CN114325658A - Lidar anti-jamming method, device, equipment and storage medium - Google Patents

Abstract

The application provides a laser radar interference resisting method, device, equipment and storage medium, and relates to the technical field of laser radars. The method comprises the following steps: intercepting each data point of the original waveform in the interference detection time period; determining whether an interference waveform exists in the original waveform according to each data point of the original waveform; if so, extracting the parameter value of the interference waveform from each data point of the original waveform; according to the parameter value of the interference waveform, eliminating data points of the interference waveform from all data points of the original waveform to obtain target emission waveform data; and emitting a laser pulse sequence to the detection area according to the target emission waveform data. The method mainly judges whether the interference waveform exists in the current transmitted original waveform by intercepting each data point of the original waveform in the interference detection time period, if so, eliminates the existing 'redundant' interference pulse, and carries out laser radar ranging based on the target transmitted waveform data after interference elimination, thereby improving the accuracy of laser radar ranging.

Description

Lidar anti-jamming method, device, equipment and storage medium

technical field

The present application relates to the technical field of laser radar, and in particular, to a method, device, device and storage medium for anti-interference of laser radar.

Background technique

Lidar is a system that detects the position, speed and other parameters of a target by emitting a laser beam. With its ultra-high range resolution and spatial resolution, it is considered to be the most critical component in the perception stage of autonomous driving. Among them, ranging range, spatial resolution, and point frequency are the most important performance indicators of lidar. With the popularization and application of lidar, the problem of interference between different lidars is becoming more and more serious. Therefore, all lidars need to be able to effectively counteract all possible interferences in order to address the effects of interference.

At present, the existing anti-jamming method of lidar is that the transmitter sends out periodic bursts whose intensity and interval are controlled by the serial number of each lidar; processor processing to identify valid laser pulses and discard interfering laser pulses.

However, when there is interference from other lidars or 'intentional' interference in the same scene, the coded light-emitting method in the prior art will receive many 'excess' pulses, resulting in errors in the codeword table comparison of the light-receiving module. Errors in identification make it impossible to effectively counteract such interference, which greatly reduces the accuracy of lidar ranging.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a lidar anti-jamming method, device, equipment and storage medium in view of the above-mentioned deficiencies in the prior art, so as to solve the interference of other lidars or "intentional" interference in the same scene, Thereby, the accuracy of Lidar ranging is improved.

To achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:

In a first aspect, an embodiment of the present application provides a lidar anti-jamming method, which is applied to lidar, and the method includes:

Intercept each data point of the original waveform in the interference detection time period, where the interference detection time period refers to the sum of the rising edge time of the interference detection enable signal and the preset wave-transmission pause time;

According to each data point of the original waveform, determine whether there is an interference waveform in the original waveform;

If so, extract the parameter value of the interference waveform from each data point of the original waveform, and the parameter value of the interference waveform includes: interference time, interference period, and interference duration;

According to the parameter value of the interference waveform, remove the data point of the interference waveform from each data point of the original waveform to obtain the target transmission waveform data;

The laser pulse sequence is emitted to the detection area according to the target emission waveform data.

Optionally, the determining whether there is an interference waveform in the original waveform according to each data point of the original waveform includes:

performing an autocorrelation operation on each data point of the original waveform to obtain an autocorrelation sequence corresponding to the original waveform;

respectively determining the peak value of the original waveform and the peak value of the autocorrelation sequence;

According to the peak value of the original waveform and the peak value of the autocorrelation sequence, it is determined whether the interference waveform exists in the original waveform.

Optionally, the determining whether there is an interference waveform in the original waveform according to the peak of the original waveform and the peak of the autocorrelation sequence includes:

If the peak value of the original waveform is less than a preset first threshold, and the peak value of the autocorrelation sequence is less than a preset second threshold, it is determined that there is no interference waveform in the original waveform.

Optionally, the extracting the parameter value of the interference waveform from each data point of the original waveform includes:

Obtain the interference time of the interference waveform according to the rising edge time of the interference detection enable signal and the peak time corresponding to the peak value of the original waveform;

Taking the peak moment of the wave peak value of the autocorrelation sequence as the interference period of the interference waveform;

The number of data points in the original waveform that is greater than the first threshold is used as the interference duration of the interference waveform.

Optionally, according to the parameter value of the interference waveform, the data points of the interference waveform are removed from the data points of the original waveform to obtain target transmission waveform data, including:

According to the interference time, the interference period and the interference duration of the interference waveform, the data point of the interference waveform is found from the data points of the original waveform, and the value of the data point of the interference waveform is calculated. Cleared to get the target transmit waveform data.

Optionally, the parameter value of the interference waveform further includes: interference strength;

The method also includes:

Summing the values of the data points in the original waveform that are greater than the first threshold, and using the summed result as the interference strength of the interference waveform.

Optionally, before the intercepting each data point of the original waveform within the interference detection time period, the method further includes:

According to the rising edge time of the interference detection enable signal, the laser pulse sequence is stopped to be emitted to the detection area.

In a second aspect, an embodiment of the present application further provides a lidar anti-jamming device, which is applied to a lidar, and the device includes:

The interception module is used for intercepting each data point of the original waveform in the interference detection time period, the interference detection time period refers to the sum of the rising edge time of the interference detection enable signal and the preset wave stop duration;

a determining module, configured to determine whether there is an interference waveform in the original waveform according to each data point of the original waveform;

an extraction module, configured to extract the parameter value of the interference waveform from each data point of the original waveform, where the parameter value of the interference waveform includes: interference time, interference period, and interference duration;

an elimination module, configured to eliminate the data points of the interference waveform from each data point of the original waveform according to the parameter value of the interference waveform, to obtain target transmission waveform data;

The transmitting module is used for transmitting a laser pulse sequence to the detection area according to the target transmitting waveform data.

Optionally, the determining module is also used for:

performing an autocorrelation operation on each data point of the original waveform to obtain an autocorrelation sequence corresponding to the original waveform;

respectively determining the peak value of the original waveform and the peak value of the autocorrelation sequence;

According to the peak value of the original waveform and the peak value of the autocorrelation sequence, it is determined whether the interference waveform exists in the original waveform.

Optionally, the determining module is also used to:

If the peak value of the original waveform is less than a preset first threshold, and the peak value of the autocorrelation sequence is less than a preset second threshold, it is determined that there is no interference waveform in the original waveform.

Optionally, the extraction module is also used for:

Obtain the interference time of the interference waveform according to the rising edge time of the interference detection enable signal and the peak time corresponding to the peak value of the original waveform;

Taking the peak moment of the wave peak value of the autocorrelation sequence as the interference period of the interference waveform;

The number of data points in the original waveform that is greater than the first threshold is used as the interference duration of the interference waveform.

Optionally, the culling module is further used for:

According to the interference time, the interference period and the interference duration of the interference waveform, the data point of the interference waveform is found from the data points of the original waveform, and the value of the data point of the interference waveform is calculated. Cleared to get the target transmit waveform data.

Optionally, the parameter value of the interference waveform further includes: interference strength;

The device also includes:

A processing module, configured to sum the values of the data points in the original waveform that are greater than the first threshold, and use the summed result as the interference intensity of the interference waveform.

Optionally, the device further includes:

A stop module, configured to stop emitting a laser pulse sequence to the detection area according to the rising edge time of the interference detection enable signal.

In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a storage medium, and a bus, where the storage medium stores machine-readable instructions executable by the processor, and when the electronic device runs, The processor communicates with the storage medium through a bus, and the processor executes the machine-readable instructions to perform the steps of the method provided by the first aspect.

In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the storage medium, and when the computer program is run by a processor, the steps of the method provided in the first aspect are executed .

The beneficial effects of this application are:

Embodiments of the present application provide a lidar anti-jamming method, device, device, and storage medium, which are applied to lidar. The method includes: intercepting each data point of an original waveform within a time period for interference detection, where the time period for interference detection refers to a period from The sum of the rising edge time of the interference detection enable signal and the preset duration of the pause; according to each data point of the original waveform, determine whether there is an interference waveform in the original waveform; if so, extract the interference from each data point of the original waveform The parameter value of the waveform, the parameter value of the interference waveform includes: interference time, interference period, and interference time; The target emission waveform data emits a laser pulse sequence to the detection area. In this scheme, each data point of the original waveform in the interference detection time period is intercepted, and it is judged whether there is an interference waveform in the currently transmitted original waveform. If so, the data points of the interference waveform are eliminated to obtain the target transmission Waveform data, so that the interference of the current "excessive" pulses can be effectively eliminated; then, the light-emitting module can emit a laser pulse sequence to the detection area according to the target emission waveform data, so that the laser radar can be carried out based on the target emission waveform data after the interference has been eliminated. Ranging effectively ensures that the light-receiving module can also receive the reflected laser pulse echo signal after the target is accurately imaged, effectively solves the problem of weak anti-interference ability in the existing technology, and greatly improves the laser The accuracy of radar ranging.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a lidar system according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a control processing module in a lidar system provided by an embodiment of the present application;

FIG. 3 is a schematic flowchart of a method for anti-jamming of a lidar according to an embodiment of the present application;

FIG. 4 is a schematic flowchart of another method for anti-jamming lidar provided by an embodiment of the present application;

5 is a schematic diagram of an original waveform and an autocorrelation sequence in a lidar anti-jamming method provided by an embodiment of the present application;

FIG. 6 is a schematic flowchart of yet another method for anti-jamming lidar provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a lidar anti-jamming device according to an embodiment of the present application.

Icons: 100 - lidar system, 101 - control processing module; 102 - light emitting module; 103 - light receiving module.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. The drawings are only for the purpose of illustration and description, and are not used to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented in accordance with some embodiments of the application. It should be understood that the operations of the flowcharts may be performed out of order and that steps without logical context may be performed in reverse order or concurrently. In addition, those skilled in the art can add one or more other operations to the flowchart, and can also remove one or more operations from the flowchart under the guidance of the content of the present application.

In addition, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared later, but does not exclude the addition of other features.

First, before the technical solutions provided by the present application are described in detail, the relevant background involved in the present application is briefly described.

Lidar, a system that uses lasers to detect the position, speed and other parameters of the target, is considered to be the most critical component in the perception stage of autonomous driving with its ultra-high range resolution and spatial resolution capabilities. Among them, ranging range, spatial resolution, and point frequency are the most important performance indicators of lidar. With the popular use of lidars, the problem of interference between different lidars is becoming more and more serious. Therefore, in order to ensure the absolute strict safety of autonomous driving, all lidars need to be able to effectively counteract various possible interferences, such as 'unintentional' interference from other laser products such as lidars, security laser transmitters, and possible 'intentional' interference.

Before the proposal of the present application, the current anti-jamming method of the existing lidar firstly sends out a plurality of pulse groups whose intensity and interval are controlled by the serial number of each lidar periodically at the transmitter end; then, receive light The module identifies valid laser pulses and discards interfering laser pulses according to the codeword table and processor processing.

However, when there is periodic interference or "intentional" interference from other lidars in the same scene, the coded light-emitting method of the prior art will receive many "excessive" pulses, resulting in the comparison of the codeword table of the light-receiving module. Errors and identification errors make it impossible to effectively counteract such interference, which greatly reduces the accuracy of lidar ranging.

In order to solve the above-mentioned technical problems in the prior art, the present application proposes a lidar anti-jamming method, mainly by intercepting each data point of the original waveform in the interference detection time period, and judging whether the original waveform currently transmitted is in the original waveform. If there is an interference waveform, if there is, remove the data points of the interference waveform to obtain the target emission waveform data, so that the current "excessive" interference pulse signal can be effectively eliminated; then, according to the target emission waveform data, the laser pulse sequence is emitted to the detection area. , so that the laser radar ranging can be measured based on the target emission waveform data after eliminating the interference, which effectively ensures that the receiving end can also receive the reflected laser pulse echo signal after the target is accurately imaged, effectively solving the existing problems in the prior art. The problem of weak anti-jamming ability greatly improves the accuracy of lidar ranging.

FIG. 1 is a schematic structural diagram of a lidar system according to an embodiment of the present application; as shown in FIG. 1 , the lidar system 100 may be installed in a device that needs to implement a ranging function, such as an unmanned vehicle.

The lidar system 100 includes: a control processing module 101 , a light-emitting module 102 , and a light-receiving module 103 . The control processing module 101 is respectively connected to the light-emitting module 102 and the light-receiving module 103 in communication.

Specifically, the working principle of the lidar system 100 is as follows: the control processing module 101 controls when the light emitting module 102 transmits the lidar detection signal to the target for distance measurement; when the control processing module 101 controls the light emitting module 102 to transmit the lidar signal to the target After that, the light receiving module 103 receives the laser pulse echo signal reflected from the target. At this time, the control processing module 101 obtains the position, speed and azimuth of the target according to the laser pulse echo signal received by the light receiving module 103 and other parameters, so as to detect, track and identify the target.

It can be understood that the structure shown in FIG. 1 is only for illustration, and the lidar system 100 may further include more or less components than those shown in FIG. 1 , or have different configurations from those shown in FIG. 1 . Each component shown in FIG. 1 may be implemented in hardware, software, or a combination thereof.

FIG. 2 is a schematic structural diagram of a control processing module in a lidar system provided by an embodiment of the present application; as shown in FIG. 2 , the control processing module 101 includes: a memory 201 and a processor 202 .

Wherein, the memory 201 and the processor 202 are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these elements may be electrically connected to each other through one or more communication buses or signal lines.

The memory 201 stores software function modules stored in the memory 201 in the form of software or firmware, and the processor 202 executes various functional applications and data processing by running the software programs and modules stored in the memory 201, That is, the anti-jamming method of the laser radar in the embodiment of the present application is implemented.

Wherein, the memory 201 can be, but not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM), erasable memory In addition to read-only memory (Erasable Programmable Read-Only Memory, EPROM) and so on. The memory 201 is used for storing the program, and the processor 202 executes the program after receiving the execution instruction.

The processor 202 may be an integrated circuit chip with signal processing capability. The above-mentioned processor 202 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), and the like.

The method for anti-jamming of the laser radar provided by the present application and the corresponding beneficial effects will be described below through a plurality of specific embodiments.

Optionally, the execution body of the method may be the control processing module in the above-mentioned lidar system shown in FIG. 1 , which has a data processing function. It should be understood that in other embodiments, the order of some steps in the lidar anti-jamming method may be exchanged according to actual needs, or some of the steps may be omitted or deleted. As shown in Figure 3, the method includes:

S301. Intercept each data point of the original waveform in the interference detection time period.

Wherein, the interference detection time period refers to the sum of the time from the rising edge of the interference detection enable signal and the preset time duration for suspending the wave emission.

It should be noted that, in this embodiment, the interference detection enable signal is used to detect whether there is currently an "excessive" pulse interference signal. When the "excessive" pulse interference signal is detected, the interference detection enable signal is inverted, that is, the interference detection enable signal is inverted from a low level to a high level. Therefore, when the rising edge time n_enable of the interference detection enable signal is received (the time is represented by the count of clock cycles, so it is n), the interference detection starts.

Additionally, the jammer detection enable signal may be a periodic signal. In order to affect the normal ranging of the lidar as little as possible, and at the same time ensure the detection effect of interference, the preset period of the interference detection enable signal is relatively large, generally more than 100 times the emitting period of the laser pulse, such as 100 times or 500 times. times.

Similarly, in order to affect the normal ranging of the lidar as little as possible, while ensuring the detection effect of interference. Therefore, the recommended value of the preset wavelength pause time is greater than the period of the laser light emitted by the light-emitting module in the lidar system to the target, and less than 10 times the period of the laser light.

In this embodiment, each data point of the original waveform corresponding to this period can be intercepted according to the rising edge time n_enable of the interference detection enable signal and the preset wave-transmission duration N, so as to facilitate the subsequent detection of whether the original waveform is in the original waveform. Interfering waveforms are present.

Exemplarily, for example, each data point of the intercepted original waveform is denoted as s(n), where n is the time instant, and n is between 1 and N, where N is the preset duration of wave pause.

It is worth noting that each data point of the original waveform is the data of the discrete digital signal corresponding to the original waveform obtained after the original waveform is converted by an analog-to-digital converter, and the time of the digital signal is represented by a natural number n, and the amplitude of the digital signal is It is related to the number of quantization bits. For example, the number of quantization bits of an analog-to-digital converter is 8 bits. Then, the amplitude value of a point on a waveform is an integer in the range of 0 to 255 (all integers that can be represented by 8 bits binary).

S302 , according to each data point of the original waveform, determine whether there is an interference waveform in the original waveform.

S303. If yes, extract the parameter value of the interference waveform from each data point of the original waveform.

The parameter values of the interference waveform include: interference time, interference period, and interference duration. The interference time is used to characterize when the “excessive” pulse starts to interfere with the laser pulse sequence emitted by the lidar; the interference period is used to characterize how often the “excessive” pulse interferes; the interference duration is used to characterize the entire interference process. "Excessive" pulses last for the duration of the disturbance.

S304 , according to the parameter value of the interference waveform, remove the data points of the interference waveform from the data points of the original waveform, and obtain the target transmission waveform data.

In this embodiment, whether there is an "excessive" interference pulse signal in the original waveform can be determined according to each data point of the original waveform that has been intercepted. If yes, extract the interference time, interference period, and interference duration of the interference waveform from each data point of the original waveform; The data points of the interference waveform are obtained to obtain the target emission waveform data. In this way, the currently existing "superfluous" interfering pulse signals can be effectively eliminated.

S305 , emit a laser pulse sequence to the detection area according to the target emission waveform data.

Optionally, on the basis of the above embodiment, a laser pulse sequence can be transmitted to the detection area according to the target emission waveform data, so that the laser radar ranging can be performed based on the target emission waveform data after eliminating the interference, which effectively ensures that the receiving end is also The reflected laser pulse echo signal after accurate imaging of the target object can be received, which effectively solves the problem of weak anti-interference ability existing in the prior art, thereby greatly improving the ranging accuracy of the laser radar.

Secondly, the present application provides a lidar anti-jamming method, which is to emit a laser pulse sequence to the detection area according to the target emission waveform data. In this way, the laser pulse sequence emitted by the light-emitting module in the lidar system does not have the problem of dispersing the laser pulse energy, nor does it have the problem of increasing the noise superposition when the pulse energy is combined. Therefore, compared with the prior art, the solution provided by the present application has stronger anti-jamming performance, thereby avoiding the problem of narrowing the ranging range existing in the prior art, thereby improving the ranging performance of the lidar.

To sum up, an embodiment of the present application provides a lidar anti-jamming method, which is applied to lidar. The method includes: intercepting each data point of an original waveform within a time period for interference detection, where the time period for interference detection refers to the time period from interference detection. The sum of the rising edge time of the enable signal and the preset duration of the pause; according to each data point of the original waveform, determine whether there is an interference waveform in the original waveform; if so, extract the interference waveform from each data point of the original waveform. Parameter value, the parameter value of the interference waveform includes: the interference time, the interference period, and the interference duration; according to the parameter value of the interference waveform, the data points of the interference waveform are removed from the data points of the original waveform to obtain the target transmission waveform data; according to the target transmission The waveform data transmits a sequence of laser pulses to the detection area. In this scheme, each data point of the original waveform in the interference detection time period is intercepted, and it is judged whether there is an interference waveform in the currently transmitted original waveform. If so, the data points of the interference waveform are eliminated to obtain the target transmission Waveform data, so that the existing "excessive" interference pulse signal can be effectively eliminated; then, the light-emitting module can transmit a laser pulse sequence to the detection area according to the target emission waveform data, so that the laser radar can be carried out based on the target emission waveform data after the interference has been eliminated. Ranging effectively ensures that the light receiving module can also receive the reflected laser pulse echo signal after the target is accurately imaged, effectively solves the problem of weak anti-interference ability in the existing technology, and greatly improves the laser radar. accuracy of ranging.

The following embodiment will specifically explain how to determine whether there is an interference waveform in the original waveform according to each data point of the original waveform.

Optionally, referring to FIG. 4 , the above step S302: determining whether there is an interference waveform in the original waveform according to each data point of the original waveform, including:

S401. Perform an autocorrelation operation on each data point of the original waveform to obtain an autocorrelation sequence corresponding to the original waveform.

It should be understood that the autocorrelation operation is a mathematical tool used to find repeating patterns (such as periodic signals masked by noise), or to identify fundamental frequencies that are implicitly lost in the harmonic frequencies of the signal.

In this embodiment, the following formula (1) can be used to perform an autocorrelation operation on each data point s(n) of the original waveform to obtain the autocorrelation sequence xcr(n) corresponding to the original waveform, so that the autocorrelation sequence xcr(n) can be obtained according to the autocorrelation sequence xcr (n) to judge whether there is an interference signal with the same periodicity in the original waveform. Among them, formula (1) is as follows:

Wherein, k in formula (1) is the delay order.

S402: Determine the wave peak value of the original waveform and the wave peak value of the autocorrelation sequence, respectively.

Optionally, referring to FIG. 5, a sorting algorithm can be used to search for the peak value s_pk of the original waveform as shown in FIG. 5(a) from each data point s(n) of the original waveform, and the peak value is The time number in the original waveform s(n) is denoted as n_s_pk.

Similarly, the peak value xcr_pk of the autocorrelation sequence as shown in Figure 5(b) can also be searched from each data point xcr(n) of the autocorrelation sequence, and the peak value xcr_pk of the autocorrelation sequence The time number in xcr(n) is denoted as n_xcr_pk.

Optionally, for example, take multiple data points in the original waveform as a group, such as dividing into 10 groups, and find the data point with the largest data point value in each group, and use the largest data point as the data point. Optional data points, such as getting 10 optional data points; then, find the target data point with the largest data point value from these 10 optional data points, and finally, use the target data point as the wave of the original waveform. peak.

Similarly, the above method can also be used to find the peak value of the autocorrelation sequence.

S403. Determine whether there is an interference waveform in the original waveform according to the peak value of the original waveform and the peak value of the autocorrelation sequence.

In an achievable manner, if the peak value of the original waveform is less than the preset first threshold, and the peak value of the autocorrelation sequence is less than the preset second threshold, it is determined that there is no interference waveform in the original waveform.

The first threshold and the second threshold may be values set in advance based on experience, or may also be values set according to current environmental changes, which are not specifically limited herein.

In this embodiment, the peak value of the original waveform found in the previous step and the peak value of the autocorrelation sequence can be compared with the preset thresholds, respectively, to check whether there is an interference waveform in the original waveform, thereby realizing the detection of "" "Excessive" interferes with the detection of pulsed signals.

Specifically, continuing to refer to FIG. 5( a ) and FIG. 5( b ), the first threshold may be denoted as th_s_pk, and the second threshold may be denoted as th_xcr_pk.

In the first case, if the peak value s_pk of the original waveform is less than the preset first threshold th_s_pk, that is, s_pk<th_s_pk, and the peak value xcr_pk of the autocorrelation sequence is less than the preset second threshold th_xcr_pk, that is, xcr_pk<th_xcr_pk, then you can It is determined that there is no interference waveform in the original waveform. At this time, the light-emitting module is controlled to resume the function of transmitting lidar and ranging to the target normally.

In addition, the lidar system also includes: a status output module, which is used to update and output the status of "no interference detected", so that users can learn about the lidar in time for the prompt information of the interference waveform that does not currently exist. The working state of the system.

In the second case, if the peak value s_pk of the original waveform is greater than the preset first threshold th_s_pk, that is, s_pk>th_s_pk; or, the peak value xcr_pk of the autocorrelation sequence is greater than the preset second threshold th_xcr_pk, that is, xcr_pk>h_xcr_pk; Alternatively, the peak value s_pk of the original waveform is greater than the preset first threshold th_s_pk, and the peak value xcr_pk of the autocorrelation sequence is greater than the second preset threshold th_xcr_pk, that is, xcr_pk>h_xcr_pk. That is, if the judgment result of the above two thresholds is that both of them are greater than or one of them is greater than one of them, that is, at least one condition is satisfied, it can be determined that there is an interference waveform in the original waveform.

In this embodiment, it is also possible to determine whether the interference waveform existing in the original waveform is a periodic signal based on the autocorrelation sequence corresponding to the original waveform obtained in the above steps. Periodic interference of lidar improves the anti-interference performance of lidar system.

The following embodiments will specifically explain how to extract the parameter values of the interference waveform from each data point of the original waveform.

Optionally, as shown in FIG. 6, the above step S302: extracting parameter values of the interference waveform from each data point of the original waveform, including:

S601. Obtain the interference time of the interference waveform according to the rising edge time of the interference detection enable signal and the peak time corresponding to the peak value of the original waveform.

In this embodiment, the following formula (2) can be used, and the interference moment at which the interference waveform can be obtained can be extracted. Among them, formula (2) is as follows:

n1=n_enable+n_s_pk(2)

Among them, n_enable is the rising edge time of the interference detection enable signal, and n_s_pk is the peak time corresponding to the peak value of the original waveform.

S602. Use the peak time of the wave peak value of the autocorrelation sequence as the interference period of the interference waveform.

In this embodiment, the peak time of the wave peak value of the autocorrelation sequence can be used as the interference period of the interference waveform, that is, n2=n_xcr_pk. Among them, n2 is the interference period of the interference waveform.

S603. Use the number of data points in the original waveform that is greater than the first threshold as the interference duration of the interference waveform.

In this embodiment, the number of data points greater than the first threshold th_s_pk in the original waveform is extracted, and the number of data points greater than the first threshold is used as the interference duration of the interference waveform.

The following embodiments will be used to specifically explain how to remove the data points of the interference waveform from the data points of the original waveform according to the parameter values of the interference waveform to obtain the target transmission waveform data.

Optionally, according to the parameter values of the interference waveform, the data points of the interference waveform are removed from the data points of the original waveform to obtain the target transmission waveform data, including:

According to the interference time, interference period and interference duration of the interference waveform, the data points of the interference waveform are found from the data points of the original waveform, and the value of the data points of the interference waveform is cleared to obtain the target transmission waveform data.

In this embodiment, the following formula (3) can be used, combined with the interference time n1, the interference period n2, and the interference duration n3, all the data points of the interference waveform can be accurately found from the data points of the original waveform, and the interference waveform The values of all data points of , are cleared to zero, so that the interference waveform can be eliminated from the original waveform to obtain the target transmit waveform data. Among them, formula (3) is as follows:

n _interference ={n1+m1*n2+0,n1+m1*n2+1,n1+m1*n2+2,.....,n1+m1*n2+n3} (3)

Among them, m1=0, 1, 2... are natural numbers, representing the sequence number of the interference period; the interference time n1, the interference period n2, and the interference duration n3.

In the lidar anti-jamming method provided by the present application, in addition to obtaining parameter values such as the interference time, the interference period, and the interference duration of the interference waveform, the interference intensity of the interference waveform can also be obtained.

The following embodiments will specifically explain how to obtain the interference intensity of the interference waveform.

Optionally, the values of the data points in the original waveform that are greater than the first threshold are summed, and the summed result is used as the interference strength of the interference waveform.

In this embodiment, the lidar system further includes: an alarm module, the alarm module can be used to update and output the alarm state of "the lidar is being interfered", and at the same time output the interference time n1 and the interference period n2 of the currently existing interference waveform , interference duration n3, and interference intensity s4 and other prompt information, so that users can timely formulate corresponding adjustment strategies for the parameter values of the currently existing interference waveforms to ensure the accuracy of lidar ranging.

Optionally, before the above step S301, before intercepting each data point of the original waveform in the interference detection time period, the method further includes:

According to the rising edge time of the interference detection enable signal, stop transmitting the laser pulse sequence to the detection area.

In this embodiment, when the rising edge of the interference detection enable signal is received, the current light-emitting module immediately stops transmitting lidar to the target, that is, the ranging function of the lidar system is suspended to enable detection of interference waveforms and culling, thereby effectively ensuring the accuracy of lidar ranging.

The following describes the corresponding device and storage medium for implementing the laser radar anti-jamming method provided by the present application, and the specific implementation process and technical effect thereof are referred to above, and will not be repeated below.

Optionally, an embodiment of the present application further provides a lidar anti-jamming device, which is applied to lidar. As shown in FIG. 7 , the device includes:

The interception module 701 is used for intercepting each data point of the original waveform within the interference detection time period, where the interference detection time period refers to the sum of the rising edge time of the interference detection enable signal and the preset wave-transmission time duration;

A determination module 702, configured to determine whether there is an interference waveform in the original waveform according to each data point of the original waveform;

Extraction module 703, configured to extract the parameter value of the interference waveform from each data point of the original waveform, where the parameter value of the interference waveform includes: interference time, interference period, and interference duration;

The elimination module 704 is configured to eliminate the data points of the interference waveform from the data points of the original waveform according to the parameter value of the interference waveform, and obtain the target transmission waveform data;

The transmitting module 705 is configured to transmit a laser pulse sequence to the detection area according to the target transmitting waveform data.

Optionally, the determining module 702 is further configured to:

Perform autocorrelation operation on each data point of the original waveform to obtain the autocorrelation sequence corresponding to the original waveform;

Determine the peak value of the original waveform and the peak value of the autocorrelation sequence respectively;

According to the peak value of the original waveform and the peak value of the autocorrelation sequence, it is determined whether there is an interference waveform in the original waveform.

Optionally, the determining module 702 is further configured to:

If the peak value of the original waveform is less than the preset first threshold, and the peak value of the autocorrelation sequence is less than the preset second threshold, it is determined that there is no interference waveform in the original waveform.

Optionally, the extraction module 703 is further configured to:

Obtain the interference time of the interference waveform according to the rising edge time of the interference detection enable signal and the peak time corresponding to the peak value of the original waveform;

The peak time of the wave peak value of the autocorrelation sequence is taken as the interference period of the interference waveform;

The number of data points in the original waveform that is greater than the first threshold is used as the interference duration of the interference waveform.

Optionally, the culling module 704 is further configured to:

According to the interference time, interference period and interference duration of the interference waveform, the data points of the interference waveform are found from the data points of the original waveform, and the value of the data points of the interference waveform is cleared to obtain the target transmission waveform data.

Optionally, the parameter value of the interference waveform further includes: interference strength;

The device also includes:

The processing module is configured to sum the values of the data points in the original waveform that are greater than the first threshold, and use the summed result as the interference intensity of the interference waveform.

Optionally, the device also includes:

The stop module is used to stop emitting the laser pulse sequence to the detection area according to the rising edge time of the interference detection enable signal.

The foregoing apparatus is used to execute the method provided by the foregoing embodiment, and the implementation principle and technical effect thereof are similar, which will not be repeated here.

The above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), or one or more microprocessors (digital singnal) processor, DSP for short), or one or more Field Programmable Gate Array (Field Programmable Gate Array, FPGA for short), etc. For another example, when one of the above modules is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU for short) or other processors that can call program codes. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC for short).

Optionally, the present invention further provides a program product, such as a computer-readable storage medium, including a program, which is used to execute the foregoing method embodiments when executed by a processor.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.

The above-mentioned integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute the various embodiments of the present invention. part of the method. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, referred to as: ROM), random access memory (English: Random Access Memory, referred to as: RAM), magnetic disk or optical disk, etc. Various media that can store program code.

Claims (10)

1. a laser radar anti-jamming method, is characterized in that, is applied to laser radar, and described method comprises: Intercept each data point of the original waveform in the interference detection time period, where the interference detection time period refers to the sum of the rising edge time of the interference detection enable signal and the preset wave-transmission pause time; According to each data point of the original waveform, determine whether there is an interference waveform in the original waveform; If so, extract the parameter value of the interference waveform from each data point of the original waveform, and the parameter value of the interference waveform includes: interference time, interference period, and interference duration; According to the parameter value of the interference waveform, remove the data point of the interference waveform from each data point of the original waveform to obtain the target transmission waveform data; The laser pulse sequence is emitted to the detection area according to the target emission waveform data. 2 . The method according to claim 1 , wherein the determining, according to each data point of the original waveform, whether an interference waveform exists in the original waveform comprises: 3 . performing an autocorrelation operation on each data point of the original waveform to obtain an autocorrelation sequence corresponding to the original waveform; respectively determining the peak value of the original waveform and the peak value of the autocorrelation sequence; According to the peak value of the original waveform and the peak value of the autocorrelation sequence, it is determined whether the interference waveform exists in the original waveform. 3. The method according to claim 2, wherein the determining whether there is an interference waveform in the original waveform according to the peak of the original waveform and the peak of the autocorrelation sequence, comprising: If the peak value of the original waveform is less than a preset first threshold, and the peak value of the autocorrelation sequence is less than a preset second threshold, it is determined that there is no interference waveform in the original waveform. 4. The method according to claim 3, wherein the extracting the parameter value of the interference waveform from each data point of the original waveform comprises: Obtain the interference time of the interference waveform according to the rising edge time of the interference detection enable signal and the peak time corresponding to the peak value of the original waveform; Taking the peak moment of the wave peak value of the autocorrelation sequence as the interference period of the interference waveform; The number of data points in the original waveform that is greater than the first threshold is used as the interference duration of the interference waveform. 5 . The method according to claim 1 , wherein, according to the parameter value of the interference waveform, the data points of the interference waveform are removed from each data point of the original waveform to obtain target transmission waveform data. 6 . ,include: According to the interference time, the interference period and the interference duration of the interference waveform, the data point of the interference waveform is found from the data points of the original waveform, and the value of the data point of the interference waveform is calculated. Cleared to get the target transmit waveform data. 6. The method according to claim 1, wherein the parameter value of the interference waveform further comprises: interference strength; The method also includes: Summing the values of the data points in the original waveform that are greater than the first threshold, and using the summed result as the interference strength of the interference waveform. 7. The method according to any one of claims 1-6, wherein before the intercepting each data point of the original waveform in the interference detection time period, the method further comprises: According to the rising edge time of the interference detection enable signal, the laser pulse sequence is stopped to be emitted to the detection area. 8. A lidar anti-jamming device, characterized in that, applied to lidar, the device comprises: The interception module is used for intercepting each data point of the original waveform in the interference detection time period, the interference detection time period refers to the sum of the rising edge time of the interference detection enable signal and the preset wave stop duration; a determining module, configured to determine whether there is an interference waveform in the original waveform according to each data point of the original waveform; an extraction module, configured to extract the parameter value of the interference waveform from each data point of the original waveform, where the parameter value of the interference waveform includes: interference time, interference period, and interference duration; an elimination module, configured to eliminate the data points of the interference waveform from each data point of the original waveform according to the parameter value of the interference waveform, to obtain target transmission waveform data; The transmitting module is used for transmitting a laser pulse sequence to the detection area according to the target transmitting waveform data. 9. An electronic device, comprising: a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device runs, the processor and the The storage media communicate through a bus, and the processor executes the machine-readable instructions to execute the steps of the method for anti-jamming for a lidar according to any one of claims 1-7. 10. A computer-readable storage medium, characterized in that, a computer program is stored on the storage medium, and the computer program is executed by a processor when the computer program is executed according to any one of claims 1-7. step.

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