A laser radar synchronization control device and method

Abstract

The present application relates to a synchronous control device and method for a laser radar, which can be applied to the fields of autonomous driving, intelligent driving, and unmanned driving. The device includes: a synchronous signal transceiver module, a scanning signal transceiver module, a controller, and a scanning mirror, wherein the scanning mirror includes multiple reflective surfaces, the multiple reflective surfaces include corresponding identifiers, and the multiple reflective surfaces include a first reflective surface; the controller is used to control the synchronous signal transceiver module to transmit a first detection signal; the synchronous signal transceiver module is used to receive a first echo signal; the controller is used to determine that the first echo signal includes an echo signal reflected by the first detection signal through the first identifier corresponding to the first reflective surface, and controls the scanning signal transceiver module to transmit a second detection signal to the first reflective surface in a first manner, and the first identifier corresponds to the first manner. The present application can realize the synchronization of the scanning space between multiple frames of point clouds and the generation method of the first reflective surface and its corresponding point cloud, with low cost and increased flexibility of laser radar control.

Description

Technical Field

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

[0002] LiDAR (light detection and ranging) technology is an optical measurement technology that uses a laser source to send a detection signal to the target. It can measure the distance of the target from the light source and other information by measuring the time difference between the detection signal and the received echo signal (also known as the time of flight (TOF) of light), and generate a point cloud. Point clouds are widely used in 3D modeling, autonomous driving, advanced driver assistance, surveying and mapping, archeology, geography, landforms, earthquakes, forestry, remote sensing, and atmospheric physics. LiDAR can be divided into mechanical pan-tilt scanning, scanning mirror, optical phased array, flash, etc. according to the scanning method of the scanner.

[0003] Among them, the scanning mirror is one of the current mainstream architectures of LiDAR. The implementation methods of the scanning mirror may include a swing mirror, a rotating mirror, a polygon, etc. Among them, the polygon has the characteristics of a high point cloud frame rate compared to other implementation methods. One reflective surface of the polygon usually corresponds to the generation of one frame of point cloud. The polygon rotates 360 degrees clockwise or counterclockwise to achieve multi-frame point cloud output, which can improve the resolution of object detection, especially for moving objects, and can quickly detect changes in objects. However, while improving the frame rate, it also brings higher requirements for the synchronization of the generation of point clouds by the reflective surface. In the existing synchronization control method, generally only the scanning space synchronization between two adjacent frames of point clouds or multiple frames of point clouds can be achieved, and the cost is relatively high; and it is impossible to achieve synchronous control of the generation method of the reflective surface and its corresponding point cloud. Summary of the invention

[0004] In view of this, a laser radar synchronization control device, method, laser radar, terminal and readable storage medium are proposed.

[0005] In the first aspect, an embodiment of the present application provides a synchronization control device for a laser radar, comprising: a synchronization signal transceiver module, a scanning signal transceiver module, a controller, and a scanning mirror; the scanning mirror comprises a plurality of reflection surfaces, the plurality of reflection surfaces comprise corresponding identifiers, and the plurality of reflection surfaces comprise a first reflection surface; the controller is used to control the synchronization signal transceiver module to transmit a first detection signal; the synchronization signal transceiver module is used to receive a first echo signal; the controller is used to determine that the first echo signal comprises an echo signal reflected by the first detection signal via a first identifier corresponding to the first reflection surface, and control the scanning signal transceiver module to transmit a second detection signal to the first reflection surface in a first manner, wherein the first identifier corresponds to the first manner.

[0006] Based on the above technical solution, the multiple reflective surfaces of the scanning mirror include corresponding identifiers, and the synchronization signal transceiver module transmits a first detection signal and receives a first echo signal; when the controller determines that the first echo signal includes an echo signal reflected by the first detection signal via the first identifier corresponding to the first reflective surface, the controller controls the scanning signal transceiver module to transmit a second detection signal to the first reflective surface, thereby completing a spatial scan using the first reflective surface, and generating a frame of point cloud corresponding to the first reflective surface; the multiple reflective surfaces of the scanning mirror all include corresponding identifiers, and the controller can control the scanning signal transceiver module to transmit the second detection signal to each reflective surface when determining the echo signal reflected by the corresponding identifier of each reflective surface, thereby completing a spatial scan using each reflective surface. A spatial scan of the reflecting surface can be performed, and a frame of point cloud corresponding to each reflecting surface can be generated, thereby realizing the scanning spatial synchronization of two adjacent frames or multiple frames, without the need to use hardware such as angle encoders. At the same time, the method of transmitting the second detection signal (i.e., the first method) corresponds to the first identifier, that is, it can correspond to the first reflecting surface, so that the scanning signal transceiver module can transmit the second detection signal to the first reflecting surface in a manner corresponding to the first reflecting surface, thereby realizing the synchronous control of the generation method of the first reflecting surface and its corresponding point cloud, that is, for a frame of point cloud, the corresponding generation method can be determined, which increases the flexibility of laser radar control and reduces the consistency requirements on the first reflecting surface and other reflecting surfaces, with lower cost and higher reliability.

[0007] According to the first aspect, in a first possible implementation manner of the first aspect, different reflective surfaces have different identifiers.

[0008] Based on the above technical solution, different reflective surfaces are distinguished by different markers. When the controller determines that the first echo signal includes an echo signal reflected by a marker of the first detection signal, the reflective surface where the marker is located can be accurately located by the marker. While achieving the scanning space synchronization of two or more adjacent frames, the point cloud generation method corresponding to each reflective surface can be individually controlled to achieve differentiated control, that is, to achieve differentiated synchronous control of point clouds in different frames, thereby further improving the flexibility of synchronous control; at the same time, it reduces the consistency requirements for the various reflective surfaces of the scanning mirror and reduces the cost.

[0009] According to the first aspect or the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the first feature set of the first echo signal matches a preset feature set; wherein, there is a corresponding relationship between the preset feature set and the first identifier.

[0010] Based on the above technical solution, the identifier of the reflected first echo signal can be identified according to the first feature set of the first echo signal, so as to determine the corresponding reflection surface.

[0011] According to the first aspect or various possible implementations of the above-mentioned first aspect, in a third possible implementation of the first aspect, the first identifier is the starting identifier of the first reflecting surface, and the emission time of the second detection signal is the starting time of the frame data corresponding to the first reflecting surface.

[0012] Based on the above technical solution, the controller can control the operation of the scanning signal transceiver module at the starting moment of the point cloud corresponding to the first reflective surface according to the moment of identifying the first identifier, that is, transmit the second detection signal to the first reflective surface in the first manner corresponding to the first identifier, perform spatial scanning, and obtain a frame of complete point cloud corresponding to the first reflective surface. This ensures the reliability of spatial scanning using the first reflective surface while identifying the first identifier, and realizes the scanning spatial synchronization of two or more adjacent frames at a relatively low cost.

[0013] According to the first aspect or various possible implementations of the above-mentioned first aspect, in a fourth possible implementation of the first aspect, the first reflecting surface is also provided with a second marker; the controller is also used to control the rotation of the scanning mirror according to an echo signal of the first detection signal reflected by the first marker, an echo signal of the first detection signal reflected by the second marker, and preset rotation information.

[0014] Based on the above technical solution, the rotation information of the scanning mirror can be corrected by the first mark and the second mark on the first reflection surface, so as to realize the precise synchronous control of the rotation of the scanning mirror during the spatial scanning process.

[0015] According to the first aspect or various possible implementations of the first aspect, in a fifth possible implementation of the first aspect, the first mark is disposed at an edge position of the first reflective surface.

[0016] Based on the above technical solution, by identifying the echo signal reflected by the first marker, it can be timely and accurately determined that the reflecting surface rotates to the first reflecting surface, thereby reducing or avoiding the influence of the marker on the spatial scanning.

[0017] According to the first aspect or various possible implementations of the first aspect, in a sixth possible implementation of the first aspect, the first detection signal and the second detection signal have different wavelength ranges.

[0018] Based on the above technical solution, mutual interference between the first detection signal and the second detection signal can be avoided, thereby ensuring the scanning spatial synchronization of two adjacent frames or multiple frames and the reliability and accuracy of spatial scanning using the reflective surface.

[0019] According to any one of the second to sixth possible implementation methods of the first aspect, in the seventh possible implementation method of the first aspect, the first feature set includes: any one or more of the waveform characteristics of the first echo signal, the pattern characteristics corresponding to the first echo signal, and the time characteristics corresponding to the first echo signal.

[0020] Based on the above technical solution, the corresponding identifier can be identified according to the differences in waveform characteristics, pattern characteristics, time characteristics, etc. of the echo signal after the first detection signal is reflected by different identifiers.

[0021] According to the first aspect or various possible implementations of the above-mentioned first aspect, in an eighth possible implementation of the first aspect, the first mark is set by coating, etching, pasting, changing the material, and changing the shape of the first reflective surface in any one or more ways.

[0022] Based on the above technical solution, the reflective surface is simply processed through the above-mentioned multiple methods and a mark is set, so as to distinguish the mark from the reflective surface where the mark is located; different reflective surfaces can also be processed differently through the above-mentioned multiple methods, so as to set different marks on different reflective surfaces, and the processing cost is low.

[0023] In the second aspect, an embodiment of the present application provides a synchronization control method for a laser radar, the method comprising: controlling a synchronization signal transceiver module of the laser radar to transmit a first detection signal; determining that a first echo signal received by the synchronization signal transceiver module includes an echo signal reflected by a first marker corresponding to a first reflection surface of a scanning mirror included in the laser radar, and controlling a scanning signal transceiver module to transmit a second detection signal to the first reflection surface in a first manner, wherein the first marker corresponds to the first manner.

[0024] According to the second aspect, in a first possible implementation manner of the second aspect, different reflective surfaces of a scanning mirror included in the laser radar have different identifications.

[0025] According to the second aspect or the first possible implementation of the second aspect, in the second possible implementation of the second aspect, the first feature set of the first echo signal matches a preset feature set; wherein, there is a corresponding relationship between the preset feature set and the first identifier.

[0026] According to the second aspect or various possible implementations of the above-mentioned second aspect, in a third possible implementation of the second aspect, the first identifier is the starting identifier of the first reflecting surface, and the emission time of the second detection signal is the starting time of the frame data corresponding to the first reflecting surface.

[0027] According to the second aspect or various possible implementations of the above-mentioned second aspect, in a fourth possible implementation of the second aspect, the first reflecting surface is also provided with a second marker; the method also includes: controlling the rotation of the scanning mirror according to an echo signal of the first detection signal reflected by the first marker, an echo signal of the first detection signal reflected by the second marker, and preset rotation information.

[0028] According to the second aspect or various possible implementations of the second aspect, in a fifth possible implementation of the second aspect, the first mark is disposed at an edge position of the first reflective surface.

[0029] According to the second aspect or various possible implementations of the second aspect, in a sixth possible implementation of the second aspect, the first detection signal and the second detection signal have different wavelength ranges.

[0030] According to any one of the second to sixth possible implementations of the second aspect, in the seventh possible implementation of the second aspect, the first feature set includes: any one or more of the waveform features of the first echo signal, the pattern features corresponding to the first echo signal, and the time features corresponding to the first echo signal.

[0031] According to the second aspect or various possible implementations of the above-mentioned second aspect, in an eighth possible implementation of the second aspect, the first mark is set by coating, etching, pasting, changing the material and changing the shape of the first reflective surface.

[0032] In a third aspect, an embodiment of the present application provides a laser radar, which includes a laser radar synchronization control device of the above-mentioned first aspect or one or more of the multiple possible implementations of the first aspect.

[0033] In a fourth aspect, an embodiment of the present application provides a terminal, which includes a synchronization control device for a laser radar according to the above-mentioned first aspect or one or more of the multiple possible implementations of the first aspect.

[0034] In the fifth aspect, an embodiment of the present application provides a synchronization control device for a laser radar, comprising: at least one processor; a memory for storing processor executable instructions; wherein the at least one processor is configured to implement the above-mentioned second aspect or one or more of the multiple possible implementation methods of the second aspect when executing the instructions.

[0035] In the sixth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that when the computer program instructions are executed by a processor, a synchronous control method for a laser radar of the second aspect or one or more of the multiple possible implementation methods of the second aspect is implemented.

[0036] In the seventh aspect, an embodiment of the present application provides a computer program product, including a computer-readable code, or a non-volatile computer-readable storage medium carrying a computer-readable code. When the computer-readable code is run in an electronic device, the processor in the electronic device executes the above-mentioned second aspect or one or more of the multiple possible implementation methods of the second aspect.

[0037] For the technical effects of each aspect from the second to the seventh aspect, and various possible implementation methods of each aspect, refer to the first aspect.

[0038] These and other aspects of the present application will become more apparent from the following description of the embodiment(s). BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the present application and, together with the description, serve to explain the principles of the present application.

[0040] Figure 1 A schematic diagram showing the structure of a laser radar using a polygonal mirror scanning method in the related art.

[0041] Figure 2 Show the use Figure 1 Schematic diagram of the laser radar generating point clouds in adjacent frames.

[0042] Figure 3 A schematic diagram of a laser radar synchronization control method in the related art is shown.

[0043] Figure 4 A schematic diagram showing another laser radar synchronization control method in the related art.

[0044] Figure 5 A schematic diagram showing a possible application scenario to which a synchronous control device for a laser radar according to an embodiment of the present application is applicable.

[0045] Figure 6 A structural diagram of a synchronous control device of a laser radar according to an embodiment of the present application is shown.

[0046] Figure 7 A schematic structural diagram of another laser radar synchronization control device according to an embodiment of the present application is shown.

[0047] Figure 8 A schematic structural diagram of another laser radar synchronization control device according to an embodiment of the present application is shown.

[0048] Fig. 9 A schematic diagram of a first reflective surface according to an embodiment of the present application is shown.

[0049] Fig.10 A schematic diagram of a scanning mirror according to an embodiment of the present application is shown.

[0050] Fig.11 According to an embodiment of the present application, Fig.10 Schematic diagram of the synchronous control of the scanning mirror.

[0051] Fig.12 A flow chart of a laser radar synchronization control method according to an embodiment of the present application is shown.

[0052] Fig.13 A schematic structural diagram of another laser radar synchronization control device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0053] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0054] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0055] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0056] Figure 1 A schematic diagram showing the structure of a laser radar using a multi-mirror scanning method in the related art is shown as follows: Figure 1 As shown, the laser radar may include: a laser emitting module, a laser receiving module, a polygonal mirror (a four-sided mirror is taken as an example in the figure) and a controller; the controller controls the detection signal emitted by the laser emitting module to be reflected by the polygonal mirror to reach the space object, and the echo signal is formed after being reflected by the space object. The echo signal reaches the laser receiving module after being reflected by the polygonal mirror. As the polygonal mirror rotates, the directions of the detection signal and the echo signal are changed. The angular range of the two is the detection angle of view (field of view, FOV) of the laser radar; the laser receiving module sends the received echo signal to the controller, and the controller processes the echo signal and the detection signal. The polygonal mirror rotates one circle to generate multiple frames of point clouds, wherein one frame of point cloud refers to a group of detection signals and corresponding echo signals reflected by a reflecting surface, and the generated data, exemplarily, a group of detection signals may include a detection signal that is continuous in the time domain, or may include multiple detection signals that are continuous in the time domain, wherein each segment of the detection signal may be continuous with each other in the time domain, or may have a certain interval.

[0057] The following is a summary of the related art for the above Figure 1 The synchronous control method of the lidar is introduced in this paper.

[0058] Figure 2 Show the use Figure 1 Schematic diagram of laser radar generating adjacent frame point clouds; Figure 2As shown in the figure, the polygonal mirror of the laser radar includes four reflecting surfaces, namely, reflecting surface A, reflecting surface B, reflecting surface C, and reflecting surface D (not shown in the figure); as the polygonal mirror rotates, whenever the polygonal mirror rotates to a position where a reflecting surface can receive the detection signal emitted by the laser emitting module, the laser emitting module can emit a group of detection signals in a specific direction, and the group of detection signals can reach the external environment after being reflected by the reflecting surface, and a group of echo signals reflected by the external environment can be returned through the original optical path, and the laser receiving module can receive the group of echo signals, thereby completing a spatial scan using the reflecting surface, and can generate a frame of point cloud through the group of detection signals and the group of echo signals. In this way, the polygonal mirror can complete four spatial scans and generate four frames of point clouds correspondingly when it rotates one circle; as shown in the figure Figure 2 As shown in (a), when the polygon mirror rotates to a position where the reflection surface A can receive the detection signal emitted by the laser emission module, a group of detection signals are sent to the reflection surface A to complete a spatial scan using the reflection surface A. The group of detection signals reflected by the reflection surface A and the corresponding group of echo signals are used to generate the Mth frame point cloud (M is an integer greater than 0); Figure 2 As shown in (b), when the polygon mirror rotates to a position where the reflection surface B can receive the detection signal emitted by the laser emission module, a group of detection signals are sent to the reflection surface B to complete a spatial scan using the reflection surface B. The group of detection signals reflected by the reflection surface B and the corresponding group of echo signals are used to generate the M+1th frame point cloud. The above-mentioned "specific direction" can be a fixed direction or a direction within a certain direction range, which is related to the position of the reflection surface.

[0059] Figure 3 A schematic diagram of a laser radar synchronization control method in the related art is shown. Figure 3 As shown in the above Figure 2 An angle encoder is provided below the polygonal mirror of the laser radar shown in the figure, and synchronous control of the polygonal mirror is realized through the angle encoder: that is, a 360-degree angle encoder is used to measure and feedback the angle of rotation of the polygonal mirror, and the starting rotation angle point of a certain frame is set as the starting 0-degree angle of the angle encoder. The polygonal mirror rotates clockwise or counterclockwise from 0 degrees, and the angle encoder will periodically measure the angle that the current polygonal mirror has rotated from the starting 0-degree angle. The angle that the polygonal mirror has rotated can be obtained from the current angle value of the angle encoder, such as Figure 3As shown in the figure, the polygon mirror rotates 360 degrees to generate four frames of point cloud. Each frame of point cloud and the starting angle of the reflection surface corresponding to the frame (or the angle corresponding to the junction of the reflection surface corresponding to the frame and the reflection surface corresponding to the previous frame) are separated by Bi angles (i represents the frame number, 1≤i≤4, Bi<90). Assume that the starting rotation angle point of the frame corresponding to reflection surface A is the starting 0+B1 degree angle of the angle encoder, and the starting rotation angle point of the frame corresponding to reflection surface B is the starting 90+B2 degree angle of the angle encoder. By analogy, the angle corresponding to the starting moment of the emission of the detection signal corresponding to each frame of point cloud can be determined. The laser emission module emits the detection signal at the starting moment, thereby realizing the scanning space synchronization between the generated two adjacent frames of point cloud or multiple frames of point cloud, that is, Figure 2 (a) The point cloud of the Mth frame and Figure 2 The point cloud of the M+1th frame in (b) is generated by spatial scanning using a corresponding reflection surface (i.e., reflection surface A and reflection surface B).

[0060] In this method, only the scanning space synchronization between two adjacent frames of point clouds or multiple frames of point clouds can be achieved, and the synchronous control of the generation method of the reflective surface and its corresponding point cloud cannot be achieved. At the same time, the angle encoder is relatively expensive, and optical encoders or more advanced encoders may be required in application scenarios that require high precision. In some application scenarios, such as vehicle-mounted scenarios, the reliability is not high.

[0061] Figure 4 A schematic diagram of another laser radar synchronization control method in the related art is shown. Figure 4 As shown in the above Figure 2 The laser radar in the embodiment is also provided with a synchronous transmitting module, a synchronous receiving module and a reflector (not shown in the figure). The reflector is arranged at a specific position. When the polygon mirror rotates to a specific angle (i.e., the angle corresponding to the joint of each reflecting surface), the synchronous detection signal reflected by the synchronous transmitting module reaches the synchronous receiving module through the reflection of the polygon mirror and the reflector; when the polygon mirror rotates to other angles, the synchronous detection signal cannot reach the synchronous receiving module; in this way, the synchronous transmitting module and the synchronous receiving module are used to monitor whether the polygon mirror rotates to the above-mentioned specific angle, so as to obtain the starting time of each scanning surface of the polygon mirror; the synchronous transmitting module starts to transmit the synchronous detection signal at the end of the previous frame. Only when the polygon mirror rotates to the above-mentioned specific angle, the detection signal emitted by the synchronous transmitting module can be reflected by the reflector and received by the synchronous receiving module. Through the echo signal of the synchronous receiving module, the starting time of the angle of each reflecting surface corresponding to the frame can be known, and the detection transmitting module (not shown in the figure) is notified to perform lighting according to the starting time, thereby realizing the scanning space synchronization between two adjacent frames of point clouds or multiple frames of point clouds scanned by the polygon mirror.

[0062] In this method, by detecting that the polygon mirror is rotated to a specific angle, only the scanning space synchronization between two adjacent frames of point clouds or multiple frames of point clouds can be achieved, and the synchronous control of the generation method of a reflecting surface and its corresponding point cloud cannot be achieved; at the same time, the consistency requirements for the multiple reflecting surfaces of the polygon mirror are high, the processing is difficult and the cost is high.

[0063] In order to solve the above-mentioned technical problems, an embodiment of the present application provides a synchronization control device for a laser radar, which can achieve scanning space synchronization between two adjacent frames of point clouds or multiple frames of point clouds in a lower cost and higher reliability manner; at the same time, it can achieve synchronization control of a generation method of a reflecting surface and its corresponding point cloud (a method of transmitting a detection signal for spatial scanning), that is, for a frame of point cloud, the corresponding generation method can be determined, which increases the flexibility of laser radar control and can reduce the consistency requirements for multiple reflecting surfaces of the polygonal mirror.

[0064] The laser radar synchronization control device provided in the embodiment of the present application can be applied to laser radar or terminal, etc. For example, the laser radar synchronization control device can be a vehicle with a laser radar synchronization control function, or other components with a laser radar synchronization control function. The laser radar synchronization control device includes but is not limited to: a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, a vehicle-mounted unit, a vehicle-mounted laser radar, etc.

[0065] Exemplarily, the laser radar synchronization control device may also be a terminal other than the vehicle with the laser radar synchronization control function, or be set in a terminal other than the vehicle with the laser radar synchronization control function, or be set in a component of the terminal. The terminal may be other terminal devices such as intelligent transportation equipment, smart home equipment, robots, drones, surveying and mapping equipment, augmented reality (AR) game equipment, virtual reality (VR) game equipment, medical equipment, etc. The laser radar synchronization control device includes but is not limited to a controller, chip, laser radar and other sensors in an intelligent terminal or an intelligent terminal, and other components.

[0066] Figure 5 A schematic diagram showing a possible application scenario of a synchronous control device for a laser radar according to an embodiment of the present application is shown. Figure 5As shown, the application scenario can be an automatic driving scenario, intelligent driving or unmanned driving, etc., and the scenario may include at least one self-vehicle 501, in which at least one laser radar 502 is installed, and at least one laser radar synchronization control device is installed in the laser radar 502. The laser radar synchronization control device is used to obtain information such as the distance between the object (such as the other vehicle 503, the obstacle 504, etc. in the figure) and the self-vehicle 501 when scanning the objects in the surrounding environment through the laser radar 502. For example, the laser radar 502 transmits a detection signal, and then processes the received echo signal reflected by the obstacle 504 with the detection signal, and then obtains relevant information of the obstacle 504, such as distance, direction, height, speed, posture, and even shape parameters, so that the obstacle 504 can be detected, tracked and identified.

[0067] It should be noted that Figure 5 Only one vehicle, one other vehicle, one laser radar and one obstacle are shown in the figure. It should be understood that this does not limit the number of vehicles, the number of laser radars and the number of obstacles in the application scenario. The application scenario may include more vehicles, more laser radars and more obstacles, etc., which are not shown here.

[0068] In addition, the application scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that the technical solutions provided in the embodiments of the present application are equally applicable to similar technical problems in response to the emergence of other similar or new application scenarios.

[0069] The following is a detailed description of the laser radar synchronization control device provided in this application.

[0070] Figure 6 A structural diagram of a synchronous control device of a laser radar according to an embodiment of the present application is shown as follows: Figure 6 As shown, the device may include: a synchronization signal transceiver module 601, a scanning signal transceiver module 602, a controller 603, and a scanning mirror 604.

[0071] The scanning mirror 604 includes a plurality of reflective surfaces, the plurality of reflective surfaces include corresponding marks, and the plurality of reflective surfaces include a first reflective surface 605;

[0072] The controller 603 is used to control the synchronization signal transceiver module 601 to transmit a first detection signal;

[0073] The synchronization signal transceiver module 601 is used to receive the first echo signal;

[0074] The controller 603 is used to determine that the first echo signal includes an echo signal reflected by the first detection signal via a first identifier 606 corresponding to the first reflection surface 605, and control the scanning signal transceiver module 602 to transmit a second detection signal to the first reflection surface 605 in a first manner, wherein the first identifier 606 corresponds to the first manner.

[0075] In the embodiment of the present application, the multiple reflective surfaces of the scanning mirror 604 include corresponding identifiers, and the synchronization signal transceiver module 601 transmits a first detection signal and receives a first echo signal; when the controller 603 determines that the first echo signal includes an echo signal reflected by the first detection signal via the first identifier 606 corresponding to the first reflective surface 605, the controller controls the scanning signal transceiver module 602 to transmit a second detection signal to the first reflective surface 605, thereby completing a spatial scan using the first reflective surface 605, and generating a frame of point cloud corresponding to the first reflective surface 605; the multiple reflective surfaces of the scanning mirror 604 all include corresponding identifiers, and the controller 603 can control the scanning signal transceiver module 602 to transmit the second detection signal to each reflective surface when determining the echo signal reflected by the corresponding identifier of each reflective surface. signal, thereby completing a spatial scan using each reflecting surface, and generating a frame of point cloud corresponding to each reflecting surface, thereby realizing spatial synchronization of scanning of two adjacent frames or multiple frames, without the need to use hardware such as angle encoders; at the same time, the method of transmitting the second detection signal (i.e., the first method) corresponds to the first identifier 606, i.e., corresponds to the first reflecting surface 605, so that the scanning signal transceiver module can transmit the second detection signal to the first reflecting surface 605 in a manner corresponding to the first reflecting surface 605, thereby realizing synchronous control of the first reflecting surface 605 and the generation method of its corresponding point cloud, i.e., for a frame of point cloud, the corresponding generation method can be determined, which increases the flexibility of laser radar control, reduces the consistency requirements for the first reflecting surface and other reflecting surfaces, and has lower costs and higher reliability.

[0076] Among them, the scanning mirror 604 may include 3, 4, 6 or other multiple reflection surfaces, and the embodiment of the present application does not limit the number of reflection surfaces included in the scanning mirror 604; for example, the scanning mirror 604 may be a four-sided mirror, and the first reflection surface 605 may be any reflection surface among the four reflection surfaces. Each reflection surface may include one or more corresponding identifiers, that is, the first reflection surface 605 may include one or more corresponding identifiers, and the first identifier 606 may be any identifier of the first reflection surface 605. Exemplarily, if the first reflection surface 605 includes a corresponding identifier, when the controller 603 recognizes that the first echo signal includes an echo signal reflected by the identifier, it controls the scanning signal transceiver module 602 to transmit a second detection signal to the first reflection surface 605, and the second detection signal may be a detection signal that is continuous in the time domain, so that the second detection signal is used as a group of detection signals to complete a spatial scan using the first reflection surface 605 and generate a frame of point cloud. If the first reflecting surface 605 includes multiple corresponding identifiers, the controller 603 can control the scanning signal transceiver module 602 to transmit a second detection signal to the first reflecting surface 605 when it is identified that the first echo signal includes echo signals reflected by each identifier of the first reflecting surface. The second detection signal corresponding to each transmitted identifier can be a detection signal that is continuous in the time domain. The multiple segments of second detection signals corresponding to the multiple transmitted identifiers can be collectively regarded as a group of detection signals, so as to complete a spatial scan of the first reflecting surface 605 using the group of detection signals and generate a frame of point cloud.

[0077] The synchronization signal transceiver module 601 and the scanning signal transceiver module 602 can be independently set or integrated, and the embodiment of the present application does not specifically limit this. The scanning signal transceiver module 602 can be any transceiver module that can realize the spatial scanning function, and the synchronization signal receiving module can be any transceiver module that can realize the synchronization function. It can be understood that the "scanning signal transceiver module 602" and "synchronization signal transceiver module 601" are used to distinguish transceiver modules that realize different functions. The embodiment of the present application does not limit the specific name of each transceiver module. The position of the scanning signal transceiver module 602 and the position of the synchronization signal transceiver module 601 can be set based on the conventional method in the field, so that they can cooperate with the scanning mirror 604 and other components to realize spatial scanning and synchronization functions. The synchronization control device of the laser radar may include one or more synchronization signal transceiver modules 601, and may also include one or more scanning signal transceiver modules 602. The embodiment of the present application does not limit the number of synchronization signal transceiver modules 601 and scanning signal transceiver modules 602.

[0078] Figure 7 A schematic diagram of the structure of another synchronous control device of a laser radar according to an embodiment of the present application is shown; Figure 7As shown, the scanning signal transceiver module 602 in the device may include a scanning signal transmitting module 6021 and a scanning signal receiving module 6022, and the synchronization signal transceiver module 601 may include a synchronization signal transmitting module 6011 and a synchronization signal receiving module 6012. The synchronization signal transmitting module 6011 and the synchronization signal receiving module 6012 may be independently provided or integrated. The controller 603 can control the synchronization signal transmitting module 6011 to transmit a first detection signal, and the first detection signal can reach the scanning mirror 604. The first echo signal reflected by the scanning mirror 604 can reach the synchronization signal receiving module 6012. The synchronization signal receiving module 6012 can receive the first echo signal. The synchronization signal receiving module 6012 can send the received first echo signal to the controller 603 to determine whether the first echo signal includes the echo signal reflected by the first identification 606 corresponding to the first reflection surface 605 of the first detection signal, and when the first echo signal includes the echo signal reflected by the first identification 606, control the scanning signal transceiver module 602 to transmit a second detection signal to the first reflection surface 605 in a first manner, wherein the first identification 606 corresponds to the first manner.

[0079] The scanning signal transmitting module 6021 and the scanning signal receiving module 6022 can be independently arranged or integrated. The controller 603 can control the scanning signal transmitting module 6021 to transmit the second detection signal in the first manner, and the second detection signal can reach the first reflection surface 605 of the scanning mirror 604, and be reflected by the first reflection surface 605 to reach the external environment, and the second echo signal reflected by the external environment is reflected again by the first reflection surface 605 to reach the scanning signal receiving module 6022, and the scanning signal receiving module 6022 can send the received second echo signal to the controller 603, and the controller 603 processes the second detection signal and the second echo signal reflected by the first reflection surface 605, and can generate a frame of point cloud.

[0080] Figure 8 A schematic diagram of the structure of another synchronous control device of a laser radar according to an embodiment of the present application is shown; Figure 8As shown, the scanning signal transceiver module 602 in the device may include a scanning signal transmitting module 6021 and a scanning signal receiving module 6022, the synchronization signal transceiver module 601 may include a synchronization signal transmitting module 6011 and a synchronization signal receiving module 6012, and may also include a reflector 607, the number of which may be one or more (one is shown in the figure), the first echo signal reflected by the scanning mirror 604 can reach the synchronization signal receiving module 6012 after being reflected by the reflector 607, so that the direction of the first echo signal is changed by the reflector 607, thereby reducing the position requirements for the synchronization signal receiving module 6012, and improving the economy and applicability. It can be understood that the directions of the first detection signal, the second detection signal, and the second echo signal can also be changed by the reflector 607, thereby reducing the position requirements for the synchronization signal transmitting module 6011, the scanning signal transmitting module 6021, and the scanning signal receiving module 6022, and further improving the economy and applicability.

[0081] In a possible implementation, the wavelength ranges of the first detection signal and the second detection signal are different, for example, the wavelength range of the first detection signal may be 900nm-905nm, and the wavelength range of the second detection signal may be 1550nm-1555nm; thereby, mutual interference between the first detection signal and the second detection signal can be avoided, and the reliability and accuracy of the scanning space synchronization of two or more adjacent frames and the use of the reflective surface for spatial scanning are ensured. In some possible examples, the wavelength ranges of the first detection signal and the second detection signal may also partially overlap.

[0082] Exemplarily, the synchronization signal transmitting module 6011 (or the scanning signal transmitting module 6021) may include one or more laser light sources, which emit detection signals (such as pulses, continuous light) outwardly, and a collimator may be set in the device according to the spot quality of the laser light source, so as to optimize the direction of the detection signal emitted; the synchronization signal receiving module 6012 (or the scanning signal receiving module 6022) may include one or more laser detectors, so as to detect the echo signal reflected by the polygon mirror, etc., and the laser detector includes but is not limited to an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a photodiode, etc. Exemplarily, the number of laser light sources may be the same as the number of laser detectors, and the laser light sources may correspond to the laser detectors one by one, and each laser detector is used to receive the echo signal of the detection signal emitted by the corresponding laser light source reflected by the object.

[0083] The controller 603 can be electrically connected to the synchronization signal transceiver module 601, the scanning signal transceiver module 602 and the scanning mirror 604. The controller 603 can control the synchronization signal transceiver module 601 to transmit a first detection signal and obtain a first echo signal received by the synchronization signal transceiver module 601; it can also control the scanning signal transceiver module 602 to transmit a second detection signal to the first reflecting surface 605, and obtain a second echo signal received by the scanning signal transceiver module 602. The controller 603 can generate a frame of point cloud corresponding to the reflecting surface by processing the second detection signal and the second echo signal reflected by the same reflecting surface within a certain period of time; exemplarily, the controller 603 can control the synchronization signal transceiver module 601 to transmit the first detection signal when the scanning signal transceiver module 602 is controlled to complete the transmission of the second detection signal used to generate a frame of point cloud, or when the generation of a frame of point cloud is completed.

[0084] Since the identifier contained in each reflecting surface can be distinguished from the reflecting surface where the identifier is located, when the first detection signal reaches the first reflecting surface 605, the first echo signal reflected by the first identifier 606 of the first reflecting surface 605 is different from the first echo signal reflected by the part other than the first identifier 606. Based on this difference, the echo signal of the first detection signal reflected by the first identifier 606 corresponding to the first reflecting surface 605 can be determined; illustratively, the characteristics of the first echo signal after the first detection signal is reflected by the first identifier 606 can be determined in advance, and the controller 603 can match the characteristics of the first echo signal received by the synchronization signal transceiver module 601 with the predetermined characteristics. If the match is successful, it can be determined that the first echo signal is reflected by the first identifier 606.

[0085] When the controller 603 determines that the first echo signal is an echo signal reflected by the first identification 606 corresponding to the first reflection surface 605, the scanning signal transceiver module 602 can be controlled to transmit the second detection signal to the first reflection surface 605 in a first manner. The correspondence between the first identification 606 and the first manner is related to at least one of the reflection surface where the first identification 606 is located and the position on the reflection surface; illustratively, one reflection surface can correspond to one manner of transmitting the second detection signal. When the controller 603 determines that the first echo signal is reflected by the first identification 606, the scanning signal transceiver module 602 can be controlled to transmit the second detection signal to the first reflection surface 605 in the first manner corresponding to the first reflection surface 605, thereby realizing synchronization between the first reflection surface 605 and the generation manner of the corresponding point cloud, that is, for a frame of point cloud corresponding to the first reflection surface 605, the corresponding generation manner can be determined. For another example, a reflective surface may correspond to multiple ways of emitting a second detection signal, wherein each way corresponds to each preset position on the first reflective surface 605, and the preset position may be the position where each mark is located. For example, the multiple preset positions may be arranged at equal intervals, and the second detection signals corresponding to each mark are collectively used as a group of detection signals to generate a frame of point cloud corresponding to the reflective surface. It can be understood that the second detection signal corresponding to a certain mark can be used to generate a part of the frame of point cloud. When the controller 603 determines that the first echo signal is reflected by the first mark 606, the scanning signal transceiver module 602 may be controlled to emit a second detection signal in a manner corresponding to the position of the first mark 606 on the first reflective surface 605 (for example, the preset position corresponding to the first mark 606), thereby realizing synchronization of the generation method of a position point of the first reflective surface 605 and the corresponding part of the point cloud, that is, for a part of a frame of point cloud corresponding to the first reflective surface 605, the corresponding generation method may be determined, further improving the accuracy of synchronization control.

[0086] In a possible implementation, the first mark 606 is the starting mark of the first reflecting surface 605, and the emission time of the second detection signal is the starting time of the frame data corresponding to the first reflecting surface 605. The frame data may be a point cloud generated by the second detection signal reflected by the first reflecting surface 605 and the corresponding second echo signal within a certain period of time, and the starting mark indicates the mark of the first reflecting surface 605 that can be scanned by the first detection signal first (such as the mark located at the edge of the rotating direction of the reflecting surface), that is, according to the rotating direction of the scanning mirror 604, when the first detection signal is rotated by a certain angle, the first detection signal can reach the first reflecting surface 605. At this time, relative to other positions of the first reflecting surface 605, the first detection signal can reach the first mark 606 first, for example, Figure 7The scanning mirror 604 shown rotates clockwise in the direction of the arrow, and the first mark 606 is the starting mark. The controller 603 can identify the first mark 606 according to the first echo signal reflected by the first mark 606, and can use the time of identifying the first mark 606 (i.e., the starting time of the first reflection surface 605) as the starting time of the point cloud corresponding to the first reflection surface 605, or can set a certain time interval between the starting time of the point cloud corresponding to the first reflection surface 605 and the time of identifying the first mark 606 according to actual needs. In this way, the start of a reflection surface is calibrated by the starting mark, and the controller 603 can control the scanning signal transceiver module 602 to work at the starting time of the point cloud corresponding to the first reflection surface 605 according to the time of identifying the first mark 606, that is, transmit the second detection signal to the first reflection surface 605 in the first mode corresponding to the first mark 606, perform spatial scanning, and obtain a frame of complete point cloud corresponding to the first reflection surface 605, so as to ensure the reliability of spatial scanning using the first reflection surface 605 while identifying the first mark 606, and realize the scanning spatial synchronization of two or more adjacent frames at a lower cost.

[0087] Exemplarily, the first method can characterize the properties of the second detection signal, including but not limited to: one or more of: signal type, wavelength range, signal strength, pulse interval, emission time, emission duration, related information of the scanning signal emission module performing the emission work and its configured laser, etc.; for different identifications, the corresponding methods of emitting the second detection signal may be the same or different, and there is no limitation on this.

[0088] Exemplarily, the first method can be preset, or it can be determined in real time by the controller 603 according to the most recently generated point cloud. For example, according to the processing roughness, surface shape, coating, reflectivity, etc. of the first reflecting surface 605, based on the requirements of spatial scanning, the corresponding scanning signal emission module (such as a laser and a detector, etc.) can be pre-set, thereby reducing the requirements for the consistency between the first reflecting surface 605 and other reflecting surfaces, thereby reducing costs. For another example, the controller 603 generates a frame of point cloud based on the second echo signal and the second detection signal reflected from the previous reflecting surface of the first reflecting surface 605 within a certain period of time, and determines through the frame of point cloud that the target object (such as the above-mentioned Figure 5Obstacles in the scanning space), the controller 603 can determine that the signal strength of the second detection signal corresponding to the next frame of point cloud needs to be increased, that is, determine the emission mode of the second detection signal corresponding to the first reflecting surface 605 (or the first identifier) ​​so as to obtain information of the target object with higher resolution. For another example, when the controller 603 determines that the scanning space contains objects such as fog and haze that limit the detection distance through a frame of point cloud corresponding to the previous reflecting surface of the first reflecting surface 605, the controller 603 can determine that the wavelength range of the second detection signal corresponding to the next frame of point cloud needs to be increased, that is, determine the emission mode of the second detection signal corresponding to the first reflecting surface 605 (or the first identifier) ​​so as to increase the detection distance and obtain a clearer and more stable point cloud. In this way, when the scanning mirror 604 rotates to the point where the first reflecting surface 605 is facing the synchronization signal transceiver module 601 and the controller 603 determines that the first echo signal includes the echo signal reflected by the first marker 606 of the first reflecting surface 605, the scanning signal transceiver module 602 is controlled to send the second detection signal to the first reflecting surface 605 in accordance with the transmission method of the second detection signal corresponding to the first reflecting surface 605 determined above, so as to generate a frame of point cloud corresponding to the first reflecting surface 605.

[0089] In a possible implementation, the first reflecting surface 605 is also provided with a second marker 608; the first marker 606 and the second marker 608 are different markers; the controller 603 can also control the rotation of the scanning mirror 604 according to the echo signal reflected by the first detection signal through the first marker 606, the echo signal reflected by the first detection signal through the second marker 608, and preset rotation information.

[0090] During the rotation of the scanning mirror 604, the rotation information of the scanning mirror 604 (such as rotation speed, direction, etc.) may fluctuate, that is, there is a difference between the actual rotation information of the scanning mirror 604 and the preset rotation information of the spatial scanning, which may cause the actual position of the second detection signal reaching the first reflecting surface 605 to deviate from the preset position. As the scanning mirror 604 rotates, during the time period of obtaining a frame of point cloud corresponding to the first reflecting surface 605, the deviation may gradually increase over time, that is, the position deviation in the second half of the time period may be greater than the position deviation in the first half. In this way, the rotation information of the scanning mirror 604 can be corrected by the first mark 606 and the second mark 608 on the first reflecting surface 605, thereby realizing precise synchronous control of the rotation of the scanning mirror 604 during the spatial scanning process.

[0091] Fig. 9 FIG. 6 is a schematic diagram showing a first reflective surface 605 according to an embodiment of the present application; Fig. 9As shown, the first reflective surface 605 includes a first mark 606, and may also include at least one second mark 608 (one mark is shown in the figure), the first mark 606 and the second mark 608 are different marks; there is a certain interval between the positions of the first mark 606 and the second mark 608 in the horizontal direction, and there is a corresponding relationship between the positions of the first mark 606 and the second mark 608 and the angle information of the scanning mirror 604. Assuming that the rotation direction of the scanning mirror 604 is clockwise (from the top to the bottom), the controller 603 can determine the actual rotation information of the scanning mirror 604, such as the actual rotation speed, according to the echo signal reflected by the first detection signal through the first mark 606 and the echo signal reflected by the second mark 608. Exemplarily, the controller 603 can control the synchronization signal transceiver module 601 to continuously send the first detection signal, determine the first angle of the scanning mirror 604 corresponding to the first identifier 606 and the first moment of identifying the first identifier 606 by identifying the echo signal reflected by the first detection signal through the first identifier 606, determine the second angle of the scanning mirror 604 corresponding to the second identifier 608 and the second moment of identifying the first identifier 606 by identifying the echo signal reflected by the second identifier 608 of the first detection signal, and then determine the actual rotation speed of the scanning mirror 604 according to the first angle, the second angle, the first identifier 606, and the second identifier 608, and compare the actual rotation speed with the preset rotation speed corresponding to the spatial scanning between the first angle and the second angle. When the difference between the two is greater than a threshold, the rotation speed of the scanning mirror 604 is adjusted to the preset rotation speed, thereby adjusting the real-time rotation speed of the scanning mirror 604 and realizing precise synchronous control of the rotation of the scanning mirror 604 during the spatial scanning process.

[0092] In a possible implementation, different reflective surfaces have different identifiers. In this way, different reflective surfaces can be distinguished by different identifiers. When the controller determines that the first echo signal includes an echo signal corresponding to a marker reflected by the first detection signal, the reflective surface where the marker is located can be accurately located by the marker. While achieving the scanning space synchronization of two or more adjacent frames, the point cloud generation method corresponding to each reflective surface can be individually controlled to achieve differentiated control, that is, to achieve differentiated synchronous control of point clouds of different frames, further improving the flexibility of synchronous control; at the same time, the consistency requirements for each reflective surface of the scanning mirror 604 are reduced, and the cost is reduced.

[0093] Exemplarily, different identifications can be set on at least two reflecting surfaces, for example, the scanning mirror 604 includes four reflecting surfaces, then identifications can be set on the four reflecting surfaces, the identification is different from the reflecting surface on which it is located, and different identifications are set on different reflecting surfaces; at least one reflecting surface of the multiple reflecting surfaces itself can also be used as an identification, that is, at least one reflecting surface does not need to be set with an additional identification, for example, the scanning mirror 604 includes four reflecting surfaces, then identifications can be set on three of the reflecting surfaces, and different identifications are set on different reflecting surfaces, and another reflecting surface itself can be used as an identification; and so on. The embodiments of the present application do not limit the method of setting the identification, as long as it is possible to determine the reflecting surface corresponding to the identification through the identification.

[0094] In a possible implementation, each marker can be set at the edge of the reflective surface. By identifying the echo signal reflected by the marker, it can be timely and accurately determined that the reflective surface rotates to the reflective surface where the marker is located, thereby reducing or avoiding the influence of the marker on the spatial scanning. Figure 6 As shown, according to the rotation direction of the scanning mirror 604, the left edge of the first reflecting surface 605 can be scanned by the first detection signal first, and usually the first reflecting surface 605 will continue to rotate a certain angle, and the controller 603 controls the scanning signal transceiver module to transmit a second detection signal to the first reflecting surface 605 to perform spatial scanning, and the first marker 606 is set on the left edge of the first reflecting surface 605. By identifying the echo signal reflected by the first marker 606, it is possible to timely and accurately determine that the reflecting surface has rotated to the first reflecting surface 605, thereby reducing or avoiding the influence of the first marker 606 on the spatial scanning using the first reflecting surface 605.

[0095] For example, Fig.10 FIG. 6 is a schematic diagram showing a scanning mirror 604 according to an embodiment of the present application; Fig.10 As shown, the scanning mirror 604 may be a four-sided mirror, wherein the reflection surface A' is provided with a mark a, and the reflection surface B' is provided with a mark b, the mark a is different from the mark b, and the ways of emitting the second detection signal corresponding to the mark a and the mark b are different.

[0096] Fig.11 According to an embodiment of the present application, Fig.10 Schematic diagram of the synchronous control of the scanning mirror 604; Fig.11As shown, after generating the N-1th frame (N is an integer greater than 1) of the point cloud, the controller 603 can control the synchronization signal transceiver module 601 to periodically and continuously transmit the first detection signal, and the synchronization signal transceiver module 601 receives the corresponding first echo signal. When the scanning mirror 604 rotates to an angle between r1 and r3 (not reaching r3), wherein the angle r2 corresponds to the starting angle of the reflection surface A', the controller 603 processes the first echo signal reflected by the scanning mirror 604. At this time, the echo signal reflected by the first detection signal through the marker (including marker a, marker b, etc.) cannot be detected; when the scanning mirror 604 rotates to an angle r3, the first detection signal reaches the marker a, the controller 603 can determine the echo signal reflected by the marker a and received by the synchronization signal transceiver module 601. At this time, the controller 603 can control the scanning signal transceiver module 602 to transmit the second detection signal to the reflecting surface A' in the manner corresponding to the marker a. Correspondingly, the moment when the scanning mirror 604 rotates to the angle r3 is the starting moment of the Nth frame point cloud; at this time, the controller 603 can also control the synchronization signal transceiver module 601 to stop working; the controller 603 can determine the rotation angle of the scanning mirror 604 according to the rotation speed of the scanning mirror 604. When the controller 603 determines that the scanning mirror 604 rotates to the angle r4, the controller 603 controls the scanning signal transceiver module 602 to stop transmitting the second detection signal. At this time That is the end moment of the Nth frame point cloud. At this point, the spatial scanning using the reflective surface A' is completed, and the corresponding Nth frame point cloud is generated; at this time, the controller 603 can control the synchronous signal transceiver module 601 to transmit the first detection signal again, and the synchronous signal transceiver module 601 receives the corresponding first echo signal. When the scanning mirror 604 rotates to between angles r4-r6 (not reaching r6), where angle r5 corresponds to the starting angle of the reflective surface B', the controller 603 processes the first echo signal reflected by the scanning mirror 604. At this time, the echo signal reflected by the first detection signal through the marker (including marker a, marker b, etc.) cannot be detected; when the scanning mirror 604 rotates to angle r6, the first detection signal reaches marker b, and the controller 603 processes the first echo signal reflected by the scanning mirror 604. The controller 603 can determine the echo signal reflected by the marker b and received by the synchronization signal transceiver module 601. At this time, the controller 603 can control the scanning signal transceiver module 602 to transmit the second detection signal to the reflecting surface B' in the manner corresponding to the marker b. Correspondingly, the moment when the scanning mirror 604 rotates to the angle r6 is the starting moment of the N+1 frame point cloud; at this time, the controller 603 can also control the synchronization signal transceiver module 601 to stop working; when the scanning mirror 604 rotates to the angle r7, the controller 603 controls the scanning signal transceiver module 602 to stop transmitting the second detection signal, which is the end moment of the N+1 frame point cloud. At this point, the spatial scanning using the reflecting surface B' is completed to generate the corresponding N+1 frame point cloud.In this way, different reflecting surfaces can be distinguished by the identification corresponding to the reflecting surface, and the methods of transmitting the second detection signal corresponding to different identifications can be different; when an identification is identified, it can be determined that the reflecting surface where the identification is located is about to start spatial scanning, and the scanning signal transceiver module 602 can be controlled according to the method corresponding to the identification to transmit the second detection signal to the reflecting surface where the identification is located, perform spatial scanning, and generate a frame of point cloud, thereby realizing differentiated control of different reflecting surfaces and their corresponding point cloud generation methods.

[0097] The way in which the controller 603 controls the operation of the synchronization signal transceiver module 601 can be determined according to the number of marks set on the reflection surface. For example, if a reflection surface is only provided with one mark, the controller 603 can control the synchronization signal transceiver module 601 to stop working when the mark is identified; if a reflection surface is provided with multiple marks, the controller 603 can control the synchronization signal transceiver module to continue working when the start mark and the middle mark of the reflection surface are identified, until the last mark (end mark) in the reflection surface is identified; in this way, when the number of marks on the two reflection surfaces is different, the reflection surface can be determined by the number of marks on the reflection surface identified; more information such as the rotation angle and rotation speed of the scanning mirror 604 can also be obtained through multiple marks on a reflection surface, so as to further improve the synchronization accuracy. The start mark, middle mark, and end mark on the same reflection surface can be distinguished and defined according to the specific product design.

[0098] In a possible implementation, the controller 603 may determine whether the first echo signal includes an echo signal reflected by the first detection signal via the first identifier 606 corresponding to the first reflection surface 605 through a feature set of the first echo signal. The condition for determining that the first echo signal includes an echo signal reflected by the first detection signal via the first identifier 606 corresponding to the first reflection surface 605 may be that: the first feature set of the first echo signal matches a preset feature set; wherein the preset feature set and the first identifier 606 have a corresponding relationship. Exemplarily, the preset feature set of the echo signal reflected by the first detection signal via each identifier of different reflection surfaces may be extracted in advance, so that the preset feature set corresponding to each identifier may be established; during the synchronization process, the controller 603 may extract the first feature set of the first echo signal; when the first feature set matches the preset feature set corresponding to the first identifier 606, it is determined that the first echo signal includes an echo signal reflected by the first detection signal via the first identifier 606, wherein the first detection signal emitted in the stage of establishing the preset feature set corresponding to each identifier and during the synchronization process is the same. In this way, the identifier of the reflected first echo signal can be identified according to the first feature set of the first echo signal, thereby determining the reflecting surface where the identifier is located.

[0099] Exemplarily, the first feature set (or preset feature set) may include: any one or more of the waveform feature of the first echo signal, the pattern feature corresponding to the first echo signal, and the time feature corresponding to the first echo signal. In this way, the corresponding identifier can be identified based on the differences in the waveform feature, pattern feature, time feature, etc. of the echo signal after the first detection signal is reflected by different identifiers.

[0100] In a possible implementation, the mark can be set by coating, etching, applying a film, changing the material, and changing the shape of the reflective surface. For example, a region of a reflective surface can be coated with a film, and the coating can be used as the mark of the reflective surface; a region of a reflective surface can also be etched to change the texture of the reflective surface, and the texture can be used as the mark of the reflective surface; a region of a reflective surface can also be applied with a film, and the film can be used as the mark of the reflective surface; the material of a region of a reflective surface can also be changed, so that the region is distinguished from the reflective surface, and the region is used as the mark of the reflective surface; the shape of a region of a reflective surface can also be changed, such as convex or concave, so that the region is distinguished from other parts of the reflective surface, and the region is used as the mark of the reflective surface; the reflective surface is simply processed by the above-mentioned multiple methods to set the mark, so that the echo signal obtained by the first detection signal reflected by the mark has special waveform characteristics, pattern characteristics, time characteristics, etc., so as to achieve the distinction between the mark and the reflective surface where the mark is located. Furthermore, different reflective surfaces can be processed differently through the above-mentioned multiple methods, so that different marks can be set on different reflective surfaces, and the processing cost is low. After the above-mentioned processing of the reflective surface, there are differences between the different marks set on the different reflective surfaces, and between the marks set on each reflective surface and the reflective surface. Therefore, there are differences in waveform characteristics, pattern characteristics, time characteristics and other characteristics between the echo signals after the first detection signal is reflected by different marks, and between the echo signal after the mark is reflected and the echo signal reflected by the reflective surface where the mark is located, so that different marks can be identified by using this difference.

[0101] For example, the waveform characteristics may include but are not limited to any one or more of amplitude, wavelength (or frequency), phase, etc. For example, different materials have different reflectivities, the material of the first mark 606 may be different from the material of the first reflective surface 605 (or other marks), and after the first detection signal is reflected by the first mark 606 and the non-first mark 606 part (or other marks) of the first reflective surface 605, there is a difference in the amplitude of the echo signal, so that the amplitude of the first echo signal is matched with the amplitude of the echo signal corresponding to the preset first mark 606, so as to determine the first mark 606. For another example, different materials have different transmittances to different wavelengths, the material of the first mark 606 may be different from the material of the first reflective surface 605 (or other marks), and after the broadband light source (i.e., a light source containing multiple bands) is reflected by the first mark 606, a certain band of the broadband light source is absorbed, so that the first detection signal of the broadband light source is emitted by the synchronization signal transceiver module 601, and the central wavelength of the received first echo signal can be matched with the central wavelength of the echo signal corresponding to the preset first mark 606, so as to determine the first mark 606. For another example, for different materials, the phase of the first detection signal will change differently after being reflected by different materials; the material of the first identifier 606 may be different from the material of the first reflecting surface 605 (or other identifiers); the received first echo information is compared with the first detection signal to determine the actual phase change, and the actual phase change is matched with the phase change corresponding to the preset first identifier 606, thereby determining the first identifier 606.

[0102] The pattern feature may include: any one or more of the pattern, shape, number, etc. of the light spot formed by the first echo signal. For example, a specific pattern or texture is set on the first reflection surface 605 by filming or etching, and the pattern or texture is different from other marks. After the first detection signal is reflected by the first mark 606 and other marks, the light spot formed by the echo signal is different. The light spot pattern formed by the received first echo signal is matched with the light spot pattern formed by the echo signal corresponding to the first mark 606, so as to determine the first mark 606. For another example, a first mark 606 of a specific shape (for example, a circle, a square, a triangle, etc.) may be set on the first reflection surface 605 by filming or coating, and the shape is different from other marks. After the first detection signal is reflected by the first mark 606 and other marks, the light spot shape formed by the echo signal is different. The light spot shape formed by the received first echo signal is matched with the light spot shape formed by the echo signal corresponding to the first mark 606, so as to determine the first mark 606. For another example, a pattern sequence in the vertical direction can be set on the first reflecting surface 605 by means of film sticking or etching as the first identifier 606. Different patterns in the sequence are arranged at a certain interval, and the arrangement intervals of each pattern in the pattern sequence corresponding to different identifiers are the same, and the number of patterns is different; the first detection signal emitted by the synchronization signal transceiver module includes multiple laser beams arranged at a certain interval in the vertical direction, and different laser beams can reach different interval positions. In this way, after the first detection signal is reflected by the first identifier 606 and other identifiers, there is a difference in the number of light spots formed by the echo signal. The number of light spots formed by the received first echo signal is matched with the number of light spots formed by the echo signal corresponding to the first identifier 606, thereby determining the first identifier 606.

[0103] The time characteristics may include: the time interval between multiple echo signals. For example, a pattern sequence can be set on the first reflecting surface 605 as the first identifier 606 by means of film sticking or etching. The arrangement intervals of the patterns in the pattern sequence corresponding to different identifiers are different, and the pattern sequence includes at least two patterns. The time interval corresponding to the identifier can be determined based on the time of the echo signals corresponding to two adjacent patterns in the same pattern sequence. In this way, after the first detection signal is reflected by the first identifier 606 and other identifiers, there are differences in the time intervals corresponding to different identifiers. The time interval determined by the first echo signals reflected by the two adjacent patterns is matched with the time interval corresponding to the first identifier 606, thereby determining the first identifier 606.

[0104] Based on the same inventive concept of the above device embodiments, the embodiments of the present application further provide a laser radar synchronization control method, which can be applied to the laser radar synchronization control device of any of the above embodiments.

[0105] Fig.12 A flowchart of a laser radar synchronization control method according to an embodiment of the present application is shown. The method can be performed by Figure 6 The controller 603 executes, as Fig.12 As shown, the method may include:

[0106] Step 1201: Control the laser radar's synchronization signal transceiver module to transmit a first detection signal.

[0107] Step 1202, determine that the first echo signal received by the synchronization signal transceiver module includes an echo signal reflected by the first detection signal via a first marker corresponding to the first reflecting surface of the scanning mirror included in the laser radar, and control the scanning signal transceiver module to transmit a second detection signal to the first reflecting surface in a first manner, wherein the first marker corresponds to the first manner.

[0108] In an embodiment of the present application, the controller controls the synchronization signal transceiver module of the laser radar to transmit a first detection signal, and when it is determined that the first echo signal includes an echo signal reflected by the first detection signal via a first marker corresponding to the first reflection surface, the controller controls the scanning signal transceiver module to transmit a second detection signal, thereby completing a spatial scan using the first reflection surface, and generating a frame of point cloud corresponding to the first reflection surface; the multiple reflection surfaces of the scanning mirror all include corresponding markers, and the controller can control the scanning signal transceiver module to transmit a second detection signal to each reflection surface when determining the echo signal reflected by the corresponding marker of each reflection surface, thereby completing a spatial scan using each reflection surface, and can generate a frame of point cloud corresponding to the first reflection surface; the multiple reflection surfaces of the scanning mirror all include corresponding markers, and the controller can control the scanning signal transceiver module to transmit a second detection signal to each reflection surface, thereby completing a spatial scan using each reflection surface, and can A frame of point cloud corresponding to each reflecting surface is generated, thereby realizing the scanning space synchronization of two adjacent frames or multiple frames, without the need to use hardware such as angle encoders; at the same time, the method of transmitting the second detection signal (i.e., the first method) corresponds to the first identifier, i.e., corresponds to the first reflecting surface, so that the scanning signal transceiver module can transmit the second detection signal to the first reflecting surface in a manner corresponding to the first reflecting surface, thereby realizing the synchronous control of the generation method of the first reflecting surface and its corresponding point cloud, that is, for a frame of point cloud, the corresponding generation method can be determined, which increases the flexibility of laser radar control and reduces the consistency requirements on the first reflecting surface and other reflecting surfaces, with lower costs and higher reliability.

[0109] In a possible implementation, different reflective surfaces of a scanning mirror included in the laser radar have different identifications.

[0110] In a possible implementation manner, the first feature set of the first echo signal matches a preset feature set; wherein there is a corresponding relationship between the preset feature set and the first identifier.

[0111] In a possible implementation manner, the first identifier is a starting identifier of the first reflecting surface, and the emission time of the second detection signal is a starting time of frame data corresponding to the first reflecting surface.

[0112] In a possible implementation, the first reflective surface is also provided with a second marker; the method further includes: controlling the rotation of the scanning mirror according to an echo signal of the first detection signal reflected by the first marker, an echo signal of the first detection signal reflected by the second marker, and preset rotation information.

[0113] In a possible implementation manner, the first mark is disposed at an edge of the first reflective surface.

[0114] In a possible implementation manner, the first detection signal and the second detection signal have different wavelength ranges.

[0115] In a possible implementation manner, the first feature set includes: any one or more of a waveform feature of the first echo signal, a pattern feature corresponding to the first echo signal, and a time feature corresponding to the first echo signal.

[0116] In a possible implementation manner, the first mark is set by coating, etching, applying a film, changing the material, and changing the shape of the first reflective surface in any one or more ways.

[0117] In the embodiments of the present application, the specific description and technical effects of the laser radar synchronization control method and its various possible implementation methods can be found in the relevant introduction to the above-mentioned laser radar synchronization control device, which will not be repeated here.

[0118] An embodiment of the present application provides a synchronous control device for a laser radar, comprising: at least one processor and a memory for storing processor executable instructions; wherein the at least one processor is configured to implement the above-mentioned synchronous control method for the laser radar when executing the instructions.

[0119] Fig.13 A schematic diagram of the structure of another laser radar synchronization control device according to an embodiment of the present application is shown. Fig.13 As shown, the synchronous control device of the laser radar may include: at least one processor 1001 and at least one communication interface 1004. Optionally, it may also include a communication line 1002 and a memory 1003.

[0120] The processor 1001 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application. The processor 1001 may be used to implement the controller 603 of the embodiment of the present application.

[0121] The communication link 1002 may include a pathway to transmit information between the above-mentioned components.

[0122] The communication interface 1004 uses any transceiver or other device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0123] The memory 1003 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited to this. The memory can be independent and connected to the processor through a communication line 1002. The memory can also be integrated with the processor. The memory provided in the embodiment of the present application can generally have non-volatility. Among them, the memory 1003 is used to store the computer execution instructions for executing the scheme of the present application, and the execution is controlled by the processor 1001. The processor 1001 is used to execute the computer execution instructions stored in the memory 1003, so as to implement the synchronous control method of the laser radar provided in the above-mentioned embodiment of the present application.

[0124] Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application code, which is not specifically limited in the embodiments of the present application.

[0125] In a specific implementation, as an embodiment, the processor 1001 may include one or more CPUs, such as Fig.13 CPU0 and CPU1 in.

[0126] In a specific implementation, as an embodiment, the laser radar synchronization control device may include multiple processors, such as Fig.13 1001 and 1007 in the embodiment of the present invention. Each of these processors may be a single-CPU processor or a multi-CPU processor. The processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0127] In a specific implementation, as an embodiment, the synchronous control device of the laser radar may also include an output device 1005 and an input device 1006. The output device 1005 communicates with the processor 1001 and can display information in a variety of ways. For example, the output device 1005 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device 1006 communicates with the processor 1001 and can receive user input in a variety of ways. For example, the input device 1006 may be a mouse, a keyboard, a touch screen device, a sensor device, or the like.

[0128] The embodiment of the present application also provides a laser radar, which includes at least one synchronization control device of the laser radar mentioned in the above embodiment of the present application. Exemplarily, the synchronization control device of the laser radar can be applied to the advanced driver assistance system (ADAS) and the automated driving system (ADS) of the vehicle, and can also be applied to various driving functions (such as adaptive cruise control (ACC) and automatic emergency braking (AEB)), etc., and can also be applied to device to device communication (D2D), vehicle to everything (V2X), vehicle to vehicle (V2V), long-term evolution-vehicle (LTE-V), long-term evolution-machine (LTE-M) and other scenarios.

[0129] The embodiment of the present application also provides a terminal, which includes at least one synchronous control device of the laser radar mentioned in the above embodiment of the present application. The terminal can be other terminal devices such as intelligent transportation equipment, smart home equipment, robots, drones, surveying and mapping equipment, augmented reality (AR) game equipment, virtual reality (VR) game equipment, medical equipment, etc. The synchronous control device of the laser radar includes but is not limited to the controller, chip, laser radar and other sensors in the intelligent terminal or the intelligent terminal, and other components.

[0130] An embodiment of the present application provides a non-volatile computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above method is implemented.

[0131] An embodiment of the present application provides a computer program product, including a computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code. When the computer-readable code runs in a processor of an electronic device, the processor in the electronic device executes the above method.

[0132] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing.

[0133] The computer-readable program instructions or codes described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0134] The computer program instructions for performing the operation of the present application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, by utilizing the state information of computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field-programmable gate array (FPGA) or a programmable logic array (PLA), the electronic circuit can execute the computer-readable program instructions to implement various aspects of the present application.

[0135] Various aspects of the present application are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0136] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0137] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0138] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the device, system, method and computer program product according to multiple embodiments of the present application. In this regard, each square frame in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some alternative implementations, the functions marked in the square frame can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square frames can actually be executed substantially in parallel, and they can also be executed in reverse order sometimes, depending on the functions involved.

[0139] It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by hardware (such as a circuit or an application-specific integrated circuit (ASIC)) that performs the corresponding function or action, or can be implemented by a combination of hardware and software, such as firmware.

[0140] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0141] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A laser radar synchronization control device, characterized in that: include: Synchronous signal transceiver module, scanning signal transceiver module, controller, and scanning mirror, The scanning mirror comprises a plurality of reflective surfaces, the plurality of reflective surfaces comprise corresponding marks, and the plurality of reflective surfaces comprise a first reflective surface; The controller is used to control the synchronization signal transceiver module to transmit a first detection signal; The synchronization signal transceiver module is used to receive the first echo signal; The controller is used to determine that the first echo signal includes an echo signal reflected by the first detection signal via a first identifier corresponding to the first reflection surface, and control the scanning signal transceiver module to transmit a second detection signal to the first reflection surface in a first manner, wherein the first identifier corresponds to the first manner.

2. The device according to claim 1, characterized in that Different reflective surfaces have different markings.

3. The device according to claim 1, characterized in that The first feature set of the first echo signal matches a preset feature set; There is a corresponding relationship between the preset feature set and the first identifier.

4. The device according to claim 1, characterized in that The first identifier is a starting identifier of the first reflecting surface, and the emission time of the second detection signal is a starting time of frame data corresponding to the first reflecting surface.

5. The device according to any one of claims 1 to 4, characterized in that: The first reflective surface is also provided with a second mark; The controller is also used for: The scanning mirror is controlled to rotate according to an echo signal of the first detection signal reflected by the first marker, an echo signal of the first detection signal reflected by the second marker, and preset rotation information.

6. The device according to any one of claims 1 to 4, characterized in that: The first mark is arranged at an edge of the first reflecting surface.

7. The device according to any one of claims 1 to 4, characterized in that: The first detection signal and the second detection signal have different wavelength ranges.

8. The device according to claim 3, characterized in that The first feature set of the first echo signal includes: any one or more of a waveform feature of the first echo signal, a pattern feature corresponding to the first echo signal, and a time feature corresponding to the first echo signal.

9. The device according to any one of claims 1 to 4 and 8, characterized in that: The first mark is set by coating, etching, pasting, changing materials, and changing the shape of the first reflective surface in any one or more ways.

10. A laser radar synchronization control method, characterized in that: The method comprises: Controlling the synchronous signal transceiver module of the laser radar to transmit a first detection signal; Determine that the first echo signal received by the synchronization signal transceiver module includes an echo signal reflected by the first detection signal via a first marker corresponding to the first reflecting surface of the scanning mirror included in the laser radar, and control the scanning signal transceiver module to transmit a second detection signal to the first reflecting surface in a first manner, wherein the first marker corresponds to the first manner.

11. The method according to claim 10, characterized in that The different reflective surfaces of the scanning mirror included in the laser radar have different identifications.

12. The method according to claim 10, characterized in that The first feature set of the first echo signal matches a preset feature set; There is a corresponding relationship between the preset feature set and the first identifier.

13. The method according to claim 10, characterized in that The first identifier is a starting identifier of the first reflecting surface, and the emission time of the second detection signal is a starting time of frame data corresponding to the first reflecting surface.

14. The method according to any one of claims 10 to 13, characterized in that: The first reflective surface is also provided with a second mark; The method further includes: controlling the rotation of the scanning mirror according to an echo signal of the first detection signal reflected by the first marker, an echo signal of the first detection signal reflected by the second marker, and preset rotation information.

15. The method according to any one of claims 10 to 13, characterized in that: The first mark is arranged at an edge of the first reflecting surface.

16. The method according to any one of claims 10 to 13, characterized in that: The first detection signal and the second detection signal have different wavelength ranges.

17. The method according to claim 12, characterized in that The first feature set of the first echo signal includes: any one or more of a waveform feature of the first echo signal, a pattern feature corresponding to the first echo signal, and a time feature corresponding to the first echo signal.

18. The method according to any one of claims 10-13, 17, characterized in that: The first mark is set by coating, etching, pasting, changing materials, and changing the shape of the first reflective surface in any one or more ways.

19. A laser radar, characterized in that: The laser radar includes a synchronization control device for the laser radar as described in any one of claims 1-9.

20. A terminal, characterized in that: The terminal includes a synchronization control device for the laser radar as described in any one of claims 1-9.

21. A laser radar synchronization control device, characterized in that: include: at least one processor; a memory for storing processor-executable instructions; Wherein, the at least one processor is configured to implement the method according to any one of claims 10-18 when executing the instructions.

22. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method of any one of claims 10 to 18 is implemented.

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