LiDAR performance detection method, related device and computer storage medium
AssigneeSuteng Innovation Technology Co., Ltd.
InventorZhaohui Shi
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Abstract
A LiDAR performance detection method, a device, and a computer storage medium are provided. The method includes: acquiring a target signal in a target monitoring mode within a blanking interval; determining a measurement value in the target monitoring mode based on the target signal in the target monitoring mode within the blanking interval; and determining that the transceiver module of the LiDAR is abnormal when the measurement value in the target monitoring mode is not within a preset range.
Claims12
A method for LiDAR performance detection, applied to a blanking interval, wherein the blanking interval is a time interval from a completion of scanning of first frame data to a beginning of scanning of second frame data by a LiDAR, the method comprises:
- acquiring a target signal in a target monitoring mode within the blanking interval;
- determining a measurement value in the target monitoring mode based on the target signal;
- and
- determining that a transceiver module of the LiDAR is abnormal when the measurement value in the target monitoring mode is not within a preset range,
- wherein the target monitoring mode comprises any one or more of the following:
- a reference signal monitoring mode in which lasers and optical receivers of the transceiver module are turned off and whether a transmitting circuit and a receiving circuit of the transceiver module are conducted normally is determined;
- a first optical preamble monitoring mode in which the lasers are turned on and a cancellation circuit is turned off and whether a transmitting circuit, a laser, a receiving circuit, and an optical receiver of the transceiver module are abnormal is determined, wherein the cancellation circuit is configured to reduce an effect of ambient light noise signals on laser echo signals;
- or
- a second optical preamble monitoring mode in which the lasers and the cancellation circuit are turned on and whether the transceiver module is abnormal is determined.
A device for LiDAR performance detection, applied to a blanking interval, wherein the blanking interval is a time interval from a completion of scanning of first frame data to a beginning of scanning of second frame data by a LiDAR, the device comprises:
- an acquisition module, configured to acquire a target signal in a target monitoring mode within the blanking interval;
- a first determination module, configured to determine a measurement value in the target monitoring mode based on the target signal;
- and
- a second determination module, configured to determine that a transceiver module of the LiDAR is abnormal when the measurement value in the target monitoring mode is not within a preset range,
- wherein the target monitoring mode comprises any one or more of the following:
- a reference signal monitoring mode in which lasers and optical receivers of the transceiver module are turned off and whether a transmitting circuit and a receiving circuit of the transceiver module are conducted normally is determined;
- a first optical preamble monitoring mode in which the lasers are turned on and a cancellation circuit is turned off and whether a transmitting circuit, a laser, a receiving circuit, and an optical receiver of the transceiver module are abnormal is determined, wherein the cancellation circuit is configured to reduce an effect of ambient light noise signals on laser echo signals;
- or
- a second optical preamble monitoring mode in which the lasers and the cancellation circuit are turned on and whether the transceiver module is abnormal is determined.
Dependencies are inferred from the claim text.