Lidar ranging method, device, computer apparatus and storage medium

Patent metadata

Field	Value
Publication number	US-10989796-B2
Application number	US-202017023307-A
Country	US
Kind code	B2
Filing date	Sep 16, 2020
Priority date	Sep 6, 2019
Publication date	Apr 27, 2021
Grant date	Apr 27, 2021

Abstract

The present disclosure provides, for example, a lidar ranging method. The method may include calling a sequencer to generate a preset sequence with the sequencer. The method may also include determining a pulse transmission interval of double pulses according to the preset sequence and a preset value. The method may further include transmitting a probing signal to an object to be ranged according to the pulse transmission interval of the double pulses. The method may additionally include receiving, from the object to be ranged, an echo signal returned according to the probing signal. The method may also include extracting a valid echo signal from the echo signal. The method may further include calculating a distance from the object to be ranged according to a time difference between the valid echo signal and the probing signal.

First claim

The invention claimed is:

1. A lidar ranging method, comprising:
calling a sequencer to generate a preset sequence with the sequencer;
determining a pulse transmission interval between successive pairs of double pulses according to the preset sequence and a preset value;
transmitting a signal to an object to be ranged according to the pulse transmission interval between the successive pairs of the double pulses;
receiving, from the object to be ranged, a reflected signal returned according to the transmitted signal;
extracting a valid echo signal from the reflected signal; and
calculating a distance from the object to be ranged according to a time difference between the valid reflected signal and the transmitted signal,
wherein said determining the pulse transmission interval between the successive pairs of double pulses according to the preset sequence and a preset value comprises:
calculating a frequency hopping sequence corresponding to the preset sequence according to the preset sequence and the preset value;
dividing a time range of the successive pairs of the double pulses into a plurality of transmission time intervals according to the preset sequence; and
selecting the pulse transmission interval between the successive pairs of the double pulses from the plurality of transmission time intervals according to the frequency hopping sequence.

2. The method of claim 1 , wherein said transmitting the transmitted signal to the object to be ranged according to the pulse transmission interval between the successive pairs of the double pulses comprises:
calculating a pulse transmission time of the double pulses according to the preset sequence and the pulse transmission interval between the successive pairs of the double pulses; and
transmitting the transmitted signal to the object to be ranged according to the pulse transmission time of the double pulses.

3. The method of claim 1 , wherein said extracting the valid reflected signal from the reflected signal comprises:
performing analog-to-digital conversion of the reflected signal to acquire a corresponding digital signal;
caching the digital signal; extracting a digital signal from a preset neighborhood when a number of cached digital signals reaches a preset number;
performing a non-coherent integration on an extracted digital signal; outputting an integrated digital signal; and
identifying the valid reflected signal from the integrated digital signal.

4. The method of claim 1 , wherein said extracting the valid reflected signal from the reflected signal further comprises:
identifying, from the reflected signal, a pulse transmission interval corresponding to the transmitted signal;
decoding the reflected signal according to the pulse transmission interval corresponding to the transmitted signal, to acquire a decoded signal; and
performing signal detection on the decoded signal, to acquire the valid reflected signal.

5. The method of claim 4 , wherein performing signal detection on the decoded signal comprises:
storing the decoded signal in a preset queue;
extracting a signal to be inputted from the preset queue and inputting it to a buffer area;
selecting a first signal from the buffer area according to a preset area;
calculating a signal threshold corresponding to the decoded signal according to the first signal;
comparing the decoded signal with the signal threshold to acquire a comparison result; and
selecting from the comparison result a decoded signal larger than the signal threshold as the valid reflected signal.

6. The method of claim 5 , wherein said calculating a signal threshold corresponding to the decoded signal according to the first signal comprises:
calculating, according to the first signal, a corresponding noise power;
calculating, according to the first signal and a preset false alarm probability value, a corresponding threshold factor; and
calculating the signal threshold corresponding to the decoded signal according to the noise power and the threshold factor.

7. A lidar ranging device, comprising:
a memory having computer-readable instructions stored thereon; and
one or more processors;
wherein the computer-readable instructions, when being executed by the one or more processors, cause the one or more processors to perform:
calling a sequencer to generate a preset sequence with the sequencer;
determining a pulse transmission interval between the successive pairs of double pulses according to the preset sequence and a preset value;
transmitting a signal to an object to be ranged according to the pulse transmission interval between the successive pairs of the double pulses;
receiving, from the object to be ranged, a reflected signal returned according to the transmitted signal;
extracting a valid reflected signal from the reflected signal; and
calculating a distance from the object to be ranged according to a time difference between the valid reflected signal and the transmitted signal,
wherein said determining a pulse transmission interval between the successive pairs of double pulses according to the preset sequence and a preset value comprises:
calculating a frequency hopping sequence corresponding to the preset sequence according to the preset sequence and the preset value;
dividing a time range of the double pulses into a plurality of transmission time intervals according to the preset sequence; and
selecting the pulse transmission interval between the successive pairs of the double pulses from the plurality of transmission time intervals according to the frequency hopping sequence.

8. The device of claim 7 , wherein the computer-readable instructions, when being executed by the one or more processors, further cause the one or more processors to perform:
calculating a pulse transmission time of the double pulses according to the preset sequence and the pulse transmission interval between the successive pairs of the double pulses; and
transmitting the transmitted signal according to the pulse transmission time of the double pulses.

9. The device of claim 7 , wherein the computer-readable instructions, when being executed by the one or more processors, further cause the one or more processors to perform:
performing analog-to-digital conversion of the reflected signal to acquire a corresponding digital signal; caching the digital signal;
extracting a digital signal from a preset neighborhood when a number of cached digital signals reaches a preset number;
performing a non-coherent integration on the extracted digital signal, outputting an integrated digital signal; and
identifying the valid reflected signal from the integrated digital signal.

10. The device of claim 7 , wherein the computer-readable instructions, when being executed by the one or more processors, further cause the one or more processors to perform:
identifying, from the reflected signal, a pulse transmission interval corresponding to the transmitted signal;
decoding the reflected signal according to the pulse transmission interval corresponding to the transmitted signal, to acquire a decoded signal; and
performing signal detection on the decoded signal to acquire the valid reflected signal.

11. The device of claim 10 , wherein the computer-readable instructions, when being executed by the one or more processors, further cause the one or more processors to perform:
storing the decoded signal in a preset queue; extracting a signal to be inputted from the preset queue and inputting it to a buffer area;
selecting a first signal from the buffer area according to a preset area;
calculating a signal threshold corresponding to the decoded signal according to the first signal;
comparin

Assignees

• Suteng Innovation Tech Co Ltd

Inventors

• Liu Xia
• Hu Han
• Lou Zhiyi

Classifications

• G01S17/10

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title

• G01S7/4873 Primary

  by deriving and controlling a threshold value · CPC title

• G01S7/484

  Transmitters · CPC title

• Y02A90/10

  Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation · CPC title