CN-121995401-A - Echo extraction method, device and equipment of laser radar and storage medium

Abstract

The application discloses an echo extraction method, device, equipment and storage medium of a laser radar, relates to the technical field of signal processing, and aims to solve the problem that in the related art, when a high-reflection object appears in a field of view of the laser radar, a detection result has high-reflection expansion false echo, so that the detection result of a laser radar sensor is inaccurate. The method for extracting the echoes of the laser radar comprises the steps of obtaining echo signals of the laser radar, wherein the echo signals comprise at least one echo, determining an effective echo intensity threshold of the echo signals based on characteristics of each echo in the echo signals, and determining a real echo from at least one echo of the echo signals based on the characteristics of each echo in the echo signals, the effective echo intensity threshold and a high-inverse target echo distance range.

Inventors

• LI SIYUAN
• ZHOU TAO
• ZHAO WEIBING
• PAN LIHONG
• Lv Kangping

Assignees

• 比亚迪股份有限公司

Dates

Publication Date

20260508

Application Date

20241101

Claims (18)

1. 1. An echo extraction method for a lidar, the method comprising: Acquiring an echo signal of a laser radar, wherein the echo signal comprises at least one echo; determining an effective echo intensity threshold of the echo signal based on characteristics of each echo in the echo signal; and determining a real echo from at least one echo of the echo signals based on the characteristics of each echo in the echo signals, the effective echo intensity threshold and the high-contrast target echo distance range.
2. 2. The method of claim 1, wherein the determining a real echo from at least one echo of the echo signals based on characteristics of each echo in the echo signals, the effective echo intensity threshold, and a high-inverse target echo distance range comprises: determining an echo with signal intensity greater than the effective echo intensity threshold value in the echo signal as a first echo; And determining the real echo from the first echo based on the characteristics of the first echo and the Gao Fanmu target echo distance range.
3. 3. The method of claim 2, wherein the determining the real echo from the first echo based on the characteristic of the first echo and the Gao Fanmu target echo distance range comprises: And under the condition that the distance of any first echo does not exist in the echo signal and is within the Gao Fanmu target echo distance range, taking the first echo closest to the echo signal as the real echo.
4. 4. The method of claim 2, wherein the determining the real echo from the first echo based on the characteristic of the first echo and the Gao Fanmu target echo distance range comprises: and if the distance of one first echo exists in the echo signal is within the Gao Fanmu standard echo distance range and only one first echo exists in the echo signal, determining the first echo as the real echo if the signal intensity of the first echo is larger than the real object intensity threshold.
5. 5. The method of claim 4, wherein the real object intensity threshold is greater than the effective echo intensity threshold.
6. 6. The method of claim 2, wherein the determining the real echo from the first echo based on the characteristic of the first echo and the Gao Fanmu target echo distance range comprises: And under the condition that a plurality of first echoes exist in the echo signal and the distance of at least one first echo in the plurality of first echoes is within the Gao Fanmu target echo distance range, if the signal intensity of the first echoes with the distance within the Gao Fanmu target echo distance range is smaller than or equal to a first high-contrast target intensity threshold value, the first echo closest to the echo signal is taken as the real echo.
7. 7. The method of claim 2, wherein the determining the real echo from the first echo based on the characteristic of the first echo and the Gao Fanmu target echo distance range comprises: Determining a first echo with a distance within the Gao Fanmu target echo distance range and a signal strength greater than a first high-contrast target strength threshold value as a second echo when a plurality of first echoes exist in the echo signal and a distance of at least one first echo in the plurality of first echoes is within the Gao Fanmu target echo distance range; And determining the real echo from the second echo based on the characteristics of the second echo.
8. 8. The method of claim 7, wherein the determining the true echo from the second echo based on the characteristics of the second echo comprises: And determining a second echo with highest signal intensity in the second echo meeting the high-contrast target judgment condition as the real echo, wherein the Gao Fanmu target judgment condition comprises that the first echo exists in a distance range twice as long as the second echo.
9. 9. The method of claim 7, wherein the determining the true echo from the second echo based on the characteristics of the second echo comprises: Determining a weight coefficient of a second echo based on the characteristics of the second echo under the condition that the second echo meeting the high-contrast target judgment condition does not exist, wherein the Gao Fanmu target judgment condition comprises that a first echo exists on a distance range twice as long as the second echo; And determining the second echo with the largest weight coefficient in the second echoes as the real echo.
10. 10. The method according to any one of claims 1 to 9, wherein said determining an effective echo intensity threshold based on characteristics of each echo in said echo signal comprises: Determining an intensity statistical parameter of the echo signal based on the signal intensity of each echo in the echo signal; and determining the effective echo intensity threshold based on the intensity statistical parameter of the echo signal.
11. 11. The method of claim 10, wherein the intensity statistical parameter comprises at least one of mean, variance, standard deviation, and range.
12. 12. The method of claim 10, wherein determining the intensity statistic of the echo signal based on the signal intensity of each echo in the echo signal comprises: And determining the intensity statistical parameter of the echo signal based on the signal intensity of the echo with the lowest signal intensity and the preset number of echoes in the echo signal.
13. 13. The method according to any one of claims 1 to 12, wherein the Gao Fanmu target echo distance range is determined according to the following manner: Determining the distance of the echo with the signal intensity greater than a second high-contrast target intensity threshold value in all echo signals received by the laser radar as the high-contrast target distance, wherein the second high-contrast target intensity threshold value is smaller than or equal to the first high-contrast target intensity threshold value; And determining the high-inverse target distance range based on a preset range length by taking the high-inverse target distance as the range center.
14. 14. An electronic device comprising a processor and a memory for storing instructions executable by the processor; Wherein the processor is configured to execute the instructions to implement the method of any one of claims 1 to 13.
15. 15. A computer readable storage medium having stored thereon computer instructions which, when run on a computer, cause the computer to perform the method of any of claims 1 to 13.
16. 16. A lidar system comprising the electronic device of claim 14, or the computer-readable storage medium of claim 15.
17. 17. A vehicle comprising the electronic device of claim 14, or the computer-readable storage medium of claim 15, or the lidar system of claim 16.
18. 18. A computer program product comprising computer instructions which, when run on an electronic device, cause the electronic device to perform the method of any one of claims 1 to 13.

Description

Echo extraction method, device and equipment of laser radar and storage medium Technical Field The present application relates to the field of signal processing technologies, and in particular, to a method, an apparatus, a device, and a storage medium for extracting an echo of a laser radar. Background The laser radar is an important sensor in the existing automatic driving system of the vehicle, and has the advantages of high reliability, long detection distance, high detail resolution and the like compared with other sensors. The lidar principle is direct time-of-flight (DIRECT TIME-of-flight, dToF) ranging, which essentially determines distance by sending a beam of laser pulses and determining the time required to return from the transmission to the reception of the laser pulses by signal processing components within the lidar. In order to improve the information content of a single frame of the laser radar, namely, the point cloud density, most laser radar systems control a plurality of laser transmitters and a plurality of laser receiving units to perform ranging simultaneously. And the refreshing rate of the laser radar point cloud is ensured on the premise of improving the point cloud density. However, when a high-reflection object appears in the view field, the receiving and transmitting mode can cause the laser radar to detect the high-reflection expansion false echo, and the real object information can not be output, so that the accuracy of the laser radar sensor is reduced. Disclosure of Invention The embodiment of the application aims to provide an echo extraction method, device and equipment of a laser radar and a storage medium, and aims to solve the problem that in the related art, when a high-reflection object appears in a field of view of the laser radar, a detection result has high-reflection expansion false echo, so that the detection result of a laser radar sensor is inaccurate. In order to achieve the above purpose, the embodiment of the application adopts the following technical scheme: in a first aspect, an embodiment of the present application provides a method for extracting an echo of a lidar, where the method includes: Acquiring an echo signal of a laser radar, wherein the echo signal comprises at least one echo; determining an effective echo intensity threshold of the echo signal based on characteristics of each echo in the echo signal; And determining a real echo from at least one echo of the echo signals based on the characteristics of each echo in the echo signals, the effective echo intensity threshold and the high-contrast target echo distance range. According to the echo extraction method of the laser radar, at least one echo in the echo signal is processed through the characteristics of each echo in the echo signal, the effective echo intensity threshold value and the high-inverse target echo distance range, the high-inverse expansion echo is filtered, and the real echo is reserved, so that the laser radar can output more reliable and complete detection information. Moreover, the echo extraction method of the laser radar can be suitable for most laser radars, is suitable for different laser radar systems, and is high in adaptability and robustness. In addition, the application does not depend on an additional hardware control circuit or an optical crosstalk suppression module, and has low cost, low complexity and high universality. In some embodiments, determining a real echo from at least one echo of the echo signals based on characteristics of each echo in the echo signals, an effective echo intensity threshold, and a high-contrast target echo distance range includes determining an echo in the echo signals having a signal intensity greater than the effective echo intensity threshold as a first echo, and determining a real echo from the first echo based on the characteristics of the first echo and the Gao Fanmu target echo distance range. In some embodiments, determining the true echo from the at least one first echo based on the characteristics of the first echoes in the echo signal and the Gao Fanmu target echo distance range includes taking the closest first echo in the echo signal as the true echo if no first echo exists in the echo signal whose distance is within the high-inverse target echo distance range. In some embodiments, determining the real echo from the first echoes based on the characteristics of the first echoes in the echo signals and the Gao Fanmu target echo distance range includes determining the first echo as the real echo if the signal strength of the first echo is greater than the real object strength threshold if the distance of one first echo in the echo signals is within the high-inverse target echo distance range and only one first echo is present in the echo signals. In some embodiments, the real object intensity threshold is greater than the effective echo intensity threshold. In some embodiments, determining the real echo from the first echoe