Laser radar system and control method of laser radar system

Abstract

The present application relates to a laser radar system and a control method for the laser radar system, comprising at least two laser transceiver assemblies, each of which includes a corresponding laser emitting device and a laser receiving device; the laser emitting device is used to emit an outgoing laser in a preset direction to a corresponding detection area; the laser receiving device includes a receiving lens and a receiver, wherein the receiving lens is used to receive the reflected laser light returned by an object in the corresponding detection area after reflecting the outgoing laser light, and converge the received reflected laser light to the receiver; the receiver is used to convert the reflected laser light received by the receiving lens into an electrical signal for analysis, thereby obtaining information about the object in the detection area. The above scheme adopts a combined splicing method of two or more laser transceiver assemblies, which can reduce the horizontal blind area on both sides of the laser radar system's outgoing laser light, thereby improving the obstacle avoidance capability of vehicles using the laser radar system.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a laser radar system and a control method for the laser radar system. Background Art

[0002] With the development and application of optical technology, many laser radar systems have emerged that emit laser beams to detect the position, speed and other characteristic quantities of target objects. Laser radar systems have been widely used in various fields, such as ranging, tracking and measurement of low-flying targets, weapon guidance, atmospheric monitoring, mapping, early warning, traffic management, etc. Especially in the field of autonomous driving, laser radar systems are often used to realize field of view detection and imaging of the vehicle's surrounding environment, so that autonomous vehicles can plan the correct driving route according to the information detected by the laser radar system.

[0003] Flash LiDAR systems are currently widely used in autonomous vehicles due to their simple structure, low system load, and long optical and mechanical lifespan. They enable near-field detection of the vehicle's surroundings. The basic operating principle of a flash LiDAR system is to illuminate the entire field of view simultaneously using a "flood" method. The receiving end uses a corresponding detector to receive all return beams within the field of view, analyzing the return beams to obtain detection information within the field of view.

[0004] However, the aforementioned flash LiDAR systems have a limited field of view (FOV) of their emitted lasers, resulting in a large blind spot and reducing the obstacle avoidance capabilities of vehicles equipped with them. Furthermore, existing flash LiDAR systems have an insufficient detection range. Increasing the detection range requires significantly increasing the transmission power, which in turn increases the system's power consumption, thermal effects, and component costs. Summary of the Invention

[0005] Based on this, it is necessary to provide a laser radar system and a control method for the laser radar system that can reduce detection blind spots, effectively improve the utilization rate of the emitted laser energy, and thereby reduce the manufacturing cost of the system to address the above technical problems.

[0006] In a first aspect, a laser radar system is provided, the laser radar system comprising:

[0007] At least two laser transceiver assemblies; the detection areas corresponding to the at least two laser transceiver assemblies are spliced; each detection area is divided into at least two detection sub-areas along the vertical direction, and each detection sub-area is aligned with a different angular range of the detection area along the vertical direction; each of the laser transceiver assemblies includes a correspondingly arranged laser emitting device and laser receiving device;

[0008] The laser emitting device is used to emit laser light in a preset direction to the corresponding detection area;

[0009] The laser receiving device is used to receive reflected laser light that is returned after the outgoing laser light is reflected by an object in the corresponding detection area.

[0010] In one embodiment, at least two laser transceiver assemblies are arranged side by side in a horizontal direction, and the detection areas corresponding to the at least two laser transceiver assemblies are spliced in the horizontal direction.

[0011] In one embodiment, the laser emitting device and the laser receiving device of the laser transceiver assembly are arranged in a horizontal direction or a vertical direction.

[0012] In one embodiment, the laser radar system includes two laser transceiver components, namely a first laser transceiver component and a second laser transceiver component; a first detection area corresponding to the first laser transceiver component and a second detection area corresponding to the second laser transceiver component face different directions, and the first detection area and the second detection area are spliced in the horizontal direction.

[0013] In one embodiment, the first detection area and the second detection area are arranged opposite to each other.

[0014] In one embodiment, the first detection area and the second detection area are arranged opposite to each other.

[0015] In one embodiment, the first laser emitting device and the first laser receiving device of the first laser transceiver assembly are arranged side by side in the horizontal direction, and the emission direction of the first laser emitting device is the same as the optical axis direction of the first laser receiving device; the second laser emitting device and the second laser receiving device of the second laser transceiver assembly are arranged side by side in the horizontal direction, and the emission direction of the second laser emitting device is the same as the optical axis direction of the second laser receiving device.

[0016] In one embodiment, the first laser emitting device is disposed around the first laser receiving device, and the second laser emitting device is disposed around the second laser receiving device.

[0017] In one embodiment, the detection distance of each detection sub-area is different.

[0018] In a second aspect, a control method for a laser radar system is provided, which is applied to the laser radar system described in any of the above embodiments, wherein the laser radar system includes at least two laser transceiver components, and the detection areas corresponding to the at least two laser transceiver components are spliced; each detection area is divided into at least two detection sub-areas along the vertical direction, and each detection sub-area is aligned with a different angular range of the detection area along the vertical direction; each laser transceiver component includes a correspondingly arranged laser emitting device and laser receiving device, and the method includes:

[0019] Control the laser emitting device to emit laser light in a preset direction to the corresponding detection area;

[0020] The laser receiving device is controlled to receive the reflected laser light returned after the outgoing laser light is reflected by an object in the corresponding detection area.

[0021] The present application provides a laser radar system and a control method for the laser radar system, comprising: at least two laser transceiver components, each laser transceiver component including a corresponding laser emitting device and a laser receiving device; the detection areas corresponding to the at least two laser transceiver components are spliced; each detection area is divided into at least two detection sub-areas along the vertical direction, each detection sub-area is aligned with a different angular range of the detection area along the vertical direction; the laser emitting device is used to emit an outgoing laser in a preset direction to the corresponding detection area; the laser receiving device is used to receive the reflected laser that is returned after the outgoing laser is reflected by an object in the corresponding detection area. The above scheme adopts a combination and splicing method of two or more laser transceiver components, which can expand the detection area of the laser radar system in the horizontal direction, realize a large-angle detection area, and thereby reduce the range of the horizontal blind spots on both sides of the laser radar system's outgoing laser irradiation, which can improve the obstacle avoidance capability of the vehicle using the laser radar system. In addition, since in the above-mentioned laser radar system, the detection area corresponding to each laser transceiver component includes multiple detection sub-areas divided along the vertical direction, and each detection sub-area can be aligned with different angular ranges of the detection area along the vertical direction, it is equivalent to the laser transceiver component emitting multiple beams of outgoing laser light at the same time and towards different angular ranges. Therefore, when using the above-mentioned laser radar system for scanning, different angular ranges of the detection area along the vertical direction have different detection distance requirements; for the detection sub-area with a shorter detection distance, the outgoing laser energy density emitted by the laser emitting device corresponding to the detection sub-area is low; for the detection sub-area with a longer detection distance, the outgoing laser energy density emitted by the laser emitting device corresponding to the detection sub-area is high; different detection sub-areas are matched with laser emitting devices according to actual application requirements, thereby avoiding the waste of light energy caused by the mismatch between the energy density of the detection sub-area and the outgoing laser, and improving the utilization rate of light energy in each detection sub-area, which not only meets the application requirements of system detection, but also reduces the overall power consumption of the laser radar system, thereby reducing the manufacturing cost of the laser radar system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of an application scenario provided for an embodiment;

[0023] Figure 2 A schematic diagram of a laser radar system provided by one embodiment;

[0024] Figure 2AA schematic diagram of a transmission beam of a laser radar system provided in one embodiment;

[0025] Figure 2B A schematic diagram of a transmission beam of a laser radar system provided in one embodiment;

[0026] Figure 2C A schematic diagram of a laser radar system provided by one embodiment;

[0027] Figure 2D A schematic diagram of a laser transceiver assembly provided by one embodiment;

[0028] Figure 2E A schematic diagram of a laser transceiver assembly provided by one embodiment;

[0029] Figure 2F A schematic diagram of a laser transceiver assembly provided by one embodiment;

[0030] Figure 3 A schematic diagram of an outgoing laser projection of a laser radar system provided in one embodiment;

[0031] Figure 4 A schematic diagram of a laser radar system provided by one embodiment;

[0032] Figure 4A A schematic diagram of the detection field of view of a laser radar system provided in one embodiment;

[0033] Figure 5 A schematic diagram of a laser radar system provided by one embodiment;

[0034] Figure 5A A schematic diagram of the detection field of view of a laser radar system provided in one embodiment;

[0035] Figure 6 A schematic diagram of a laser radar system provided by one embodiment;

[0036] Figure 6A A schematic diagram of a laser radar system provided by one embodiment;

[0037] Figure 6B A schematic diagram of a laser radar system provided by one embodiment;

[0038] Figure 7 A schematic diagram of a laser radar system provided by one embodiment;

[0039] Figure 7A A schematic diagram of a laser radar system provided by one embodiment;

[0040] Figure 7BA schematic diagram of a laser radar system provided by one embodiment;

[0041] Figure 8 A schematic diagram of a laser radar system provided by one embodiment;

[0042] Figure 8A A schematic diagram of a laser radar system provided by one embodiment;

[0043] Figure 9 A schematic diagram of a laser radar system provided by one embodiment;

[0044] Figure 9A A schematic diagram of a laser radar system provided by one embodiment;

[0045] Figure 10 A schematic diagram of a laser radar system provided by one embodiment;

[0046] Figure 11 A schematic diagram of a transmission beam of a laser radar system provided in one embodiment;

[0047] Figure 12 A schematic diagram of a vehicle is provided for one embodiment;

[0048] Figure 13 A flowchart of a control method for a laser radar system provided by one embodiment;

[0049] Figure 14 A schematic diagram of the internal structure of a computer device is provided in accordance with an embodiment. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0051] The laser radar system provided in this application can be applied to Figure 1 In the application environment shown, the LiDAR system is installed on a vehicle, and the vehicle uses the LiDAR system to detect nearby moving or approaching obstacles, such as taller vehicles, stationary objects on the roadside, and suddenly approaching flying objects. This allows the vehicle to plan a path to avoid obstacles based on the detected information, thereby preventing the vehicle from colliding with the obstacles. The vehicle can be an autonomous vehicle or an ordinary vehicle, and this application does not impose any restrictions on this. The LiDAR system can be any type of LiDAR system.

[0052] Currently, the method of using laser radar systems to identify obstacles in the surrounding environment has been widely used by vehicles, especially flash laser radar systems, which are widely used in near-field detection of vehicles. However, the output power and field of view angle of the light source of traditional flash laser radar systems are fixed, which will cause large blind spots in front of or on both sides of the vehicle using the laser radar system, thereby reducing the vehicle's obstacle avoidance ability. Therefore, in response to the above problems, this application proposes a laser radar system and a control method for the laser radar system to solve these problems.

[0053] Figure 2 FIG1 is a schematic diagram of a laser radar system provided in one embodiment. Figure 2 As shown, the laser radar system includes: at least two laser transceiver components, wherein the detection areas corresponding to the at least two laser transceiver components are spliced; each detection area is divided into at least two detection sub-areas along the vertical direction, and each detection sub-area is aligned with a different angular range of the detection area along the vertical direction; each laser transceiver component includes a correspondingly set laser emitting device and a laser receiving device; the laser emitting device is used to emit an outgoing laser in a preset direction to the corresponding detection area; the laser receiving device is used to receive the reflected laser returned after the outgoing laser is reflected by an object in the corresponding detection area.

[0054] The above laser emitting device can emit laser light at any emission angle. The specific emission angle can be set in advance according to the actual application requirements, which can be an emission angle of 60°*90°, an emission angle of 90°*90°, etc. For example, Figure 2A The schematic diagram of the emission light beam of the laser emitting device shown in the figure shows that the emission angle of the emitted laser is 90°*5°, wherein 90° is the lateral emission angle of the laser emitting device and 5° is the longitudinal emission angle of the laser radar emission system. The above-mentioned laser emitting device may include at least one laser emitter. Optionally, the above-mentioned laser emitting device may also adjust the detection capability of the emitted laser covering different angular ranges of the detection area, such as detection distance and detection accuracy, by setting different types of laser emitters, different emission powers of laser emitters, and different arrangement densities of laser emitters. Optionally, the above-mentioned laser emitting device may also adjust the emission direction of the emitted laser by setting the arrangement direction of the laser emitter or arranging an optical component in front of the laser emitter, so that the emitted laser covers different angular ranges of the detection area. For example, as Figure 2B The schematic diagram of the laser emitting device shown in FIG. 1 shows a schematic diagram of the laser emitting device, which can emit two outgoing laser beams at the same time. Specifically, Figure 2BThe middle ones are the #1 outgoing laser and the #2 outgoing laser; the outgoing angle of the #1 outgoing laser is 90°*5°, the outgoing direction is towards the sky, and the angle range of the detection area is -2.5° to 2.5° (where the horizontal direction is 0°); the outgoing angle range of the #2 outgoing laser is 90°*12°, the outgoing direction is towards the ground, and the angle range of the detection area is 8° to 20°.

[0055] In actual applications, the above-mentioned laser emitting device may include at least one laser emitter, and each laser emitter may be arranged in the form of an array so that the output laser emitted by the laser emitting device has a certain output angle range. Under such application conditions, the types of the laser emitter arrays in the laser emitting device may be the same. Optionally, the types of the laser emitter arrays in the laser emitting device may be different. The laser emitter may be a continuous light source or a pulsed light source. The laser emitter may be an LED (light emitting diode), an LD (laser diode) or a VCSEL (vertical cavity surface emitting laser), etc., which is not limited in this embodiment. Accordingly, the output power of each laser emitter array in the laser emitting device may be the same. Optionally, the output power of each laser emitter array in the laser emitting device may be different. Depending on the actual application scenario, the peak power of a single LED light source is generally 0.5-4W, and the peak power of a VCSEL light source is generally in the range of 0.5-6W. This can be designed according to actual application requirements.

[0056] The laser receiving device can receive the reflected laser light that is emitted by the laser emitting device in the laser transceiver assembly and then projected to the detection area. For example, Figure 2 The laser receiving device 12 in the laser transceiver assembly 1 receives the reflected laser light returned after the laser emitting device 11 in the laser transceiver assembly 1 projects into the corresponding detection area, and the laser receiving device 22 receives the reflected laser light returned after the laser emitting device 21 in the laser transceiver assembly 2 projects into the corresponding detection area. Accordingly, the laser receiving device is also used to perform photoelectric conversion on the received reflected laser light, specifically converting the optical signal of the reflected laser light into an electrical signal, and then further analyzing and parsing the electrical signal to obtain information about objects in each detection area, such as the image or distance information of the object.

[0057] In practical applications, the laser receiving device includes a receiving lens and a laser receiver. The receiving lens is used to receive reflected laser light from the corresponding detection area and focus the received reflected laser light onto the laser receiver. The laser receiver is used to convert the reflected laser light received by the receiving lens into an electrical signal for analysis, thereby obtaining information about objects in the detection area. Optionally, the receiving lens can be a receiving lens with a sufficient "field of view," a large aperture, and a wide field of view, so as to receive as much reflected laser light as possible.

[0058] Optionally, the type of the above-mentioned laser receiver can be determined according to the type of laser transmitter based on actual application requirements. For example, the receiver can be a SPIM (silicon photomultiplier tube), a CCD device, a CMOS device, or even an integrated TOF chip that can realize optical signal conversion and analysis.

[0059] In the above-mentioned laser radar system, the detection area corresponding to each laser transceiver component can be divided into at least two detection sub-areas along the vertical direction, and each detection sub-area is aligned with a different angular range of the detection area along the vertical direction.

[0060] This embodiment relates to a laser radar system in which the detection area may include multiple detection sub-areas due to the different design parameters of different laser transceiver components. For example, the detection area can be specifically divided into a ground detection sub-area, a center detection sub-area, and a sky detection sub-area. The above-mentioned ground detection sub-area is used to detect road obstacles, curbs, near-field blind spots, etc.; the center detection sub-area is used to detect pedestrians, vehicles, buildings, etc. moving horizontally in the front area; the sky detection sub-area is used to detect mid-air obstacles, adjacent vehicles, road infrastructure, etc., such as height limit poles, distribution boxes, low-altitude flying drones, etc. Taking a laser transceiver component in a laser radar system as an example, a schematic diagram of the output laser of the laser emitting device is shown as follows. Figure 11As shown in the figure, the longitudinal emission angle of the laser emitting device is 105°, of which the emission angle of the sky detection sub-area is 12.5°, and the angle range of the corresponding detection area is -15° to -2.5° (horizontally 0°); the emission angle of the center detection sub-area is 5°; the angle range of the center detection sub-area is -2.5° to +2.5°; the emission angle range of the ground detection area is 87.5°, and the angle range of the ground detection sub-area is +2.5° to +90°. It can be seen that the longitudinal angle range of the total detection area of the laser radar system is divided into the sky detection sub-area, the center detection sub-area and the ground detection sub-area. The total detection area of the laser radar system is divided into multiple sub-areas in the vertical direction. Therefore, when designing the laser radar system, different types of laser emitters can be set according to the different requirements of each sub-area. Laser emitters of the same type but with different emission powers can also be set, or laser emitters of the same type but with different arrangement densities can be set. For example, the central detection area often requires a longer-range detection capability, and therefore generally requires a higher-power laser transmitter. However, the ground detection area, because the distance between the LiDAR system and the ground is usually closer, only requires a shorter-range detection capability. Therefore, a lower-power laser transmitter is generally required to avoid wasting energy. The division into multiple sub-areas enables the laser emitting device to emit lasers of different powers and different emission angle ranges to different detection sub-areas, so as to detect objects in the detection sub-areas according to the needs of each detection sub-area. This avoids the waste of light energy caused by the mismatch between the detection sub-area and the emission power, improves the utilization rate of light energy in each detection sub-area, and thereby reduces the power consumption of the LiDAR system, thereby reducing the manufacturing cost of the LiDAR system.

[0061] Combined with the above description of the components in the LiDAR system, see Figure 2 ,by Figure 1Taking an application scenario as an example, the operating principle of the lidar system described in this embodiment is explained. Its operating principle is as follows: when the lidar system on a vehicle needs to detect the surroundings of the vehicle, multiple laser transceiver components in the lidar system can operate simultaneously. During this process, the laser emitting device of each laser transceiver component emits outgoing laser light and transmits the outgoing laser light within the angular range of the corresponding detection area, so that the detection areas corresponding to different laser emitting components are spliced to form a detection area with a larger angular range. The outgoing laser light within the angular range of the corresponding detection area is reflected by the object and returned. The reflected laser light is received by the receiving lens in the laser receiving device. After passing through the receiving lens, the reflected laser light is focused to the laser receiver. The optical signal of the reflected laser light is converted into an electrical signal and analyzed to obtain information about the objects in the detection area, thereby obtaining the environmental conditions around the vehicle. It should be noted that when the laser transceiver component transmits outgoing laser light to the corresponding detection area, it can emit multiple outgoing laser beams with different energy densities to the corresponding detection area. Each outgoing laser beam can be projected into a corresponding detection sub-area, which is equivalent to dividing each detection area into sub-areas with different angular ranges along the vertical direction.

[0062] The laser radar system provided in the above embodiment includes: at least two laser transceiver components, each laser transceiver component includes a corresponding laser emitting device and a laser receiving device; the detection areas corresponding to the at least two laser transceiver components are spliced; each detection area is divided into at least two detection sub-areas along the vertical direction, and each detection sub-area is aligned with a different angular range of the detection area along the vertical direction; the above laser emitting device is used to emit an outgoing laser in a preset direction to the corresponding detection area; and the above laser receiving device is used to receive the reflected laser that is returned after the outgoing laser is reflected by an object in the corresponding detection area. The above scheme adopts a combination and splicing method of two or more laser transceiver components, which can expand the detection area of the laser radar system in the horizontal direction, realize a large-angle detection area, and thereby reduce the range of the horizontal blind spots on both sides of the laser radar system's outgoing laser illumination, which can improve the obstacle avoidance capability of the vehicle using the laser radar system. In addition, since in the above-mentioned laser radar system, the detection area corresponding to each laser transceiver component includes multiple detection sub-areas divided along the vertical direction, and each detection sub-area can be aligned with different angular ranges of the detection area along the vertical direction, it is equivalent to the laser transceiver component simultaneously emitting multiple beams of outgoing lasers and emitting lasers towards different outgoing angle ranges. Therefore, when using the above-mentioned laser radar system for detection, different angular ranges along the vertical direction of the detection area have different detection distance requirements; for the detection sub-area with a shorter detection distance, the outgoing laser energy density of the laser emitting device corresponding to the detection sub-area is low; for the detection sub-area with a longer detection distance, the outgoing laser energy density emitted by the laser emitting device corresponding to the detection sub-area is high; different detection areas are matched with laser emitting devices according to actual application requirements, thereby avoiding the waste of light energy caused by the mismatch between the energy density of the detection area and the outgoing laser, and improving the utilization rate of light energy in each detection area, which not only meets the system detection application requirements, but also reduces the overall power consumption of the laser radar system and reduces the manufacturing cost of the laser radar system.

[0063] In practical applications, the multiple laser transceiver components included in the lidar system can be arranged in a variety of ways. Specifically, they can be arranged in parallel in the horizontal direction, for example Figure 2 As shown; optionally, they can also be arranged longitudinally in the vertical direction, for example Figure 2CAs shown; optionally, it can also be arranged in two dimensions in the horizontal and vertical directions. The layout of the laser transceiver components is related to the position and size of the detection area of the laser transceiver components. Different layout methods can be used to detect different detection area positions and sizes of the laser radar system. By arranging multiple laser transceiver components, the detection areas of multiple laser transceiver components can be spliced. The splicing in the horizontal direction expands the coverage of the detection area on the horizontal plane of the laser radar system; the splicing in the vertical direction expands the coverage of the detection area on the vertical plane of the laser radar system; and the splicing in the horizontal and vertical directions simultaneously expands the coverage of the detection area on the horizontal plane of the laser radar system, and also expands the coverage of the detection area on the vertical plane.

[0064] Accordingly, the laser emitting device and the laser receiving device in each laser transceiver assembly can also be arranged in a variety of ways. The laser emitting device and the laser receiving device of the laser transceiver assembly can be arranged in a horizontal direction or a vertical direction.

[0065] For example, take a laser transceiver component as an example. Figure 2D As shown, the laser emitting device and the laser receiving device can be arranged side by side in the horizontal direction; optionally, as shown in FIG. Figure 2E As shown, the laser emitting device and the laser receiving device can also be arranged longitudinally in the vertical direction. Moreover, the laser emitting device and the laser receiving device in different laser transceiver components can also be arranged in a staggered manner, such as Figure 2F shown.

[0066] In one application scenario, when the laser radar system includes at least two laser transceiver components, the at least two laser transceiver components are arranged side by side in the horizontal direction, and the detection areas corresponding to the at least two laser transceiver components are spliced in the horizontal direction.

[0067] by Figure 3The LiDAR system described in the figure is illustrated as follows: In this figure, it is assumed that the LiDAR system includes two laser transceiver components, namely, laser transceiver component 1 and laser transceiver component 2. The detection area of laser transceiver component 1 is 90°×90°, and the detection area of laser transceiver component 2 is also 90°×90°. Laser transceiver components 1 and 2 are arranged side by side in the horizontal direction, so that the total output angle range of the laser beams emitted by laser transceiver components 1 and 2 is 180°×90°. The detection area 1 corresponding to laser transceiver component 1 and the detection area 2 corresponding to laser transceiver component 2 are spliced horizontally, which expands the detection area of the entire LiDAR system. It should be noted that the specific splicing method is related to the configuration of the laser emitting device and laser receiving device in each laser transceiver component, specifically the spatial position and arrangement of the laser emitting device and the laser receiving device, to avoid the generation of new shadow areas or blind areas, near-field saturation caused by reflected light or multipath effects, etc., and it is also necessary to ensure optical isolation between the laser emitting device and the laser receiving device.

[0068] Optionally, the present application also provides a laser radar system, such as Figure 4 As shown, the laser radar system includes two laser transceiver components, namely a first laser transceiver component and a second laser transceiver component; the first detection area corresponding to the first laser transceiver component and the second detection area corresponding to the second laser transceiver component are oriented in different directions, and the first detection area and the second detection area are spliced in the horizontal direction.

[0069] In this embodiment, the first transceiver assembly and the second transceiver assembly are respectively installed on different side planes of the laser radar system ( Figure 4 01 plane and 02 plane in the laser radar system) so that the first detection area of the first transceiver assembly faces one direction, the second detection area of the second laser transceiver assembly faces another direction, the first detection area and the second detection area face different directions, and then the outgoing laser of the first laser transceiver assembly and the outgoing laser of the second laser transceiver assembly face different directions and are projected to detection areas in different directions. In the above structure, the first detection area and the second detection area can be spliced to obtain the detection area of the entire laser radar system after splicing. Specifically, the first detection area and the second detection area can be spliced adjacent to each other. Optionally, the first detection area and the second detection area can also be partially staggered, as long as the spliced detection areas can meet the actual application requirements. In addition, from Figure 4 It can be seen that when designing the lidar system, there is an angle between the 01 plane and the 02 plane, so that the first detection area of the first laser transceiver component can face one direction, and the second detection area of the second laser transceiver component can face another direction. The specific size of the angle can be determined according to actual application requirements, and this embodiment does not impose any restrictions on this.

[0070] It can be seen from the above embodiments that the splicing method of the first detection area and the second detection area is determined by the layout method of the first laser transceiver component and the second transceiver component. Therefore, this application specifically provides two layout methods of the first laser transceiver component and the second laser transceiver component. These two layout methods are introduced below.

[0071] The first layout method is: Figure 4 In the structural diagram of the laser radar system shown in FIG, the first detection area and the second detection area can be set back to back, that is, the first laser transceiver component and the second laser transceiver component in the laser radar system are respectively set back to back on different side planes of the laser radar system (01 plane and 02 plane in the figure). In this case, the detection area of the laser radar system is the detection area formed by splicing the first detection area and the second detection area. For example, in an application such as Figure 4 When the laser radar system shown in the figure detects Figure 4A As shown, taking the XY horizontal plane as an example, the horizontal angle range of the first detection area of the first laser transceiver component in the laser radar system is 95°, and it is facing the -xy direction; the horizontal angle range of the second detection area of the second laser transceiver component is 95°, and it is facing the +xy direction. The first detection area and the second detection area are adjacently spliced, and the detection field angle of the laser radar system obtained is 180°. It should be noted that when the first detection area and the second detection area are adjacently spliced, there are overlapping areas (area A in the figure) and blind areas (area B in the figure), wherein the detection resolution of the overlapping area is higher; the size of the overlapping area and the blind area is related to the layout of the first laser transceiver component and the second laser transceiver component, as well as the size of the first detection area and the second detection area. The above-mentioned structure in which the first laser transceiver component and the second laser transceiver component are arranged back to back makes the rear end space of the laser radar system relatively compact, facilitates the volume optimization design of the laser radar system, and reduces the volume of the laser radar system, thereby reducing the manufacturing cost of the laser radar system. The second layout method is: as Figure 5 In the structural diagram of the laser radar system shown in the figure, the first detection area and the second detection area are arranged relative to each other, that is, the first laser transceiver component and the second laser transceiver component in the laser radar system are respectively arranged relative to each other on different side planes of the laser radar system (03 plane and 04 plane in the figure). At this time, the detection area of the laser radar system is the detection area formed by splicing the first detection area and the second detection area. For example, in an application such as Figure 5 When the laser radar system shown in the figure detects Figure 5AAs shown, taking the XY horizontal plane as an example, the horizontal angle range of the first detection area of the first laser transceiver assembly in this lidar system is 95° and faces the +xy direction; the horizontal angle range of the second detection area of the second transceiver assembly is 95° and faces the -xy direction. The first and second detection areas are partially interleaved, resulting in a horizontal angle range of 180° for the lidar system. It should be noted that when the first and second detection fields of view are interleaved, there is a certain overlap (area A in the figure). The detection resolution in this overlapping area is higher; the size of this area is related to the layout of the first and second laser transceiver assemblies and the size of the first and second detection areas. This relative arrangement of the first and second laser transceiver assemblies provides ample space in the back end of the lidar system, preventing mutual influence and interference between the various components contained in the first and second laser transceiver assemblies.

[0072] Further explanation, from the above Figure 2D and Figure 2E It can be seen from the embodiments that the laser emitting device and the laser receiving device in each laser transceiver assembly can have a variety of layout methods, specifically they can be arranged in the horizontal direction or the vertical direction. Next, the layout method is explained in which the laser radar system includes two laser transceiver assemblies, and these two laser transceiver assemblies are arranged horizontally, and the laser emitting device and the laser receiving device of each laser transceiver assembly are arranged horizontally.

[0073] The first application scenario:

[0074] like Figure 6 As shown, in this lidar system, the first laser emitting device and the first laser receiving device in the first laser transceiver assembly are arranged horizontally side by side, while the second laser emitting device and the second laser receiving device in the second laser transceiver assembly are also arranged horizontally side by side. In this case, the emission direction of the first laser emitting device is aligned with the optical axis direction of the first laser receiving device; the emission direction of the second laser emitting device is aligned with the optical axis direction of the second laser receiving device.

[0075] This embodiment involves the case where the first laser transceiver assembly and the second laser transceiver assembly only include one laser emitting device and one corresponding laser receiving device. In this case, the outgoing laser of the first laser emitting device is projected to the first detection area, and the first laser receiving device receives the reflected laser that is reflected from the object in the first detection area. At the same time, the outgoing laser of the second laser emitting device is projected to the second detection area, and the second laser receiving device receives the reflected laser that is reflected from the object in the second detection area. The detection area of the laser radar system is the detection area after the first detection area and the second detection area are spliced together. It should be noted that, Figure 6 The first detection area and the second detection area in FIG. 3 only show a case of intersection and splicing. In actual applications, there are also cases such as adjacent splicing, non-adjacent and non-intersecting splicing. In addition, Figure 6 The figure mainly illustrates the relationship between the emission direction of each laser transceiver assembly and the optical axis direction, and does not mean that the actual detection area of each laser transceiver assembly is the size shown in the figure. Optionally, in the above layout, the first laser transceiver assembly and the second laser transceiver assembly can also include multiple laser emitting devices and a corresponding laser receiving device, such as Figure 6A As shown, the #1 laser emitting device and the #2 laser emitting device correspond to the #1 laser receiving device at the same time, and the emission directions of the #1 laser emitting device and the #2 laser emitting device are the same as the optical axis direction of the #1 laser receiving device. In addition, the #1 laser emitting device and the #2 laser emitting device emit outgoing laser light into the corresponding detection areas (the #1 detection area and the #2 detection area), and the #1 receiving lens receives the reflected laser light from the objects in the #1 detection area and the #2 detection area. Correspondingly, the #3 laser emitting device and the #4 laser emitting device correspond to the #2 laser receiving device at the same time, and the emission directions of the #3 laser emitting device and the #4 laser emitting device are the same as the optical axis direction of the #2 laser receiving device. In addition, the #3 laser emitting device and the #4 laser emitting device emit outgoing laser light into the corresponding detection areas (the #3 detection area and the #4 detection area), and the #2 receiving lens receives the reflected laser light from the objects in the #3 detection area and the #4 detection area.

[0076] Optionally, in the above-mentioned horizontal arrangement application scenario, the present application also provides a laser radar system, the laser radar system, such as Figure 6B As shown, the laser radar system includes a first laser transceiver assembly and a second laser transceiver assembly. The first laser transceiver assembly includes multiple first laser emitting devices and a corresponding first laser receiving device, and the second laser transceiver assembly includes multiple second laser emitting devices and a corresponding second laser receiving device. The multiple first laser emitting devices are arranged around the first laser receiving device, and the multiple second laser emitting devices are arranged around the second laser receiving device. In this structure, the first laser receiving device is used to receive the reflected laser light that is projected by the multiple first emitting devices onto objects in the corresponding detection areas and then reflected back. The optical axis direction of the first laser receiving device is the same as the emission direction of each first laser emitting device. The second laser receiving device is used to receive the reflected laser light that is projected by the multiple second emitting devices onto objects in the corresponding detection areas and then reflected back. The optical axis direction of the second laser receiving device is the same as the emission direction of each second laser emitting device.

[0077] The previous application scenario is described based on the example of the first detection field of view angle and the second detection field of view angle being set opposite to each other. The following description will be given using the example of the first detection field of view angle and the second detection field of view angle being set opposite to each other.

[0078] The second application scenario:

[0079] like Figure 7 As shown, the first laser emitting device and the first laser receiving device of the first laser transceiver assembly in the lidar system are arranged horizontally side by side, and the second laser emitting device and the second laser receiving device of the second laser transceiver assembly are also arranged horizontally side by side. In this case, the emission direction of the first laser emitting device is aligned with the optical axis direction of the first laser receiving device; the emission direction of the second laser emitting device is aligned with the optical axis direction of the second laser receiving device.

[0080] The detection principle of the laser radar system involved in this embodiment is similar to Figure 6 The detection principle of the laser radar system described in the embodiment is the same. For details, please refer to the aforementioned Figure 6 The contents of the embodiments will not be repeated here.

[0081] Optionally, in this layout, the first laser transceiver assembly and the second laser transceiver assembly may also include multiple laser emitting devices and a corresponding laser receiving device, such as Figure 7A As shown, the detection principle of the laser radar system involved in this embodiment is similar to Figure 6A The detection principle of the laser radar system described in the embodiment is the same. For details, please refer to the aforementioned Figure 6A The contents of the embodiments will not be repeated here.

[0082] Optionally, in the above-mentioned horizontal arrangement application scenario, the present application also provides a laser radar system, the laser radar system, such as Figure 7B As shown, this embodiment is Figure 6B The principles involved in the embodiments are the same. Please refer to the above description for specific details, which will not be repeated here.

[0083] The following embodiments are described using a layout in which a laser radar system includes two laser transceiver components, and the two laser transceiver components are arranged horizontally, and the laser emitting device and laser receiving device of each laser transceiver component are arranged vertically.

[0084] The third application scenario:

[0085] like Figure 8As shown, the first laser emitting device and the first laser receiving device of the first laser transceiver assembly in the lidar system are arranged vertically, while the second laser emitting device and the second laser receiving device of the second laser transceiver assembly are also arranged vertically. In this case, the emission direction of the first laser emitting device is aligned with the optical axis direction of the first laser receiving device; the emission direction of the second laser emitting device is aligned with the optical axis direction of the second laser receiving device.

[0086] This embodiment relates to the case where the first laser transceiver assembly and the second laser transceiver assembly include only one laser emitting device and one corresponding laser receiving device. In this case, the outgoing laser of the first laser emitting device is projected to the first detection area, and the first laser receiving device receives the reflected laser that is reflected from the object in the first detection area. At the same time, the outgoing laser of the second laser emitting device is projected to the second detection area, and the second laser receiving device receives the laser that is reflected from the object in the second detection area. The detection area of the laser radar system is the detection area after the first detection area and the second detection area are spliced together. Optionally, under the above layout, the first laser transceiver assembly and the second laser transceiver assembly may also include multiple laser emitting devices and a corresponding laser receiving device, such as Figure 8A As shown, the #1 laser emitting device and the #2 laser emitting device correspond to the #1 laser receiving device at the same time, and the emission directions of the #1 laser emitting device and the #2 laser emitting device are the same as the optical axis direction of the #1 laser receiving device. In addition, the #1 laser emitting device and the #2 laser emitting device emit outgoing laser light into the corresponding detection areas (the #1 detection area and the #2 detection area), and the #1 laser receiving device receives the reflected laser light from the objects in the #1 detection area and the #2 detection area. Correspondingly, the #3 laser emitting device and the #4 laser emitting device correspond to the #2 laser receiving device at the same time, and the emission directions of the #3 laser emitting device and the #4 laser emitting device are the same as the optical axis direction of the #2 laser receiving device. In addition, the #3 laser emitting device and the #4 laser emitting device emit outgoing laser light into the corresponding detection areas (the #3 detection area and the #4 detection area), and the #2 laser receiving device receives the reflected laser light from the objects in the #3 detection area and the #4 detection area.

[0087] The previous application scenario is described based on the example of the first detection field of view angle and the second detection field of view angle being set opposite to each other. The following description will be given using the example of the first detection field of view angle and the second detection field of view angle being set opposite to each other.

[0088] The fourth application scenario:

[0089] like Figure 9As shown, the first laser emitting device and the first laser receiving device of the first laser transceiver assembly in the lidar system are arranged vertically, while the second laser emitting device and the second laser receiving device of the second laser transceiver assembly are also arranged vertically. In this case, the emission direction of the first laser emitting device is aligned with the optical axis direction of the first laser receiving device; the emission direction of the second laser emitting device is aligned with the optical axis direction of the second laser receiving device.

[0090] The detection principle of the laser radar system involved in this embodiment is similar to Figure 8 The detection principle of the laser radar system described in the embodiment is the same. For details, please refer to the aforementioned Figure 8 The contents of the embodiments will not be repeated here.

[0091] Optionally, in this layout, the first laser transceiver assembly and the second laser transceiver assembly may also include multiple laser emitting devices and a corresponding laser receiving device, such as Figure 9A As shown, the detection principle of the laser radar system involved in this embodiment is similar to Figure 8A The detection principle of the laser radar system described in the embodiment is the same. For details, please refer to the aforementioned Figure 8A The contents of the embodiments will not be repeated here.

[0092] Further explanation, from the above Figure 2F As can be seen from the embodiment, the laser emitting devices and the laser receiving devices in each laser transceiver assembly can be arranged in a staggered manner, and the first detection area and the second detection area are arranged opposite to each other.

[0093] The fifth application scenario:

[0094] like Figure 10 As shown, the first laser emitting device of the first laser transceiver assembly and the second laser receiving device of the second laser transceiver assembly are arranged in a vertical direction, and the second laser emitting device of the second laser transceiver assembly and the first laser receiving device of the first laser transceiver assembly are also arranged in a vertical direction. The emission direction of the first laser emitting device is the same as the optical axis direction of the first laser receiving device; the emission direction of the second laser emitting device is the same as the optical axis direction of the second laser receiving device.

[0095] This embodiment relates to the situation where the first laser transceiver assembly and the second laser transceiver assembly include a laser emitting device and a laser receiving device arranged alternately. In this case, Figure 10As shown, the first laser emitting device and the second laser emitting device are arranged on the 01 plane and the 02 plane respectively, and the outgoing laser of the first laser emitting device is projected to the first detection area, and the outgoing laser of the second laser emitting device is projected to the second detection area; the first laser receiving device and the second laser receiving device are relatively arranged on the 03 plane and the 04 plane; the first laser receiving device receives the laser beam reflected from the object in the first detection area, and the second laser receiving device receives the laser beam returned after reflection from the object in the second detection area.

[0096] It should be noted that the above Figures 6-10 The detection area involved in the figure is shown as an elliptical area. This is only a schematic illustration, indicating that the detection area has a certain angle range, size, and direction, and is not limited to the shape and size of an ellipse. It can be an area of any shape and size, and this embodiment does not impose any restrictions on this.

[0097] Alternatively, in real-world applications, objects in the sky detection subregion may have relatively high reflectivity, while objects in the ground detection subregion may be more likely to be sand, bricks, gray speed bumps, stone curbs, and other objects with generally low reflectivity. The central detection subregion represents the ultimate performance of the lidar system.

[0098] In one embodiment, combined Figure 1 Application scenarios, such as Figure 12 As shown, the present application also provides a vehicle, wherein the laser radar system described in any of the above embodiments is installed at the front end and / or rear end of the vehicle, and the distance between the laser radar system and the ground reaches a preset height.

[0099] The laser radar system in this embodiment can be installed at any position on the vehicle, but in order to better detect the road conditions around the vehicle body, the laser radar system is usually installed at the front, rear or side of the vehicle. Specifically, when installing the laser radar system on the vehicle, the laser radar system is installed at a position with a certain preset height from the ground, and the preset height has a corresponding relationship with the height of the vehicle. The corresponding relationship can be obtained based on the experience of the technicians. For example, the height of a car is usually in the range of 1.4-1.6 meters, and the corresponding installation height of the laser radar system is about 1.5 meters, which can achieve detection of a reasonable field of view angle around the vehicle. The height of a truck is usually in the range of 1.6-2.7 meters, and the corresponding installation height of the laser radar system is about 2.1. The above-mentioned corresponding relationships are only for illustration and do not represent the actual design parameters. Therefore, the method of obtaining the installation height of the laser radar system according to the vehicle height is within the scope of protection of this application.

[0100] On the basis of all the above embodiments, the present application also provides a control method for a laser radar system, which is applied to the laser radar system described in any of the above embodiments. The laser radar system includes at least two laser transceiver components, and the detection areas corresponding to the at least two laser transceiver components are spliced; each of the detection areas is divided into at least two detection sub-areas along the vertical direction, and each of the detection sub-areas is aligned with a different angular range of the detection area along the vertical direction; each laser transceiver component includes a correspondingly set laser emitting device and laser receiving device, such as Figure 13 As shown, the method includes:

[0101] S101 , controlling a laser emitting device to emit a laser in a preset direction to a corresponding detection area.

[0102] S102, control the laser receiving device to receive the reflected laser light returned by the object in the corresponding detection area after the outgoing laser light is reflected. The control method of the laser radar system described in the above steps S101-S102 corresponds to the above Figure 2 For detailed explanation of the laser radar system described in the embodiment, please refer to Figure 2 The description of the embodiments will not be repeated here.

[0103] It should be understood that although Figure 13 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 13 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential.

[0104] The method of the laser radar system provided in this application can be applied to Figure 14 The computer device shown in FIG. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 14As shown. The computer device includes a processor, memory, network interface, display screen and input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a control method for a laser radar system is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0105] Those skilled in the art will understand that Figure 14 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0106] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0107] Control the laser emitting device to emit laser light in a preset direction to the corresponding detection area;

[0108] The laser receiving device is controlled to receive the reflected laser light returned after the outgoing laser light is reflected by an object in the corresponding detection area.

[0109] The computer device provided in the above embodiment has an implementation principle and technical effects similar to those of the above method embodiment, and will not be described in detail here.

[0110] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are further implemented:

[0111] Control the laser emitting device to emit laser light in a preset direction to the corresponding detection area;

[0112] The laser receiving device is controlled to receive the reflected laser light returned after the outgoing laser light is reflected by an object in the corresponding detection area.

[0113] The above embodiment provides a computer-readable storage medium, whose implementation principle and technical effects are similar to those of the above method embodiment, and will not be repeated here.

[0114] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0115] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A laser radar system, characterized in that: The laser radar system includes: at least two laser transceiver components; respectively, a first laser transceiver component and a second laser transceiver component; a first detection area corresponding to the first laser transceiver component and a second detection area corresponding to the second laser transceiver component face different directions; the first detection area and the second detection area are arranged relative to each other; the first laser transceiver component is arranged on a first plane, and the second laser transceiver component is arranged on a second plane, and the angle between the first plane and the second plane is less than 180 degrees; the detection areas corresponding to at least two laser transceiver components are spliced; each of the detection areas is divided into at least two detection sub-areas along the vertical direction, and each detection sub-area is aligned with a different angular range of the detection area along the vertical direction; each laser transceiver component includes a correspondingly arranged laser emitting device and laser receiving device; The laser emitting device is used to directly emit an outgoing laser in a preset direction to the corresponding at least two detection sub-areas, and the energy density of the outgoing laser emitted by the laser emitting device corresponding to at least one of the detection sub-areas is different from the energy density of the outgoing laser emitted by the laser emitting device corresponding to the other detection sub-areas; The laser receiving device is used to directly receive the reflected laser light returned by an object in the corresponding detection area after reflecting the emitted laser light.

2. The laser radar system according to claim 1, characterized in that At least two of the laser transceiver assemblies are arranged in parallel in the horizontal direction, and the detection areas corresponding to the at least two laser transceiver assemblies are spliced in the horizontal direction.

3. The laser radar system according to claim 1, wherein: The laser emitting device and the laser receiving device of the laser transceiver assembly are arranged in a horizontal direction or a vertical direction.

4. The laser radar system according to any one of claims 1 to 3, characterized in that: The first detection area corresponding to the first laser transceiver assembly and the second detection area corresponding to the second laser transceiver assembly face different directions, and the first detection area and the second detection area are spliced in the horizontal direction.

5. The laser radar system according to any one of claims 1 to 3, characterized in that: The first laser emitting device and the first laser receiving device of the first laser transceiver assembly are arranged side by side in the horizontal direction, and the emission direction of the first laser emitting device is the same as the optical axis direction of the first laser receiving device; the second laser emitting device and the second laser receiving device of the second laser transceiver assembly are arranged side by side in the horizontal direction, and the emission direction of the second laser emitting device is the same as the optical axis direction of the second laser receiving device.

6. The laser radar system according to claim 5, characterized in that The first laser emitting device is arranged around the first laser receiving device, and the second laser emitting device is arranged around the second laser receiving device.

7. The laser radar system according to claim 1, characterized in that The detection distance of each detection sub-area is different.

8. A control method for a laser radar system, applied to the laser radar system, characterized in that: The laser radar system includes at least two laser transceiver components, namely a first laser transceiver component and a second laser transceiver component; a first detection area corresponding to the first laser transceiver component and a second detection area corresponding to the second laser transceiver component face different directions; the first detection area and the second detection area are arranged relative to each other; the first laser transceiver component is arranged on a first plane, and the second laser transceiver component is arranged on a second plane, and the angle between the first plane and the second plane is less than 180 degrees; each of the detection areas is divided into at least two detection sub-areas along the vertical direction, and each of the detection sub-areas is aligned with a different angular range of the detection area along the vertical direction; each of the laser transceiver components includes a correspondingly arranged laser emitting device and laser receiving device, and the method includes: Controlling the laser emitting device to directly emit outgoing laser light in a preset direction to the corresponding at least two detection sub-areas, wherein the energy density of the outgoing laser light emitted by the laser emitting device corresponding to at least one of the detection sub-areas is different from the energy density of the outgoing laser light emitted by the laser emitting device corresponding to the other detection sub-areas; The laser receiving device is controlled to directly receive the reflected laser light returned after the outgoing laser light is reflected by an object in the corresponding detection area.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to claim 8 are implemented.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 8 are implemented.

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