Method for signal processing for lidar, detection method of lidar, and lidar
OwnerFeng LIANG, Shaoqing XIANGinventors
Life of this patent
Estimating the term…
Abstract
This disclosure provides methods and apparatuses for a LiDAR. In an implementation, a method includes receiving an echo pulse of a detection laser pulse reflected from an object, determining, based on a first threshold, a first threshold pulse width of the echo pulse, determining, based on a second threshold greater than or equal to the first threshold, a second threshold pulse width of the echo pulse, determining a difference between the first threshold pulse width and the second threshold pulse width, and determining a slope of the echo pulse based on the difference and a reference pulse width difference.
Claims20
A method for a LiDAR, including:
- receiving an echo pulse of a detection laser pulse reflected from an object;
- determining, based on a first threshold, a first threshold pulse width of the echo pulse;
- determining, based on a second threshold greater than or equal to the first threshold, a second threshold pulse width of the echo pulse;
- determining a difference between the first threshold pulse width and the second threshold pulse width;
- and
- determining a slope of the echo pulse based on the difference and a reference pulse width difference.
A method for a LiDAR, including:
- receiving an echo pulse of a detection laser pulse reflected from an object;
- determining that a peak value of the echo pulse is less than a first threshold;
- determining a first threshold pulse width of the echo pulse based on a second threshold;
- determining a first threshold reference pulse width based on the peak value of the echo pulse;
- and
- determining a slope of the echo pulse based on a ratio of the first threshold reference pulse width to the first threshold pulse width.
A LiDAR, including:
- an emitter configured to emit a detection laser pulse;
- a receiver configured to receive an echo pulse of the detection laser pulse reflected from an object;
- a processor;
- and
- a storage storing programming instructions for execution by the processor to:
- receive an echo pulse of a detection laser pulse reflected from an object;
- determine, based on a first threshold, a first threshold pulse width of the echo pulse;
- determine, based on a second threshold greater than or equal to the first threshold, a second threshold pulse width of the echo pulse;
- determine a difference between the first threshold pulse width and the second threshold pulse width;
- and
- determine a slope of the echo pulse based on the difference and a reference pulse width difference.
Dependencies are inferred from the claim text.