| CPC G01S 7/487 (2013.01) [G01S 7/4814 (2013.01); G01S 7/4816 (2013.01); G01S 7/497 (2013.01); G01S 17/10 (2013.01)] | 8 Claims |
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1. A ranging adjustment method for a LiDAR device, the LiDAR device comprising a laser emission module and a laser receiving module, the laser receiving module comprising a plurality of receiving units arranged in an array, and each receiving unit comprising a plurality of pixels, wherein the laser emission module is configured to emit a laser to a to-be-measured object, the laser is reflected by the to-be-measured object to form an echo, and the laser receiving module is configured to receive the echo, the method comprising:
calibrating echo intensities at different pixel positions in a receiving unit, and determining correction coefficients of the pixels at different positions in the receiving unit based on the echo intensities;
when a preset-position receiving unit receives the echo, performing echo intensity correction calculation based on the correction coefficients of the pixels at different positions in the preset-position receiving unit, to obtain correction intensity data corresponding to the pixels at different positions in the preset-position receiving unit, wherein a light intensity received by each pixel of a same receiving unit is different;
performing intensity filtering on the correction intensity data of a reference pixels in two adjacent receiving units, and obtaining the correction intensity data of each reference pixel after filtering, wherein each reference pixel is a pixel at the center position of each receiving unit; and
adjusting correction coefficient of edge pixels based on the correction intensity data of each reference pixel after filtering, determining distance information of the to-be-measured object based on the correction intensity data after filtering, wherein the edge pixels comprise multiple columns or rows of pixels between the central areas of the two adjacent receiving units.
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