Target detection methods, OPA lidar and computer-readable storage media

Abstract

This application relates to the field of radar technology and provides a target detection method, an OPA lidar, and a computer-readable storage medium. The target detection method includes: adjusting the light from the input antenna using a phase modulator so that the light emitted by each antenna subarray forms a light spot at a preset position; combining multiple light spots formed by the light emitted from all antenna subarrays according to a preset rule to obtain a light spot combination; and performing target detection based on this light spot combination. Since the light spot combination is obtained by combining multiple light spots, the size and shape of the light spot combination can be adjusted by changing the size and position of each light spot. Therefore, different sizes and shapes of light spot combinations can be used for target detection, making the light spot combination adaptable to the target to be detected, thereby improving the accuracy of target detection.

Description

Technical Field

[0001] This application belongs to the field of radar technology, and in particular relates to target detection methods, OPA lidar, and computer-readable storage media. Background Technology

[0002] Optical parametric amplification (OPA) lidar is a radar system that detects the position, velocity, and other information of a target by emitting a laser beam. OPA lidar features strong anti-jamming capabilities and high resolution, making it widely used in target detection and autonomous driving. Existing OPA lidar (such as mechanical lidar and microelectromechanical system lidar) typically emits laser light directly through an optical system. The emitted laser beam illuminates the target, forming a fixed-size spot. However, in some scenarios, a fixed-size spot may result in weak or no received reflected light signal, affecting the accuracy of target detection. Summary of the Invention

[0003] In view of this, embodiments of this application provide a target detection method, an OPA lidar, and a computer-readable storage medium, which can adjust the shape of the light spot formed by the light emitted by the OPA lidar, thereby improving the accuracy of target detection.

[0004] A first aspect of this application provides a target detection method applied to an OPA lidar, the OPA lidar including a phase tuner and a phased array antenna, the phased array antenna comprising multiple antenna subarrays, the phase tuner being connected to antennas in the antenna subarrays, the method comprising:

[0005] The phase tuner is used to adjust the light input to the antenna so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by the light emitted by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0006] Target detection is performed based on the aforementioned light spot combination.

[0007] In one possible implementation, the method further includes: determining the number of antennas in each antenna subarray based on the size of a preset light spot.

[0008] In one possible implementation, adjusting the input light using the phase modulator includes:

[0009] The phase of the light input to each antenna is determined based on a preset light emission angle;

[0010] The phase of the light input to each antenna is adjusted accordingly using the phase tuner.

[0011] In one possible implementation, the method further includes:

[0012] Based on the preset shape of the light spot combination, the number of antennas in each antenna subarray and the phase of the light input to each antenna are determined.

[0013] In one possible implementation, the number of antennas in each antenna subarray is different.

[0014] In one possible implementation, the light spot corresponding to the antenna subarray with the fewest antennas overlaps with the light spots corresponding to other antenna subarrays.

[0015] In one possible implementation, the light spots corresponding to the other antenna subarrays do not overlap.

[0016] In one possible implementation, the light spot corresponding to the antenna subarray with the first number of antennas is adjacent to the light spot corresponding to the antenna subarray with the second number of antennas.

[0017] In one possible implementation, the light spot corresponding to the antenna subarray with the first number of antennas overlaps with the light spot corresponding to the antenna subarray with the second number of antennas.

[0018] In one possible implementation, the light spot corresponding to the antenna subarray with the first number of antennas is located in the middle position, and the light spot corresponding to the antenna subarray with the second number of antennas is located on both sides.

[0019] A second aspect of this application provides a target detection method applied to an OPA lidar, the OPA lidar including a phase tuner and a phased array antenna, the phased array antenna comprising multiple antenna subarrays, the phase tuner being connected to antennas in the antenna subarrays, the method comprising:

[0020] Determine the number of antennas in each antenna subarray at the current time of light transmission;

[0021] The phase tuner is used to adjust the light of the input antenna so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0022] Target detection is performed based on the aforementioned light spot combination.

[0023] In one possible implementation, before determining the number of antennas in each antenna subarray at the time of current light transmission, the method further includes:

[0024] Determine whether to divide the phased array antenna into antenna subarrays.

[0025] A third aspect of this application provides a target detection method applied to an OPA lidar, the OPA lidar including a phase tuner and a phased array antenna, the phase tuner being connected to an antenna in the phased array antenna, the method comprising:

[0026] A preset area is scanned to obtain a first frame of reflection signal, which is obtained by detecting the light reflected through the preset area;

[0027] Based on the first frame of reflected signal, the phased array antenna is divided into multiple antenna subarrays; and the light of the input antenna is adjusted by the phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0028] Target detection is performed based on the aforementioned light spot combination.

[0029] In one possible implementation, based on the first frame of reflected signal, the phased array antenna is divided into multiple antenna subarrays; and the input light is adjusted using the phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position, including:

[0030] Based on the target information corresponding to the first frame of reflected signal, the arrangement and combination of light spots corresponding to each antenna subarray is determined; the arrangement and combination includes the number of light spots and their relative positions.

[0031] The phased array antenna is divided based on the arrangement and combination of light spots to determine multiple antenna subarrays and the phase difference corresponding to each antenna subarray;

[0032] Based on the phase difference corresponding to each antenna subarray, the input light is adjusted using the phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position.

[0033] A fourth aspect of this application provides a target detection method applied to an OPA lidar, the OPA lidar including a phase tuner and a phased array antenna, the phase tuner being connected to an antenna in the phased array antenna, the method comprising:

[0034] Scan the preset area to determine scene information;

[0035] The adjustment information of the preset light spot is determined based on the scene information;

[0036] Based on the adjustment information, the phased array antenna is divided into multiple antenna subarrays. The light from the input antenna is adjusted using the phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0037] Target detection is performed based on the aforementioned light spot combination.

[0038] In one possible implementation, determining the adjustment information of the preset light spot based on the scene information includes:

[0039] If the current scene information is a scene detected at a distance, the adjustment information is determined to be to increase the light spot.

[0040] In one possible implementation, determining the scene information includes:

[0041] If it is determined that no target can be detected based on the reflected light corresponding to the preset area, then the scene information is determined to be the scene of long-distance detection.

[0042] In one possible implementation, determining the adjustment information of the preset light spot based on the scene information includes:

[0043] If the current scene information is a specular reflection scene, determine the adjustment information to increase the light spot.

[0044] In one possible implementation, determining the scene information includes:

[0045] If, based on the reflected light corresponding to the preset area, it is determined that the intensity difference of the reflected signal in different frames is greater than a preset difference, then the scene information is determined to be the specular reflection scene.

[0046] In one possible implementation, determining the adjustment information of the preset light spot based on the scene information includes:

[0047] If the current scene information indicates a small target scene, the adjustment information is determined to be to increase the light spot.

[0048] In one possible implementation, determining the scene information includes:

[0049] If, based on the reflected light corresponding to the preset area, it is determined that there are light spots that cannot illuminate the target, then the scene information is determined to be the small target scene.

[0050] A fifth aspect of this application provides a target detection device applied to an OPA lidar, the OPA lidar including a phase tuner and a phased array antenna, the phased array antenna including multiple antenna subarrays, the phase tuner being connected to antennas in the antenna subarrays, the device comprising:

[0051] The first adjustment module is used to adjust the light input to the antenna using the phase tuner, so that the light emitted by each antenna subarray forms a light spot at a preset position, and the multiple light spots formed by the light emitted by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0052] The first detection module is used for target detection based on the combination of light spots.

[0053] In one possible implementation, the target detection device further includes a first determining module for determining the number of antennas in each antenna subarray based on the size of a preset light spot.

[0054] In one possible implementation, the first adjustment module is further configured to:

[0055] The phase of the light input to each antenna is determined based on a preset light emission angle;

[0056] The phase of the light input to each antenna is adjusted accordingly using the phase tuner.

[0057] In one possible implementation, the first determining module is further configured to:

[0058] Based on the preset shape of the light spot combination, the number of antennas in each antenna subarray and the phase of the light input to each antenna are determined.

[0059] In one possible implementation, the number of antennas in each antenna subarray is different.

[0060] In one possible implementation, the light spot corresponding to the antenna subarray with the fewest antennas overlaps with the light spots corresponding to other antenna subarrays.

[0061] In one possible implementation, the light spots corresponding to the other antenna subarrays do not overlap.

[0062] In one possible implementation, the light spot corresponding to the antenna subarray with the first number of antennas is adjacent to the light spot corresponding to the antenna subarray with the second number of antennas.

[0063] In one possible implementation, the light spot corresponding to the antenna subarray with the first number of antennas overlaps with the light spot corresponding to the antenna subarray with the second number of antennas.

[0064] In one possible implementation, the light spot corresponding to the antenna subarray with the first number of antennas is located in the middle position, and the light spot corresponding to the antenna subarray with the second number of antennas is located on both sides.

[0065] A sixth aspect of this application provides a target detection device applied to an OPA lidar, the OPA lidar including a phase tuner and a phased array antenna, the phased array antenna including multiple antenna subarrays, the phase tuner being connected to antennas in the antenna subarrays, the device comprising:

[0066] The second determining module is used to determine the number of antennas in each antenna subarray at the current time of light transmission;

[0067] The second adjustment module is used to adjust the light of the input antenna using the phase tuner, so that the light emitted by each antenna subarray forms a light spot at a preset position, and the multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0068] The second detection module is used for target detection based on the combination of light spots.

[0069] In one possible implementation, the second determining module is further configured to:

[0070] Determine whether to divide the phased array antenna into antenna subarrays.

[0071] A seventh aspect of this application provides a target detection device, wherein the OPA lidar includes a phase tuner and a phased array antenna, the phase tuner being connected to an antenna in the phased array antenna, and the device comprising:

[0072] The third determining module is used to scan the preset area and obtain the first frame of reflection signal, which is obtained by detecting the light reflected by the preset area;

[0073] The third adjustment module is used to divide the phased array antenna based on the first frame reflection signal to obtain multiple antenna subarrays; and to adjust the light of the input antenna using the phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position, and the multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0074] The third detection module is used for target detection based on the combination of light spots.

[0075] In one possible implementation, the third adjustment module is specifically used for:

[0076] Based on the target information corresponding to the first frame of reflected signal, the arrangement and combination of light spots corresponding to each antenna subarray is determined; the arrangement and combination includes the number of light spots and their relative positions.

[0077] The phased array antenna is divided based on the arrangement and combination of light spots to determine multiple antenna subarrays and the phase difference corresponding to each antenna subarray;

[0078] Based on the phase difference corresponding to each antenna subarray, the input light is adjusted using the phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position.

[0079] An eighth aspect of this application provides a target detection device applied to an OPA lidar, the OPA lidar including a phase tuner and a phased array antenna, the phase tuner being connected to an antenna in the phased array antenna, the device comprising:

[0080] The fourth determining module is used to scan the preset area to determine scene information; and to determine the adjustment information of the preset light spot based on the scene information.

[0081] The fourth adjustment module is used to divide the phased array antenna into multiple antenna subarrays based on the adjustment information, and to adjust the light of the input antenna using the phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0082] The fourth detection module is used for target detection based on the combination of light spots.

[0083] In one possible implementation, the fourth determining module is specifically used for:

[0084] If the current scene information is a scene detected at a distance, the adjustment information is determined to be to increase the light spot.

[0085] In one possible implementation, the fourth determining module is further configured to:

[0086] If it is determined that no target can be detected based on the reflected light corresponding to the preset area, then the scene information is determined to be the scene of long-distance detection.

[0087] In one possible implementation, the fourth determining module is further configured to:

[0088] If the current scene information is a specular reflection scene, determine the adjustment information to increase the light spot.

[0089] In one possible implementation, the fourth determining module is further configured to:

[0090] If, based on the reflected light corresponding to the preset area, it is determined that the intensity difference of the reflected signal in different frames is greater than a preset difference, then the scene information is determined to be the specular reflection scene.

[0091] In one possible implementation, the fourth determining module is further configured to:

[0092] If the current scene information indicates a small target scene, the adjustment information is determined to be to increase the light spot.

[0093] In one possible implementation, the fourth determining module is further configured to:

[0094] If, based on the reflected light corresponding to the preset area, it is determined that there are light spots that cannot illuminate the target, then the scene information is determined to be the small target scene.

[0095] A ninth aspect of this application provides an OPA lidar, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the target detection method as described in the first to fourth aspects above.

[0096] A tenth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the target detection method as described in the first to fourth aspects above.

[0097] The eleventh aspect of this application provides a computer program product that, when run on an OPA lidar, causes the OPA lidar to perform the target detection methods described in the first to fourth aspects above.

[0098] The beneficial effects of this application embodiment compared to the prior art are as follows: The input light is adjusted using a phase modulator, causing the light emitted by each antenna subarray to form a light spot at a preset position. Multiple light spots formed by all antenna subarrays are then combined according to a preset rule to obtain a light spot combination. Since the light spot combination is obtained by combining multiple light spots, the size and shape of the light spot combination can be adjusted by changing the size and position of each light spot. Target detection is then performed based on the light spot combination, allowing for the use of light spot combinations of different sizes and shapes to adapt to the target to be detected, thereby improving the accuracy of target detection. Attached Figure Description

[0099] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0100] Figure 1 This is a schematic diagram of an OPA lidar provided in an embodiment of this application;

[0101] Figure 2 This is a schematic diagram illustrating the implementation process of the target detection method provided in the first embodiment of this application;

[0102] Figure 3This is a schematic diagram of a light spot combination provided in an embodiment of this application;

[0103] Figure 4 This is a schematic diagram of a light spot combination provided in another embodiment of this application;

[0104] Figure 5 This is a schematic diagram of a light spot combination provided in another embodiment of this application;

[0105] Figure 6 This is a schematic diagram of a light spot combination provided in another embodiment of this application;

[0106] Figure 7 This is a schematic diagram illustrating the implementation process of the target detection method provided in the second embodiment of this application;

[0107] Figure 8 This is a schematic diagram illustrating the implementation process of the target detection method provided in the third embodiment of this application;

[0108] Figure 9 This is a schematic diagram illustrating the implementation process of the target detection method provided in the fourth embodiment of this application;

[0109] Figure 10 This is a schematic diagram of the structure of the OPA lidar provided in the embodiments of this application. Detailed Implementation

[0110] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0111] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0112] In existing lidar systems, the size of the light spot formed by the emitted light is generally fixed during target detection. This fixed spot size cannot adapt well to the target being detected, affecting the signal strength of the received reflected light and consequently impacting the accuracy of target detection.

[0113] To address this, this application provides a target detection method that utilizes an OPA lidar to adjust the input light, causing the light emitted by each antenna subarray of the OPA lidar to form a light spot at a preset position. These light spots are then combined according to preset rules to obtain light spot combinations of different shapes and sizes. Target detection is then performed based on these light spot combinations. This allows for adjustment of the size and shape of the light spot combinations during target detection, ensuring the combinations adapt to the target and improving the accuracy of target detection.

[0114] The target detection method provided in this application is illustrated below.

[0115] The target detection method provided in this application embodiment is applied to OPA lidar. For example... Figure 1 As shown, the OPA lidar includes a phase tuner 1 and a phased array antenna 2. The phased array antenna 2 contains multiple antennas 21, and a predetermined number of antennas 21 form an antenna subarray. The antennas in an antenna subarray can be sequentially adjacent or spaced apart. The phase tuner 1 is connected to the antennas 21 in the antenna subarray, with one antenna 21 corresponding to one phase tuner 1. The light emitted by the laser 3 is input to each phase tuner 1 through an optical waveguide. The phase tuner 1 is used to adjust the input light to change the phase of the light emitted by the corresponding antenna 21. In an antenna subarray, the phase difference between any two adjacent antennas 21 is the same.

[0116] Please see the appendix Figure 2 The target detection method provided in the first embodiment of this application includes:

[0117] S201: The phase modulator is used to adjust the light of the input antenna so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by the light emitted by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0118] The OPA lidar includes a processor, and the target detection method provided in this embodiment is executed by the processor.

[0119] In one embodiment, the preset position is the location where target detection is required. The processor determines the light emission angle based on the target detection location, determines the phase of the light input to each antenna based on the light emission angle, and adjusts the phase of the light input to each antenna accordingly using a phase tuner, thereby ensuring that the light spots formed by the light emitted by each antenna subarray are located at the preset position, improving the accuracy of target detection. The phase difference between each antenna subarray can be adjusted so that all antenna subarrays form light spots at the same position. Since the total energy of the light emitted by all antenna subarrays is constant, if all antenna subarrays form light spots at the same position, the energy of the light spot is maximized; if each antenna subarray forms light spots at different positions, the energy of the emitted light is dispersed across the various light spots.

[0120] In one embodiment, the processor controls each phase modulator to adjust the phase of the light input to each antenna according to the position of the target detection, so that the phase difference corresponding to each antenna subarray changes according to a preset period, thereby causing the light spot corresponding to each antenna subarray to change position according to a preset period, thereby realizing the scanning of the position where the target detection is required.

[0121] In other embodiments, the position of the light spot corresponding to each antenna subarray can also be changed by adjusting the frequency of the light from the input antenna.

[0122] The size of the light spot is related to the number of antennas in the corresponding antenna subarray; the more antennas in the subarray, the smaller the light spot. In one embodiment, the processor determines the number of antennas in each subarray based on a preset light spot size. The preset light spot size can be user-defined or determined by the processor based on the target detection scenario.

[0123] The number of antennas in each antenna subarray can be the same or different. If the number of antennas in each antenna subarray is the same, the size of each light spot will be the same; if the number of antennas in each antenna subarray is different, the size of each light spot will be different.

[0124] Multiple antenna subarrays form light spots that are combined according to preset rules to obtain light spot combinations. Each light spot in the light spot combination may or may not overlap with other light spots.

[0125] In one embodiment, the light spot corresponding to the antenna subarray with the fewest antennas is the largest and has the lowest energy compared to the light spots corresponding to other antenna subarrays. The reflected light energy at the location of this light spot is also lower. The light spot corresponding to the antenna subarray with the fewest antennas overlaps with the light spots corresponding to other subarrays, thereby avoiding locations with low light spot energy and thus avoiding receiving weak reflected light signals, improving the accuracy of target detection.

[0126] In one embodiment, except for the antenna subarray with the fewest antennas, the light spots corresponding to the other antenna subarrays do not overlap, thereby increasing the size of the light spot and thus increasing the target detection range.

[0127] S202: Target detection is performed based on the combination of light spots.

[0128] Specifically, the light emitted by each antenna subarray illuminates a preset position, forming a combination of light spots. The processor analyzes the light reflected back to the OPA lidar (optical phased array antenna) from the preset position to determine the position or velocity of the detected target.

[0129] In the above embodiments, a phase modulator is used to adjust the input light so that the light emitted by each antenna subarray forms a light spot at a preset position. Multiple light spots formed by all antenna subarrays are then combined according to a preset rule to obtain a light spot combination. Since the light spot combination is obtained by combining multiple light spots, the size and shape of the light spot combination can be adjusted by adjusting the size and position of each light spot. Target detection is then performed based on the light spot combination, allowing for the use of light spot combinations of different sizes and shapes to adapt to the target to be detected, thereby improving the accuracy of target detection.

[0130] In one embodiment, the processor first determines the shape of a preset light spot combination, and then determines the number of antennas in each antenna subarray and the phase of the light input to each antenna based on the shape of the preset light spot combination. The shape of the light spot combination includes both its size and shape.

[0131] In one embodiment, such as Figure 3 As shown, the preset beam pattern is that large and small beams are adjacent. Target detection based on this beam pattern can improve the detection range while preventing low-energy beams from concentrating in one location, thus improving the accuracy of target detection. Based on the preset beam pattern, one set of antenna subarrays has a first number of antennas per subarray, and another set has a second number of antennas per subarray, where the first number is greater than the second. Therefore, the beam pattern corresponding to the antenna subarray with the first number of antennas is the small beam, and the beam pattern corresponding to the antenna subarray with the second number of antennas is the large beam. The positions of the large and small beams are determined according to the target detection location. Based on these positions, the input light is adjusted using a phase modulator so that the beam pattern corresponding to the antenna subarray with the first number of antennas is adjacent to the beam pattern corresponding to the antenna subarray with the second number of antennas, thus obtaining the desired beam pattern. Figure 3 The light spot combination shown.

[0132] In one embodiment, such as Figure 4As shown, the preset pattern of the light spot combination is such that each small light spot is located within a large light spot, thus preventing weak signals of reflected light corresponding to the location of the large light spot and improving the accuracy of target detection. Based on the preset pattern of the light spot combination, one set of antenna subarrays has a first number of antennas per subarray, and another set has a second number of antennas per subarray, with the first number being greater than the second. Therefore, the light spot corresponding to the antenna subarray with the first number of antennas is the small light spot, and the light spot corresponding to the antenna subarray with the second number of antennas is the large light spot. The positions of the large and small light spots are determined according to the target detection location. Based on these positions, the input light is adjusted using a phase modulator so that the light spot corresponding to the antenna subarray with the first number of antennas overlaps with the light spot corresponding to the antenna subarray with the second number of antennas, thus obtaining the desired result. Figure 4 The light spot combination shown.

[0133] In one embodiment, a first number of antennas is defined in each of one set of antenna subarrays, and a second number of antennas is defined in each of the other set of antenna subarrays. If the first number is greater than the second number, the light spot corresponding to the antenna subarray with the first number of antennas is a small light spot, and the light spot corresponding to the antenna subarray with the second number of antennas is a large light spot. The input light is adjusted using a phase modulator so that the light spot corresponding to the antenna subarray with the first number of antennas is located in the center, and the light spot corresponding to the antenna subarray with the second number of antennas is located on either side, thus obtaining the following... Figure 5 The light spot combination shown is such that the small light spot is located in the middle and the large light spot is located on both sides. Using this light spot combination for target detection can expand the target detection range.

[0134] If the first number is less than the second number, then the light spot corresponding to the antenna subarray with the first number of antennas is a large light spot, and the light spot corresponding to the antenna subarray with the second number of antennas is a small light spot. By using a phase modulator to adjust the input light so that the light spot corresponding to the antenna subarray with the first number of antennas is in the center position, and the light spot corresponding to the antenna subarray with the second number of antennas is located on either side, the following is obtained: Figure 6 The arrangement of light spots shown, with the large spot in the middle and the small spots on both sides, prevents the light reflected from the edge areas from having a weak signal.

[0135] It should be noted that, depending on the target detection location or scenario, the combined light spot can also take other forms. For example, the individual light spots in the combined light spot can be arranged horizontally or vertically. The sizes of the light spots in the combined light spot can be divided into large, medium, and small, or even more types, and so on.

[0136] Please see the appendix Figure 7 The target detection method provided in the second embodiment of this application includes:

[0137] S701: Determine the number of antennas in each antenna subarray during the current light transmission.

[0138] In this application, the target detection method provided in the embodiment is applied to OPA lidar. OPA lidar includes a phase tuner and a phased array antenna. The phased array antenna includes multiple antenna subarrays. The phase tuner is connected to the antennas in the antenna subarray, and one phase tuner is connected to one antenna.

[0139] The number of antennas in each antenna subarray is dynamically changed. The number of antennas in each subarray is determined based on the desired beam pattern configuration for the current light emission. The desired beam pattern configuration is determined by the current target detection requirements. For example, if long-range target detection is required, all antennas in the OPA lidar form a single antenna subarray. If detecting smaller targets is required, a larger beam pattern is chosen, reducing the number of antennas in each subarray. After determining the number of antennas in each subarray, the phase of the light input to the antennas is adjusted to ensure that the phase difference between adjacent antennas within the same subarray is the same.

[0140] In one embodiment, the processor first determines whether to divide the phased array antenna into antenna subarrays. If it is necessary to divide the phased array antenna into subarrays, the number of antennas in each subarray is determined. If it is not necessary to divide the antenna subarrays, the phase difference between any two adjacent antennas in the phased array antenna is equal. For example, if the target is determined to be large based on the signal of the reflected light from the target, it is determined not to divide the antenna subarrays. If the target is determined to be small based on the signal of the reflected light from the target, it is determined to divide the phased array antenna into antenna subarrays. By determining whether to divide the phased array antenna into antenna subarrays, the light spot formed by the light emitted by the phased array antenna can be dynamically adjusted so that the light spot is adapted to the target to be detected.

[0141] S702: The phase tuner is used to adjust the light of the input antenna so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0142] S703: Target detection is performed based on the aforementioned light spot combination.

[0143] S702 to S703 are the same as S201 to S202 in the first embodiment, and will not be described again here.

[0144] In the above embodiments, when performing target detection, the number of antennas in each antenna subarray is first determined when the light is emitted. Then, the light from the input antenna is adjusted by a phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position, resulting in a light spot combination. Target detection is performed based on the light spot combination. Thus, the shape of the light spot combination can be adjusted at any time according to actual needs during the target detection process, making the target detection adaptable to various scenarios.

[0145] Please see the appendix Figure 8 The target detection method provided in the third embodiment of this application includes:

[0146] S801: Scan the preset area to obtain the first frame of reflection signal, which is obtained by detecting the light reflected by the preset area.

[0147] In this application, the target detection method provided in the embodiment is applied to OPA lidar. OPA lidar includes a phase tuner and a phased array antenna. The phased array antenna includes multiple antenna subarrays. The phase tuner is connected to the antennas in the antenna subarray, and one phase tuner is connected to one antenna.

[0148] The light emitted by each antenna subarray scans the preset area, and after transmitting the first frame of the transmitted signal, the corresponding first frame of the reflected signal is received.

[0149] S802: Based on the first frame of reflected signal, the phased array antenna is divided to obtain multiple antenna subarrays.

[0150] Specifically, the processor determines target information within a preset area based on the first frame of reflected signals, determines the number of antenna subarrays and the number of antennas within each subarray based on the target information, and divides the phased array antennas into multiple antenna subarrays based on the number of antenna subarrays and the number of antennas within each subarray. The target information may include the approximate outline of the target, the arrangement rules of the target, and the distribution location of the target.

[0151] In one embodiment, the processor determines the arrangement of light spots corresponding to each antenna subarray based on the target information corresponding to the first frame of reflected signals. The arrangement of light spots includes the number of light spots and their relative positions. After obtaining the arrangement of light spots, the processor determines the number of antenna subarrays and the number of antennas within each subarray. Based on the number of antenna subarrays and the number of antennas within each subarray, the phased array antenna is divided into multiple antenna subarrays. The phase difference corresponding to each antenna subarray is determined based on the position of each light spot. Then, the phase adjustment information of the phase tuner is determined based on the phase difference corresponding to each antenna subarray. Determining the arrangement of light spots using target information ensures that the subsequently obtained light spot combinations are adapted to the target information, improving the accuracy of target detection.

[0152] S803: The phase modulator is used to adjust the light of the input antenna so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0153] S804: Target detection is performed based on the aforementioned light spot combination.

[0154] S803 to S804 are the same as S201 to S202 in the first embodiment, and will not be described again here.

[0155] In the above embodiments, a first frame of reflected signal is obtained by scanning a preset area. Based on the first frame of reflected signal, the phased array antenna is divided into multiple antenna subarrays. The light from the input antenna is adjusted using a phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position, resulting in a light spot combination. Target detection is then performed based on the light spot combination. Since the first frame of reflected signal contains information about the preset area, determining the shape of the light spot combination after obtaining the information about the preset area can improve the accuracy of target detection.

[0156] Please see the appendix Figure 9 The target detection method provided in the fourth embodiment of this application includes:

[0157] S901: Scan the preset area to determine scene information.

[0158] Specifically, the light emitted by each antenna scans a preset area, and scene information is determined based on the corresponding reflected light received.

[0159] In one embodiment, if it is determined that no target can be detected based on the reflected light corresponding to a preset area, the scene information is determined to be a long-range detection scene. Specifically, when the beam emitted by the antenna illuminates a distant object, the point cloud density of the light spot formed on the obstacle decreases, and the angular resolution decreases, leading to a situation where the target cannot be detected. For example, when an OPA lidar on a vehicle performs target detection on a highway, it cannot detect road obstacles or other vehicles that are far away from the vehicle. Therefore, if it is determined that no target can be detected based on the reflected light corresponding to the preset area, it indicates that the target is far away from the OPA lidar, and the scene information is determined to be a long-range detection scene.

[0160] In one embodiment, if the intensity difference of the reflected signals in different frames is determined to be greater than a preset difference based on the reflected light corresponding to a preset area, then the scene information is determined to be a specular reflection scene. Specifically, when light emitted from an antenna shines on a plane with high reflectivity, such as glass, the light may be reflected in various directions. The reflected light is detected to obtain the reflected signals for each frame. Among the reflected signals in each frame, there will be weaker reflected signals. For example, during target detection, there may be periods or areas where a target can be detected, but the reflected signal is abnormal. Abnormal signal means that no reflected signal is received, or the intensity of the reflected signal is less than a preset value. Therefore, if the intensity difference of the reflected signals in different frames is determined to be greater than a preset difference based on the reflected light corresponding to the preset area, it indicates the presence of a target, and the intensity of the target's reflected signal is unstable, thus determining the scene information to be a specular reflection scene.

[0161] In one embodiment, if the reflected light corresponding to a preset area indicates the presence of a light spot that cannot illuminate the target, then the scene information is determined to be a small target scene. Specifically, when the light emitted by the antenna illuminates a slender target, laser dots are formed on the target. If the target is moving or the OPA lidar is moving, and the laser dots are arranged along the length of the target, the emitted light may not illuminate the target. For example, if the OPA lidar is installed on a vehicle, and the light emitted by the antenna illuminates a slender target such as a utility pole or speedometer pole while the vehicle is moving, the target may be detected at different times during target detection, and may not be detected at other times. Therefore, if the reflected light corresponding to the preset area indicates the presence of a light spot that cannot illuminate the target, it means the target is small, and the scene information is determined to be a small target scene.

[0162] S902: Determine the adjustment information of the preset light spot based on the scene information.

[0163] The adjustment information can be information indicating the shape and size of the light spot, or information indicating whether the light spot increases or decreases.

[0164] In one embodiment, if the current scene information is a scene to be detected at a distance, the adjustment information is determined to be to increase the light spot, thereby increasing the coverage area of ​​the light spot, increasing the probability of receiving reflected light, and thus improving the accuracy of target detection.

[0165] In one embodiment, if the current scene information is a specular reflection scene, the adjustment information is determined to increase the light spot, thereby increasing the coverage area of ​​a single emission point, which in turn increases the probability that the light spot will illuminate the diffuse reflection surface, improves the intensity of the received reflected light, and thus improves the accuracy of target detection.

[0166] In one embodiment, if the current scene information is a small target scene, the adjustment information is determined to be increasing the light spot size. The adjustment information may further include the direction of light spot increase, i.e., increasing the light spot size along the lateral direction of the target, thereby ensuring the light spot illuminates the target and improving the accuracy of target detection.

[0167] S903: Based on the adjustment information, the phased array antenna is divided to obtain multiple antenna subarrays.

[0168] Specifically, based on the adjustment information, the size of each light spot in the combination of light spots illuminating the target is determined, and based on the size of each light spot, the number of antenna subarrays and the number of antennas in each antenna subarray are determined.

[0169] S904: The phase tuner is used to adjust the light of the input antenna so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination.

[0170] S905: Target detection is performed based on the aforementioned light spot combination.

[0171] S904 to S905 are the same as S201 to S202 in the first embodiment, and will not be described again here.

[0172] In the above embodiments, by scanning a preset area to determine scene information, adjusting information of a preset light spot is determined based on the scene information. Based on the adjustment information, the phased array antenna is divided into multiple antenna subarrays. Then, the light from the input antenna is adjusted using a phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position, resulting in a light spot combination. Target detection is performed based on the light spot combination, thereby obtaining a light spot combination that matches the scene information, thus improving the accuracy of target detection.

[0173] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0174] Figure 10 This is a schematic diagram of the structure of the OPA lidar provided in an embodiment of this application. Figure 10 As shown, the OPA lidar of this embodiment includes: a processor 11, a memory 12, and a computer program 13 stored in the memory 12 and executable on the processor 11. When the processor 11 executes the computer program 13, it implements the steps in the above-described target detection method embodiment, for example... Figure 2 Steps S201 to S202 shown, or, Figure 7Steps S701 to S703 shown, or Figure 8 Steps S801 to S2804 shown, or Figure 9 Steps S901 to S905 are shown.

[0175] For example, the computer program 13 may be divided into one or more modules / units, which are stored in the memory 12 and executed by the processor 11 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 13 in the OPA lidar.

[0176] Those skilled in the art will understand that Figure 10 This is merely an example of an OPA lidar and does not constitute a limitation on OPA lidar. It may include more or fewer components than shown, or combine certain components, or different components. For example, the OPA lidar may also include input / output devices, network access devices, buses, etc.

[0177] The processor 11 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0178] The memory 12 can be an internal storage unit of the OPA lidar, such as the OPA lidar's hard drive or memory. The memory 12 can also be an external storage device of the OPA lidar, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the OPA lidar. Furthermore, the memory 12 can include both internal and external storage units of the OPA lidar. The memory 12 is used to store the computer program and other programs and data required by the OPA lidar. The memory 12 can also be used to temporarily store data that has been output or will be output.

[0179] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application.

[0180] In the embodiments provided in this application, it should be understood that the disclosed device / OPA lidar and method can be implemented in other ways. For example, the device / OPA lidar embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0181] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0182] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0183] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0184] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A target detection method applied to OPA lidar, characterized in that, The OPA lidar includes a phase tuner and a phased array antenna, the phased array antenna comprising multiple antenna subarrays, and the phase tuner connected to antennas in the antenna subarrays. The method includes: The phase tuner is used to adjust the light input to the antenna so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by the light emitted by all antenna subarrays are combined according to a preset rule to obtain a light spot combination. The number of antennas in each antenna subarray is dynamically changing. The number of antennas in each antenna subarray at the current time of light emission is determined according to the shape of the light spot combination required at the current time. Target detection is performed based on the aforementioned light spot combination.

2. The method according to claim 1, characterized in that, The method further includes: determining the number of antennas in each antenna subarray based on the size of a preset light spot.

3. The method according to claim 1, characterized in that, The adjustment of the input light using the phase modulator includes: The phase of the light input to each antenna is determined based on a preset light emission angle; The phase of the light input to each antenna is adjusted accordingly using the phase tuner.

4. The method according to claim 1, characterized in that, The method further includes: Based on the preset shape of the light spot combination, the number of antennas in each antenna subarray and the phase of the light input to each antenna are determined.

5. The method according to claim 4, characterized in that, The number of antennas in each antenna subarray is different.

6. The method according to claim 5, characterized in that, The light spot corresponding to the antenna subarray with the fewest antennas overlaps with the light spots corresponding to other antenna subarrays.

7. The method according to claim 6, characterized in that, The light spots corresponding to the other antenna subarrays do not overlap.

8. The method according to claim 5, characterized in that, The light spot corresponding to the antenna subarray with the first number of antennas is adjacent to the light spot corresponding to the antenna subarray with the second number of antennas.

9. The method according to claim 5, characterized in that, The light spot corresponding to the antenna subarray with the first number of antennas overlaps with the light spot corresponding to the antenna subarray with the second number of antennas.

10. The method according to claim 5, characterized in that, The light spot corresponding to the antenna subarray with the first number of antennas is located in the middle position, and the light spot corresponding to the antenna subarray with the second number of antennas is located on both sides.

11. A target detection method applied to OPA lidar, characterized in that, The OPA lidar includes a phase tuner and a phased array antenna, the phased array antenna comprising multiple antenna subarrays, and the phase tuner connected to antennas in the antenna subarrays. The method includes: Determine the number of antennas in each antenna subarray at the current time of light transmission; The phase tuner is used to adjust the light from the input antenna so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination. The number of antennas in each antenna subarray is dynamically changing. The number of antennas in each antenna subarray at the current time of light emission is determined according to the shape of the light spot combination required at the current time. Target detection is performed based on the aforementioned light spot combination.

12. The method according to claim 11, characterized in that, Before determining the number of antennas in each antenna subarray at the current time of light transmission, the method further includes: Determine whether to divide the phased array antenna into antenna subarrays.

13. A target detection method applied to OPA lidar, characterized in that, The OPA lidar includes a phase tuner and a phased array antenna, the phase tuner being connected to an antenna in the phased array antenna, and the method comprising: A preset area is scanned to obtain a first frame of reflection signal, which is obtained by detecting the light reflected through the preset area; Based on the first frame of reflected signal, the phased array antenna is divided into multiple antenna subarrays; and the light from the input antenna is adjusted using the phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination; wherein, the number of antennas in each antenna subarray is dynamically changing, and the number of antennas in each antenna subarray at the current light emission time is determined according to the shape of the light spot combination required at the current time. Target detection is performed based on the aforementioned light spot combination.

14. The method according to claim 13, characterized in that, Based on the first frame of reflected signal, the phased array antenna is divided to obtain multiple antenna subarrays; And, using the phase tuner to adjust the input light so that the light emitted by each of the antenna subarrays forms a light spot at a preset position, including: Based on the target information corresponding to the first frame of reflected signal, the arrangement and combination of light spots corresponding to each antenna subarray is determined; the arrangement and combination includes the number of light spots and their relative positions. The phased array antenna is divided based on the arrangement and combination of light spots to determine multiple antenna subarrays and the phase difference corresponding to each antenna subarray; Based on the phase difference corresponding to each antenna subarray, the input light is adjusted using the phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position.

15. A target detection method applied to OPA lidar, characterized in that, The OPA lidar includes a phase tuner and a phased array antenna, the phase tuner being connected to an antenna in the phased array antenna, and the method comprising: Scan the preset area to determine scene information; The adjustment information of the preset light spot is determined based on the scene information; Based on the adjustment information, the phased array antenna is divided into multiple antenna subarrays. The light from the input antenna is adjusted using the phase tuner so that the light emitted by each antenna subarray forms a light spot at a preset position. The multiple light spots formed by all antenna subarrays are combined according to a preset rule to obtain a light spot combination. The number of antennas in each antenna subarray is dynamically changing. The number of antennas in each antenna subarray at the current light emission time is determined according to the shape of the light spot combination required at the current time. Target detection is performed based on the aforementioned light spot combination.

16. The method according to claim 15, characterized in that, The step of determining the adjustment information of the preset light spot based on the scene information includes: If the current scene information is a scene detected at a distance, the adjustment information is determined to be to increase the light spot.

17. The method according to claim 16, characterized in that, Determine scene information, including: If it is determined that no target can be detected based on the reflected light corresponding to the preset area, then the scene information is determined to be the scene of long-distance detection.

18. The method according to claim 15, characterized in that, The step of determining the adjustment information of the preset light spot based on the scene information includes: If the current scene information is a specular reflection scene, determine the adjustment information to increase the light spot.

19. The method according to claim 18, characterized in that, Determine scene information, including: If, based on the reflected light corresponding to the preset area, it is determined that the intensity difference of the reflected signal in different frames is greater than a preset difference, then the scene information is determined to be the specular reflection scene.

20. The method according to claim 15, characterized in that, The step of determining the adjustment information of the preset light spot based on the scene information includes: If the current scene information indicates a small target scene, the adjustment information is determined to be to increase the light spot.

21. The method according to claim 20, characterized in that, Determine scene information, including: If, based on the reflected light corresponding to the preset area, it is determined that there are light spots that cannot illuminate the target, then the scene information is determined to be the small target scene.

22. An OPA lidar, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the target detection method as described in any one of claims 1 to 21.

23. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the target detection method as described in any one of claims 1 to 21.

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