基于脉冲位置调制的激光雷达距离速度测量方法  

A method of laser radar range and speed measurement based on pulse position modulation

作　　者：黄少伟 周亚琪 雷闰龙 毛雪松[2] HUANG Shao-wei;ZHOU Ya-qi;LEI Run-long;MAO Xue-song(School of Computer Science and Software/School of Big Data,Zhaoqing University,Zhaoqing 526061,China;School of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]肇庆学院计算机科学与软件学院/大数据学院,广东肇庆526061 [2]武汉科技大学信息科学与工程学院/人工智能学院,湖北武汉430081

出　　处：《激光与红外》2022年第1期15-22,共8页Laser & Infrared

基　　金：广东省教育厅2020年度普通高校重点科研平台项目(No.2020ZDZX3020)资助。

摘　　要：汽车激光雷达根据脉冲飞行时间测量道路环境中障碍物的距离,但受限于脉冲的宽度,不能利用多普勒测量障碍物的相对速度,且不具备抗干扰的性能。针对这些问题,文中开展汽车激光雷达发射波形调制与信号处理关键技术研究,提出了一种能够实现激光雷达同时测量障碍物距离和速度的脉冲位置调制方法,并评价该方法在城市道路环境中的抗干扰性能。综合考虑距离、速度测量精度要求以及空间解像度的要求,限定完成一次测量的脉冲序列长度,并在限定的时间范围内制定随机分配脉冲位置的规则,对比不同分配机制的优劣。在距离测量方面,设计针对脉冲位置调制波形的数据累加方法,提高障碍物的检测灵敏度;在速度测量方面,提出非等间隔采样数据的频谱分析方法,计算多普勒信号的频率;最后,以城市道路为背景,设计干扰波形,分析外部干扰对距离和速度测量性能的影响。Vehicle laser radar measures distance of obstacles in the road environment by pulse flight time,but limited by the width of the pulse,it cannot measure the relative speed of obstacles with Doppler frequency,and has no anti-interference performance.To solve these problems,studies on the key technology of vehicle laser radar transmitting pulse modulation technique and information processing are performed.In this way,a pulse position modulation strategy is proposed,which can realize range and speed measurement at the same time.The anti-interference performance in the urban road environments is also evaluated.Taking range and speed measurement precision and spatial resolution into account,pulse sequence length for one measurement is limited.The rule for randomly assign pulse position in the limited pulse sequence duration is established by comparing the quality of different assignment mechanism.On the aspect of range measurement,a data integration method for pulse position modulated waveform is designed to improve the sensitivity of obstacle detection.Furthermore,on the aspect of speed measurement,a spectrum analysis method for non-uniformly spaced data samples is proposed to calculate Doppler frequency.Finally,interference waveforms are designed,which take urban roads as background,for analyzing the influence of outer interference on range and speed measurement performance.

关 键 词：脉冲位置调制 多普勒激光雷达 距离速度测量 非等间隔采样 道路目标感知 

分 类 号：TN782[电子电信—电路与系统] TP302[自动化与计算机技术—计算机系统结构]