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CN-116299364-B - Laser radar self-checking method and device, storage medium and electronic equipment

CN116299364BCN 116299364 BCN116299364 BCN 116299364BCN-116299364-B

Abstract

The application provides a laser radar self-checking method, a device, a storage medium and electronic equipment, wherein the laser radar comprises a control unit, a detection unit, a transmitting module and a receiving module, the control unit controls the transmitting module to transmit test laser according to a preset coding rule when the laser radar is in a target posture, the control unit performs self-checking according to a first echo signal, a second echo signal and the coding rule to determine whether an abnormality exists in a laser signal processing link of the laser radar, the first echo signal is the echo signal detected by the detection unit, and the second echo signal is the echo signal detected by the receiving module. The laser radar self-checking method provided by the application can diagnose the state of the link processed by the laser signal and determine whether the link processed by the laser signal is abnormal, thereby improving the comprehensiveness and coverage rate of self-checking.

Inventors

  • LIU LIZHI

Assignees

  • 北京北醒智能设备有限公司

Dates

Publication Date
20260512
Application Date
20230329

Claims (12)

  1. 1. A laser radar self-checking method, characterized in that it is applied to a laser radar, the laser radar includes a control unit, a detection unit, a transmitting module and a receiving module, the method includes: the control unit controls the transmitting module to transmit test laser according to a preset coding rule when the laser radar is in a target posture; the control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule, and determines whether an abnormality exists in a laser signal processing link of the laser radar; the first echo signal is an echo signal detected by the detection unit, and the second echo signal is an echo signal detected by the receiving module; The control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule, and determines whether an abnormality exists in a laser signal processing link of the laser radar, including: The control unit determines a first pulse signal rule of the first echo signal and a second pulse signal rule of the second echo signal; The control unit carries out self-checking according to the first pulse signal rule, the second pulse signal rule and the coding rule, and determines whether an abnormality exists in a laser signal processing link of the laser radar; The encoding rule includes a time interval between any two adjacent pulses in the test laser, the first pulse signal rule includes a first type of time interval information, the second pulse signal rule includes a second type of time interval information, the first type of time interval information includes a time interval between any two adjacent pulses in the first echo signal, the second type of time interval information includes a time interval between any two adjacent pulses in the second echo signal, and the control unit performs self-checking according to the first pulse signal rule, the second pulse signal rule and the encoding rule to determine whether an abnormality exists in a laser signal processing link of the laser radar, and the method includes: the control unit determines the matching results of the first type time interval information and the second type time interval information with the coding rule respectively; And the control unit determines whether the laser signal processing link of the laser radar is abnormal according to the matching result.
  2. 2. The laser radar self-checking method according to claim 1, wherein the step of determining whether there is an abnormality in a laser signal processing link of the laser radar by the control unit according to the matching result includes: the control unit determines that the laser radar is not abnormal under the condition that the first type time interval information and the second type time interval information are matched with the coding rule; The control unit determines that the receiving module is abnormal when the first type time interval information is matched with the coding rule and the second type time interval information is not matched with the coding rule; and the control unit determines that the transmitting module is abnormal under the condition that the first type time interval information and the second type time interval information are not matched with the coding rule.
  3. 3. The lidar self-test method of claim 1, wherein before the control unit performs self-test according to the first echo signal, the second echo signal, and the encoding rule to determine whether an abnormality exists in a laser signal processing link of the lidar, the method further comprises: the control unit determines that the receiving module is abnormal under the condition that the first echo signal is received and the second echo signal is not received; the control unit determines that the transmitting module is abnormal under the condition that the first echo signal and the second echo signal are not received.
  4. 4. The lidar self-test method of claim 1, wherein the first echo signal comprises a first main echo signal and a first target echo signal, and the second echo signal comprises a second main echo signal and a second target echo signal; The transmitting module comprises n paths of transmitting units, the receiving module comprises m paths of receiving units, n is more than or equal to 1, m is more than or equal to 1, the number of paths of the first main echo signals is n, the number of paths of the first target echo signals is n, the number of paths of the second main echo signals is n multiplied by m, and the number of paths of the second target echo signals is n multiplied by m.
  5. 5. The laser radar self-checking method according to claim 1, wherein before the control unit controls the transmitting module to transmit the test laser according to a preset coding rule when the laser radar is in a target attitude, the method further comprises: The control unit controls the horizontal rotating mechanism of the laser radar and the vertical rotating mechanism of the laser radar to move so that the laser radar is in a target posture, wherein test laser emitted by the laser radar in the target posture is irradiated on a target object.
  6. 6. The lidar self-test method of claim 1, wherein the target pose comprises any one or more of a first pose, a second pose, a third pose, a fourth pose, a fifth pose, and a sixth pose; the first gesture is that the horizontal rotating mechanism of the laser radar is positioned to the leftmost side of the horizontal view field, and the vertical rotating mechanism of the laser radar is positioned to the bottommost position of the vertical view field; The second gesture, the horizontal direction rotating mechanism is positioned to the direction of the right center of the horizontal view field, and the vertical direction rotating mechanism is positioned to the lowest position of the vertical view field; The third gesture, the horizontal direction rotating mechanism is positioned to the rightmost side of the horizontal view field, and the vertical direction rotating mechanism is positioned to the bottommost position of the vertical view field; the fourth gesture, the horizontal direction rotating mechanism is positioned to the rightmost side of the horizontal view field, the vertical direction rotating mechanism is positioned to a preset angle, and the preset angle represents upward movement of the preset angle from the bottommost position of the vertical view field; The fifth gesture, the vertical direction rotating mechanism is positioned to a preset angle, and the horizontal direction rotating mechanism is positioned to the direction of the right center of the horizontal view field; and the sixth gesture is that the vertical direction rotating mechanism is positioned to a preset angle, and the horizontal direction rotating mechanism is positioned to the leftmost side of the horizontal view field.
  7. 7. The lidar self-test method of claim 6, wherein the number of target poses is Q, 2+.q+.6, and the method further comprises, before controlling the emission module to emit the test laser according to a preset encoding rule: the control unit controls the laser radar to switch to an ith target gesture; wherein the ith target gesture is any one of the Q target gestures; After the control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule, and determines whether the laser signal processing link of the laser radar is abnormal, the method further comprises: And the control unit controls the laser radar to switch to the (i+1) th target gesture, and repeatedly controls the transmitting module to transmit the test laser according to a preset coding rule until the self-checking of the laser radar under the Q target gestures is completed.
  8. 8. A laser radar self-checking device, characterized in that is applied to laser radar, laser radar includes control unit, detecting element, transmitting module and receiving module, the device includes: the processing unit is used for controlling the transmitting module to transmit test laser according to a preset coding rule when the laser radar is in a target posture; the diagnosis unit is used for performing self-checking according to the first echo signal, the second echo signal and the coding rule by the control unit and determining whether an abnormality exists in a laser signal processing link of the laser radar; the first echo signal is an echo signal detected by the detection unit, and the second echo signal is an echo signal detected by the receiving module; the diagnosis unit is also used for determining a first pulse signal rule of the first echo signal and a second pulse signal rule of the second echo signal by the control unit; the diagnosis unit is also used for the control unit to perform self-check according to the first pulse signal rule, the second pulse signal rule and the coding rule, and determine whether the laser signal processing link of the laser radar is abnormal or not; The coding rule comprises a time interval between any two adjacent pulses in the test laser, the first pulse signal rule comprises first type time interval information, the second pulse signal rule comprises second type time interval information, the first type time interval information comprises a time interval between any two adjacent pulses in the first echo signal, and the second type time interval information comprises a time interval between any two adjacent pulses in the second echo signal; The diagnosis unit is also used for determining the matching result of the first type time interval information and the second type time interval information with the coding rule respectively by the control unit; The diagnosis unit is also used for determining whether the laser signal processing link of the laser radar is abnormal or not according to the matching result by the control unit.
  9. 9. The lidar self-test device of claim 8, The diagnosis unit is also used for determining that the laser radar is not abnormal under the condition that the first type time interval information and the second type time interval information are matched with the coding rule; the diagnosis unit is further used for determining that the receiving module is abnormal when the first type time interval information is matched with the coding rule and the second type time interval information is not matched with the coding rule; The diagnosis unit is further used for determining that the transmitting module is abnormal when the first type time interval information and the second type time interval information are not matched with the coding rule.
  10. 10. The lidar self-test device of claim 8, The diagnosis unit is further used for determining that the receiving module is abnormal when the control unit receives the first echo signal and does not receive the second echo signal; the diagnostic unit is further configured to determine that the transmitting module is abnormal if the first echo signal and the second echo signal are not received by the control unit.
  11. 11. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1-7.
  12. 12. An electronic device comprising a control unit and a memory for storing one or more programs, which when executed by the control unit, implement the method of any of claims 1-7.

Description

Laser radar self-checking method and device, storage medium and electronic equipment Technical Field The application relates to the field of radars, in particular to a laser radar self-checking method, a laser radar self-checking device, a storage medium and electronic equipment. Background The intelligent driving technology is widely applied in the automobile industry, and the laser radar is widely applied as a core sensor of the intelligent driving technology. The laser radar provides distance information of an environmental target for the whole vehicle, provides decision input data for intelligent driving of the whole vehicle, and is a product related to driving safety. Therefore, the safety of the lidar product itself needs to be sufficiently ensured. For a laser radar, providing reliable target distance information is the most important function, and once the function is at risk, a monitoring and fault diagnosis and reporting mechanism is needed to realize safe output. Therefore, how to detect the lidar to ensure the reliable operation of the lidar becomes a problem of concern to those skilled in the art. Disclosure of Invention The application aims to provide a laser radar self-checking method, a laser radar self-checking device, a storage medium and electronic equipment, so as to ensure the reliable operation of the laser radar. In order to achieve the above object, the technical scheme adopted by the embodiment of the application is as follows: in a first aspect, an embodiment of the present application provides a laser radar self-checking method, which is applied to a laser radar, where the laser radar includes a control unit, a detection unit, a transmitting module and a receiving module, and the method includes: the control unit controls the transmitting module to transmit test laser according to a preset coding rule when the laser radar is in a target posture; the control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule, and determines whether an abnormality exists in a laser signal processing link of the laser radar; The first echo signal is an echo signal detected by the detection unit, and the second echo signal is an echo signal detected by the receiving module. Optionally, the step of determining whether the laser signal processing link of the laser radar is abnormal by the control unit according to the first echo signal, the second echo signal and the coding rule includes: The control unit determines a first pulse signal rule of the first echo signal and a second pulse signal rule of the second echo signal; the control unit performs self-checking according to the first pulse signal rule, the second pulse signal rule and the coding rule, and determines whether an abnormality exists in a laser signal processing link of the laser radar. Optionally, the encoding rule includes a time interval between any two adjacent pulses in the test laser, the first pulse signal rule includes a first type of time interval information, the second pulse signal rule includes a second type of time interval information, the first type of time interval information includes a time interval between any two adjacent pulses in the first echo signal, the second type of time interval information includes a time interval between any two adjacent pulses in the second echo signal, and the control unit performs self-checking according to the first pulse signal rule, the second pulse signal rule and the encoding rule, and determines whether an abnormality exists in a laser signal processing link of the laser radar, including: the control unit determines the matching results of the first type time interval information and the second type time interval information with the coding rule respectively; And the control unit determines whether the laser signal processing link of the laser radar is abnormal according to the matching result. Optionally, the step of determining, by the control unit according to the matching result, whether an abnormality exists in a laser signal processing link of the laser radar includes: the control unit determines that the laser radar is not abnormal under the condition that the first type time interval information and the second type time interval information are matched with the coding rule; The control unit determines that the receiving module is abnormal when the first type time interval information is matched with the coding rule and the second type time interval information is not matched with the coding rule; and the control unit determines that the transmitting module is abnormal under the condition that the first type time interval information and the second type time interval information are not matched with the coding rule. Optionally, before the control unit performs self-checking according to the first echo signal, the second echo signal and the coding rule to determine whether an abnormality exists in a laser signal processing l