阅读说明：本技术 激光雷达测距方法、装置、计算机设备和存储介质 (Laser radar ranging method and device, computer equipment and storage medium ) 是由 刘夏 胡晗 娄志毅 于 2019-09-06 设计创作，主要内容包括：一种激光雷达测距方法,包括：调用序列发生器,通过序列发生器生成预设序列(202)；根据预设序列和预设值确定双脉冲的脉冲发射间隔(204)；根据双脉冲的脉冲发射间隔向待测物体发射探测信号(206)；接收待测物体根据探测信号返回的回波信号,在回波信号中提取有效回波信号(208)；根据有效回波信号和探测信号之间的时间差计算待测物体的距离(210)。(A laser radar ranging method, comprising: calling a sequencer, and generating a preset sequence (202) through the sequencer; determining a pulse transmission interval (204) of the double pulses according to a preset sequence and a preset value; transmitting a detection signal (206) to the object to be detected according to the pulse transmission interval of the double pulses; receiving echo signals returned by the object to be detected according to the detection signals, and extracting effective echo signals from the echo signals (208); the distance of the object to be measured is calculated (210) from the time difference between the effective echo signal and the probe signal.)

A laser radar ranging method, comprising:

calling a sequencer, and generating a preset sequence through the sequencer;

determining the pulse transmission interval of the double pulses according to the preset sequence and a preset value;

transmitting a detection signal to an object to be detected according to the pulse transmission interval of the double pulses;

receiving echo signals returned by the object to be detected according to the detection signals, and extracting effective echo signals from the echo signals; and

and calculating the distance of the object to be detected according to the time difference between the effective echo signal and the detection signal.

The method of claim 1, wherein determining the pulse transmission interval of the double pulse according to the preset sequence and the preset value comprises:

calculating according to the preset sequence and a preset value to obtain a frequency hopping sequence corresponding to the preset sequence;

dividing the time interval of the double pulses into a plurality of transmission time intervals according to the preset sequence; and

and selecting the pulse transmission interval of the double pulse from a plurality of transmission time intervals according to the frequency hopping sequence.

The method according to any one of claims 1 to 2, wherein the transmitting a detection signal to an object to be detected according to the pulse transmission interval of the double pulse comprises:

calculating the pulse emission time of the double pulses according to the preset sequence and the pulse emission interval of the double pulses; and

and transmitting a detection signal to the object to be detected according to the pulse transmitting time of the double pulses.

The method according to any one of claims 1 to 3, wherein the extracting the effective echo signal from the echo signals comprises:

performing analog-to-digital conversion on the echo signals to obtain corresponding digital signals;

when the digital signals are cached, when the number of the cached digital signals reaches a preset number, extracting the digital signals of a preset neighborhood;

performing non-coherent accumulation on the extracted digital signal, and outputting the accumulated digital signal; and

identifying a valid echo signal in the accumulated digital signal.

The method according to any one of claims 1 to 4, wherein the extracting a valid echo signal from the echo signals further comprises:

identifying a pulse emission interval corresponding to the detection signal in the echo signal;

decoding the echo signal according to the pulse emission interval corresponding to the detection signal to obtain a decoded signal; and

and carrying out signal detection on the decoded signal to obtain an effective echo signal.

The method of claim 5, wherein the signal detecting the decoded signal comprises:

storing the decoded signal in a preset queue;

extracting a signal to be input from the preset queue and inputting the signal to a buffer area;

selecting a region signal in the buffer region according to a preset region;

calculating a signal threshold corresponding to the decoding signal according to the region signal;

comparing the decoded signal with a signal threshold to obtain a comparison result; and

and selecting the decoding signal larger than the signal threshold from the comparison result as an effective echo signal.

The method of claim 6, wherein said calculating a signal threshold corresponding to the decoded signal according to the region signal comprises:

calculating corresponding noise power according to the area signal;

calculating a corresponding threshold factor according to the region signal and a preset false alarm probability value; and

and calculating a signal threshold corresponding to the decoding signal according to the noise power and the threshold factor.

A lidar ranging device comprising:

the generating module is used for calling a sequence generator and generating a preset sequence through the sequence generator;

the determining module is used for determining the pulse transmitting interval of the double pulses according to the preset sequence and the preset value;

the transmitting module is used for transmitting a detection signal to an object to be detected according to the pulse transmitting interval of the double pulses;

the extraction module is used for receiving echo signals returned by the object to be detected according to the detection signals and extracting effective echo signals from the echo signals; and

and the calculation module is used for calculating the distance of the object to be detected according to the time difference between the effective echo signal and the detection signal.

The apparatus according to claim 8, wherein the determining and calculating module is further configured to calculate, according to the preset sequence and a preset value, a frequency hopping sequence corresponding to the preset sequence; dividing the time interval of the double pulses into a plurality of transmission time intervals according to the preset sequence; and selecting the pulse transmission interval of the double pulse from a plurality of transmission time intervals according to the frequency hopping sequence.

The apparatus according to any one of claims 8 to 9, wherein the determining module is further configured to calculate a pulse transmission time of the double pulse according to the preset sequence and a pulse transmission interval of the double pulse; and transmitting a detection signal according to the pulse transmission time of the double pulses.

The apparatus according to any one of claims 8 to 10, wherein the extracting module is further configured to perform analog-to-digital conversion on the echo signal to obtain a corresponding digital signal; when the digital signals are cached, when the number of the cached digital signals reaches a preset number, extracting the digital signals of a preset neighborhood; performing non-coherent accumulation on the extracted digital signal, and outputting the accumulated digital signal; and identifying a valid echo signal in the accumulated digital signal.

The apparatus according to any one of claims 8 to 11, wherein the extracting module is further configured to identify a pulse emission interval corresponding to the probe signal in the echo signal; decoding the echo signal according to the pulse emission interval corresponding to the detection signal to obtain a decoded signal; and carrying out signal detection on the decoded signal to obtain an effective echo signal.

The apparatus according to any one of claims 8 to 12, wherein the extracting module is further configured to store the decoded signal in a preset queue; extracting a signal to be input from the preset queue and inputting the signal to a buffer area;

selecting a region signal in the buffer region according to a preset region; calculating a signal threshold corresponding to the decoding signal according to the region signal; comparing the decoded signal with a signal threshold to obtain a comparison result; and selecting the decoding signal larger than the signal threshold from the comparison result as an effective echo signal.

The apparatus according to any one of claims 8 to 13, wherein the extracting module is further configured to calculate a corresponding noise power according to the region signal; calculating a corresponding threshold factor according to the region signal and a preset false alarm probability value; and calculating a signal threshold corresponding to the decoding signal according to the noise power and the threshold factor.

A computer device comprising a memory and one or more processors, the memory having stored therein computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to perform the steps of the method of any one of claims 1 to 7.

One or more non-transitory computer-readable storage media storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the method of any one of claims 1 to 7.