstacle recognition method and apparatus, a storage medium, and an electronic device. The method comprises: performing first obstacle detection on point cloud data corresponding to a blocked object, and determining a first confidence level of the type of the blocked object being a target obstacle type; performing blocking calculation on the point cloud data corresponding to the blocked object, and determining the blocking rate of the blocked object; according to the blocking rate of the blocked object and the first confidence level, determining a second confidence level of the type of the blocked object being the target obstacle type; and if the second confidence level is greater than a preset confidence level threshold, determining that the type of the blocked object is the target obstacle type. By using the embodiments of the present application, the accuracy of obstacle recognition can be enhanced.
Disclosed in the embodiments of the present application are a shielding relationship determination method and apparatus, and a storage medium and an electronic device. The method comprises: acquiring point cloud data of a target point cloud, and point cloud data which respectively corresponds to other point clouds in a neighborhood of the target point cloud, wherein each piece of point cloud data comprises a distance value; acquiring a shielding point cloud, the absolute value of the difference between the distance value of which and the distance value of the target point cloud is greater than or equal to a first threshold value, and which does not belong to the same object as the target point cloud, wherein the other point clouds in the neighborhood of the target point cloud comprise the shielding point cloud, and the number of shielding point clouds is greater than 0; and determining that there is a shielding relationship between an obstacle which corresponds to the shielding point cloud and a target obstacle which corresponds to the target point cloud. By using the embodiments of the present application, the determination of a shielding relationship can be more efficient and reliable, thereby reducing the possibility of missed judgement or misjudgement, and effectively improving the driving safety and reliability.
Disclosed in the present application are a laser radar and a control method therefor. The laser radar comprises a frequency-modulated light source, a beam-splitting module, a target detection module, a polarization beam-splitting rotator, and a balance detection module, wherein the frequency-modulated light source generates an input light beam; the beam-splitting module divides the input light beam into a detection light beam and a local oscillator light beam; the target detection module emits the detection light beam to a target object, and receives a reflected light beam, which is reflected by the target object; the polarization beam-splitting rotator converts the polarization state of the reflected light beam, so as to obtain a signal light beam, wherein the polarization state of the signal light beam is consistent with the polarization state of the local oscillator light beam; and the balance detection module performs balance detection on the local oscillator light beam and the signal light beam, and outputs a first detection signal, wherein the first detection signal is used for acquiring position information of the target object. By using the present application, the polarization state of a reflected light beam, which is reflected by a target object, is adjusted by means of a polarization beam-splitting rotator, and the situation of a detection failure caused by inconsistent polarization states is prevented, thereby improving the detection success rate of the laser radar.
The present application is applicable to the technical field of radars. Provided are a radar calibration method and apparatus, and a terminal device and a storage medium. The calibration method comprises: acquiring radar point cloud data of N markers, wherein N is an integer greater than or equal to three, the markers are arranged around a radar, and any three of the markers are not located in the same straight line; extracting the three-dimensional coordinates of the markers from the radar point cloud data; acquiring coordinates, which correspond to the three-dimensional coordinates, in an earth-centered earth-fixed coordinate system; determining posture information of the radar in the earth-centered earth-fixed coordinate system according to the three-dimensional coordinates and the coordinates in the earth-centered earth-fixed coordinate system; and calibrating the radar according to the posture information. By means of the embodiments of the present application, a calibration process can be simplified.
A method, apparatus and device for processing a laser radar point cloud, and a storage medium. The method comprises: acquiring point cloud data detected by a laser radar (S101); determining whether the point cloud data includes a high-reflectivity object (S102); and when a determination result is that the point cloud data includes a high-reflectivity object, determining a pseudo point cloud in the point cloud data according to a preset discrimination condition, and position information and reflectivity corresponding to each point in the point cloud data (S103). On the basis of a preset discrimination condition, and position information and reflectivity corresponding to each point, a pseudo point cloud in point cloud data corresponding to a high-reflectivity object can be accurately determined, which facilitates the improvement of the quality of a point cloud, thereby improving the accuracy of laser radar measurement.
A waveform detection method. The waveform detection method comprises: acquiring echo waveform data; comparing the echo waveform data with standard waveform data to obtain a comparison result; and determining, according to the comparison result, an abnormal waveform in the echo waveform data. By means of the described means, embodiments of the present invention achieve the effect of accurately identifying an abnormal echo.
An optical phased array chip and laser radar. The optical phased array chip comprises a substrate layer (100), a buried oxide layer (200), a first waveguide layer (300), an oxide layer (400), a second waveguide layer (500) and upper cladding (600) that are arranged in sequence, wherein a phase shifter assembly (730) is formed on the first waveguide layer (300); and two inter-layer converter assemblies (800) are formed between the first waveguide layer (300) and the second waveguide layer (500). The laser radar comprises a laser radar transmitting system, a receiving system and a signal processing system, wherein the laser radar transmitting system comprises a laser device and the optical phased array chip. According to the optical phased array chip and the laser radar, the process requirements of the fabrication of various devices in the optical phased array chip are reduced, and the performance of the optical phased array chip is improved.
A method for identifying an artifact point, a terminal device, and a computer-readable storage medium, which are applicable in the field of lidar technology. An embodiment comprises: performing sliding traversal on each point in point cloud data returned to a radar, and determining a data analysis area of each point; determining a statistical result of a point satisfying a preset statistical condition in a data analysis area according to a distance difference value of each point; and identifying an artifact point in the point cloud data on the basis of the statistical result. An artifact point in point cloud data can be effectively identified, and the current problem of being unable to effectively identify an artifact point in point cloud data is solved.
A laser radar ranging system, comprising: a photoelectric sensor (101), a differential driver (102), a collection unit (103), a control unit (105) and a processing unit (104), wherein the photoelectric sensor (101) is electrically connected to the differential driver (102), the differential driver (102) is electrically connected to the collection unit (103), the collection unit (103) is electrically connected to the processing unit (104), and the control unit (105) is electrically connected to the differential driver (102); and the differential driver (102) is used for receiving an analog signal and a first reference signal, converting the analog signal into a digital signal on the basis of a first threshold voltage value, and sending the digital signal to the collection unit (103). By means of the system, the influence of a laser test error brought about by non-linearity can be reduced, thereby reducing the power consumption cost of a ranging circuit, and improving the reliability while also improving the laser ranging precision.
A reflectivity correction method and apparatus, a computer readable storage medium, and a terminal device. According to the reflectivity correction method, after acquiring a distance measured value and a reflectivity measured value obtained by measuring a target object by a laser radar (S301), determining is performed for the distance measured value, and if the distance measured value is greater than a preset distance threshold (S302), it is considered that the degree of attenuation of laser light has affected the accuracy of the reflectivity measured value and the reflectivity measured value needs to be corrected; a correction coefficient corresponding to the distance measured value is queried in a preset parameter table (S304), and the reflectivity measured value is corrected according to the correction coefficient to obtain a reflectivity corrected value of the target object (S305). The reflectivity corrected value is closer to an actual reflectivity than the reflectivity measured value, and has high practicability.
A laser radar anti-interference method and apparatus, a computer readable storage medium, and a terminal device. The laser radar anti-interference method comprises: sequentially and respectively obtaining a first echo signal and a second echo signal of a laser radar, the first echo signal being an echo signal received by the laser radar at a kth point frequency, and the second echo signal being an echo signal received by the laser radar at a (k+1)th point frequency (S501); calculating the sum of the second echo signal and the first echo signal to obtain a third echo signal (S502); calculating an absolute value of a difference between the second echo signal and the first echo signal to obtain a fourth echo signal (S503); and calculating a difference between the third echo signal and the fourth echo signal to obtain a second echo signal after interference is filtered out (S504). The single-transmission-based anti-interference manner cannot perform filtering post-processing, but uses the correlation of the echo signals of adjacent point frequencies to filter out interference, thereby achieving an anti-interference effect.
A laser radar attitude calibration method and apparatus, a computer storage medium, and an electronic device. The method comprises: obtaining position information of a first calibration object and position information of a second calibration object which are detected by a laser radar to be calibrated (S401); when the position information of the first calibration object and the position information of the second calibration object do not satisfy a preset convergence condition, adjusting the attitude of said laser radar until the position information of the first calibration object and the position information of the second calibration object satisfy the preset convergence condition (S402); and completing the attitude calibration of said laser radar, and storing a current attitude of the laser radar (S403). Attitude parameters of the laser radar are adjusted by using the detected position information of the calibration objects, such that a measurement error possibly caused when laser radar hardware is assembled can be reduced.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
18.
TIME-OF-FLIGHT MEASUREMENT METHOD, CIRCUIT, APPARATUS, STORAGE MEDIUM AND ELECTRONIC DEVICE
A time-of-flight measurement method, comprising: performing delay processing on an echo signal to obtain a number N of delay signals (S301); on the basis of a multi-phase clock unit, generating a number X of clock signals having different phases (S302); on the basis of each clock signal, individually performing delay locking on the N delay signals (S303); combining a transmitted signal and the result of each delay lock to determine a time of flight to be processed corresponding to the result of each delay lock (S304); and determining a target time of flight according to X times of flight to be processed (S305), the target time of flight being the time difference between a transmitted reference signal and a received echo signal. The present method effectively increases the precision of measuring the time of flight of an echo signal, while saving costs and having simple computation.
G01S 17/14 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues dans lesquels une impulsion de tension ou de courant est initiée et terminée en fonction respectivement de l'émission d'impulsions et de la réception d'écho, p.ex. en utilisant des compteurs
19.
POINT CLOUD PROCESSING METHOD AND APPARATUS FOR LASER RADAR, AND STORAGE MEDIUM AND TERMINAL DEVICE
Disclosed in the present application are a point cloud processing method and apparatus for a laser radar, and a computer-readable storage medium and a terminal device. The point cloud processing method for a laser radar comprises: acquiring point cloud data which is collected by a laser radar, wherein each scanning point in the point cloud data comprises a distance measurement value and a reflectivity measurement value; according to distance measurement values and reflectivity measurement values of a target scanning point and an adjacent point, determining whether the target scanning point is an expansion point; and if the target scanning point is an expansion point, removing the target scanning point from the point cloud data. By means of the present application, the occurrence of the phenomenon of high reflectivity expansion is prevented, thereby ensuring the accuracy of laser radar recognition.
G01S 17/00 - Systèmes utilisant la réflexion ou la reradiation d'ondes électromagnétiques autres que les ondes radio, p.ex. systèmes lidar
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
20.
POSE DEVIATION ACQUISITION METHOD AND APPARATUS, STORAGE MEDIUM, AND ELECTRONIC DEVICE
Disclosed in the embodiments of the present application are a pose deviation acquisition method and apparatus, a storage medium, and an electronic device. The method comprises: acquiring first three-dimensional coordinates measured by a first laser radar for calibration plates under a reference pose of a calibration station, and second three-dimensional coordinates measured, for the calibration plates, by a laser radar to be calibrated that has been mounted to a structure; then, on the basis of the first three-dimensional coordinates and the second three-dimensional coordinates, acquiring a first pose deviation between the first laser radar and the laser radar to be calibrated; and determining the first pose deviation as a pose deviation between the current pose of the laser radar to be calibrated and the reference pose. By using the present application, by means of comparing the three-dimensional coordinates of the calibration plates that are measured by the laser radar under the reference pose and the three-dimensional coordinates of the calibration plates that are measured by the laser radar to be calibrated that has been mounted to the structure, the pose deviation between the current pose of the laser radar to be calibrated and the reference pose can be acquired.
A ridge waveguide (100), a micro-ring resonator (10), a tunable optical delay line (20) and a chip. The ridge waveguide (100) comprises: a bent portion (110), wherein the bent portion (110) comprises an arc section (111) and two arc transition sections (112), the two arc transition sections (112) respectively being located at two ends of the arc section (111) and being connected to the arc section (111); and in a direction from one end of each arc transition section (112) connected to the arc section (111) to the other end of the arc transition section away from the arc section (111), the radius of curvature of the arc transition section (112) being gradually changed to infinity from being equal to the radius of curvature of the arc section (111). The bent portion (110) of the ridge waveguide (100) is configured to comprise the arc transition sections (112), and the radii of curvature of the arc transition sections (112) are gradually changed, such that the transmission loss of the bent portion can be greatly reduced, and the size of the ridge waveguide (100) can be designed to be smaller at the same bending loss, and therefore an apparatus can be miniaturized.
G02B 6/125 - Courbures, branchements ou intersections
G02B 6/28 - Moyens de couplage optique ayant des bus de données, c. à d. plusieurs guides d'ondes interconnectés et assurant un système bidirectionnel par nature en mélangeant et divisant les signaux
22.
FREQUENCY MODULATION NONLINEAR CALIBRATION APPARATUS AND CALIBRATION METHOD
A frequency modulation nonlinear calibration apparatus (100) and calibration method. The calibration apparatus (100) comprises: a light source (110), a light splitting module (120), a delay module (130), and a control module (140). The delay module (130) comprises a ridge waveguide (133) for transmitting a first optical signal and/or a second optical signal; and the ridge waveguide (133) comprises a curved ridge waveguide (1331) and a straight ridge waveguide (1332) connected to the curved ridge waveguide (1331). Compared with the use of an optical fiber that is several meters long or even longer as the delay module (130) in the related art, the use of a waveguide as the delay module (130) can greatly reduce the size of the delay module (130), thereby reducing the size of the entire FMCW lidar, such that the FMCW lidar can be applied in more scenarios, and furthermore, the ridge waveguide (133) has lower transmission loss. In addition, compared with an overall linear distribution, configuring the ridge waveguide (133) to comprise the curved ridge waveguide (1331) and the straight ridge waveguide (1332) can further reduce the space occupied by the ridge waveguide (133), thereby achieving the miniaturization of a device.
Provided in the present application is a signal processing method, which is applied to a terminal device, and comprises: after receiving an indication signal sent by a laser receiving sensor, processing the indication signal, so as to obtain a target signal, wherein the delay of the target signal relative to the indication signal is a preset duration, the pulse width of the target signal is a target width value, and the target signal is used to trigger laser emission; and according to the target signal and the indication signal, determining a starting time for laser emission. By means of the method, the starting time for laser emission can be determined more accurately, so as to improve the laser measurement accuracy.
A laser radar detection method and apparatus, a terminal device and a storage medium, which are applicable to the technical field of laser radar detection. The method comprises: acquiring echo data (S1); determining a peak point of an echo and the position and the amplitude of the peak point according to the echo data (S2); and when the position and amplitude of the peak point meet a preset condition, determining that the echo is absorbed (S3). The described method can detect echo absorption on the basis of echo data, which is beneficial in preventing the erroneous measurement of an object and ensuring the accuracy of distance measurement data, and can prevent measurement errors of a laser radar.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/487 - Extraction des signaux d'écho désirés
25.
MOTOR DETECTION METHOD AND APPARATUS, COMPUTER READABLE STORAGE MEDIUM, AND TERMINAL DEVICE
A motor detection method and apparatus, a computer readable storage medium, and a terminal device, the motor detection method comprising: acquiring a first sampling value, a second sampling value, and a third sampling value of the rotation angle of a motor (S101); calculating a difference value between the first sampling value and the third sampling value (S102); calculating a product value of the difference value and a preset gain factor (S103); calculating a sum of squares of the product value and the second sampling value (S104); and, on the basis of the sum of squares, determining a detection result of the motor (S105). By means of the present technical solution, the detection result of the motor can be determined by only calculation and analysis of the specific three sampling values, having strong timeliness and being capable of effectively preventing the occurrence of safety accidents.
G01D 5/245 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensible; Moyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminé; Transducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques produisant des impulsions ou des trains d'impulsions utilisant un nombre variable d'impulsions dans un train
A signal processing method and apparatus, and a readable storage medium. The method comprises: performing N-level decomposition on a signal to be processed, to obtain 2N components (S901), wherein N ≥ 2, and said signal is a signal having noise; determining a target component layer according to a frequency band to be filtered, and performing wavelet threshold denoising on the components in the target component layer within said frequency band, to obtain a processed filtered signal (S902); and outputting the filtered signal (S903). The distance measurement accuracy can be improved.
G01S 7/41 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cible; Signature de cible; Surface équivalente de cible
27.
SIGNAL PROCESSING METHOD AND APPARATUS, AND READABLE STORAGE MEDIUM
A signal processing method and apparatus, and a readable storage medium. The method comprises: performing N levels of decomposition on a signal to be processed, so as to obtain 2N components; according to a frequency band to be subjected to filtering, determining a number of target component layers, and performing wavelet threshold denoising on a component, which is located in said frequency band, in the number of target component layers, so as to obtain a processed filter signal, wherein said frequency band is any one of M frequency bands, which cover the full frequency band range, and M ≥ 2; if the filter signal satisfies a preset condition, outputting the filter signal; and if the filter signal does not satisfy the preset condition, determining, according to a preset sequence, the next frequency band to be subjected to filtering to be said frequency band, determining a filter signal corresponding to said frequency band, and until the filter signal corresponding to the last frequency band in the M frequency bands does not satisfy the preset condition, outputting the filter signal corresponding thereto. The distance measurement precision within the full frequency band range can be improved.
G01S 7/41 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cible; Signature de cible; Surface équivalente de cible
A laser radar detection method and apparatus, and a laser radar (10). The laser radar detection method comprises: acquiring information of the environment where a laser radar (10) is located (S301); determining a detection mode of the laser radar (10) on the basis of the environment information (S302); determining a target detection area of the laser radar (10) according to the detection mode (S303); determining operating parameters of the laser radar (10) on the basis of the target detection area (S304); and the laser radar (10) running the operating parameters to perform area detection. Operating parameters of a laser radar (10) can be adjusted according to a detection mode, thereby improving the flexibility of detection of the laser radar (10), and also improving the accuracy of the radar (10) performing detection on the target detection area and the operating efficiency of the radar (10).
Provided is a micro-galvanometer control method for a solid-state laser radar. The method comprises: acquiring a vertical field angle range of scanning performed by a solid-state laser radar; determining a first vertical field angle and a second vertical field angle corresponding to a preset ROI of the solid-state laser radar, wherein a region between the first vertical field angle and the second vertical field angle is a vertical field range corresponding to the preset ROI; when it is detected that a micro-galvanometer performs scanning to reach the first vertical field angle, reducing a slow-axis scanning speed of the micro-galvanometer to be a first preset speed; and when it is detected that the micro-galvanometer performs scanning to reach the second vertical field angle, adjusting the slow-axis scanning speed of the micro-galvanometer to be a second preset speed, wherein the first preset speed is less than the second preset speed. By controlling a slow-axis scanning speed of a MEMS micro-galvanometer, the vertical resolution of an ROI is effectively improved, and a laser radar can achieve precise scanning in the ROI. Further provided are a micro-galvanometer control apparatus and a solid-state laser radar.
A galvanometer control method apparatus, a computer-readable storage medium, and a terminal device. In the method, a same galvanometer is driven to perform scanning in the horizontal and vertical directions by means of the superposition of two driving signals, wherein a first driving signal is used for controlling the galvanometer to perform scanning in the vertical direction, and a second driving signal is used for controlling the galvanometer to scan in the horizontal detection field-of-view direction. By means of the present method, only a single galvanometer is required to perform scanning in the horizontal and vertical directions, the cost is low, occupied space is reduced, the miniaturization of a device is facilitated, and the problem that the scanning areas of two galvanometers block and limit each other is avoided, thus facilitating scanning at a large angle.
A laser radar (10) and a device having the laser radar (10). The laser radar (10) comprises: a detection assembly (110) comprising a first laser emitting apparatus (1111) and a second laser emitting apparatus (1112); and a laser receiving apparatus (112) located between the first laser emitting apparatus (1111) and the second laser emitting apparatus (1112) to receive a first laser beam reflected by a first detection region and a second laser beam reflected by a second detection region. The transmit power of the first laser emitting apparatus (1111) is greater than that of the second laser emitting apparatus (1112). By configuring the laser radar (10) to comprise a plurality of laser emitting apparatuses (111) having different transmit power, the transmit power of each laser emitting apparatus (111) matches the energy requirements of the detection regions, thereby increasing the detection distance of a system and reducing the total power consumption of the system; moreover, the detection field-of-view angle of the laser radar (10) can be increased, thereby achieving a wide-angle detection function.
A laser receiving circuit and a laser radar, relating to the field of laser radars. By pre-providing a plurality of voltage sources (1, 2, ..., n) having different voltage values, when a voltage value of a reverse bias signal of a receiving sensor (13) needs to be adjusted, a corresponding power input interface can be turned on to load the reverse bias signal having a formulated voltage value onto the receiving sensor (13), and a response time for the adjustment is mainly the time of turning on the corresponding power input interface, thereby achieving a higher response speed relative to passing a voltage conversion time.
A detection method for a laser radar (100), a computer readable storage medium, and a laser radar (100). A detection window time of a detection unit (11) comprises multiple integration periods. The detection method for a laser radar (100) comprises: correspondingly selecting any photon number threshold in a first threshold set within each integration period, wherein the first threshold set comprises at least two photon number thresholds, and the photon number thresholds corresponding to at least two integration periods within the detection window time are different (101); when the number of photons received by the detection unit (11) within one integration period is greater than the photon number threshold corresponding to the integration period, the detection unit (11) responding and outputting a sampling signal (102); and fusing the sampling signals within the detection window time to obtain a detection signal (103), wherein the photon number thresholds corresponding to at least two integration periods within the detection window time are different. Objects having different reflectivity can be detected respectively.
A laser emission control method. The method comprises: emitting secondary-emission laser at a first moment of a detection period (S110); and according to a first detection echo corresponding to the secondary-emission laser, adjusting primary-emission laser emitted at a second moment of the detection period (S120). The method is beneficial for the safety of human eyes.
G01S 7/4911 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails des systèmes non pulsés Émetteurs
G01S 17/02 - Systèmes utilisant la réflexion d'ondes électromagnétiques autres que les ondes radio
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
35.
LASER EMISSION CONTROL METHOD AND APPARATUS, AND RELATED DEVICE
A laser emission control method and a laser emission control apparatus (500) for facilitating eye safety. The laser emission control method comprises: emitting a secondary emission laser at a first time of a detection period (S110); and adjusting, according to a first detection echo corresponding to the secondary emission laser, a primary emission laser emitted at a second time of the detection period (S120). The invention achieves the beneficial effect of facilitating eye safety.
G01S 7/4911 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails des systèmes non pulsés Émetteurs
G01S 17/02 - Systèmes utilisant la réflexion d'ondes électromagnétiques autres que les ondes radio
36.
CURRENT LIMITING PROTECTION CIRCUIT, CURRENT LIMITING PROTECTION METHOD, AND DEVICE
Disclosed in embodiments of the present application are a current limiting protection circuit, a current limiting protection method, and a device. The current limiting protection circuit comprises a power source, a first photoelectric sensor, a receiving and outputting circuit, a current limiting protection circuit, and a controller, wherein the current limiting protection circuit is used for receiving an initial voltage signal and amplifying same to obtain a negative bias signal, and loading the negative bias signal to an anode of the first photoelectric sensor to decrease the current value of the first photoelectric sensor. By using the embodiments of the present application, the working current of the photoelectric sensor can be limited, thereby preventing the photoelectric sensor from working abnormally or even being damaged due to excessive current, and remarkably improving the reliability of working of the photoelectric sensor in the case of receiving highly reflective energy.
H01L 31/107 - Dispositifs sensibles au rayonnement infrarouge, visible ou ultraviolet caractérisés par une seule barrière de potentiel ou de surface la barrière de potentiel fonctionnant en régime d'avalanche, p.ex. photodiode à avalanche
37.
MOTOR STARTING METHOD AND APPARATUS, STORAGE MEDIUM, AND ELECTRONIC DEVICE
A motor (11) starting method and apparatus, a storage medium, and a system; when monitoring that a motor (11) is unable to start normally at a low temperature, heating the coil of the motor (11); the heat produced by the coil of the motor (11) will be rapidly transferred to the various components of the motor (11), such that the various components of the motor (11) return to a temperature enabling normal starting; in addition, the heat produced by the coil being conducted to a rotating shaft of the motor broke (11) can melt lubricating oil solidified on the rotating shaft due to the low temperature. The present motor starting apparatus uses the heat produced by the coil of the motor to heat the motor, and does not require additional heating components to implement heating, reducing hardware design costs and making the structure of the motor more compact.
H02P 1/16 - Dispositions de démarrage de moteurs électriques ou de convertisseurs dynamo-électriques pour faire démarrer des machines dynamo- électriques ou des convertisseurs dynamo-électriques
38.
GRATING DISC, METHOD FOR RECOGNIZING Z-PHASE SIGNALS, PHOTOELECTRIC ENCODER AND LASER RADAR
A grating disc (1004), a photoelectric encoder (1000), a laser radar and a method for recognizing Z-phase signals (Z1, Z2, Z3); the grating disc (1004) comprises a disc (11), at least two Z-phase grooves are distributed on the disc (11) in the radial direction, and when the Z-phase grooves (21, 22, 23,…,2n) on the disc (11) is anomalous due to contamination, a Z-phase signal (Z3) generated by an anomalous Z-phase groove (23) can be quickly recognized by means of the preset distribution positions of the Z-phase grooves (21, 22, 24,..., 2n), and then zero calibration can be realized by using the remaining normal Z-phase grooves (21, 22, 24,..., 2n), thereby improving the reliability of zero calibration.
G01D 5/347 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensible; Moyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminé; Transducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c. à d. utilisant de la lumière infrarouge, visible ou ultraviolette avec atténuation ou obturation complète ou partielle des rayons lumineux les rayons lumineux étant détectés par des cellules photo-électriques en utilisant le déplacement d'échelles de codage
39.
METHOD AND APPARATUS FOR IMPROVING LASER RANGING CAPABILITY OF RADAR SYSTEM, AND STORAGE MEDIUM
A method and apparatus for improving the laser ranging capability of a radar system, and a storage medium. The method comprises: obtaining the current operating temperature, a preset operating temperature range, and a center wavelength temperature change rate of a laser (S301); determining the bandwidth of an optical filter on the basis of the preset operating temperature range and the center wavelength temperature change rate of the laser, and establishing a radar system on the basis of the bandwidth of the optical filter (S302); determining the current center wavelength of the laser on the basis of the current operating temperature of the laser (S303); and when the current operating temperature of the laser is less than a minimum critical value of the preset operating temperature range, heating the laser until the current operating temperature of the laser reaches at least the minimum critical value of the preset operating temperature range (S304). According to the method, optical noise such as ambient light incident to the radar system can be reduced by maintaining the operating temperature of the laser, thereby improving the anti-interference capability and the ranging capability of the radar system.
H01S 3/137 - Stabilisation de paramètres de sortie de laser, p.ex. fréquence ou amplitude par commande de dispositifs placés dans la cavité pour la stabilisation de la fréquence
40.
DISTANCE MEASUREMENT METHOD AND APPARATUS, ELECTRONIC DEVICE, AND STORAGE MEDIUM
A distance measurement method and apparatus, an electronic device, and a storage medium. The method comprises: obtaining a plurality of pieces of histogram data (S201); performing smooth interpolation on a plurality of pieces of histogram data and generating a histogram (S202); determining the time of flight of a signal photon according to the histogram, and determining the distance between a measurement device and a target being measured according to the time of flight of the signal photon (S203). Consequently, processing can be performed on a plurality of pieces of histogram data by means of smooth interpolation, so as to filter out a noise photon event, and improve signal photon detection accuracy. In addition, optimized improvement is performed on the basis of an existing photoelectric sensor and time-to-digital converter, and it is not necessary to change an existing hardware structure, and saves design costs.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
41.
ETCHING DEPTH ACQUISITION METHOD AND APPARATUS, STORAGE MEDIUM, AND LASER RADAR
An etching depth acquisition method and apparatus, a storage medium, and a laser radar. The method comprises: acquiring a target coupling length ratio corresponding to a target etching depth under the center wavelength of an optical signal, wherein the target etching depth is any metric value, which is selected from a plurality of etching depths, for etching a waveguide; and when the target coupling length ratio is the coupling length ratio, which has the smallest numerical value, in a ratio set, determining the target etching depth to be a waveguide etching depth for performing etching processing on the waveguide, wherein the ratio set comprises coupling length ratios corresponding to each etching depth from among the plurality of etching depths; and the coupling length ratio is obtained by means of an optical refractive index corresponding to each etching depth, and a sensitivity level value of changes in the optical refractive index along with the shift of the center wavelength. By using the method, the working stability of an optical coupler can be ensured, thereby ensuring the stability of a laser radar system.
A phase shifter (100), an optical phased array (10), and a method for preparing the optical phased array (10). The phase shifter (100) comprises a signal generator (110) and a waveguide (120), wherein the signal generator (110) is used for generating an electromagnetic wave signal; and the waveguide (120) is located on a transmission path of the electromagnetic wave signal, such that the phase of light transmitted in the waveguide (120) can be changed under the action of the electromagnetic wave signal, and the preparation material of the waveguide (120) comprises aluminum nitride. The preparation material of the waveguide (120) is set as aluminum nitride. Aluminum nitride is compatible with a CMOS process and can be deposited on a substrate (130), in the form of a thin film and by means of a magnetron sputtering method, a formed aluminum nitride thin film has a lattice structure and an electro-optical effect, and a phase modulation speed which is faster than that based on a thermo-optical effect can be realized.
G02F 1/035 - Dispositifs ou dispositions pour la commande de l'intensité, de la couleur, de la phase, de la polarisation ou de la direction de la lumière arrivant d'une source lumineuse indépendante, p.ex. commutation, ouverture de porte ou modulation; Optique non linéaire pour la commande de l'intensité, de la phase, de la polarisation ou de la couleur basés sur des céramiques ou des cristaux électro-optiques, p.ex. produisant un effet Pockels ou un effet Kerr dans une structure de guide d'ondes optique
G02B 6/12 - OPTIQUE ÉLÉMENTS, SYSTÈMES OU APPAREILS OPTIQUES - Détails de structure de dispositions comprenant des guides de lumière et d'autres éléments optiques, p.ex. des moyens de couplage du type guide d'ondes optiques du genre à circuit intégré
43.
METHOD AND APPARATUS FOR FILTERING SIGNAL NOISE, STORAGE MEDIUM, AND LIDAR
A method and apparatus for filtering signal noise, a storage medium, and a lidar. The method comprises: performing ensemble empirical mode decomposition on an initial difference frequency signal generated by the lidar to obtain a noise-containing component set corresponding to the initial difference frequency signal (S101); respectively obtaining a noise position in each noise-containing component according to a filtering frequency range and an instantaneous frequency value corresponding to each noise-containing component in the noise-containing component set (S102); respectively setting a noise amplitude corresponding to the noise position in each noise-containing component as zero to obtain a denoised component set (S103); and performing combined reconstruction processing on the denoised component set to obtain a denoised time-domain difference frequency signal (S104). The method can improve the signal-to-noise ratio of a difference frequency signal and improve the success rate of effective difference frequency signal extraction.
A signal noise filtering method and apparatus, and a storage medium and a laser radar. The method comprises: acquiring an initial difference frequency signal generated by a laser radar (S101), the initial difference frequency signal being a difference frequency signal containing a noise signal; performing at least one instance of autocorrelation processing on the initial difference frequency signal, so as to obtain a useful signal from the initial difference frequency signal (S102); and determining the useful signal as a denoised time-domain difference frequency signal (S103). Thus, the signal-to-noise ratio of a difference frequency signal can be improved, and the success rate of effective difference frequency extraction can be increased.
G01S 7/41 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cible; Signature de cible; Surface équivalente de cible
45.
SIGNAL NOISE FILTERING METHOD, APPARATUS, STORAGE MEDIUM, AND LIDAR
A signal noise filtering method, an apparatus, a storage medium, and a lidar. The method comprises: performing ensemble empirical mode decomposition on an initial difference frequency signal generated by a lidar, and obtaining a component set corresponding to the initial difference frequency signal (S101); acquiring an autocorrelation function energy value corresponding to each noise-containing component in the component set, and acquiring a boundary component corresponding to a largest autocorrelation function energy value among the noise-containing components (S102); performing wavelet threshold denoising on adjacent high order noise-containing components of the boundary component, and obtaining a denoise component corresponding to the adjacent high order noise-containing components (S103); performing signal reconstruction on the basis of a spectrum band region in the frequency spectrum where the initial difference frequency signal is located and on the basis of the denoise component and the boundary component, and obtaining a denoised time domain difference frequency signal (S104). The present method can improve the signal-to-noise ratio of a difference frequency signal, and improve the success rate of active difference frequency frequency extraction.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
46.
MULTI-SITE ROADBED NETWORK PERCEPTION METHOD, APPARATUS AND SYSTEM, AND TERMINAL
The embodiments of the present invention relate to the technical field of sensing. Disclosed are a multi-site roadbed network perception method, apparatus and system, and a terminal. The method comprises: constructing a global grid map of a roadbed network, wherein the global grid map is marked with the positions and perception ranges of at least two roadbed base station perception systems; receiving a detection target list transmitted by each of the at least two roadbed base station perception systems, wherein the detection target list is a set of preset detection targets; indexing, into the global grid map and according to the position of each roadbed base station perception system, the detection target list transmitted by each roadbed base station perception system, so as to generate a global tracking list; and tracking, according to the global tracking list, the preset detection targets in the detection target list transmitted by the roadbed base station perception system. By means of the embodiments of the present invention, global tracking of targets can be realized.
H04W 4/021 - Services concernant des domaines particuliers, p.ex. services de points d’intérêt, services sur place ou géorepères
H04W 4/44 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p.ex. communication véhicule-piétons pour la communication entre véhicules et infrastructures, p.ex. véhicule à nuage ou véhicule à domicile
G06F 16/29 - Bases de données d’informations géographiques
G16Y 20/10 - Information détectée ou collectée par les objets relative à l’environnement, p.ex. la température; relative à l’emplacement
47.
LASER RADAR AND DETECTION METHOD THEREFOR, STORAGE MEDIUM, AND DETECTION SYSTEM
A detection method for a laser radar (100), a storage medium, a detection system (2, 700), and a laser radar (100). Said method comprises: a detection array (701) being divided into N detection units, a detection window time being divided into N sub-window times, N being an integer greater than 1, in a detection window time, starting an ith detection unit at a first sub-window time to receive an echo laser, and starting the detection units according to a preset sequence at continuous sub-window time to obtain a group of original point cloud data, i being a positive integer less than or equal to N (101); traversing all values of i, and executing the step of starting an ith detection unit at a first sub-window time to receive an echo laser, and starting the detection units according to a preset sequence at continuous sub-window time to obtain a group of original point cloud data, so as to obtain N groups of original point cloud data (102); and splicing the original point cloud data to obtain a frame of detection point cloud data (103). The present invention improves environmental immunity to solar light background radiation.
Provided are a phase calibration method and apparatus for a phased array, and a computer storage medium and a phased array system. The phase calibration method comprises: in at least one included phase modulation unit, acquiring at least three first circuit values corresponding to the current phase modulation unit, and on the basis of each first circuit value, acquiring a radiation intensity of far-field radiation at a desired angle (S101); determining a first-order differential value and a second-order differential value corresponding to each radiation intensity (S102); performing phase calibration on the current phase modulation unit according to the first-order differential value and the second-order differential value, acquiring the next phase modulation unit, determining the next phase modulation unit to be the current phase modulation unit and executing the step of acquiring at least three first circuit values corresponding to the current phase modulation unit (S103); and when there is no next phase modulation unit, determining that the phase calibration of a phased array has been completed (S104). By using the method, the amount of calculation performed during a phase calibration process can be reduced, thereby improving the efficiency of phase calibration.
H01Q 3/34 - Dispositifs pour changer ou faire varier l'orientation ou la forme du diagramme de directivité des ondes rayonnées par une antenne ou un système d'antenne faisant varier la distribution de l’énergie à travers une ouverture rayonnante faisant varier la phase par des moyens électriques
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G02F 1/01 - Dispositifs ou dispositions pour la commande de l'intensité, de la couleur, de la phase, de la polarisation ou de la direction de la lumière arrivant d'une source lumineuse indépendante, p.ex. commutation, ouverture de porte ou modulation; Optique non linéaire pour la commande de l'intensité, de la phase, de la polarisation ou de la couleur
A laser radar (100) and an autonomous driving device. The laser radar comprises a transmission drive system (1), a transmission system (2), a receiving system (3) and a signal processing system (4), wherein the transmission system (2) comprises multiple light-emitting units (21a), which are used for transmitting an emitted laser, and the transmission system (2) is used to turn on the light-emitting units (21a) according to a first sequence, such that the emitted laser traverses a detection region in a scanning manner; the receiving system (3) comprises multiple detection units (31a), which are used for receiving an echo laser, and the receiving system (3) is used to turn on selected detection units (31a) so as to receive the echo laser, and to detect the detection region scanned by the emitted laser that is transmitted by the light-emitting units (21a); the transmission drive system (1) is used to drive the transmission system (2); the signal processing system (4) is used to calculate distance information of an object in the detection region on the basis of the emitted laser and the echo laser; and the detection units (31a) comprise a photosensitive zone, and the ratio of the area of the photosensitive zone to the pixel area of the detection units (31a) is less than or equal to 0.5, such that the ability of the laser radar (100) to resist ambient light is improved.
G01S 7/00 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , ,
The present invention relates to the technical field of laser radars, and in particular to a laser emitting apparatus and a laser radar. The laser emitting apparatus comprises: a laser emitting array (110), a first laser emitting unit group (120), and a first emission optical adjustment unit group (140); the laser emitting array (110) comprises the first laser emitting unit group (120); the first laser emitting unit group (120) comprises a plurality of first laser emitting units (122); the first emission optical adjustment unit group (140) comprises a plurality of first emission optical adjustment units (142); the first emission optical adjustment units (142) in the first emission optical adjustment unit group (140) are arranged corresponding to the first laser emitting units (122) in the first laser emitting unit group (120), and are used for adjusting an outgoing direction of laser signals emitted by the first laser emitting units (122) in the first laser emitting unit group (120), so that laser beams emitted by the first laser emitting units (122) is aligned with a detection field of view at a close distance. The measurement efficiency of the laser radar for a close object is improved.
A laser receiving apparatus, comprising: a laser receiving plate (100), a laser receiving unit (110), and a first emission optical adjustment unit (200). The laser receiving unit (110) is provided on the surface of the laser receiving plate (100) and is used for receiving an echo laser signal; the first emission optical adjustment unit (200) is provided on one side of the laser receiving unit (110) and is used for adjusting an outgoing direction of laser light incident on the surface of the first emission optical adjustment unit (200) to the laser receiving unit (110). By means of the approach, light deviating from the laser receiving unit (110) is reflected into a photosensitive surface of a receiving sensor, thereby improving the receiving efficiency of an optical signal.
A laser receiving circuit and a laser radar, which belong to the field of laser radars. A direct-current biasing circuit (402) is added to the laser receiving circuit; and the direct-current biasing circuit (402) loads a reverse direct-current voltage signal to an input port of an analog-to-digital converter (403), so as to make the baseline of an input voltage signal of the analog-to-digital converter (403) move downwards, such that an input dynamic range of the analog-to-digital converter (403) can be increased and a gain of a front-end amplifier circuit (401) can be increased, thereby increasing the signal-to-noise ratio of the laser receiving circuit and improving the distance measurement performance.
Disclosed are a lens adjustment device, a reflection assembly, a laser radar, and an intelligent driving apparatus. The lens adjustment device comprises: a mounting support (122), wherein a lens mounting structure (1221) used for mounting a lens (121) is arranged on one side of the mounting support, an adjustment part is arranged on the other opposite side of the mounting support, the adjustment part comprises a first curved face wall (1222) which protrudes in a direction away from the lens mounting structure (1221), and a connecting structure (1223) is arranged in the middle of the first curved face wall (1222); a fixing support (123), wherein a groove is provided in one side of the fixing support (123), the groove comprises a second curved face wall (1233) which is recessed towards the other side of the fixing support (123), a through hole (1232) is provided in the other side of the fixing support (123), and the first curved face wall (1222) abuts against the second curved face wall (1233); and an elastic assembly, which comprises an elastic member (124) and a connecting member (125), wherein the elastic member (124) abuts against a surface wall of the fixing support (123) that faces away from the groove, one end of the connecting member (125) is connected to the elastic member (124), and the other end of the connecting member penetrates the through hole (1232) to connect to the connecting structure (1223). The lens adjustment device can easily adjust the angle of a lens.
A LIDAR parameter adjustment method, an apparatus, and a LIDAR. Wherein the LIDAR parameter adjustment method comprises: obtaining 3D environment information surrounding a LIDAR (110); identifying a scenario type occupied by the LIDAR and a navigable area on the basis of the 3D environment information (120); and determining a parameter adjustment policy for the LIDAR according to the scenario type and the navigable area, and adjusting a current operating parameter for the LIDAR on the basis of the parameter adjustment policy (130). The present method can automatically adjust an operating parameter of a LIDAR according to different scenarios.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 17/93 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
A laser receiving device and a laser radar. Isolation components are arranged among a plurality of parallel sensor groups, and isolation components are arranged among a plurality of parallel amplifier groups, so that a plurality of parallel receiving channels in the laser radar respectively form independent current loops, noise crosstalk among the signal receiving channels is reduced, and the signal-to-noise ratio of the laser receiving device is improved.
A laser radar (10) and an automatic driving apparatus (1). The laser radar (10) comprises: a rotating apparatus comprising a first rotating part (100) and a second rotating part (200) between which mutual rotation about a rotation axis (20) can be generated, the second rotating part (200) comprising a rotating table (210), the rotating table (210) comprising at least two reflecting surfaces (211) arranged around the rotation axis (20); a laser transmitting and receiving assembly (300), which is connected to the first rotating part (100) and is configured to be capable of transmitting emergent laser and receiving reflection laser; and a reflecting assembly (400) comprising at least two reflecting structures, which are arranged on the various reflecting surfaces in a one-to-one correspondence manner and are all configured to be capable of: reflecting the emergent laser transmitted by the laser transmitting and receiving assembly (300) to a detected object, and reflecting the reflection laser reflected by the detected object to the laser transmitting and receiving assembly (300). The included angles between the at least two reflecting surfaces and a plane perpendicular to the rotation axis (20) are different. The laser radar (10) can have a larger detection field of view.
A laser radar (10) and a self-driving device (1), comprising: a rotating device, comprising a first rotating part (100) and a second rotating part (200), the first rotating part (100) and the second rotating part (200) being capable of rotating relative to each other around an axis of rotation (20); a laser transceiver component (300) connected to the first rotating part (100) and configured to transmit an emitted laser beam and to receive a reflected laser beam; and a reflecting component (400) connected to the second rotating part (200), the reflecting component (400) comprising at least two mirrors (410), the mirrors (410) being arranged around the axis of rotation (20), and the at least two mirrors (410) being different in terms of the angle to the plane perpendicular to the axis of rotation (20). In the solution, the reflected laser beam reflected by a detected object can be reflected by a same mirror, this allows same mirror to reflect not only the emitted laser beam but also to reflect the reflected laser beam. The solution provides the at least two mirrors arranged at different angles, thus allowing the fields of view of the travel of the two mirrors to be two planes, and increasing the detection field of view of the laser radar.
Disclosed are a laser transceiving assembly for a laser radar, the laser radar, and an automatic driving device. The laser transceiving assembly comprises: a laser transmitting device (310) comprising a first transmitting lens group (312), a second transmitting lens group (311) and a laser transmitting device (313), wherein the laser transmitting device (313) is connected to the first transmitting lens group (312), emergent lasers emitted by the laser transmitting device (313) sequentially penetrate the first transmitting lens group (312) and the second transmitting lens group (311), the second transmitting lens group (311) is connected to the first transmitting lens group (312), and the second transmitting lens group (311) is configured to move in the direction parallel to the emergent laser relative to the first transmitting lens group (312); a laser receiving device (320) comprising a receiving lens group (321), a fixing member (322) and a laser receiving device (323), wherein a through hole is defined by the fixing member (322), the receiving lens group (321) is arranged on one side of the fixing member (322), and the laser receiving device (323) is arranged on the other side of the fixing member; and a transceiving housing (330) which is connected to the side of the second transmitting lens group (311) deviating from the laser transmitting device (310) and the side of the receiving lens group (321) deviating from the laser receiving device (323). The laser transceiving assembly can reduce the assembly difficulty of the laser radar.
An optical-electro system (100), which includes a substrate (210); at least one photo-detecting unit (140) at least partially formed on the substrate (210) to detect a signal light (174); at least one optical waveguide (230) at least partially formed on the substrate (210), each of the at least one optical waveguide (230) connected to one of the at least one photo-detecting unit (140) to input a local light (173); and at least one electronic output port (240) connected to the at least one photo-detecting unit (140) to transmit at least one electronic output signal from the at least one photo-detecting unit (140), wherein the at least one electronic output signal is associated with the signal light (174) and the local light (173).
G01S 7/483 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails de systèmes à impulsions
60.
LASER TRANSMISSION AND RECEPTION SYSTEM, LIDAR AND SELF-DRIVING DEVICE
A laser transmission and reception system (2), a lidar (100) and a self-driving device (200). The laser transmission and reception system (2) comprises an emitting module (21) and a receiving module (22). The emitting module (21) comprises a laser emission unit (211) and an optical emission unit (212). The receiving module (22) comprises an array detector (221), the array detector (221) comprising a plurality of pixel units, and each pixel unit having a photosensitive region having an area smaller than that of the pixel unit. The laser emission unit (211) is used to emit an emitted laser. The optical emission unit (212) is used to enable the emitted laser to form a plurality of emitted laser beams corresponding to the photosensitive region, and enable the emitted laser beams to be emitted to a detection region. Each photosensitive region in the receiving module (22) is used to receive echo laser beams returned after the emitted laser beams corresponding thereto are reflected by an object in the detection region. The laser transmission and reception system (2) improves the utilization rate of signal light.
A laser radar, characterized by comprising a base (200) comprising a fixed shaft (210), the fixed shaft (210) being a hollow shaft; a rotating part (100) rotatably connected to the base (200) and configured to rotate about the central axis of the fixed shaft (210), the rotating part (100) and the fixed shaft (210) together defining a hollow chamber, and a laser transceiving system of the laser radar being fixed to the rotating part (100); and a driving device for driving the rotating part (100) to rotate with respect to the base (200), the driving device comprising a stator (241) and a rotor (242) coupled to the stator (241), wherein the stator (241) is fitted over the outer peripheral wall of the fixed shaft (210), the rotor (242) is provided around the stator (241), and the rotor (242) is connected to the rotating part (100). The driving device, a power supply part, and a communication part of the laser radar may be not provided on a same shaft body, so that the axial size of the laser radar along the fixed shaft can be reduced, thereby reducing the volume of the laser radar.
Disclosed are a laser radar (100) and an automatic driving apparatus (200). The laser radar (100) comprises an emission-driving system (1), a laser emitting-and-receiving system (2) and a controlling and signal-processing system (3). The laser emitting-and-receiving system (2) comprises an emitting assembly (21) and a receiving assembly (22); the emitting assembly (21) is used for emitting an emergent laser to make the emergent laser traverse a detection area in a scanning manner; the receiving assembly (22) comprises an array detector (221), the array detector (221) comprising a plurality of detection units (221a); and the array detector (221) is used for synchronously and sequentially starting the detection units (221a) so as to receive an echo laser, which is the laser returned after the emergent laser is reflected by an object inside the detection area. The emission-driving system (1) is used for driving the emitting assembly (21). The controlling and signal-processing system (3) is used for controlling the emission-driving system (1) to drive the emitting assembly (21) and controlling the receiving assembly (22) to receive the echo laser. The embodiments can improve the reliability of a product.
A lidar (100) and a self-driving device (200). The lidar (100) comprises an emitting drive system (1), a laser light transceiver system (2) and a control and signal processing system (3); the laser light transceiver system (2) comprises an emitting module (21), a deflection mechanism (23) and a receiving module (22); the receiving module (22) comprises an array detector (222); the emitting module (21) is used to emit outgoing laser light; the deflection mechanism (23) is used to receive the outgoing laser light and reflect the outgoing laser light into a detection region of the array detector (222), and enabling the outgoing laser light to traverse all of the detection regions of the array detector (222) in a scanning manner; the deflection mechanism (23) is also used to receive echo laser light and reflect the echo laser light to the receiving module (22), wherein the echo laser light is laser light returned after the outgoing laser light is reflected by an object in the detection region, and the size of the image of the echo laser light for the single scanning on the array detector (222) is smaller than the size of the entire picture element of the array detector (222), which can reduce the emitting energy, and can increase the detection distance when the emitting energy is the same.
The present invention relates to the technical field of radars, and provides a laser emitting-and-receiving system (2), a laser radar (100) and an automatic driving apparatus (200). The laser emitting-and-receiving system (2) is used for the laser radar (100) and comprises an emitting module (21) and a plurality of receiving modules (22) corresponding to the emitting module (21), wherein the emitting module (21) is used for emitting an emergent laser; and the receiving module (22) is used for receiving an echo laser, the echo laser being the laser returned after the emergent laser is reflected by an object in a detection area. The embodiments provide different detection resolutions for different detection areas, and the product of the present invention is small in size.
G01S 7/00 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , ,
65.
CONTINUOUS WAVE-BASED RANGING METHOD AND APPARATUS, AND LASER RADAR
A continuous wave-based ranging method and apparatus (13, 14), and a laser radar. The method comprises: setting target ranging intervals according to a ranging scenario, determining the time adjustment amount according to the target ranging intervals and positions thereof in the measurement range, and delaying or advancing the emission time of an emission signal according to the time adjustment amount, so that all the target ranging intervals fall within linear regions. In this way, the method improves the accuracy of ranging.
G01S 17/32 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées
G06F 17/00 - TRAITEMENT ÉLECTRIQUE DE DONNÉES NUMÉRIQUES Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des fonctions spécifiques
66.
COMPENSATION METHOD AND DEVICE BASED ON CONTINUOUS WAVE RANGING, AND LASER RADAR
Disclosed are a compensation method and device based on continuous wave ranging, and a laser radar. A target DRNU calibration compensation matrix is adaptively selected on the basis of the reflectivity of an object to compensate for the distance of the object, which is detected by a receiving unit, such that the problem in the related art of low ranging accuracy caused by using a fixed DRNU calibration compensation matrix to perform distance compensation is solved, and thus, the ranging accuracy can be improved.
A vehicle positioning apparatus (104) and method, a computer program product and a vehicle. By means of detecting received signal strength of signals transmitted by road communication devices (101, 102, 103) that are fixedly arranged on the roadside on which a vehicle is traveling, the distances between the vehicle and at least three road communication devices (101, 102, 103) are determined on the basis of the received signal strength. The coordinates of the vehicle are determined according to the coordinates of the road communication devices (101, 102, 103) and the calculated distances. Since there is no barrier obstruction between the vehicle and the road communication devices (101, 102, 103) and the received signal strength is relatively large, the problem of positioning offset caused by the use of satellite positioning in the prior art is solved. Therefore, the positioning accuracy of the vehicle may be improved.
G01S 11/06 - Systèmes pour déterminer la distance ou la vitesse sans utiliser la réflexion ou la reradiation utilisant les ondes radioélectriques utilisant des mesures d'intensité
H04W 4/02 - Services utilisant des informations de localisation
68.
POSE CORRECTION METHOD AND DEVICE FOR ROADBED SENSOR, AND ROADBED SENSOR
Disclosed in the present application are a pose correction method and device for a roadbed sensor, and a roadbed sensor. By determining the current pose of a point cloud acquisition device in a preset point cloud map according to a current point cloud frame, calculating a pose adjustment parameter if the offset between the current pose and a preset reference pose is greater than an offset threshold, and driving, on the basis of the pose adjustment parameter, a mechanical device to adjust the point cloud acquisition device from the current pose to the reference pose, the present application achieves automatic pose correction of a roadbed sensor and improves the efficiency and accuracy of roadbed sensor pose correction.
H04W 4/44 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p.ex. communication véhicule-piétons pour la communication entre véhicules et infrastructures, p.ex. véhicule à nuage ou véhicule à domicile
G01S 17/06 - Systèmes déterminant les données relatives à la position d'une cible
69.
ATTITUDE CORRECTION METHOD, APPARATUS AND SYSTEM FOR LASER RADAR
An attitude correction method, apparatus and system for a laser radar. The attitude correction method comprises: detecting ground points in a point cloud (S202); establishing a ground coordinate system according to the ground points (S203); calculating an attitude correction parameter of the laser radar between the current attitude in a radar coordinate system and a target attitude in the ground coordinate system (S204); and controlling, based on the attitude correction parameter, a carrying apparatus of the laser radar to rotate and/or translate, so that the laser radar is adjusted from the current attitude to the target attitude (S205). In this way, the attitude of the laser radar is automatically corrected, improving the attitude correction efficiency and precision of the laser radar.
A linear swept frequency correction method and device, a storage medium, and a system. The method comprises: generating a first drive current signal (S101); performing pre-correction on the first drive current signal, and obtaining a target drive current signal (S102); and determining the target drive current signal to be a linear swept frequency drive signal (S102). The method ensures that a first drive current signal can be corrected to generate a target drive current signal that meets swept frequency linearity requirements while meeting the requirements for low costs and real-time performance.
A laser receiving device and method, and a lidar, which belong to the field of photoelectric detection. The receiving device comprises: a receiving objective lens (10), a spatial filter (11), an optical waveguide homogenizer (13), a spectral filter (12) and a photoelectric detector (14); the spatial filter (11) performs spatial filtering on an echo optical signal from the receiving objective lens (10), and reserves the echo optical signal within a preset field of view, which can increase the signal-to-noise ratio of the laser receiving device; the optical waveguide homogenizer (13) performs light homogenization processing on the echo optical signal subjected to the spatial filtering processing, so that the echo optical signal is evenly irradiated on the photoelectric detector (14), and the energy of light spots is evenly distributed on pixels of the photoelectric detector (14), such that the photoelectric detector (14) has a lower false alarm rate; and the spectral filter (12) performs bandpass filtering on the echo optical signal, and reserves the echo optical signal within a preset frequency band, which can further improve the signal-to-noise ratio of the laser receiving device, improve the accuracy of the photoelectric detector (14), and reduce the interference of a noise optical signal to the photoelectric detector (14).
A laser radar and a method for scanning by using a laser radar, the laser radar comprising: a transceiver module (11), a control unit (12), a galvanometer (13) and a motor (14). The galvanometer (13) is a one-dimensional galvanometer, the galvanometer (13) is driven by a control signal to scan vertically, and the galvanometer (13) scans horizontally following the rotation of the motor (14) such that the laser radar scans in the horizontal direction and in the vertical direction. The described laser radar has a large scanning range, a simplified structure, and high resolution and accuracy.
Provided are a driving device and driving method for an electromagnetic galvanometer (205), and a laser radar, belonging to the field of laser radars. The driving method comprises: a control circuit (200) generating a first driving signal; a modulation circuit (201) loading the first driving signal onto a high-frequency carrier to generate a first modulation signal, and transmitting the first modulation signal by means of a transmitting coil winding (202); and a demodulation circuit (204) receiving a second modulation signal by means of a receiving coil winding (203), and demodulating the second modulation signal to obtain a second driving signal, wherein the second modulation signal is obtained by means of the induction of the first modulation signal; and the electromagnetic galvanometer (205) is deflected according to the second driving signal. When there is relative rotation between the electromagnetic galvanometer (205) and the control circuit (200), the driving signal generated by the control circuit (200) is used for driving the rotation of the electromagnetic galvanometer (205) by means of coil coupling, such that the efficiency of coupling between the electromagnetic galvanometer (205) and the control circuit (200) can be improved, and there is no need to separately provide a control circuit for the electromagnetic galvanometer (205), thereby simplifying the circuit structure and reducing hardware costs.
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
Disclosed is a laser radar (100). The laser radar comprises: a base (110) comprising a bearing surface (111), wherein a galvanometer module (130) of the laser radar is fixed to the bearing surface; an adjusting structure (160) positioned on the bearing surface; and a laser transmitting and receiving module (140) comprising a plurality of laser transmitting and receiving devices (141), wherein each laser transmitting and receiving device is fixed to the adjusting structure, and each laser transmitting and receiving device can generate emergent laser emitted to the galvanometer module. The adjusting structure is configured to enable each laser transmitting and receiving device mounted on the adjusting structure to have a corresponding distance relative to the bearing surface, such that emergent light generated by each laser transmitting and receiving device forms a preset laser detection field of view outside the laser radar. In order to enable the laser detection field of view corresponding to each reflector to meet requirements, the distance between each reflector (121) and a galvanometer is not adjusted, but the distance and angle between each laser transmitting and receiving device and the bearing surface of the base are adjusted by means of the adjusting structure, such that the overall occupied space of the laser radar is reduced.
A laser radar ranging method, comprising: obtaining an echo image received by a laser radar (302); determining whether the echo image has a crosstalk pixel or not (304); if the echo image has a crosstalk pixel, correcting the crosstalk pixel to obtain a corrected echo image (306); and calculating according to the corrected echo image to obtain object pose information (308).
A calibration method for a laser radar system, comprising the following method steps: a laser radar system (230) uses a calibration box (210) to sequentially execute N instances of ranging, the emergent laser of each instance of ranging is delayed for a different length of time and ranging values of N different distances are obtained, and N calibration matrices are obtained according to the difference between a ranging value and a corresponding actual value (S120), N≥1 and N being an integer; and a calibration matrix of a measured value is acquired, and the measured value is calibrated and compensated (S140).
A data transmission apparatus (10), which is applied to a lidar. The data transmission apparatus (10) comprises: a first optical module (11), a second optical module (12) and a coupling optical system (13). The coupling optical system (13) is provided between the first optical module (11) and the second optical module (12). The first optical module (11) is communicatively connected to a radar front-end apparatus (20), and the second optical module (12) is communicatively connected to an upper application apparatus (30). The first optical module (11) is used to receive a first digital signal outputted by the radar front-end apparatus (20) and convert the first digital signal into an optical signal, the coupling optical system (13) is used to transmit to the second optical module (12) an optical signal outputted by the first optical module (11), and the second optical module (12) is used to convert the optical signal into a first digital signal and output same to the upper application apparatus (30) for processing. By using the described means, data transmission efficiency is improved.
A laser radar signal processing method, comprising: receiving a first echo signal sent by a laser radar; comparing the first echo signal with a preset threshold value; when the first echo signal is greater than the preset threshold value, counting the number of signal points which are greater than the preset threshold value in the first echo signal; calculating target gain data according to the counted number of signal points; and sending the target gain data to the laser radar, so that the laser radar adjusts a second echo signal according to the target gain data, wherein the second echo signal is the next echo signal with respect to a first echo signal that is received by the laser radar.
Provided is a laser radar echo signal processing method, which comprises: receiving an echo signal reflected by an object to be detected, wherein the echo signal comprises a multi-dimensional signal transmission angle; buffering the echo signal according to the multi-dimensional signal transmission angle so as to obtain a buffer signal; extracting a target signal corresponding to a preset neighborhood window in the buffer signal when the number of buffer signals reaches a preset number of buffers; performing non-coherent accumulation on the target signal, and outputting the accumulated target signal.
G01S 7/41 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cible; Signature de cible; Surface équivalente de cible
80.
LASER FREQUENCY MODULATION METHOD AND APPARATUS, AND STORAGE MEDIUM AND LASER
A laser frequency modulation method and apparatus, and a storage medium and a laser. The method comprises: obtaining the current frequency sweeping mode of a laser by means of a time sequence (S101); when the current frequency sweeping mode is a single-band frequency sweeping mode, controlling the laser to perform continuous frequency sweeping on a preset band (S102); and when the current frequency sweeping mode is a multi-band switching mode, obtaining the next band on which the laser performs frequency sweeping, and controlling the laser band to be switched to the next band (S103). By using the method, the requirements of an FMCW system distance measurement transmitting end can be satisfied by means of the continuous linear frequency sweeping of the laser in a small frequency range of a single band, large frequency switching can be implemented by means of laser multi-band switching, and thus, the requirements of an OPA system implementing spatial scanning by means of frequency tuning can be satisfied.
A laser radar and an apparatus, comprising: a housing (100) that defines an emitting chamber (210) and a receiving chamber (220); a laser emitting device provided in the emitting chamber (210) and used for emitting a laser beam to a first target region; and a plurality of laser receiving devices provided in the receiving chamber (220), wherein the plurality of laser receiving devices may receive the laser beams that are reflected within a second target region, the first target region is at least partially overlapped with the second target region, the second target region is formed by combining a plurality of sub detection regions, each sub detection region is smaller than the first target region and at least partially overlapped with the first target region, and the laser receiving devices receive, in a one-to-one correspondence, the laser beams reflected within the sub detection regions. In the laser radar, the laser emitting device and the laser receiving devices are independently provided, there are a plurality of laser receiving devices, and relative to a structure only having one laser receiving device, the increase of the plurality of laser receiving devices can increase the detection angle of view, thereby reducing the detection blind zone of the laser radar.
A LiDAR (10). A baffle fixing structure (600) of the LiDAR (10) is set between an inner housing (240) of the LiDAR (10) and a second housing (400) for fixing a baffle (670) that isolates an emitting laser from a reflected device. An angular displacement measuring device (800) of the LiDAR (10) includes a reflecting part (820) and a light emitting part (810), wherein the reflecting part (820) includes a plurality of reflecting teeth (821) that extend downwardly and are spaced from each other, the light emitting part (810) obtains a rotation angle of the reflecting part (820) relative to the light emitting part (810) by obtaining the number of the reflecting teeth (821) passed by the measurement light. A rotating system (100) in the LiDAR (10) is arranged on one side of the laser transceiver system (200) and is detachably connected to the laser transceiver system (200), so that modular production can be carried out, and the production efficiency is improved.
A multi-channel LIDAR calibration method, an apparatus, a storage medium and a station, in the LIDAR field. According to an echo intensity of an overlap region of two adjacent fields of view in each of the fields of view, quantitatively measuring an error between two adjacent fields of view, then, determining a calibration coefficient of a field of view to be calibrated according to a reference field of view among multiple fields of view and an error between two adjacent fields of view, and performing calibration of the field of view to be calibrated on the basis of the calibration coefficient, realizing consistency of multiple channels. In this way, LIDAR may accurately reflect a contour of an object when using multiple channels to detect an object.
A laser emission circuit and a LIDAR, relating to the field of LIDAR. A laser diode (LD) is switched from originally being connected to a drain electrode of an energy release switch element (Q2) to being connected to a second terminal of an energy storage capacitor (C2), and the second terminal of the energy storage capacitor (C2) is grounded by means of a cathode of the laser diode (LD). When the second terminal of the energy storage capacitor (C2) is caused to float by means of the laser diode (LD), the second terminal of the energy storage capacitor (C2) is no longer directly grounded. For such a laser emission circuit during an energy transfer stage, parasitic capacitance of the energy release switch element (Q2) does not cause the laser diode (LD) to emit light early due to an energy transfer charging process, thus preventing the laser diode (LD) to emit light at unexpected times, solving the problem of laser light leakage.
An FMCW LIDAR system, the system comprising an emission module (11), an optical fiber coupling module (13), a scanning module (14) and a demodulation module (16). An output terminal of the emission module (11) is connected to an input terminal of the optical fiber coupling module (13), a first output terminal of the optical fiber coupling module (13) is connected to the scanning module (14), and a second output terminal of the optical fiber coupling module (13) is connected to an input terminal of the demodulation module (16).
A LIDAR. A control function, a processing function, an emission function, a reception function, and an interface function of the LIDAR are implemented by means of various independent cards, preventing elements from producing a thermal accumulation effect. In addition, a digital board for digital signal processing and an analog board for analog signal processing are arranged separately, reducing electromagnetic interference between the analog signal and the digital signal, thereby being able to further reduce the degree of internal interference in the LIDAR.
A LIDAR (100) and an autonomous driving device (200). The LIDAR (100) comprising a transceiving assembly (1) and an MEMS micromirror (2). The transceiving assembly (1) comprises at least two first transceiving modules (11) arranged along a first direction, the first transceiving modules (11) being used to emit emergent laser light and receive echo laser light, the echo laser light being laser light returning after the emergent laser light is reflected by an object in a first detection region. The MEMS micromirror (2) is used to reflect the emergent light emitted by each first transceiving module (11) and direct same towards the first detection region, while also being used to reflect the echo laser light and direct same to the corresponding transceiving module (11). At least two first detection regions are distributed along the first direction, an overlapping region being provided between the two first detection regions, and the overlapping region comprising a region of interest, the resolution of the region of interest being greater than the resolution of the other regions. The present LIDAR (100) is able to provide a resolution for a region of interest that is higher than that for other regions.
Disclosed in the embodiments of the present application are a method and an apparatus for laser ranging, and a LIDAR, relating to the field of ranging. The method comprises: emitting a ranging laser signal, receiving a reflected laser signal formed after the ranging laser signal is reflected by a target object, determining a first distance measurement value on the basis of a time difference between emitting the ranging laser signal and receiving the reflected laser signal, determining a second distance measurement value of an internal signal link, and obtaining an actual distance value of the target object on the basis of the first distance measurement value and the second distance measurement value. The embodiments of the present application are able to ensure the stability of a measured actual distance value of a target object when environmental factors change, reducing the impact of environmental factors on laser ranging, and improving the accuracy of laser ranging.
G01S 17/08 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
89.
DATA TRANSMISSION APPARATUS, LIDAR, AND SMART DEVICE
A data transmission apparatus (10), used in a LIDAR system (100). The LIDAR system (100) comprises a rotating body (151, 42) and a central shaft (161, 41). The apparatus (10) comprises: a first optical module (11, 441) and a second optical module (12, 442). The first optical module (11, 441) is used to receive a first digital signal output by a receiving radar front end apparatus (20), and convert the first digital signal into an optical signal, and the optical signal is sent to a receiving terminal of the second optical module (12, 442) by means of an emitting terminal of the first optical module (11, 441). The second optical module (12, 442), by means of the receiving terminal, receives the optical signal sent by the first optical module (11, 441), and converts the optical signal into a first digital signal. The emitting terminal of the first optical module (11, 441) and the receiving terminal of the second optical module (12, 442) are opposingly arranged on the central shaft (161, 41). By means of the present data transmission apparatus (10), the efficiency of data transmission is improved.
Disclosed is a laser radar (10), comprising: a laser transceiving system (200), used for emitting an emergent laser and receiving a reflected laser, wherein the reflected laser is a laser reflected back by an object in a detection area of the emergent laser; and a rotating system (100), which is arranged on one side of the laser transceiving system (200) and detachably connected to the laser transceiving system (200), wherein the rotating system (100) is configured to be capable of driving the laser transceiving system (200) to rotate so as to change paths of the emergent laser and the reflected laser. On one hand, paths of a laser emitted by an emitting device and a laser received by a receiving device in the laser transceiving system (200) do not need to avoid other structures, such that the laser transceiving system (200) is simple in terms of structural arrangement and low in cost; and on the other hand, the laser transceiving system (200) is connected in a detachable manner, such that the laser transceiving system and the rotating system are relatively independent when not connected, so the manufacturing processes of the laser transceiving system and the rotating system are independent, the laser transceiving system and the rotating system can be subjected to modular production at the same time, and the production efficiency of the laser radar (10) is greatly improved.
A control method and a control device for a galvanometer, and a lidar, belonging to the field of lidars. Said method comprises: outputting a control signal (S301), the control signal being used for controlling a galvanometer for scanning; detecting a feedback signal of the scanning performed by the galvanometer (S302); determining an actual amplitude gain of the galvanometer according to the feedback signal, and determining an error between the actual amplitude gain and a preset amplitude gain threshold (S303); and determining a frequency adjustment amount according to the error, and performing frequency adjustment according to the frequency adjustment amount to obtain an output signal (S304). The present invention can maintain the stability of the scanning angle of the galvanometer when a resonance frequency shift occurs to the galvanometer.
An angular displacement measurement apparatus (100), a LIDAR (10), and an angle adjustment method. The LIDAR (10) comprises a base (12) and a rotating body (11) able to rotate relative to the base (12), the rotating body (11) comprising a peripheral wall (14) arranged to wind around its own rotational axis and an end wall (15) positioned on one end of the peripheral wall (14) and near to the base (12). The angular displacement measurement apparatus (100) comprises: a reflection part (120), connected to the end wall (15) and comprising a plurality of reflection teeth (121) extending in the direction of the base and spaced apart from each other, the reflection teeth (121) all forming an arc together, and the arc extending around the rotational axis; and a light emitting part (110), connected to the base (12) and used to emit and receive a measurement light ray, the path of the measurement light ray being perpendicular to the rotational axis. Because the reflection teeth extend in a direction towards the base, it is difficult for dirt to stick in the gap between adjacent two teeth, and therefore the problem in the prior art of lowered accuracy from dirt accumulated on an rotary encoder will not occur.
Disclosed in the present application are a laser emission circuit and a LIDAR. In a one-driving-many emission circuit, in an energy storage stage, a power supply stores energy for an energy storage element of an energy storage circuit, and a laser diode does not emit light. In an energy transfer stage, by means of the provision of a floating diode D0, an energy charging current is caused to pass through a storage capacitor C2, the floating diode D0, and ground to form a first loop. At the same time, by means of the provision of a clamping diode between anodes of laser diodes of each of a plurality of energy release circuits and ground, thereby rerouting current produced by parasitic capacitance of energy release switch elements Q1-Qn to ground, preventing the laser diodes from emitting light during the energy transfer stage. In an energy release stage, when an energy release switch element is in an open state, the energy release circuit in which the energy release switch element is located is not the loop having the lowest impedance, and the laser diode in the energy release loop in which the energy release switch element is located does not emit light. Therefore, the present invention is able to prevent a laser diode from emitting light at an unexpected time, improving the measurement performance of the LIDAR.
A laser transceiving module (100) and a LIDAR (200), relating to the technical field of LIDAR. The laser transceiving module (100) comprises: a housing (10), an emission module (1) fixed inside the housing (10), a beam splitting module (2) and a reception module (3). An emergent light signal emitted by the emission module (1) passes through the beam splitting module (2) and then is emitted outward, and is reflected by a target object (300) in a detection region and then returns a reflected light signal, the reflected light signal being received by the beam splitting module (2) and deflected, and then being received by the reception module (3). A light absorbing structure (5) is provided between the emission module (1) and the beam splitting module (2), the light absorbing structure (5) being used to prevent the emergent light signal reflected by the beam splitting module (2) from radiating towards the reception module (3). The laser transceiving module (100) is able to reduce the impact of stray light inside itself on its own detection capability.
A laser transceiving module (10) and a light modulation method therefor, a LIDAR (100), and an autonomous driving device, relating to the technical field of radar. The laser transceiving module (10) comprises a base (1), a side cover (2), a laser emission module (3), an emission optical system (4), a beam splitting module (5), a receiving optical system (6), and a laser receiving module (7). The base (1) comprises a main base body (11), the main base body (11) forming a first cavity (9) together with the side cover (2), the emission optical system (4), the beam splitting module (5), and the receiving optical system (6) being arranged inside the cavity (9). Inside the cavity (9) are provided an emission channel (91), a beam splitting channel (92), and a receiving channel (93) used for respectively mounting the emission optical system (4), the beam splitting module (5), and the receiving optical system (6). The laser emission module (3) and the laser receiving module (7) are arranged on the base (1), and are arranged outside the cavity (9), and the laser emission module (3) is used to emit emergent laser light. The present solution implements modularized design of a laser transceiving module (10), causing light modulation to be simple.
Disclosed in the embodiments of the present application are a method and an apparatus for processing point cloud data, a storage medium, and a LIDAR system, relating to the field of detection. In the embodiments of the present application, the top, the left side, the right side, the front, and the back of a vehicle are respectively provided with a LIDAR. The LIDAR on the top is used for remote-distance field of view detection, the LIDARs on the left and right sides are used for near-distance left and right field of view detection, and the LIDARs on the front and back are used for near-distance front and back field of view detection. Point cloud data collected by the five LIDARs above is fused to obtain panoramic point cloud data, preventing blind spots from appearing in the front, back, left, or right of the vehicle during a detection process, and improving the accuracy of detection and the functional safety of an autonomous driving system.
A LIDAR (10), comprising: a housing (100), delimiting an emission chamber (210) and a reception chamber (220); laser emission apparatuses (410, 420) arranged in the emission chamber (210) and used to emit a laser beam towards a first target region; a plurality of laser receiving apparatuses (310, 320) arranged in the reception chamber (220), the plurality of laser receiving apparatuses (310, 320) being able to receive a laser beam reflected from a second target region, and the first target region and the second target region at least partially overlapping. The second target region is formed from a combination of a plurality of sub-detection regions, each sub-detection region being smaller than the first target region and at least partially overlapping with the first target region, and the laser receiving apparatuses (310, 320) receiving laser beams reflected from the sub-detection regions with one-to-one correspondence. In the LIDAR (10), laser emission apparatuses (410, 420) and laser receiving apparatuses (310, 320) are independently arranged, and the number of the laser receiving apparatuses (310, 320) is more than one. Relative to a structure of only having one laser receiving apparatus (310, 320), the addition of a plurality of laser receiving apparatuses (310, 320) is able to increase the angle of the field of view for detection, thereby reducing detection blind spots for the LIDAR (10).
A method and apparatus for determining a sensing area, and a storage medium and a vehicle, belonging to the field of autonomous driving. The method comprises: acquiring a point cloud collected by a point cloud acquisition device (S201); constructing a drivable area on the basis of the point cloud (S202); adjusting the range of the sensing area on the basis of the range of the drivable area (S203), the area of the sensing area being larger than the area of the drivable area. In the method, the size of the sensing area can be adaptively adjusted on the basis of the size of the drivable area, thus facilitating calculation of key sampling points in the point cloud, and reducing the amount of environment sensing calculation.
Disclosed in the embodiments of the present application are a laser emission circuit and a LIDAR, relating to the field of LIDAR. By means of modifying the structure of a laser emission circuit, in an energy transfer stage of the laser emission circuit, an energy transfer current coming from an energy storage element is caused to not pass through a laser diode, and the laser diode is in a reverse bias state relative to the energy transfer current. Therefore, parasitic capacitance from an energy release switch element will not cause the laser diode to emit light prematurely because of an energy transfer charging process, preventing the laser diode from emitting light at an unexpected time, and solving the problem of laser light leakage.
A method and an apparatus for measuring time-of-flight, and a LIDAR. The method comprises: S201, emitting a reference signal in a first signal link, and determining a first transmission time of the reference signal in the first signal link; S202, emitting a measurement signal in a second signal link, and determining a second transmission time of the measurement signal in the second signal link, a shared device between the first signal link and the second signal link being a temperature sensitive device, and non-shared devices between the first signal link and the second signal link being non-temperature sensitive devices; S203, acquiring an delay time for the non-shared devices; S204, on the basis of the first transmission time, the second transmission time, and the delay time for the non-shared devices, determining a time-of-flight corresponding to a target object. Because the shared device between the first signal link and the second signal link is a temperature sensitive device, processing on the basis of the difference between the first transmission time and the second transmission time can eliminate the delay time of the temperature sensitive device, and thus the measurement result for the time-of-flight is only related to the delay time of the non-temperature sensitive devices. Therefore, the problem of time-of-flight measurement for a target object being inaccurate because of temperature changes in measurement apparatus devices can be reduced, improving the accuracy of measurement of time-of-flight in a measurement apparatus.
G01S 17/08 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
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