Ranging method and apparatus based on detection signal
A ranging method and apparatus are provided. The method includes processing, by a ranging device, an echo signal of a detection signal based on a time-to-digital conversion ranging manner to determine a first data set. The echo signal is processed based on an analog-to-digital conversion ranging manner to determine a second data set. An output distance set is determined based on at least one parameter in the first data set or the second data set, and one or more of the following relationships: a relationship between at least one of an actual transmit power of the detection signal and a preset power threshold, a relationship between at least one estimated distance and a preset distance threshold, or a relationship between at least one signal parameter of the echo signal and a preset parameter threshold.
1 . A ranging method implemented by a ranging device, comprising:
processing an echo signal formed by reflecting a detection signal, based on a time-to-digital conversion (TDC) ranging manner, to determine a first data set, wherein the first data set comprises at least one first distance or at least one first time of flight;
processing the echo signal, based on an analog-to-digital conversion (ADC) ranging manner, to determine a second data set, wherein the second data set comprises at least one second distance or at least one second time of flight; and
determining an output distance set based on at least one parameter in the first data set or the second data set, and one or more of following relationships:
a relationship between at least one of an actual transmit power of the detection signal and a preset power threshold,
a relationship between at least one estimated distance and a preset distance threshold, or
a relationship between at least one signal parameter of the echo signal and a preset parameter threshold, wherein the at least one estimated distance is in a one-to-one correspondence with the at least one parameter in the first data set, and is in a one-to-one correspondence with the at least one parameter in the second data set, and the determining the output distance set comprises:
determining at least one first estimated distance and at least one second estimated distance in the at least one estimated distance, wherein the at least one first estimated distance is less than or equal to the preset distance threshold, and the at least one second estimate distance is greater than the preset distance threshold; and
determining a parameter that is in the first data set and that corresponds to the at least one first estimated distance and a parameter that is in the second data set and that corresponds to the at least one second estimated distance as the output distance set.
2 . The method according to claim 1 , wherein the determining an output distance set comprises at least one of
determining the at least one first distance as the output distance set;
separately calculating at least one third distance based on the at least one first time of flight,
and determining the at least one third distance as the output distance set; determining the at least one second distance as the output distance set; or
separately calculating at least one fourth distance based on the at least one second time of flight, and determining the at least one fourth distance as the output distance set.
3 . The method according to claim 1 , wherein the determining the output distance set comprises at least one of following:
when the actual transmit power is greater than or equal to the preset power threshold, determining the first data set as the output distance set; or
when the actual transmit power is less than the preset power threshold, determining the second data set as the output distance set.
4 . The method according to claim 1 , wherein the determining the output distance set comprises at least one of following:
when the actual transmit power is greater than or equal to the preset power threshold, determining the first data set as the output distance set;
when the actual transmit power is less than the preset power threshold, and when the at least one estimated distance is less than or equal to the preset distance threshold, determining the first data set as the output distance set; or
when the actual transmit power is less than the preset power threshold, and when the at least one estimated distance is greater than the preset distance threshold, determining the second data set as the output distance set.
5 . The method according to claim 1 , wherein the determining the output distance set comprises at least one of following:
when the at least one estimated distance is less than or equal to the preset distance threshold, determining the first data set as the output distance set; or
when the at least one estimated distance is greater than the preset distance threshold, determining the second data set as the output distance set.
6 . The method according to claim 1 , wherein the determining the output distance set comprises at least one of following:
when the at least one estimated distance is less than or equal to the preset distance threshold, and when the actual transmit power of the detection signal is less than the preset power threshold, determining the first data set as the output distance set; or
when the at least one estimated distance is greater than the preset distance threshold, and when the actual transmit power of the detection signal is less than the preset power threshold, determining the second data set as the output distance set.
7 . The method according to claim 1 , wherein the at least one signal parameter is any one of following parameters: an amplitude, energy, or a signal-to-noise ratio, and the determining the output distance set comprises at least one of following:
when the at least one signal parameter is greater than or equal to the preset parameter threshold, determining the first data set as the output distance set; or
when the at least one signal parameter is less than the preset parameter threshold, determining the second data set as the output distance set.
8 . The method according to claim 1 , wherein the at least one signal parameter is any one of following parameters: an amplitude, energy, or a signal-to-noise ratio, the at least one signal parameter is in the one-to-one correspondence with the at least one parameter in the first data set, and is in the one-to-one correspondence with the at least one parameter in the second data set, and the determining the output distance set comprises:
determining at least one first signal parameter and at least one second signal parameter in the at least one signal parameter, wherein the at least one first signal parameter is less than or equal to the preset parameter threshold, and the at least one second signal parameter is greater than the preset parameter threshold; and
determining the parameter that is in the first data set and that corresponds to the at least one first signal parameter and the parameter that is in the second data set and that corresponds to the at least one second signal parameter as the output distance set.
9 . The method according to claim 1 , wherein the at least one signal parameter comprises any one of following parameters: an amplitude, energy, or a signal-to-noise ratio, the at least one signal parameter is in the one-to-one correspondence with the at least one parameter in the first data set, and is in the one-to-one correspondence with the at least one parameter in the second data set, and the determining the output distance set comprises:
determining at least one first signal parameter and at least one second signal parameter in the at least one signal parameter, wherein both the at least one first signal parameter and the at least one second signal parameter are greater than the preset parameter threshold, and a data difference between two parameters that are in the second data set and that respectively correspond to the at least one first signal parameter and the at least one second signal parameter is less than or equal to a data difference threshold; and
determining the parameter that is in the first data set and that corresponds to the at least one first signal parameter and the parameter that is in the second data set and that corresponds to the at least one second signal parameter as the output distance set.
10 . The method according to claim 1 , wherein the second data set further comprises a clutter location, and the method further comprises:
deleting, based on the clutter location, the parameter that is in the first data set and that corresponds to the clutter location.
11 . The method according to claim 1 , wherein the second data set further comprises a saturation echo location, and the method further comprises:
deleting, based on the saturation echo location, the parameter that is in the first data set and that corresponds to the saturation echo location.
12 . An apparatus, comprising:
a non-transitory storage medium storing programming instructions; and
one or more processors coupled to the non-transitory storage medium, wherein the one or more processors are configured to execute the programming instructions to cause the apparatus to
process an echo signal formed by reflecting a detection signal, based on a TDC ranging manner, to determine a first data set, wherein the first data set comprises: at least one first distance or at least one first time of flight;
process the echo signal based on an ADC ranging manner, to determine a second data set, wherein the second data set comprises the following parameter at least one second distance or at least one second time of flight; and
determine an output distance set based on at least one parameter in the first data set or the second data set, and one or more of following relationships:
a relationship between at least one of an actual transmit power of the detection signal and a preset power threshold,
a relationship between at least one estimated distance and a preset distance threshold, or
a relationship between at least one signal parameter of the echo signal and a preset parameter threshold;
determine at least one first estimated distance and at least one second estimated distance in the at least one estimated distance, wherein the at least one first estimated distance is less than or equal to the preset distance threshold; and
determine a parameter that is in the first data set and that corresponds to the at least one first estimated distance and a parameter that is in the second data set and that corresponds to the at least one second estimated distance as the output distance set, wherein the at least one estimated distance is in one-to-one correspondence with the parameter in the first data set, and is in a one-to-one correspondence with the parameter in the second data set.
13 . The apparatus according to claim 12 , wherein the one or more processors are further configured to execute the programming instructions to cause the apparatus to:
determine the at least one first distance as the output distance set;
separately calculating at least one third distance based on the at least one first time of flight, and determining the at least one third distance as the output distance set;
determine the at least one second distance as the output distance set; or
separately calculate at least one fourth distance based on the at least one second time of flight, and determine the at least one fourth distance as the output distance set.
14 . The apparatus according to claim 12 , wherein the one or more processors are further configured to execute the programming instructions to cause the apparatus to:
when the actual transmit power is greater than or equal to the preset power threshold, determine the first data set as the output distance set; or
when the actual transmit power is less than the preset power threshold, determine the second data set as the output distance set.
15 . The apparatus according to claim 12 , wherein one or more processors are further configured to execute the programming instructions to cause the apparatus to:
when the actual transmit power is greater than or equal to the preset power threshold, determine the first data set as the output distance set;
when the actual transmit power is less than the preset power threshold, and when the at least one estimated distance is less than or equal to the preset distance threshold, determine the first data set as the output distance set; or
when the actual transmit power is less than the preset power threshold, and when the at least one estimated distance is greater than the preset distance threshold, determine the second data set as the output distance set.
16 . The apparatus according to claim 12 , wherein the one or more processors are further configured to execute the programming instructions to cause the apparatus to:
when the at least one estimated distance is less than or equal to the preset distance threshold, determine the first data set as the output distance set; or
when the at least one estimated distance is greater than the preset distance threshold, determine the second data set as the output distance set.
17 . The apparatus according to claim 12 , wherein the one or more processors are further configured to execute the programming instructions to cause the apparatus to:
when the at least one estimated distance is less than or equal to the preset distance threshold, and when the actual transmit power of the detection signal is less than the preset power threshold, determine the first data set as the output distance set; or
when the at least one estimated distance is greater than the preset distance threshold, and when the actual transmit power of the detection signal is less than the preset power threshold, determine the second data set as the output distance set.
18 . The apparatus according to claim 12 , wherein the one or more processors are further configured to execute the programming instructions to cause the apparatus to:
when the at least one signal parameter is less than or equal to the preset parameter threshold, determine the first data set as the output distance set; or
when the at least one signal parameter is greater than the preset parameter threshold, determine the second data set as the output distance set, wherein
the at least one signal parameter is any one of following parameters: an amplitude, energy, or a signal-to-noise ratio.
19 . The method according to claim 5 , wherein the at least one estimated distance is an average value of distances corresponding to a same target object in the at least one first distance and the at least one second distance.