Ground environment detection method and apparatus

A ground environment detection device, comprising:

• a laser radar, the laser radar configured to:
• scan a ground environment by using laser sounding signals having different operating wavelengths;
• and
• receive a reflected signal that is reflected back by the ground environment for the sounding signal;
• at least one processor;
• a non-transitory computer-readable storage medium coupled to the processor and storing programming instructions for execution by the processor, the programming instructions instruct the at least one processor to:
• determine scanning spot information of each scanning spot of the ground environment based on the reflected signal, wherein the scanning spot information comprises a direction angle, a distance, and laser reflection intensity of the scanning spot relative to a laser radar;
• determine space coordinate information and a laser reflection feature of each scanning spot based on each piece of scanning spot information, and partition the ground environment into sub-regions having different laser reflection features, wherein the laser reflection feature comprises reflectivity on lasers having different wavelengths;
• and
• determine a ground environment type of each sub-region.

A ground environment detection device, comprising:

• a laser scanning unit, the laser scanning unit configured to:
• scan a ground environment by using laser sounding signals having different operating wavelengths, and receive a reflected signal that is reflected back by the ground environment for the sounding signal;
• and
• a data processing unit, comprising at least one processor and a memory, wherein the memory is configured to store a computer execution instruction, and the at least one processor performs the computer execution instruction and is configured to:
• determine scanning spot information of each scanning spot of the ground environment based on the reflected signal;
• determine space coordinate information and a laser reflection feature of each scanning spot based on each piece of scanning spot information;
• partition the ground environment into sub-regions having different laser reflection features;
• and
• determine a ground environment type of each sub-region, wherein the scanning spot information comprises a direction angle, a distance, and laser reflection intensity of the scanning spot relative to the laser scanning unit, and wherein the laser reflection feature comprises reflectivity on lasers having different wavelengths.