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CN-122017862-A - Flash solid-state laser radar detection method, device, equipment and medium

CN122017862ACN 122017862 ACN122017862 ACN 122017862ACN-122017862-A

Abstract

The invention discloses a Flash solid-state laser radar detection method which comprises the steps of calibrating phase differences of a plurality of laser receivers respectively, obtaining the fixed phase differences between the laser receivers and corresponding light emitters, obtaining sampling data of all the laser receivers, performing distance dissociation calculation on the sampling data, correcting the fixed phase differences to obtain corrected distance data, converting the corrected distance data into three-dimensional laser point cloud data, calculating peak-to-peak values of received light signals according to the sampling data, determining confidence levels of the pixel point data according to the peak-to-peak values, filtering the three-dimensional laser point cloud data in overlapping detection areas of the laser receivers to obtain filtered three-dimensional laser point cloud data, and packaging the filtered three-dimensional laser point cloud data and the confidence levels of each point cloud data into data packets and storing the data packets. The method solves the problem of mutual interference when a plurality of Flash laser radars are detected simultaneously, and effectively improves the detection range and the data accuracy.

Inventors

  • Wen Shangsong
  • WANG KAILI
  • HE MIN

Assignees

  • 四川九洲电器集团有限责任公司

Dates

Publication Date
20260512
Application Date
20260209

Claims (10)

  1. 1. The Flash solid-state laser radar detection method is characterized by comprising the following steps of: Controlling a plurality of laser transmitters to outwards transmit laser according to the same frequency and phase, uniformly covering a horizontal 360-degree range, synchronously controlling a plurality of laser receivers to simultaneously start a laser receiving function, and covering the horizontal 360-degree range; Respectively calibrating phase differences of a plurality of laser receivers to obtain fixed phase differences between each laser receiver and a corresponding light emitter; Acquiring sampling data of all laser receivers; performing distance dissociation calculation on the sampling data by adopting a continuous wave modulation indirect flight time method, and correcting by combining with a fixed phase difference to obtain corrected distance data; According to the intrinsic parameters of the laser receiver and the optical device thereof, converting the corrected distance data into three-dimensional laser point cloud data; Calculating peak value of a received optical signal according to the sampling data, determining confidence coefficient of each pixel point data according to the peak value, and filtering three-dimensional laser point cloud data in overlapping detection areas of a plurality of laser receivers to obtain filtered three-dimensional laser point cloud data; And packaging the filtered three-dimensional laser point cloud data and the confidence coefficient of each point cloud data into a data packet and storing the data packet.
  2. 2. The Flash solid-state laser radar detection method according to claim 1, wherein the specific method for calibrating the phase difference of the plurality of laser receivers comprises the following steps: The phase calibration measurement is performed at a fixed distance D, assuming that the final measured distance value of the ith laser receiver is The following steps are: ; where f is the laser emission frequency, c is the speed of light, Is the fixed phase difference between the ith laser receiver and the laser transmitter.
  3. 3. The Flash solid-state laser radar detection method according to claim 1, wherein the sampling data is data obtained by accumulating four differential correlations of the return optical signal in each modulation period by a laser receiver using a continuous wave modulation indirect flight time method, wherein the sampling point is based on the transmitted optical signal, and the phase difference between the sampling point and the transmitted optical signal is 90 °, 180 °, 270 ° and 360 ° over a plurality of periods.
  4. 4. The Flash solid-state laser radar detection method according to claim 3, wherein the specific method for obtaining corrected distance information by performing distance dissociation calculation on the sampled data by using a continuous wave modulation indirect flight time method and correcting by combining a fixed phase difference comprises the following steps: and (3) performing distance dissociation calculation on the sampling data by adopting a continuous wave modulation indirect flight time method, wherein the calculation formula of the original distance is as follows: ; ; Wherein, the 、 、 、 Sample frame data obtained when the sampling points are 90 DEG, 180 DEG, 270 DEG and 360 DEG relative to the emitted light signal, For the initial phase position, Is the original distance; since there is a phase difference in the calibration stage, the corrected distance formula is as follows: ; Wherein, the Is the corrected distance.
  5. 5. The Flash solid-state laser radar detection method according to claim 4, wherein the specific method for converting the corrected distance data into three-dimensional laser point cloud data according to the intrinsic parameters of the laser receiver and the optical device thereof comprises the following steps: converting from an image coordinate system to a world coordinate system, taking camera internal parameters as transformation constraint conditions, and adopting a transformation formula as follows: ; Wherein x, y, z represent the actual spatial position of the laser point cloud, D is a distance value, And Is an internal reference of the camera and is used for controlling the camera, 、 Is the image coordinate system coordinates.
  6. 6. The Flash solid state lidar detection method of claim 5, wherein the data packet comprises a sequence number, a timestamp, filtered three-dimensional laser point cloud data, and a confidence level for each point cloud data.
  7. 7. A Flash solid-state laser radar device is characterized by comprising a main controller, a plurality of laser transmitters and a laser receiver, The laser transmitters outwards emit laser according to the same frequency and phase, and uniformly cover a horizontal 360-degree range; the laser receiver synchronously receives laser emitted by the laser emitter and covers a horizontal 360-degree range; the main controller comprises a receiving and transmitting control module, a phase calibration module, a sampling module, a distance dissociation calculation module, a filtering processing module, a data conversion module and a data packet generation module, The receiving and transmitting control module is used for controlling signal transmission and reception of the laser transmitter and the laser receiver; The phase calibration module is used for respectively calibrating phase differences of the laser receivers to obtain fixed phase differences between the laser receivers and the corresponding light emitters; the sampling module is used for acquiring sampling data of all laser receivers; the distance resolving module is used for performing distance dissociation computation on the sampling data by adopting a continuous wave modulation indirect flight time method and correcting by combining with a fixed phase difference to obtain corrected distance data; The data conversion module is used for converting the corrected distance data into three-dimensional laser point cloud data according to the inherent parameters of the laser receiver and the optical device thereof; The filtering processing module is used for calculating the peak value of the received optical signal according to the sampling data, determining the confidence coefficient of each pixel point data according to the peak value, and filtering the three-dimensional laser point cloud data in the overlapping detection areas of the laser receivers to obtain the three-dimensional laser point cloud data after filtering; the data packet generation module is used for packaging the three-dimensional laser point cloud data after filtering and the confidence coefficient of each point cloud data into a data packet and storing the data packet.
  8. 8. The Flash solid-state laser radar device according to claim 7, wherein the sampling data is data obtained by performing four differential correlation sampling on the return optical signal in each modulation period by using a continuous wave modulation indirect flight time method by using a laser receiver, wherein the sampling point is based on the transmitted optical signal, and the phase difference between the sampling point and the transmitted optical signal is 90 °, 180 °, 270 ° and 360 ° and the data is accumulated over a plurality of periods.
  9. 9. An electronic device comprising a processor, an input device, an output device and a memory, the processor, the input device, the output device and the memory being interconnected, the memory being for storing a computer program comprising program instructions, characterized in that the processor is configured to invoke the program instructions to perform the method according to any of claims 1-6.
  10. 10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1-6.

Description

Flash solid-state laser radar detection method, device, equipment and medium Technical Field The invention relates to the technical field of laser radars, in particular to a Flash solid-state laser radar detection method, a device, equipment and a medium. Background With the development of automatic driving technology and intelligent traffic systems, flash laser radar technology is widely focused as an environment sensing means with high precision and high reliability. The Flash laser radar is a mainstream technical scheme in the all-solid-state laser radar, and the principle is that the Flash laser radar is used for transmitting a large range of laser to cover most of the environmental area in front, and then the array panel is used for receiving the reflected echo of the scattered light source, so that the Flash laser radar has the advantages of simple structure and high imaging speed. Flash lidar has a limited field of view and cannot be widely detected. Secondly, when a plurality of Flash laser radars are detected at the same time, the problem of mutual laser interference exists, and measurement errors are caused. Disclosure of Invention The invention aims to provide a Flash solid-state laser radar detection method, device, equipment and medium, which can solve the problem of mutual interference during simultaneous detection of a plurality of Flash laser radars, realize horizontal 360-degree non-scanning detection and effectively improve the detection range and data accuracy. The invention is realized by the following technical scheme: in a first aspect, a method for detecting a Flash solid-state laser radar provided in a first embodiment of the present invention includes: Controlling a plurality of laser transmitters to outwards transmit laser according to the same frequency and phase, uniformly covering a horizontal 360-degree range, synchronously controlling a plurality of laser receivers to simultaneously start a laser receiving function, and covering the horizontal 360-degree range; Respectively calibrating phase differences of a plurality of laser receivers to obtain fixed phase differences between each laser receiver and a corresponding light emitter; Acquiring sampling data of all laser receivers; performing distance dissociation calculation on the sampling data by adopting a continuous wave modulation indirect flight time method, and correcting by combining with a fixed phase difference to obtain corrected distance data; According to the intrinsic parameters of the laser receiver and the optical device thereof, converting the corrected distance data into three-dimensional laser point cloud data; Calculating peak value of a received optical signal according to the sampling data, determining confidence coefficient of each pixel point data according to the peak value, and filtering three-dimensional laser point cloud data in overlapping detection areas of a plurality of laser receivers to obtain filtered three-dimensional laser point cloud data; and packaging the filtered three-dimensional laser point cloud data and the confidence coefficient into a data packet and storing the data packet. Further, the specific method for calibrating the phase difference of the plurality of laser receivers respectively comprises the following steps: The phase calibration measurement is performed at a fixed distance D, assuming that the final measured distance value of the ith laser receiver is The following steps are: where f is the laser emission frequency, c is the speed of light, Is the fixed phase difference between the ith laser receiver and the laser transmitter. Further, the sampling data is obtained by performing four differential correlation sampling on the return optical signal in each modulation period by a continuous wave modulation indirect flight time method, wherein the sampling point is based on the transmitted optical signal, the phase difference between the sampling point and the transmitted optical signal is 90 degrees, 180 degrees, 270 degrees and 360 degrees, and the sampling point and the transmitted optical signal are accumulated for a plurality of periods. Further, the specific method for obtaining corrected distance data by adopting the continuous wave modulation indirect flight time method to perform distance dissociation calculation on the sampling data and correcting the sampling data by combining with a fixed phase difference comprises the following steps: and (3) performing distance dissociation calculation on the sampling data by adopting a continuous wave modulation indirect flight time method, wherein the calculation formula of the original distance is as follows: ; ; Wherein, the 、、、Sample frame data obtained when the sampling points are 90 DEG, 180 DEG, 270 DEG and 360 DEG relative to the emitted light signal,For the initial phase position,Is the original distance; since there is a phase difference in the calibration stage, the corrected distance formula is as follows: ; Wherein