Ranging Method, Apparatus, and Device
AssigneeHuawei Technologies Co., Ltd.
InventorsHongying Wu, Tong Jiang, Qiang Li, Honglei Li
Life of this patent
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Abstract
A ranging method includes obtaining a first echo signal that is obtained after laser light emitted by a laser to a measured object is reflected by the measured object, determining that the first echo signal is a saturated echo signal, calculating an initial distance using a receiving moment of the first echo signal, determining a target distance compensation value corresponding to a saturation degree of the first echo signal, compensating, using the target distance compensation value and in a distance compensation manner, the initial distance, and setting a distance obtained after compensation as a measured distance between the measured object and the laser.
Claims20
A ranging method comprising:
- emitting, by a laser, a first laser light towards a measured object to reflect off the measured object as a first echo signal;
- obtaining the first echo signal;
- determining that the first echo signal is a saturated echo signal;
- determining a first saturation degree of the first echo signal in response to determining that the first echo signal is the saturated echo signal;
- calculating an initial distance based on a first receiving moment of the first echo signal, wherein the initial distance is between the measured object and the laser;
- determining, based on a correspondence between the first saturation degree and a distance compensation value, a target distance compensation value corresponding to the first saturation degree;
- compensating the initial distance using the target distance compensation value to obtain a first distance;
- and
- setting the first distance as a measured distance between the measured object and the laser.
An apparatus comprising:
- a processor;
- and
- a non-transitory storage medium coupled to the processor and configured to store program instructions, wherein, when executed by the processor, the program instructions cause the apparatus to:
- obtain a first echo signal, wherein a laser has emitted a first laser light towards a measured object to reflect off the measured object as the first echo signal;
- determine that the first echo signal is a saturated echo signal;
- determine a first saturation degree of the first echo signal in response to determining that the first echo signal is the saturated echo signal;
- calculate an initial distance based on a first receiving moment of the first echo signal, wherein the initial distance is between the measured object and the laser;
- determine, based on a correspondence between the first saturation degree and a distance compensation value, a target distance compensation value corresponding to the first saturation degree;
- compensate the initial distance using the target distance compensation value to obtain a first distance;
- and
- set the first distance as a measured distance between the measured object and the laser.
A computer program product comprising computer-executable instructions that are stored on a non-transitory computer readable medium and that, when executed by a processor, cause an apparatus to:
- obtain a first echo signal, wherein a laser has emitted a first laser light towards a measured object to reflect off the measured object as the first echo signal;
- determine that the first echo signal is a saturated echo signal;
- determine a first saturation degree of the first echo signal in response to determining that the first echo signal is the saturated echo signal;
- calculate an initial distance based on a first receiving moment of the first echo signal, wherein the initial distance is between the measured object and the laser;
- determine, based on a correspondence between the first saturation degree and a distance compensation value, a target distance compensation value corresponding to the first saturation degree;
- compensate the initial distance using the target distance compensation value to obtain a first distance;
- and
- set the first distance as a measured distance between the measured object and the laser.
Dependencies are inferred from the claim text.