The present disclosure relates to the field of photoelectric detection, and in particular, to a method of performing detection using a frequency modulated continuous wave (FMCW) and a lidar.
Due to a time delay of the echo beam relative to the local oscillator beam, an actual effective beating time period is the difference between a current linear frequency modulation duration and the echo delay time, and the other segments are ineffective beating regions caused by the time delay, as shown in
In order to obtain the time delay and a Doppler frequency shift of the echo signal at the same time, a combination of linear frequency sweep signals with two slopes may be used. A triangular wave is most frequently used, as shown in
Frequencies f1 and f2 of the beating signal at a rising edge and a falling edge of the triangular wave may be expressed as:
f
1
=|f
Z
−f
v| (1), and
f
2
=|f
Z
+f
v| (2),
where fZ is a frequency shift (i.e., a frequency difference) of the rising edge/falling edge without considering the Doppler frequency shift, as shown in
Moreover, the FMCW lidar faces the problem of multiple echoes. For example, if the vibrating mirror sweeps excessively fast at an edge of a target object, beating signals in the rising edge and the falling edge will include different measured objects at front and rear. If the vibrating mirror sweeps excessively slow at the edge of the target object, the beating signals in the rising edge and the falling edge will carry reflection information of different objects at front and rear, and therefore it would be difficult to perform correct matching.
The contents of the background are merely technologies known to the inventor, and do not represent prior art.
The present disclosure provides a method for detection using a frequency modulated continuous wave (FMCW), including:
According to an aspect of the present disclosure, the horizontal region is connected to the rising edge and the falling edge during the cycle of the frequency sweep waveform.
According to an aspect of the present disclosure, the horizontal region is separated from the rising edge and the falling edge during the cycle of the frequency sweep waveform.
According to an aspect of the present disclosure, determining the distance frequency shift component fz and the speed frequency shift component fv includes:
According to an aspect of the present disclosure, determining the distance frequency shift component fz and the speed frequency shift component fv includes:
and
According to an aspect of the present disclosure, the method further includes:
According to an aspect of the present disclosure, the echo matching for the multiple echoes comprises: selecting a pair of the absolute values f1 and f2 consistent with
and discarding the remaining absolute values f1 and f2.
According to an aspect of the present disclosure, determining the distance frequency shift component fz and the speed frequency shift component fv includes: in response to the amplitude corresponding to the frequency fd of the beating signal being less than the amplitude threshold, determining the distance frequency shift component fz and the speed frequency shift component fv according to:
According to an aspect of the present disclosure, the method further includes:
According to an aspect of the present disclosure, performing echo matching for the multiple echoes comprises:
is closest to F, and discarding the remaining absolute values f1 and f2.
The present disclosure further provides a lidar, including:
According to an aspect of the present disclosure, the horizontal region is connected to the rising edge and the falling edge during the cycle of the frequency sweep waveform.
According to an aspect of the present disclosure, the horizontal region is separated from the rising edge and the falling edge during the cycle of the frequency sweep waveform.
According to an aspect of the present disclosure, the processor unit is configured to:
According to an aspect of the present disclosure, the processor unit is configured to:
and
According to an aspect of the present disclosure, the processor unit is configured to:
According to an aspect of the present disclosure, the processor unit configured to perform the echo matching for the multiple echoes is further configured to selecting a pair of the absolute values f1 and f2 consistent with
and discarding the remaining absolute values f1 and f2.
According to an aspect of the present disclosure, in response to that the amplitude corresponding to the frequency fd of the beating signal is less than the amplitude threshold, the processor unit is configured to determine the distance frequency shift component fz and the speed frequency shift component fv according to:
According to an aspect of the present disclosure, the processor unit is configured to:
According to an aspect of the present disclosure, the processor unit configured to perform the echo matching for the multiple echoes is further configured to:
is closest to F, and discarding the remaining absolute values f1 and f2.
The present disclosure is intended to resolve a problem that a current FMCW lidar based on triangular wave frequency sweep has demodulation errors and cannot measure high-speed objects in short range, as well as the multi-echo problem of the FMCW lidar.
The drawings forming a part of the present disclosure are used to provide a further understanding of the present disclosure, and the exemplary embodiments and description of the present disclosure are used to explain the present disclosure but do not constitute an improper limitation on the present disclosure. In the drawings:
Only some exemplary embodiments are briefly described below. As a person skilled in the art can realize, the described embodiments may be modified in various ways without departing from the spirit or the scope of the present disclosure. Therefore, the drawings and the description are to be considered as illustrative in nature but not restrictive.
In the description of the present disclosure, it should be understood that directions or position relationships indicted by terms such as “center”, “longitudinal”, “transverse”, “length”, “width”, “thickness”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “interior”, “exterior”, “clockwise”, and “counterclockwise” are based on orientation or position relationships shown in the drawings, are merely used for facilitating the description of the present disclosure and simplify the description, instead of indicating or implying that the indicated apparatus or element needs to have particular orientations or be constructed and operated in particular orientations, and therefore, cannot be construed as a limitation on the present disclosure. Furthermore, the terms “first” and “second” are merely used for descriptive purpose, and should not be interpreted as indicating or implying relative significance or implicitly indicating a quantity of the indicated technical features. Thus, features defined by “first” or “second” may explicitly or implicitly include one or more features. In the description of the present disclosure, unless otherwise explicitly specified, “multiple” means two or more than two.
In the description of the present disclosure, it should be noted that unless otherwise explicitly specified or defined, terms such as “mount”, “couple”, and “connect” should be understood in a broad sense, for example, a fixed connection, a detachable connection; or an integral connection, or a mechanical connection, or an electrical connection or communication with each other; or a direct connection, an indirect connection through an intermediate medium, internal communication between two elements, or an interaction relationship between two elements. A person of ordinary skill in the art may understand the specific meanings of the above terms in the present disclosure consistent with specific situations.
In the present disclosure, unless otherwise explicitly specified and defined, a first feature being “over” or “below” a second feature may mean that the first feature and the second feature are in direct contact, or the first feature and the second feature are not in direct contact but are in contact through another feature therebetween. Moreover, the first feature being “over”, “above”, and “on” the second feature includes that the first feature is directly above or obliquely above the second feature, or merely means that the first feature has a greater horizontal height than the second feature. The first feature being “under”, “below”, and “underneath” the second feature includes that the first feature is directly above or obliquely above the second feature, or merely means that the first feature has a smaller horizontal height than the second feature.
As used herein, unless specifically stated otherwise, the term “or” encompasses all possible combinations, except where infeasible. For example, if it is stated that an object can include A or B, then, unless specifically stated otherwise or infeasible, the object can include A, or B, or A and B. As a second example, if it is stated that an object can include A, B, or C, then, unless specifically stated otherwise or infeasible, the object can include A, or B, or C, or A and B, or A and C, or B and C, or A and B and C. As used herein, unless specifically stated otherwise, the term “and/or” is equivalent to the term “or” as described above.
As used herein, unless specifically stated otherwise, the term “at least one of A or B” encompasses all possible combinations, except where infeasible. For example, if it is stated that an object can include at least one of A or B, then, unless specifically stated otherwise or infeasible, the object can include at least one A, or at least one B, or at least one A and at least one B. As used herein, unless specifically stated otherwise, the term “at least one of A, B or C” encompasses all possible combinations, except where infeasible. For example, if it is stated that an object can include at least one of A, B, or C, then, unless specifically stated otherwise or infeasible, the object can include at least one A, or at least one B, or at least one C, or at least one A and at least one B, or at least one A and at least one C, or at least one B and at least one C, or at least one A and at least one B and at least one C.
The following disclosure provides many different embodiments or examples for achieving different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, components and settings of specific examples are described below. Certainly, they are merely examples, and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numerals and/or reference letters in different examples. The repetition is for purpose of simplification and clarity, but does not indicate any relationship between the various implementations and/or settings discussed. Moreover, the present disclosure provides examples of various particular processes and materials, but a person of ordinary skill in the art may realize the application of other processes and/or the use of other materials.
Embodiments of the present disclosure are described below with reference to the drawings. It should be understood that the embodiments described herein are merely used for illustrating and explaining the present disclosure and are not used for limiting the present disclosure.
Step S11: Transmitting a detection wave consistent with a frequency sweep waveform to detect a target object, wherein the cycle of the frequency sweep waveform includes a rising edge, a horizontal region, and a falling edge. In some embodiments, the frequency sweep waveform may be preset.
The present disclosure may adopt the frequency sweep waveforms shown in
Step S12: Receiving an echo of the detection wave reflected from the target object. After being transmitted consistent with the frequency sweep waveform, the detection wave is reflected from the target object, and partial echoes return, which are received by a detection device and converted to electrical signals.
Step S13: Obtaining a distance to and/or a speed of the target object based on the echo and the detection wave. That is to say, a frequency and a corresponding amplitude of a beating signal between the echo and the detection wave in each of the sections is obtained through Fast Fourier transform (FFT), and then the distance to and/or the speed of the target object are obtained based on the frequency of the beating signal. In the present disclosure, a three-stage waveform frequency sweep, including the rising edge, the horizontal region, and the falling edge is used, and the three stages form a cycle, to resolve a problem of erroneous determination and/or multi-echo matching caused by a reversal of a frequency of an echo (relative to a detection wave) of a high-speed object in short range. A demodulation process consistent with an embodiment of the present disclosure is described in detail below.
According to an aspect of the present disclosure, step S13 includes:
Step S131: Determining whether an amplitude corresponding to a frequency fd of a beating signal between the detection wave and the echo in the horizontal region is greater than or equal to an amplitude threshold.
A frequency-time waveform of the echo is usually the same as or close to a frequency-time waveform of the detection wave. In the present disclosure, since the frequency sweep waveform of the detection wave includes the rising edge, the horizontal region, and the falling edge, a frequency waveform of the echo includes a rising edge, a horizontal region, and a falling edge.
In the present disclosure, the frequency fd of the beating signal between the detection wave and the echo in the horizontal region is closely related to a speed frequency shift component fv having the same absolute value. However, fd is always positive, and fv may be positive or negative depending on its direction. Step S132: Determining a distance frequency shift component fz and a speed frequency shift component fv depending on whether the amplitude corresponding to the frequency fd of the beating signal between the detection wave and the echo in the horizontal region is greater than or equal to the amplitude threshold. A calculation manner consistent with an embodiment of the present disclosure is described below.
It is determined which of |f2+f1|/2 and |f2−f1|/2 is closer to fd when the amplitude corresponding to the frequency fd of the beating signal between the detection wave and the echo in the horizontal region is greater than or equal to the amplitude threshold. f1 is an absolute value of a frequency difference between the detection wave and the echo in the rising edge, and f2 is an absolute value of a frequency difference between the detection wave and the echo in the falling edge.
When |f2−f1|/2 is closer to fd, for example, when |f2−f1|/2≈fd, it indicates that |fZ|>|fv|, which represents that at this time no change in frequency sign occurs at the rising edge and the falling edge (i.e., at the rising edge, the echo is located below the detection wave; and at the falling edge, the echo is located above the detection wave), and a Doppler frequency shift (a speed frequency shift component) exists, but the speed frequency shift component fv is smaller than the distance frequency shift component fz. Frequencies of the detection wave and the echo are shown in
When |f2+f1|/2 is closer to fd, for example, when |f2+f1|/2≈fd, it indicates that |fZ|<|fv|, and the distance frequency shift component fz and the speed frequency shift component fv are determined in the following manner: If f1>f2, a Doppler frequency shift exists, but the speed frequency shift component fv is greater than the distance frequency shift component fz, and the speed frequency shift component fv is negative. Frequencies of the detection wave and the echo are shown in
If f1<f2, a Doppler frequency shift exists, but the speed frequency shift component fv is greater than the distance frequency shift component fz, and the speed frequency shift component fv is positive. Frequencies of the detection wave and the echo are shown in
According to an aspect of the present disclosure, step S132 includes: When the amplitude corresponding to the frequency fd of the beating signal between the detection wave and the echo in the horizontal region is less than the amplitude threshold, that is, Ad is less than Adh, it may be considered that no fd exists. Such situation is usually caused by a long distance, a small echo signal, or a small moving speed. In this case, the distance frequency shift component fz and the speed frequency shift component fv may be determined in the following manner:
Step S133: Determining the distance to and the speed of the target object based on the distance frequency shift component fz and the speed frequency shift component fv. After the distance frequency shift component fz and the speed frequency shift component fv are obtained, the distance to and the speed of the target object may be respectively determined. In a lidar system, a distance coefficient factor_z and a speed coefficient factor_v are initial calibration values. The distance frequency shift component fz and the speed frequency shift component fv may be respectively multiplied by the distance coefficient factor_z and the speed coefficient factor_v to determine the distance to and the speed of the target object.
According to an embodiment of the present disclosure, it may be determined whether multiple echoes exist, and matching is performed when the multiple echoes exist, i.e., a pair of f1 and f2 in the rising edge and the falling edge matching each other is retained. For example, when the amplitude corresponding to the frequency fd of the beating signal between the detection wave and the echo in the horizontal region is greater than or equal to the amplitude threshold, if a number of absolute values f1 of the frequency differences in the rising edge or a number of absolute values f2 of the frequency differences in the falling edge is greater than 1, it is considered that multiple echoes exist (for example, as shown in
is sought
It is considered that f1 and f2 are a matching pair. f1 and f2 satisfying the above condition are retained, and the remaining absolute values f1 and f2 are discarded.
When the amplitude corresponding to the frequency fd of the beating signal between the detection wave and the echo in the horizontal region is smaller than the amplitude threshold, and the number of the absolute values f1 of the frequency differences in the rising edge and/or the number of the absolute values f2 of the frequency differences in the falling edge is greater than 1, a generated frequency shift F may be determined based on a moving speed of a device transmitting the detection wave, and then a pair of f1 and f2 with
closest to F is selected, and the remaining absolute values f1 and f2 are discarded. In this case, if a frequency shift generated by a relative speed of a surrounding object due to advancement of a vehicle is F, F may be obtained through a speed sensor of the vehicle or through real-time analysis of the speed of the surrounding object. Based on a multi-echo matching of the speed, an echo signal from a stationary object is preferentially selected in the multiple echoes.
Therefore, when multiple echoes exist, a matching may be performed in the above manner, to retain a pair of f1 and f2, and then the distance frequency shift component fz and the speed frequency shift component fv are determined in the following manner:
In the above-described embodiment of the present disclosure, three-stage periodic waveform frequency sweep is performed, which can resolve the existing problem of erroneous modulation in measurement of high-speed objects in short range and the problem of a failure of matching the multiple echoes caused by triangular wave frequency sweep.
As shown in
According to an aspect of the present disclosure, the horizontal region is connected to the rising edge and the falling edge during a cycle of the frequency sweep waveform, as shown in the waveform in
According to an aspect of the present disclosure, the processor unit may:
According to an aspect of the present disclosure, the processor unit may:
and
According to an aspect of the present disclosure, the processor unit may:
According to an aspect of the present disclosure, the processor unit may perform the echo matching by: selecting a pair of f1 and f2 satisfying
and discarding the remaining absolute values f1 and f2.
According to an aspect of the present disclosure, in response to that the amplitude corresponding to the frequency fd of the beating signal between the detection wave and the echo in the horizontal region is less than the amplitude threshold, the processor unit may determine the distance frequency shift component fz and the speed frequency shift component fv according to:
According to an aspect of the present disclosure, the processor unit may:
According to an aspect of the present disclosure, the processor unit may perform the echo matching by:
is closest to F, and discarding the remaining absolute values f1 and f2.
Finally, it should be noted that the above description is merely embodiments of the present disclosure, and is not intended to limit the present disclosure. Although the present disclosure has been described in detail with reference to the above embodiments, a person of ordinary skill in the art may make modifications to the technical solutions described in the above embodiments, or make equivalent replacements to some technical features in the technical solutions. Any modification, equivalent replacement, improvement, and the like made within the spirit and principle of the present disclosure shall fall within the protection scope of the present disclosure.
Number | Date | Country | Kind |
---|---|---|---|
202011623330.8 | Dec 2020 | CN | national |
This application is a Continuation Application of International Patent Application No. PCT/CN2021/104198, filed on Jul. 2, 2021, which is based on and claims priority to Chinese Patent Application No. 202011623330.8 filed on Dec. 31, 2020. The entire content of all of the above-referenced applications is incorporated herein by reference.
Number | Date | Country | |
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Parent | PCT/CN2021/104198 | Jul 2021 | US |
Child | 18216438 | US |