Radar system, movable device and radar detection method

Abstract

A radar system (600), a mobile device (100), and a radar detection method. A laser module (610) in the radar system (600) generates a multi-wavelength optical signal, a two-dimensional scanner (620) performs two-dimensional scanning using the multi-wavelength optical signal, and receives echo signals within the receiving field of view of the two-dimensional scanner (620). After the wavelength division module (630) performs spectroscopic processing on the echo signals, the detection module (640) converts multiple single-wavelength optical signals into multiple electrical signals, and the processor (650) obtains first point cloud data accordingly. The inclusion of multiple echo signals within a unit receiving field of view of the two-dimensional scanner (620) overcomes the limitation of flight time on the number of point clouds for a single-wavelength optical signal and the limitation of the environmental adaptability of a single-wavelength optical signal, thereby increasing the number of point clouds detected by the radar and increasing the effective information carried in the point cloud data. This is beneficial for improving the detection performance of the laser radar and reducing the safety risks of the autonomous driving process caused thereby.

Description

Technical Field

[0001] The present application relates to the field of radar, and in particular to a radar system, a movable device, and a radar detection method. Background Art

[0002] With the continuous development of autonomous driving technology, the requirements for various sensors in autonomous driving systems are becoming increasingly higher. Among them, LiDAR, as one of the key sensors in autonomous driving systems, has increasingly higher requirements in terms of resolution, number of point clouds, and detection distance.

[0003] At present, the existing technology generally uses a single-wavelength laser radar to detect targets. That is, the laser radar emits a single-wavelength laser signal to the outside, receives its echo signal, and analyzes and processes the single-wavelength laser signal and its echo signal to obtain the point cloud data of the target, and then determine the distance between the target and the laser radar and the target type.

[0004] However, single-wavelength laser signals are limited by their detection range, time of flight (TOF), and environmental adaptability. A single-wavelength lidar can only contain one echo signal within its receiving field of view. This results in a small number of point clouds, and consequently, less effective information in those point clouds, significantly impacting its detection performance. Improving lidar's detection performance to reduce safety risks during autonomous driving has become a pressing technical challenge in this field. Summary of the Invention

[0005] The embodiments of the present application provide a radar system, a movable device, and a radar detection method to improve the detection performance of a lidar, thereby reducing the safety risks of the autonomous driving process caused thereby.

[0006] In a first aspect, embodiments of the present application provide a radar system, wherein a laser module is configured to generate a multi-wavelength optical signal, a two-dimensional scanner is configured to perform two-dimensional scanning using the multi-wavelength optical signal, and receive echo signals within the receiving field of view of the two-dimensional scanner. The echo signals are reflection signals generated by the scanned object after being irradiated by the multi-wavelength optical signal, and a wavelength division module is configured to process the echo signals into multiple single-wavelength optical signals, which are converted by a detection module into electrical signals corresponding to each wavelength. Furthermore, first point cloud data is obtained based on the electrical signals corresponding to each wavelength. Furthermore, in the radar system provided by the present application, multiple echo signals are included within a unit receiving field of view of the two-dimensional scanner. Compared to the prior art single-wavelength laser radar, which can only include one echo signal within a unit receiving field of view, the present application overcomes the limitations of time-of-flight (TOF) time on the number of point clouds for a single-wavelength optical signal and the limitations of the environmental adaptability of a single-wavelength optical signal, effectively increasing the number of point clouds within a unit receiving field of view. The increase in the number of point clouds also increases the effective information carried in the point cloud data, which is beneficial to improving the detection performance of the laser radar. Therefore, the radar system provided in this application can effectively improve the detection performance of the lidar, which is conducive to reducing the safety risks of the autonomous driving process caused thereby.

[0007] In a possible embodiment, the multi-wavelength optical signal includes a first wavelength optical signal and a second wavelength optical signal; the wavelengths of the first wavelength optical signal and the second wavelength optical signal are different; then, when the transmission parameters of the first wavelength optical signal and the second wavelength optical signal are different, the parameters of the minimum receiving field of view of the first wavelength optical signal and the second wavelength optical signal are different; wherein the parameters of the minimum receiving field of view include: one or more of the position, size or number of the minimum receiving field of view; the transmission parameters include: one or more of the divergence angle, emission position, emission time, emission angle, position of the receiving field of view, size of the receiving field of view, and flight time.

[0008] In another possible embodiment, the laser module includes one or more lasers. When the laser module includes one laser, the laser is a tunable laser; in this case, the multi-wavelength optical signal includes multiple single-wavelength optical signals. Alternatively, when the laser module includes multiple lasers, the multiple lasers include tunable lasers and / or single-wavelength lasers; and the wavelengths of the optical signals generated by any two single-wavelength lasers are different. In this case, the multi-wavelength optical signal includes one optical signal including multiple wavelengths, or multiple single-wavelength optical signals.

[0009] In another possible embodiment, the wavelength division module is specifically used to: perform optical splitting processing on the echo signal to obtain a plurality of single-wavelength optical signals; and any two of the single-wavelength optical signals have different wavelengths.

[0010] In another possible embodiment, the wavelength division module is further used to perform splitting processing or focusing processing on the multi-wavelength optical signal generated by the laser module, and provide it to the two-dimensional scanner for two-dimensional scanning.

[0011] In another possible embodiment, the wavelength division module includes: one or more of a beam splitter, an optical fiber, a lens, a prism, a reflector, or a diffraction device.

[0012] In another possible embodiment, the detection module includes: one or more detectors; when the detection module includes one detector, the detector is a multi-wavelength detector, and the multi-wavelength detector is used to receive and process the single-wavelength optical signals of multiple wavelengths; when the detection module includes multiple detectors, the multiple detectors include: multi-wavelength detectors and / or single-wavelength detectors; wherein any one of the single-wavelength detectors is used to receive and process the single-wavelength optical signals of one wavelength.

[0013] In another possible embodiment, the radar system is an off-axis optical system or a coaxial optical system.

[0014] In another possible embodiment, the processor is specifically configured to directly generate the first point cloud data according to electrical signals corresponding to multiple wavelengths.

[0015] In another possible embodiment, the processor is specifically configured to: generate second point cloud data based on the electrical signals corresponding to each of the multiple wavelengths; and compensate the second point cloud data using environmental quality parameters to obtain the first point cloud data.

[0016] In another possible embodiment, the processor is further configured to: extract a noise parameter corresponding to each wavelength from electrical signals corresponding to multiple wavelengths; and determine the environmental quality parameter based on the noise parameters corresponding to the multiple wavelengths.

[0017] In another possible embodiment, the noise parameters include: backscattering noise parameters; in this case, the processor is specifically used to: use a backscattering function to process the backscattering noise parameters corresponding to multiple wavelengths to obtain a scattering coefficient; use an atmospheric absorption function to process the electrical signals corresponding to multiple wavelengths and the backscattering noise parameters to obtain an absorption coefficient; and determine the environmental quality parameter based on the scattering coefficient and the absorption coefficient.

[0018] In another possible embodiment, the environmental quality parameters include one or more of fog type, weather severity, particle concentration, humidity, or particle size distribution.

[0019] In another possible embodiment, the processor is specifically used to: obtain a target compensation formula that matches the environmental quality parameter in a preset compensation formula; and use the target compensation formula to compensate the second point cloud data to obtain the first point cloud data.

[0020] In another possible embodiment, the processor is further used to: obtain a single-wavelength detection result corresponding to each wavelength based on the first point cloud data; and determine a radar detection result based on the single-wavelength detection results of multiple wavelengths.

[0021] In another possible embodiment, the processor is specifically used to: use the transmission and reception time of the optical signal corresponding to each wavelength in the first point cloud data to determine the first distance corresponding to each wavelength as the single wavelength detection result; determine the second distance based on the first distances corresponding to multiple wavelengths, and the second distance is used to characterize the distance between the radar system and the detection target.

[0022] In another possible embodiment, the processor is specifically used to: use the echo intensity of the light signal corresponding to each wavelength in the first point cloud data to determine the target reflectivity corresponding to each wavelength as the single wavelength detection result; and determine the type of the detected target based on the target reflectivity corresponding to multiple wavelengths.

[0023] In another possible embodiment, the processor is further used to: determine detection parameters of the radar system; the detection parameters include: emission parameters of the multi-wavelength optical signal of multiple wavelengths and configuration parameters of the radar system; and detect targets according to the detection parameters.

[0024] In another possible embodiment, the processor is further configured to: receive first information, where the first information is used to indicate the transmission parameter and / or the configuration parameter of the radar system.

[0025] In a second aspect, an embodiment of the present application provides a movable device, comprising: a radar system and a controller as described in any embodiment of the first aspect, wherein the controller is coupled to the radar system and can be used to control the movable device based on the first point cloud data.

[0026] In a third aspect, embodiments of the present application provide a mobile device comprising: a radar system and a controller as described in any embodiment of the first aspect, wherein the controller is coupled to the radar system and can be used to control the mobile device based on first point cloud data. Furthermore, when the radar system directly outputs the first point cloud data, the controller can also be used to: obtain single-wavelength detection results corresponding to each wavelength based on the first point cloud data, and determine radar detection results based on the single-wavelength detection results for multiple wavelengths.

[0027] In the second or third aspect of the mobile device, the radar system can emit a multi-wavelength optical signal and obtain the first point cloud data based on its echo signal, and a plurality of echo signals are included in a unit receiving field of view of the two-dimensional scanner. Compared with the situation in the prior art where the unit receiving field of view of a single-wavelength laser radar can only contain one echo signal, the present application can break through the limitation of TOF time on the number of point clouds of a single-wavelength optical signal, and can also break through the limitation of the adaptability of a single-wavelength optical signal to the environment, effectively increasing the number of point clouds in the unit receiving field of view. The increase in the number of point clouds also increases the effective information carried in the point cloud data, which is beneficial to improving the detection performance of the laser radar. In summary, the radar system provided by the present application can effectively improve the detection performance of the laser radar, and is beneficial to reducing the safety risks of the autonomous driving process caused thereby.

[0028] In a possible embodiment of the second aspect or the third aspect, the controller is specifically used to: send a first message to the radar system, where the first message is used to indicate the transmission parameters and / or the configuration parameters of the radar system.

[0029] In another possible embodiment of the second aspect or the third aspect, the movable device further includes: a sensor and / or a communication module; the controller is further used to: obtain environmental parameters through the sensor and / or the communication module; and determine the emission parameters and / or the configuration parameters of the laser signal of each wavelength based on the environmental parameters.

[0030] In another possible embodiment of the second aspect or the third aspect, the sensor includes one or more of: a millimeter wave radar, an image acquisition device, a global positioning system receiver, an inertial measurement unit, and a human-computer interaction interface.

[0031] In another possible embodiment of the second aspect or the third aspect, the controller is further used to: receive second information from the radar system, the second information carrying first point cloud data; obtain a single wavelength detection result corresponding to each wavelength based on the first point cloud data; and determine the radar detection result based on the single wavelength detection results of multiple wavelengths.

[0032] In another possible embodiment of the second aspect or the third aspect, the controller is specifically used to: use the transmission and reception time of the optical signal corresponding to each wavelength in the first point cloud data to determine the first distance corresponding to each wavelength as the single wavelength detection result; determine the second distance based on the first distances corresponding to multiple wavelengths, and the second distance is used to characterize the distance between the radar system and the detection target.

[0033] In another possible embodiment of the second aspect or the third aspect, the controller is specifically used to: use the echo intensity of the light signal corresponding to each wavelength in the first point cloud data to determine the target reflectivity corresponding to each wavelength as the single wavelength detection result; determine the type of the detected target based on the target reflectivity corresponding to multiple wavelengths.

[0034] In another possible embodiment of the second aspect or the third aspect, the movable device includes: a vehicle, a drone, or a ground robot.

[0035] In a fourth aspect, an embodiment of the present application provides a radar detection method that can be applied to a radar system as shown in any of the embodiments of the first, second, or third aspects. In this radar detection method, the radar system can generate a multi-wavelength optical signal and use the multi-wavelength optical signal to perform two-dimensional scanning, and receive an echo signal located within the receiving field of view of the two-dimensional scanner. In this way, by performing spectroscopic processing on the echo signal and converting the photoelectric signal into an electrical signal, an electrical signal corresponding to each wavelength is obtained, and then, first point cloud data is obtained based on the electrical signal corresponding to each wavelength. In this method, since a unit receiving field of view of the two-dimensional scanner includes multiple echo signals, compared to the situation in the prior art where a single-wavelength laser radar unit receiving field of view can only contain one echo signal, the present application can break through the TOF time limit on the number of point clouds for a single-wavelength optical signal, and can also break through the limit of the environmental adaptability of a single-wavelength optical signal, effectively increasing the number of point clouds within the unit receiving field of view, and thereby obtaining more effective information, which is conducive to improving the detection performance of the laser radar. In summary, the radar system provided by the present application can effectively improve the detection performance of the laser radar and help reduce the safety risks caused by the autonomous driving process.

[0036] In a possible embodiment, obtaining the first point cloud data according to the electrical signals corresponding to each wavelength includes: generating second point cloud data according to the electrical signals corresponding to each of the multiple wavelengths; and compensating the second point cloud data using environmental quality parameters to obtain the first point cloud data.

[0037] In another possible embodiment, the method further includes: extracting a noise parameter corresponding to each wavelength from the electrical signals corresponding to the multiple wavelengths; and determining the environmental quality parameter based on the noise parameters corresponding to the multiple wavelengths.

[0038] In another possible embodiment, the noise parameters include: backscattering noise parameters; extracting the noise parameters corresponding to each wavelength from the electrical signals corresponding to multiple wavelengths, including: using a backscattering function to process the backscattering noise parameters corresponding to multiple wavelengths to obtain a scattering coefficient; using an atmospheric absorption function to process the electrical signals corresponding to multiple wavelengths and the backscattering noise parameters to obtain an absorption coefficient; and determining the environmental quality parameter based on the scattering coefficient and the absorption coefficient.

[0039] In another possible embodiment, the method of compensating the second point cloud data using the environmental quality parameters to obtain the first point cloud data includes: obtaining a target compensation formula that matches the environmental quality parameters in a preset compensation formula; and compensating the second point cloud data using the target compensation formula to obtain the first point cloud data.

[0040] In another possible embodiment, the method further includes: obtaining a single-wavelength detection result corresponding to each wavelength based on the first point cloud data; and determining a radar detection result based on the single-wavelength detection results of multiple wavelengths.

[0041] In another possible embodiment, obtaining the single-wavelength detection result corresponding to each wavelength based on the first point cloud data includes: using the transmission and reception time of the optical signal corresponding to each wavelength in the first point cloud data to determine the first distance corresponding to each wavelength as the single-wavelength detection result; determining the radar detection result based on the single-wavelength detection results of multiple wavelengths includes: determining the second distance based on the first distances corresponding to the multiple wavelengths, and the second distance is used to characterize the distance between the radar system and the detection target.

[0042] In another possible embodiment, obtaining the single-wavelength detection result corresponding to each wavelength based on the first point cloud data includes: using the echo intensity of the light signal corresponding to each wavelength in the first point cloud data to determine the target reflectivity corresponding to each wavelength as the single-wavelength detection result; determining the radar detection result based on the single-wavelength detection results of multiple wavelengths includes: determining the type of the detected target based on the target reflectivity corresponding to the multiple wavelengths.

[0043] In another possible embodiment, the method further includes: determining detection parameters of the radar system; the detection parameters include: emission parameters of the multi-wavelength optical signal and configuration parameters of the radar system; and detecting the target according to the detection parameters.

[0044] In another possible embodiment, the method further includes: receiving first information, where the first information is used to indicate the transmission parameter and / or the configuration parameter of the radar system.

[0045] In the fifth aspect, an embodiment of the present application provides a radar detection method, which can be applied to a controller in a movable device as shown in any embodiment of the third aspect. In this radar detection method, the controller can receive second information from the radar system, and the second information carries first point cloud data, so that the controller can control the movement of the movable device based on the first point cloud data.

[0046] In a sixth aspect, an embodiment of the present application provides a radar detection method that can be applied to a controller in a mobile device as shown in any embodiment of the third aspect. In this radar detection method, the controller can receive second information from the radar system, and the second information carries first point cloud data. Thus, the controller can obtain a single-wavelength detection result corresponding to each wavelength based on the first point cloud data, and then determine the radar detection result based on the single-wavelength detection results of multiple wavelengths. Therefore, through this solution, the mobile device can obtain multiple single-wavelength detection results based on the point cloud data provided by the radar system, and then comprehensively consider each single-wavelength detection result to obtain the final radar detection result. In other words, the radar detection result is obtained based on the detection results of multiple wavelength optical signals. Different wavelengths of light have different adaptability to the environment, targets, etc. In this way, more comprehensive information can be obtained, and the problem of single-wavelength light being limited by the environment and targets, resulting in a single application scenario and unstable detection result accuracy, is solved, which is conducive to improving the accuracy of radar detection results and reducing the safety risks caused by the autonomous driving process.

[0047] In a possible embodiment of the fifth or sixth aspect, obtaining the single-wavelength detection result corresponding to each wavelength based on the first point cloud data includes: using the transmission and reception time of the optical signal corresponding to each wavelength in the first point cloud data to determine the first distance corresponding to each wavelength as the single-wavelength detection result; determining the radar detection result based on the single-wavelength detection results of multiple wavelengths includes: determining the second distance based on the first distances corresponding to the multiple wavelengths, and the second distance is used to characterize the distance between the radar system and the detection target.

[0048] In another possible embodiment of the fifth or sixth aspect, obtaining the single-wavelength detection result corresponding to each wavelength based on the first point cloud data includes: using the echo intensity of the light signal corresponding to each wavelength in the first point cloud data to determine the target reflectivity corresponding to each wavelength as the single-wavelength detection result; determining the radar detection result based on the single-wavelength detection results of multiple wavelengths includes: determining the type of the detected target based on the target reflectivity corresponding to the multiple wavelengths.

[0049] In another possible embodiment of the fifth aspect or the sixth aspect, the method further includes: sending a first message to the radar system, where the first message is used to indicate the transmission parameters and / or the configuration parameters of the radar system.

[0050] In another possible embodiment of the fifth aspect or the sixth aspect, the movable device further includes: a sensor and / or a communication module; the method further includes: obtaining environmental parameters through the sensor and / or the communication module; and determining the emission parameters and / or the configuration parameters of the laser signal of each wavelength based on the environmental parameters.

[0051] In the seventh aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer-readable storage medium is run on a computer, it enables the computer to execute the method described in any one of the embodiments of the fourth aspect, the fifth aspect or the sixth aspect.

[0052] In an eighth aspect, the present application provides a computer program, which, when executed by a computer, is used to execute the method described in any one of the embodiments of the fourth aspect, the fifth aspect or the sixth aspect.

[0053] In one possible design, the computer program in the eighth aspect can be stored in whole or in part on a storage medium that is packaged together with the processor, or can be stored in whole or in part on a memory that is not packaged together with the processor.

[0054] In summary, the embodiments of the present application provide a radar system, a movable device, and a radar detection method, which perform two-dimensional scanning by emitting multi-wavelength optical signals, so that there can be multiple echo signals within a unit receiving field of view of the two-dimensional scanner, breaking through the limitations of detection distance and TOF time on the number of echo signals within the unit receiving field of view, and the first point cloud data obtained based on the multi-wavelength optical signal can carry the effective information carried by each wavelength optical signal, which is also conducive to breaking through the limitations of single-wavelength optical signals on environmental adaptability, and can effectively increase the amount of effective information in the point cloud data, thereby improving the detection accuracy and detection performance of the lidar, and helping to reduce the safety risks of the autonomous driving process caused by this. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic diagram of a radar detection scenario provided in an embodiment of the present application;

[0056] Figure 2 A schematic diagram of another radar detection scenario provided in an embodiment of the present application;

[0057] Figure 3 A schematic diagram of another radar detection scenario provided in an embodiment of the present application;

[0058] Figure 4 Schematic diagram of the limitation of flight time on the number of point clouds of a single-wavelength optical signal in the prior art;

[0059] Figure 5 Schematic diagram of optical signals in different wavelength bands provided in an embodiment of the present application;

[0060] Figure 6 A schematic diagram of the architecture of a radar system provided in an embodiment of the present application;

[0061] Figure 7 A schematic diagram of a wavelength division module of a radar system provided in an embodiment of the present application;

[0062] Figure 8 A schematic diagram of a wavelength division module of another radar system provided in an embodiment of the present application;

[0063] Figure 9 A schematic diagram of a wavelength division module of another radar system provided in an embodiment of the present application;

[0064] Figure 10 A schematic diagram of a wavelength division module of another radar system provided in an embodiment of the present application;

[0065] Figure 11 A schematic diagram of a receiving field of view of a two-dimensional scanner in an embodiment of the present application;

[0066] Figure 12 This is a schematic diagram of a point cloud obtained by a two-dimensional scan performed by a radar system in an embodiment of the present application;

[0067] Figure 13 Schematic diagram of the relationship between the transmission field of view and the reception field of view of a multi-wavelength optical signal in an embodiment of the present application;

[0068] Figure 14 A schematic diagram of a processor obtaining radar detection results (radar detection method) in an embodiment of the present application;

[0069] Figure 15 Schematic diagram of target recognition effect when using single-wavelength optical signals and multi-wavelength optical signals to identify the same target. DETAILED DESCRIPTION

[0070] The following describes the implementation of this embodiment in detail with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " represents or, for example, A / B can represent A or B; "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0071] First, the application scenarios of the embodiments of the present application are described.

[0072] The technical solution provided in the embodiments of the present application is applied to scenarios where a mobile device uses a radar system to detect targets.

[0073] A mobile device is a device with mobile functionality. A mobile device may include a body and a controller, which is used to control the mobile device. The controller may be installed (or integrated or mounted) on the body, or it may be separate from the body.

[0074] In the embodiment of the present application, movable devices may include but are not limited to: vehicles, drones, ground robots, etc.

[0075] Exemplarily, when the movable device is a vehicle, the controller may be the main controller of the vehicle (or one or more processing units in the main controller), and the main controller is used to control the vehicle. For example, the main controller can be used to control the driving of the vehicle (including automatic driving), control the playback of the vehicle-mounted multimedia player, and control the vehicle-mounted equipment (for example, cameras, lights, positioning systems, etc.). Alternatively, the controller may also be a terminal or other remote controller that is communicatively connected to the main controller of the vehicle. The communication connection method will be described in detail later. Among them, the terminals involved in the embodiments of the present application may include but are not limited to: mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MIDs), etc., which are not exhaustive.

[0076] For example, when the movable device is a drone, the controller can be the drone's remote control (or one or more processing units in the remote control), and the remote control can remotely control the drone to perform flight missions; or, the controller can be a processor mounted in the drone body.

[0077] When the movable device is a ground robot, the controller can be a remote control server of the ground robot (or one or more processing units in the remote control server), and the remote control server can be used to control one or more ground robots to perform ground tasks; or, the controller can also be a processor installed in the body of the ground robot.

[0078] A mobile device can utilize a radar system to detect nearby environments or targets. Specifically, the radar system can be mounted (or integrated, installed, or configured) on the mobile device. This allows radar detection while the mobile device is in motion.

[0079] The controller in the mobile device can be communicatively connected to the radar system. In the embodiments of the present application, the communication connection method may include: a wired connection and / or a wireless connection. Among them, the wireless connection method may include, but is not limited to: Wireless Fidelity (WIFI) connection, Bluetooth connection, Near Field Communication (NFC) connection, vehicle network connection, etc., which are not exhaustive.

[0080] The present application examples provide Figures 1 to 3 , an exemplary description is given of the radar detection scenario applied in the embodiments of the present application.

[0081] For example, Figure 1 A radar detection scenario is shown. Figure 1 As shown, mobile device 100 is a vehicle that can travel on a road. The vehicle specifically includes a body (or body, or machine body) 110, a radar system 120, and a controller 130. Both radar system 120 and controller 130 are mounted on body 110. Radar system 120 is used to detect targets near vehicle 100, such as in front of vehicle 100. Controller 130 is in communication with radar system 120 to control the movement of vehicle 100.

[0082] exist Figure 1 In one embodiment shown, the controller 130 is in communication with the radar system 120 and can receive radar detection results from the radar system 120 (the specific content will be described in detail later), and the controller 130 can control the vehicle 100 with reference to the radar detection results.

[0083] For example, Figure 2Another radar detection scenario is shown. In this scenario, the mobile device 100 is a vehicle, and a radar system 120 is mounted on the vehicle's body 110 for detecting targets near the vehicle. In this scenario, the controller 130 of the vehicle (mobile device 100) is a mobile phone, that is, the mobile phone is used to control the vehicle. The radar system 120 is also in communication with the mobile phone (controller 130), and the mobile phone (controller 130) can receive radar detection results from the radar system 120 and control the vehicle (mobile device 100) accordingly.

[0084] For example, Figure 3 Another radar detection scenario is shown. In this scenario, the movable device 100 is a drone, which can travel in the air and perform flight missions. A radar system 120 is mounted on the drone's fuselage 110, which is used to detect targets near the drone. The drone's (movable device 100) controller 130 is a remote control, used to control the drone's flight missions. Furthermore, the remote control (controller 130) is in communication with the radar system 120, and can receive radar detection results from the radar system 120 and control the drone (movable device 100) accordingly.

[0085] It should be noted that, in any of the aforementioned radar detection scenarios, the controller may be controlled by the user, or the controller 130 may control the movable device on its own.

[0086] For example, in Figure 1 In the illustrated scenario, the controller 130 can be controlled by the driver and perform corresponding control functions based on the driver's operation information obtained, while the radar system 120 can perform target detection tasks in this scenario. In other words, the present application can be applied to scenarios where the driver is driving a vehicle.

[0087] Alternatively, the controller 130 can also control the vehicle's driving independently. In this scenario, the controller 130 controls the vehicle's automatic driving (or unmanned driving), and the radar system 120 can also perform target detection tasks. In other words, this application can also be applied to unmanned driving scenarios of vehicles.

[0088] Furthermore, the embodiments of the present application are independent of whether the mobile device is in motion. In other words, the present application can be applied to target detection in scenarios where the mobile device is in motion, as well as in scenarios where the mobile device is stationary. For example, when a vehicle is temporarily parked but the engine is not turned off, the vehicle is stationary and a radar system can be used for target detection. For another example, when a drone is stationary in mid-air, a radar system can be used to detect nearby targets.

[0089] Furthermore, in addition to the aforementioned radar system 120, the mobile device may also be equipped with other sensors or other radar systems, which are not particularly limited in the embodiments of the present application. For example, the mobile device may also be equipped with, but not limited to, one or more of: a speed sensor, a millimeter-wave radar, and a Global Positioning System (GPS) receiver.

[0090] In the embodiments of the present application, radar system 120 may be specifically a laser radar (LiDAR) system. A LiDAR system, also known as a laser radar, optical radar system, or Lidar (light detection and ranging), is a radar system that uses a laser beam to detect targets. Its principle is to emit a laser beam, receive a feedback signal (also known as a signal echo or echo signal) from the laser beam, and analyze the echo and feedback signals to achieve target detection. LiDAR is currently widely used in fields such as surveying and mapping, archaeology, geography, landforms, seismology, forestry, remote sensing, and atmospheric physics.

[0091] LiDAR is one of the most important sensors for autonomous mobile devices. In other words, its detection results are directly related to the safety of mobile devices. Therefore, LiDAR's detection performance has become a key research topic in this field.

[0092] Currently, the laser radar 130 installed in mobile devices (e.g., vehicle-mounted laser radar) is generally a single-wavelength laser radar. A single-wavelength laser radar refers to a laser radar system that uses a single-wavelength laser signal to detect targets. A single-wavelength laser signal can be a single laser signal or a laser beam composed of multiple single-wavelength laser signals. This means that each laser signal in the laser beam has the same wavelength, resulting in a single laser beam wavelength.

[0093] Because mobile devices require high-speed radar detection results, lidar systems typically perform single-point scanning (also known as one-dimensional scanning or 1D scanning) or two-dimensional scanning (also known as 2D scanning). When using a single-wavelength lidar for 2D scanning, this is typically achieved by emitting a laser beam from a single point. In this case, the radar system can generate 3D point cloud data, and is therefore also referred to as a 3D radar system.

[0094] Single-wavelength lidar offers excellent ranging performance and compact size, meeting the current detection needs of automotive radars. However, single-wavelength lidars have limited laser transmission and reception channels and low parallelism, which limits the number of point clouds per received field of view. Therefore, the current trade-off between resolution and frame rate is the only way to maximize the detection performance of single-wavelength laser signals.

[0095] LiDAR detection performance can be characterized by at least one of the number of point clouds per unit time and space, or the resolution. The higher the number of point clouds per unit time and space, the better the LiDAR detection performance; the higher the resolution per unit time and space, the better the LiDAR detection performance.

[0096] The number and resolution of point clouds per unit time and space are subject to multiple constraints. For example, these constraints may include, but are not limited to, one or more of the following: laser capability, laser-scanner coordination, time of flight (TOF) required for ranging, laser repetition rate, number of point clouds generated in a single measurement, number of pulses required for a single measurement, scanning speed, scanning range, and frame rate.

[0097] For example, the number of point clouds of the laser radar per unit time and space can satisfy the following relationship:

[0098] Number of point clouds ≤ (laser repetition frequency / number of pulses required for a single measurement) × number of lasers × number of point clouds generated in a single measurement

[0099] Number of point clouds ≤ Number of lasers × Number of point clouds generated in a single measurement / TOF time

[0100] The resolution of the laser radar per unit time and space can satisfy the following relationship:

[0101] Resolution ≥ TOF time × scanning speed

[0102] Resolution ≥ scanning range × frame rate × number of pulses required for a single measurement / (laser repetition rate × number of lasers × number of point clouds generated in a single measurement)

[0103] Specifically, due to the thermal limitations of the chip, it is difficult to significantly increase the laser repetition rate. Therefore, it is difficult to increase the number of point clouds per unit time and space by adjusting the laser repetition rate.

[0104] The number of point clouds generated by a single measurement is generally determined by the number of detector pixels. However, increasing the number of detectors affects the power allocated to each pixel, thus affecting the detection range. In other words, all other conditions being equal, the more detectors a lidar has, the shorter its detection range.

[0105] The detection range determines the time-of-flight (TOF) time. TOF is the maximum time it takes for a light pulse signal (also known as a laser pulse signal, laser signal, or light signal) to travel back and forth between the radar and the target. All other conditions being equal, the longer the detection range, the longer the TOF time and the fewer point clouds per unit time and space.

[0106] Now combined Figure 4This paper describes the limitation of TOF time on the number of point clouds of single wavelength optical signals. Figure 4 In the figure, the interval between the two dotted lines is a unit TOF time, Tx represents the emission time of the optical pulse signal, and Rx represents the echo time of the optical pulse signal (that is, the reception time of the echo signal after the optical pulse signal is reflected by the target). Figure 4 Three units of flight time are shown as an example. In each unit TOF time, only one single wavelength optical pulse signal is emitted and only one echo signal is received. Based on the different distances between the target and the radar system, the position of each Rx in its respective unit TOF is different. Figure 4 As shown, L2<L1<L3, where L1 is the duration between Tx1 and Rx1, L2 is the duration between Tx2 and Rx2, and L3 is the duration between Tx3 and Rx3.

[0107] like Figure 4 As shown in the figure, within a unit of time-of-flight (TOF), the distance between the target and the radar system varies, and the optical pulse signal's echo time varies. This can result in two echo signals within a single unit of time-of-flight (TOF), which can lead to mismatches between the echo signal and the optical pulse signal, resulting in extremely low detection accuracy. Therefore, to avoid misjudgments, the lidar system only emits and receives an optical pulse signal once within a single unit of time-of-flight (TOF).

[0108] like Figure 4 As shown, a lidar can only transmit a single-wavelength optical pulse signal and receive a single optical pulse echo within a unit of time-of-flight (TOF). It is understood that within a unit of time-of-flight, no optical pulse signal may be transmitted and / or no echo signal may be received. This will not be elaborated on in detail.

[0109] Then, under the premise of determining the detection distance, the unit TOF time can also be determined accordingly. Therefore, the maximum number of point clouds that the laser radar can generate in unit time (which may include one or more unit TOF times) is: the product of the number of unit TOF times contained in the unit time and the number of point clouds generated by a single measurement.

[0110] Furthermore, light pulse signals of different wavelengths have varying adaptability and applicability to different environments. For example, different wavelengths of light pulse signals not only affect a lidar's environmental adaptability, noise immunity, and anti-interference capabilities, but also influence its component selection, chip materials and processes, universal applicability, manufacturing costs, and ease of use.

[0111] For example, Figure 5 Figure 2 shows a schematic diagram of optical signals in different wavelength bands. Figure 5As shown, the wavelength bands of laser signals that can be emitted by the laser radar may include: ultraviolet light ( Figure 5 Not shown), visible light (Visible light), infrared (IR) light, near infrared (NIR) light or short-wave infrared (SWIR) light. Figure 5 As shown in Figure 2, the infrared light band can be further divided into: near infrared band ( Figure 5 51 in the middle), short-wave infrared band (also called near-infrared band, Figure 5 52), the middle infrared (MWIR) band (also known as the mid-infrared band, Figure 5 53), Short-Wave Infrared (SWIR) band (also known as far infrared band, Figure 5 Indicated as 54).

[0112] like Figure 5 As shown, the ultraviolet band is about 10-400nm, the visible light band is about 390-750nm, the near infrared band is about 700-2500nm, the mid-infrared band is about 2.5-25μm, and the mid-infrared band is about 25-500μm. In a single-wavelength lidar, a laser signal of one wavelength can be emitted externally. The wavelength of the laser signal is Figure 5 The wavelength range of the optical signal is shown.

[0113] Figure 5 The different wavelengths of the optical signals shown here also lead to different environmental adaptability of laser signals of different wavelengths. Specifically, any two laser signals of different wavelengths differ in one or more of atmospheric penetration, particle scattering and absorption, ambient light noise, and target reflectivity. In other words, no single wavelength laser signal can achieve optimal performance in all aspects, nor can a single wavelength laser signal be adapted to every environment.

[0114] Because laser signals of different wavelengths adapt to different environments, the detection performance of a LiDAR using a single-wavelength laser signal for target detection is inevitably affected by the laser signal's adaptability to the environment. In other words, single-wavelength LiDARs have poor environmental adaptability, resulting in unstable detection performance.

[0115] For example, LiDAR 1 detects targets by emitting optical pulse signals with wavelength 1. However, wavelength 1 is more adaptable to rainy and snowy environments, resulting in highly accurate radar detection results. However, wavelength 1 is less adaptable to sandstorms, resulting in lower radar detection accuracy.

[0116] Under this premise, the vehicle is equipped with the laser radar 1 and uses it (in combination with other sensors, which will not be described in detail) to achieve autonomous driving. Then, when the vehicle is driving in rainy or snowy environments, the laser radar can obtain good radar detection results, which is conducive to the vehicle's timely obstacle avoidance or adoption of other driving strategies, and can reduce the safety risks of the vehicle's autonomous driving process to a certain extent. However, when the vehicle is driving in a sandstorm environment, the accuracy of the radar detection results obtained by the laser radar is low, and it is very likely that obstacles cannot be accurately identified, resulting in safety accidents such as collisions with obstacles and rear-end collisions with vehicles, affecting the safety of life and property.

[0117] In summary, single-wavelength lidars are limited by detection range, time-of-flight (TOF), and the environmental adaptability of laser signals. Within a unit of time-of-flight (TOF), a single-wavelength lidar only returns a single optical pulse echo, making it unable to overcome TOF limitations on point cloud number and resolution. Furthermore, the link transmission characteristics, target reflection characteristics, and ambient light noise characteristics of a single-wavelength optical pulse signal are unique, resulting in a smaller number of point clouds and, consequently, less effective information within the point clouds. This significantly impacts lidar detection performance, resulting in poor performance.

[0118] The embodiment of the present application provides a radar system and a radar detection method thereof, and the radar system can be applied to the radar detection scenario of any of the aforementioned scenarios. For example, Figures 1 to 3 In any of the scenarios shown, the radar system provided in the embodiments of the present application can be used to implement the corresponding detection function.

[0119] Figure 6 Figure 1 shows a schematic diagram of the system architecture of a radar system. Figure 6As shown, the radar system 600 includes: a laser module 610, a two-dimensional scanner 620, a wavelength division module 630, a detection module 640 and a processor 650; wherein, the laser module 610 is used to generate a multi-wavelength optical signal; the two-dimensional scanner 620 is used to perform two-dimensional scanning using the multi-wavelength optical signal, and receive an echo signal located within the receiving field of view of the two-dimensional scanner 620, wherein the echo signal is a reflection signal formed by the scanned object after being irradiated by the multi-wavelength optical signal, wherein a plurality of echo signals are included in the unit receiving field of view of the two-dimensional scanner; the wavelength division module 630 is used to perform spectroscopic processing on the echo signal to obtain a plurality of single-wavelength optical signals; the detection module 640 is used to convert the plurality of single-wavelength optical signals into electrical signals corresponding to a plurality of wavelengths respectively; the processor 650 is used to obtain the first point cloud data according to the electrical signals corresponding to each wavelength.

[0120] exist Figure 6 In the radar system 600 shown, the laser module 610 can emit a multi-wavelength optical signal, so that when a two-dimensional scanner 620 performs two-dimensional scanning, multiple echo signals are included within a unit FOV of the two-dimensional scanner. Specifically, when the multi-wavelength optical signal includes optical signals of N wavelengths (or referred to as: laser signals, laser pulse signals, optical pulse signals, etc.), as shown in FIG. Figure 6 As shown in the figure: λ1, λ2...λN, where N is an integer greater than 1; then, within the unit FOV of the two-dimensional scanner, there are N echo signals. It can be understood that the N echo signals correspond one-to-one to the light signals of N wavelengths. Figure 6 As shown, the wavelengths of the N echo signals are also λ1, λ2...λN, which correspond one-to-one to the N wavelengths of optical signals output by the laser module.

[0121] In this way, compared with the situation in the prior art where a single-wavelength laser radar can only contain one echo signal within a unit receiving field of view, the present application can break through the limitation of TOF time on the number of point clouds, and can also break through the limitation of single-wavelength light signal's adaptability to the environment, effectively increasing the number of point clouds within the unit receiving field of view. The increase in the number of point clouds also increases the effective information carried in the point cloud data, which is beneficial to improving the detection performance of the laser radar. In summary, the radar system provided by the present application can effectively improve the detection performance of the laser radar, which is beneficial to reducing the safety risks of the autonomous driving process caused by this. This technical effect will be described in detail later.

[0122] The radar system is now further explained.

[0123] The radar system provided in the embodiment of the present application is actually a laser radar system, and the laser module therein is first described in detail.

[0124] Laser modules are used to generate and emit multi-wavelength optical signals, which can be composed of multiple single-wavelength optical signals. It should be noted that the multiple single-wavelength optical signals contained in a multi-wavelength optical signal can be output simultaneously or in a time-sharing manner, as will be explained later. For this reason, laser modules can also be referred to as multi-wavelength laser sources.

[0125] The laser module may include one or more lasers, wherein the lasers may include single-wavelength lasers and tunable lasers.

[0126] Single-wavelength lasers generate optical pulse signals at a single wavelength. Any two single-wavelength lasers generate optical pulse signals at different wavelengths. For example, a laser module may include five single-wavelength lasers, each generating and emitting single-wavelength optical pulse signals at 905nm, 940nm, 1064nm, 1310nm, and 1550nm, respectively.

[0127] Tunable lasers can be used to generate optical pulse signals with multiple wavelengths. For example, a tunable laser can be tuned to generate and emit single-wavelength optical pulse signals at 905nm, 940nm, 1064nm, 1310nm, and 1550nm.

[0128] When the laser module includes only one laser, the laser can be a tunable laser. In this case, the multi-wavelength optical signal includes multiple single-wavelength optical signals. The single-wavelength optical signals generated by the tunable laser are generated at different times. In other words, the tunable laser can sequentially generate multiple single-wavelength optical signals, and each single-wavelength optical signal can be emitted sequentially.

[0129] Alternatively, the laser module may include multiple lasers, in which case the laser module may include a tunable laser and / or a single-wavelength laser. In this case, the multi-wavelength optical signal includes an optical signal including multiple wavelengths, or multiple single-wavelength optical signals.

[0130] Taking the example of a laser module including N lasers, for example, the laser module may include N single-wavelength lasers, so that the laser module can generate and output single-wavelength optical signals of N wavelengths; for another example, the laser module may include N-1 single-wavelength lasers and 1 tunable laser, so that the laser module can generate and output at least N-1 single-wavelength optical signals.

[0131] When the laser module includes multiple lasers, the multiple lasers can generate and emit multiple single-wavelength optical signals simultaneously, or generate and emit multiple single-wavelength optical signals in a time-division manner.

[0132] The embodiments of the present application do not impose any particular restrictions on the wavelength values ​​of the multi-wavelength optical signals that can be generated and emitted by the laser module. The aforementioned wavelengths are only provided for illustrative purposes. In actual scenarios, the laser module can use various lasers that meet the requirements of their respective wavelength bands.

[0133] In one exemplary embodiment, the wavelength of the multi-wavelength optical signal can be determined based on one or more of atmospheric penetration, weather adaptability, water absorption capacity, target reflectivity, sunlight, or eye safety. For details, see Table 1, which shows how the aforementioned factors affect optical signals of different wavelengths.

[0134] Table 1

[0135]

[0136] The impact of the environment on radar detection is primarily manifested in two ways: different weather conditions affect the attenuation of laser signals in the atmosphere, and different weather conditions also affect the increase or decrease of target reflectivity. For example, in rainy, snowy, dusty, and foggy weather conditions, the attenuation of laser signals in the atmosphere varies; in other cases, rainy, snowy, dusty, and foggy weather conditions also cause target reflectivity to increase or decrease to varying degrees.

[0137] Among them, atmospheric attenuation is determined by the extinction coefficient, which is related to absorption and scattering. In other words, the extinction coefficient is related to the absorption coefficient and the scattering coefficient. Among them, the absorption of light signals by the atmosphere is mainly due to the energy of the light signal being absorbed by molecules such as water and carbon dioxide (CO2) and converted into heat energy and / or chemical energy, which is mainly manifested as the attenuation of light intensity. The scattering of laser signals by the atmosphere is the process in which a portion of the light deviates from the original propagation direction when the light signal passes through an inhomogeneous medium. It is mainly caused by suspended particles or large molecules and manifests not only as light attenuation but also as the degradation of beam quality. In addition, rain, snow, sand and dust often cover the surface of the detection target in the environment. At this time, rain, snow, sand and dust covering the detection target surface will also cause changes in the target's reflection characteristics, resulting in a decrease in reflectivity, changes in the distribution of reflected light intensity, and changes in the direction of reflected light intensity.

[0138] In the embodiments of this application, multi-wavelength optical signals are used for target detection. When different wavelength optical signals are used to detect the same target (or "detected target"), differences in the target's reflectivity will also cause differences in the return signal. Therefore, the processor can perform differential processing based on the differences in the return signals of the optical signals of different wavelengths. This can enhance the recognition probability of the target material, type, etc., thereby providing richer and more accurate data support for autonomous driving perception fusion and judgment.

[0139] In addition to weather influences, it's also necessary to consider the potential interference of sunlight or other possible ambient light on the echo signal reception process. Try to select wavelengths with low background interference to avoid false alarms or reduced dynamic range caused by ambient light on highly sensitive detectors. For example, Table 1 shows two relatively low sunlight windows near 1.15μm and 1.34-1.45μm. Sunlight at 940nm and 1550nm is also relatively weak.

[0140] Eye safety can be characterized by the eye safety threshold, which varies for optical signals of different wavelengths. A higher eye safety threshold allows for higher output optical power, which improves radar system detection performance, reduces the number of transmit channels, and places lower demands on the receiving and scanning ends of a two-dimensional scanner.

[0141] As shown in Table 1, the longer the wavelength of the light signal, the safer it is for the human eye. At longer wavelengths, the light signal will not form a clear image on the human retina. Furthermore, water absorption is strong in this wavelength band, and the water in the eyeball can absorb some of the energy, significantly reducing the energy reaching the retina and protecting the eye.

[0142] For example, the eye-safe threshold can be 1400nm or 1550nm. That is, optical signals with wavelengths exceeding 1400nm or 1550nm are considered eye-safe. For example, when the wavelength of an optical signal is greater than 1400nm, the laser can emit higher power per unit time and per unit space. These high-power lasers can significantly improve the system's ranging performance, such as measuring distances exceeding 300m. Alternatively, the energy of a single beam can be distributed across multiple detector pixels, thereby improving system resolution.

[0143] Furthermore, because different lasers generate and output optical signals with different performance and eye safety requirements, the dynamic detection range of the radar system's optical signal (wavelength) can be increased. It can even be used with lasers that meet the full (wavelength) dynamic range, enabling full dynamic range target detection. In comparison, existing laser radars have a dynamic range of only 60 to 100 dB. When the power is low, this affects the maximum measurement distance. When the power is high, saturation occurs, resulting in a decrease in ranging accuracy. The radar system provided by the embodiments of the present application avoids this problem and even meets the full dynamic range target detection requirements.

[0144] The laser needs to meet the requirements for generating optical pulse signals of multiple preset wavelengths. In addition, the embodiments of the present application have no particular restrictions on the structural type of the laser. For example, the laser in the laser module may include, but is not limited to, one or more of a solid-state laser, a fiber laser, a semiconductor laser, a gas laser, or a dye laser. The types of lasers applicable to optical pulse signals of different wavelengths can be found in Table 1 below and will not be further described here.

[0145] Next, the detection module in the radar system is explained.

[0146] Since the wavelengths of the single-wavelength optical signals entering the detection module after processing by the wavelength division module are different, the detection module may also include one or more detectors for performing photoelectric conversion processing on the single-wavelength optical signals of different wavelengths.

[0147] The detector may include a single-wavelength detector and a multi-wavelength detector.

[0148] Any of the single-wavelength detectors is configured to receive and process a single-wavelength optical signal having a single wavelength. In other words, the single-wavelength detector is configured to perform photoelectric conversion on a single-wavelength optical pulse signal. Within detection module 640, at least two single-wavelength detectors are configured to receive optical pulse signals having different wavelengths. For example, detection module 640 may include five single-wavelength detectors, each configured to perform photoelectric conversion on single-wavelength optical pulse signals having wavelengths of 905 nm, 940 nm, 1064 nm, 1310 nm, and 1550 nm, respectively.

[0149] Multi-wavelength lasers can be used with optical pulse signals of multiple wavelengths. In other words, multi-wavelength detectors are used to receive and process single-wavelength optical signals of multiple wavelengths. Specifically, multi-wavelength detectors can perform photoelectric conversion processing on optical pulse signals of multiple wavelengths. For example, multi-wavelength detectors can be used to perform photoelectric conversion processing on single-wavelength optical pulse signals of 905nm, 940nm, 1064nm, 1310nm, and 1550nm.

[0150] Then, when the detection module includes only one detector, the detector can be a multi-wavelength detector.

[0151] Alternatively, when the detection module includes multiple detectors, the multiple detectors may include but are not limited to: multi-wavelength detectors and / or single-wavelength detectors. For example, the detection module includes N detectors. For example, the detection module may include N single-wavelength detectors, such as Figure 6As shown, a single-wavelength detector can be used to process a single-wavelength optical signal of one wavelength, and N echo signals with wavelengths λ1, λ2, ..., λN are also processed by N detectors respectively. For another example, the detection module may include N-1 single-wavelength detectors and one multi-wavelength detector. In this way, the detection module can be used to perform photoelectric conversion processing on at least N-1 single-wavelength optical signals.

[0152] The detector needs to meet the processing requirements for preset multiple wavelengths of optical pulse signals. Apart from this, this application has no special restrictions on its type or structure. Exemplarily, the detectors in the detection module may include but are not limited to: indium gallium arsenide (i.e., indium gallium arsenide, InGaAs) detectors, silicon (Si) detectors; specifically, the detectors may include but are not limited to: avalanche photodiode (APD) detectors, P-type semiconductor-impurity-N-type semiconductor (Positive-Intrinsic-Negative, PIN) detectors, single photon avalanche diode detectors (SPADs), silicon photomultiplier (SiPM) detectors, etc.

[0153] For example, the present application further provides Table 2. Table 2 specifically shows the types of lasers and detectors applicable to optical signals of different wavelengths.

[0154] Table 2

[0155]

[0156]

[0157] As shown in Table 2, different wavelengths of optical pulse signals are suitable for different types of lasers and detectors. Among them, GaAs represents gallium arsenide, InP represents indium phosphide, Er-Glass represents erbium-doped glass, Er-doped Fiber represents erbium-doped fiber, Nd:YAG represents yttrium aluminum garnet crystal, Nd:YLT represents neodymium-doped lithium yttrium fluoride, and SiGe represents silicon germanium. These material components or doping determine the wavelength band of the laser. In addition, the type of material determines the type of laser. As shown in Table 2, the radar system provided in this application can adopt but is not limited to: semiconductor lasers, solid-state lasers, etc. It can be understood that Table 2 is exemplary, and in actual scenarios, it may include but is not limited to the situations shown in Table 2. For example, solid-state lasers may also include but are not limited to: semiconductor pumped solid-state lasers (DPSSL), lamp pumped solid-state lasers, fiber lasers, etc., without exhaustive enumeration.

[0158] For example, an optical signal of 850 to 940 nm is suitable for a semiconductor laser, an optical signal of 1064 nm is suitable for a solid laser or a fiber laser, an optical signal of 1035 nm is suitable for a semiconductor laser or a solid laser, and an optical signal of 1550 nm is suitable for a fiber laser.

[0159] For example, an APD or SPAD detector is suitable for optical signals in the 850-940 nm range, an APD detector is suitable for optical signals in the 1064 nm range, a SPAD detector is suitable for optical signals in the 1035 nm range, and a SPAD detector is suitable for optical signals in the 1550 nm range. The APD and SPAD detectors suitable for optical signals in the 850-940 nm range can be made of silicon, while the other detectors can be made of indium gallium arsenide.

[0160] In a specific embodiment of Table 2, the radar system provided in the embodiment of the present application can deploy lasers of at least two wavelengths as described above, and correspondingly deploy detectors of these two wavelengths. In this way, the radar system can use different lasers to generate optical signals of corresponding wavelengths to achieve radar detection, thereby utilizing the respective characteristics of each laser and detector, such as laser beam quality, detector sensitivity, noise, and other characteristics, to further optimize the cost and volume of the radar system. How to select lasers and detectors to achieve radar system optimization is not discussed here, but through reasonable selection and arrangement, optimization effects can be achieved.

[0161] Secondly, the wavelength division module in the radar system is explained in detail.

[0162] As mentioned above, the wavelength division module is used to perform optical splitting processing on the echo signal to obtain multiple single wavelength optical signals. Figure 6 As shown, the wavelength division module 630 can be disposed between the two-dimensional scanner 620 and the detection module 640 .

[0163] In an exemplary embodiment, the wavelength division module 630 can be used to simultaneously perform optical splitting processing on the echo signal and obtain multiple single-wavelength optical signals, and the wavelengths of any two single-wavelength optical signals are different.

[0164] Compared to the aforementioned prior art, which involves the potential for ranging errors or insufficient ranging accuracy between multiple single-wavelength optical pulse signals and corresponding multiple echo signals, this application utilizes optical pulse signals of multiple different wavelengths to detect targets. Thus, even if the emission times of the multiple optical pulse signals of different wavelengths are the same and the detection distances are the same, the reception times of the echo signals of each wavelength are different. Thus, the optical pulse signals of each wavelength and the echo signals can be accurately matched. Therefore, even if the wavelength division module processes each echo signal simultaneously, there will be no misjudgment. This can also solve the limitation of the number of point clouds per unit TOF time in the prior art, which will be described in detail later.

[0165] In a possible embodiment of the present application, the wavelength division module can also be arranged between the laser module and the two-dimensional scanner. In this case, the wavelength division module can also be used to: perform splitting processing or focusing processing on the multi-wavelength optical signal output by the laser module, and provide it to the two-dimensional scanner for two-dimensional scanning.

[0166] For example, the laser module can output N optical pulse signals of different wavelengths through multiple lasers. These optical pulse signals can be focused by the wavelength division module to form a beam of optical signal, which is then emitted through a two-dimensional scanner.

[0167] For example, the laser module can output N optical pulse signals of different wavelengths simultaneously through multiple lasers, and these optical pulse signals are mixed into a beam of light for emission. In this case, this beam of light can be split by the wavelength division module to form multiple single-wavelength optical signals, and then emitted through the two-dimensional scanner. Figure 7 Provide explanation.

[0168] In the embodiment of the present application, the wavelength division module may include but is not limited to: one or more of: a splitter, an optical fiber, a lens, a prism, a reflector or a diffraction device.

[0169] Exemplarily, the wavelength division module may include only one optical splitter, for example, Figure 6 In the radar system shown, the wavelength division module 630 can be specifically a beam splitter.

[0170] For example, the wavelength division module can also be composed of one or more optical elements other than the optical splitter. Figures 7 to 10 . Among them, the solid arrow represents the multi-wavelength optical signal (i.e., the emitted light), the dotted arrow represents the echo signal (i.e., the received light), the thick black line represents the reflector, and the ellipse represents the lens module. Among them, the lens module can be composed of at least one of a lens, a prism, and a reflector, without special limitation.

[0171] Figure 7FIG. 1 shows a schematic diagram of a wavelength division module of a radar system provided in an embodiment of the present application. Figure 7 As shown, the emitted light from the laser module 610 is reflected by the reflectors 71 and 72 and reaches the two-dimensional scanner 630. The two-dimensional scanner 630 can rotate within a preset range, and the emitted light is reflected by the two-dimensional scanner 630 and emitted. Correspondingly, received light of different wavelengths is also received within the receiving field of view of the two-dimensional scanner 630 and reflected to the lens module 73. From the lens module 73, it is reflected to the reflector 74, and then enters the detection module 640.

[0172] exist Figure 7 In a possible embodiment, a spectrometer may be further connected after the reflector 74. After further spectroscopic processing by the spectrometer, each single wavelength optical signal may enter a detector of a corresponding wavelength.

[0173] exist Figure 7 In the illustrated embodiment, the wavelength division module includes: a reflector 71, a reflector 72, a lens module 73 and a reflector 74, wherein the reflector 71 and the reflector 72 are used to perform spectroscopic processing or focusing processing on the multi-wavelength optical signal; and the lens module 73 and the reflector 74 (or may also include a spectrometer) are used to perform spectroscopic processing on the echo signal.

[0174] In addition, Figure 7 In the illustrated embodiment, the optical elements form a coaxial optical path. In other words, the radar system is a coaxial optical system.

[0175] Figure 8 FIG. 1 shows a schematic diagram of a wavelength division module of another radar system provided in an embodiment of the present application. Figure 7 As shown, the emitted light from the laser module 610 is directly emitted through the two-dimensional scanner 630. Within a unit receiving field of view of the two-dimensional scanner 630, there can be multiple echo signals of different wavelengths. These received lights can be reflected by the reflector 81 or the reflector 82 to the reflector 83, and then reflected out through the reflector 83.

[0176] exist Figure 8 In the illustrated embodiment, the wavelength division module includes: reflectors 81 to 83 , wherein the reflectors 81 to 83 are used to perform light splitting processing on the echo signal.

[0177] In addition, Figure 8 In the illustrated embodiment, the optical elements form a coaxial optical path. In other words, the radar system is a coaxial optical system.

[0178] Figure 9 FIG. 1 shows a schematic diagram of a wavelength division module of another radar system provided in an embodiment of the present application. Figure 9As shown, the light emitted by the laser module 610 passes through the reflector 91, the reflector 92, and the two-dimensional scanner 630. Within a unit receiving field of view of the two-dimensional scanner 630, there may be multiple echo signals of different wavelengths. These received lights are reflected by the lens module 93 and reach the detector, or after passing through the lens module 93, they are processed by the spectrometer before entering the detector.

[0179] exist Figure 9 In the illustrated embodiment, the wavelength division module includes: a reflector 91, a reflector 92 and a lens module 93, wherein the reflector 91 and the reflector 92 are used to perform spectroscopic processing or focusing processing on the multi-wavelength optical signal; and the lens module 93 (or may also include a spectrometer) is used to perform spectroscopic processing on the echo signal.

[0180] In addition, Figure 9 In the illustrated embodiment, the optical elements form a coaxial optical path. In other words, the radar system is a coaxial optical system.

[0181] Figure 10 FIG. 1 shows a schematic diagram of a wavelength division module of another radar system provided in an embodiment of the present application. Figure 10 As shown, the light emitted by the laser module 610 is directly emitted through the two-dimensional scanner 630. Within a unit receiving field of view of the two-dimensional scanner 630, there can be multiple echo signals of different wavelengths. These received lights are reflected by the lens module 101 and reach the detector, or after passing through the lens module 101 and being processed by the spectrometer, they enter the detector.

[0182] exist Figure 10 In the embodiment shown, the wavelength division module includes: a lens module 101, which is specifically used to perform light splitting processing on the echo signal. Figure 10 In the radar system shown, each optical element forms an off-axis optical path. In other words, the system is an off-axis optical system.

[0183] above, Figures 7 to 10 For illustrative purposes only, the embodiments of this application do not specifically limit the wavelength division components used in the radar system, nor do they specifically limit whether the optical path formed by each optical component is a coaxial or off-axis optical path. The radar system can be an off-axis or coaxial optical system. Furthermore, in practical scenarios, this solution can be implemented in conjunction with the aforementioned laser module capable of outputting multi-wavelength optical signals, a two-dimensional scanner, and a detection module.

[0184] The two-dimensional scanner in the radar system is now described in detail.

[0185] In the embodiment of the present application, the radar system uses a two-dimensional scanner for scanning, and the two-dimensional scanner has the ability to scan within a two-dimensional plane.

[0186] It is understood that a two-dimensional scanner also has the capability of one-dimensional scanning (single-point scanning), and the radar system provided in the embodiments of this application can also be used to implement one-dimensional scanning. This will not be expanded here. The following describes this solution for the scenario of a two-dimensional scanner performing two-dimensional scanning.

[0187] As mentioned above, for example Figures 7 to 10 As shown, the two-dimensional scanner can rotate within a predetermined range. During its movement, the two-dimensional scanner can emit optical pulse signals and receive their echo signals. For example, the two-dimensional scanner can rotate from left to right, emitting an optical pulse signal with each unit angle of rotation and receiving an echo signal of the optical pulse signal within the current receiving field of view. In this way, the two-dimensional scanner continuously rotates, emitting optical signals and receiving echo signals, thereby achieving two-dimensional scanning.

[0188] The emission position of any of the multi-wavelength optical signals falls within the receiving field of view of the multi-wavelength optical signal. Figure 11 , Figure 11 The schematic diagram of the receiving field of view of a two-dimensional scanner is specifically shown. During the rotation of the two-dimensional scanner, the following can be formed: Figure 11 The receiving field of view (i.e., Receiver FOV) of the sector-shaped area shown. Within this receiving field of view, the multi-wavelength optical signal can be emitted at position 1 (which can be denoted as: Tx laser), while position 2 (which can be denoted as: Possible Echo 1) and position 3 (which can be denoted as: Possible Echo 2) are the receiving positions of the possible echo signals of the multi-wavelength optical signal.

[0189] During 2D scanning, the laser signal's divergence angle increases after entering the air. Consequently, after reflecting off the target, the laser signal will appear as reflected light with multiple angles and uncertain directions (the ideal target is generally a Lambert reflector). However, during 2D scanning, the 2D scanner continues to move after emitting the laser, including waiting for the laser echo to be received. Therefore, the receiving FOV needs to take into account the beam divergence angle, the light spot at the target, the possible angle of incidence of the target echo within the TOF time, and the receiving FOV in both scanning directions must be larger than the transmitting beam divergence angle.

[0190] It should be noted that in the embodiment of the present application, when performing two-dimensional scanning using a multi-wavelength optical signal, the multi-wavelength optical signal includes optical signals of multiple wavelengths, any two optical signals having different wavelengths, and the transmission parameters of optical signals of different wavelengths may be different. The transmission parameters involved in the embodiment of the present application may include, but are not limited to, one or more of: divergence angle, emission position, emission time, emission angle, position of the receiving field of view, size of the receiving field of view, and flight time.

[0191] The details are explained below.

[0192] Exemplarily, the divergence angles of optical signals of various wavelengths in the multi-wavelength optical signal may be the same, or completely different, or may not be completely the same (there are at least two wavelengths of transmitted signals with the same divergence angle).

[0193] Exemplarily, the emission moments of the optical signals of each wavelength in the multi-wavelength optical signal can be the same, not completely the same, or completely different. For example, among the N optical signals with wavelengths λ1, λ2...λN, the N optical signals can be generated and emitted in sequence by the laser module, so that the emission moments of the N optical signals are completely different. For another example, the N optical signals contained in the multi-wavelength optical signal can be generated by N single-wavelength lasers in the laser module and emitted simultaneously, so that the emission moments of the N optical signals can be completely the same. For another example, among the N optical signals contained in the multi-wavelength optical signal, some optical signals can be generated and emitted simultaneously by multiple single-wavelength lasers, and some optical signals can be generated and emitted in sequence by a tunable laser, that is, the emission moments of the N optical signals are not completely the same.

[0194] For example, the emission angles of the optical signals of each wavelength in the multi-wavelength optical signal are different. As previously mentioned, the two-dimensional scanner can be continuously movable. Therefore, when the emission times of the N optical signals are different, the emission angles of the optical signals when they pass through the two-dimensional scanner are also different, and the positions of the receiving fields of view are also different. Furthermore, the receiving fields of view of the N optical signals in the multi-wavelength optical signal can be different.

[0195] For example, the flight times of light signals of different wavelengths may be different, the same, or not completely the same.

[0196] In an embodiment of the present application, a multi-wavelength optical signal is emitted by a two-dimensional scanner of a radar system, and echo signals returned by a target are received. In this case, multiple echo signals may be included within a unit receiving FOV of the two-dimensional scanner. In this case, the multi-wavelength optical signal includes optical signals of multiple wavelengths, and the parameters of the minimum receiving field of view of the optical signals of each wavelength are the same, not completely the same, or completely different. The parameters of the minimum receiving field of view include: one or more of the position, size, or number of the minimum receiving field of view.

[0197] The minimum unit receiving FOV (i.e., the minimum receiving field of view) of a 2D scanner is the product of the scanner's scanning speed and its time of flight. Optical signals of different wavelengths can have different flight times, and therefore, the minimum receiving field of view can vary. Furthermore, the emission times and durations of optical signals of different wavelengths can vary, and the locations and number of minimum receiving fields of view for optical signals of different wavelengths can also vary.

[0198] For ease of explanation, the minimum receiving field of view of an optical signal can be considered a "pixel." It should be noted that a pixel is not equivalent to the unit receiving FOV of a 2D scanner: a pixel is the minimum receiving FOV of an optical signal during target detection, while the unit receiving FOV is specific to a 2D scanner. A unit receiving FOV of a 2D scanner can include one or more pixels.

[0199] Exemplarily, the multi-wavelength optical signal may include a first wavelength optical signal and a second wavelength optical signal, and the wavelengths of the first wavelength optical signal and the second wavelength optical signal are different; then, when the transmission parameters of the first wavelength optical signal and the second wavelength optical signal are different, the parameters of the minimum receiving field of view of the first wavelength optical signal and the second wavelength optical signal are different.

[0200] Figure 12 FIG. 4 shows a schematic diagram of a point cloud obtained by two-dimensional scanning by a radar system. FIG. Figure 12 12A, 12B, and 12C are schematic diagrams of point clouds for optical signals with wavelengths λ1, λ2, and λ3, respectively. 12A is a schematic diagram of the point cloud obtained by the radar system using optical signal 1 with wavelength λ1 for target detection; 12B is a schematic diagram of the point cloud obtained by the radar system using optical signal 2 with wavelength λ2 for target detection; and 12C is a schematic diagram of the point cloud obtained by the radar system using optical signal 3 with wavelength λ3 for target detection.

[0201] In 12A, 12B, and 12C, any rectangular area can be considered as a pixel, or the minimum scanning field of view of a two-dimensional scanner, and the azimuth angle corresponding to each pixel is the radar resolution of the radar system. The size of the unit rectangular area (i.e., pixel) is related to the time of flight (TOF) of the light signal. Figure 12 As shown, the TOF time of light signal 1 is the same as that of light signal 2, and the pixel size corresponding to light signal 1 is the same as that of light signal 2; while the TOF time of light signal 1 is different from that of light signal 3, and the pixel size corresponding to light signal 1 is different from that of light signal 3.

[0202] exist Figure 12 The origin in represents the possible receiving position of the echo signal, that is, the origin represents the receiving position of the echo signal in a unit pixel. Specifically, the receiving position of the echo signal in a pixel is associated with the scanning trajectory and the distance to the target. For any single-wavelength optical signal, only one echo signal is allowed in a pixel. For example, in 12A, 12B, and 12C, any pixel contains only one dot (echo signal). This situation is similar to the situation mentioned above, where the number of point clouds and resolution of the radar system are limited by the TOF time.

[0203] The embodiment of the present application uses multi-wavelength light for radar detection. At this time, Figure 12 12D, 12E and 12F in FIG. 1 show schematic diagrams of point clouds in a multi-wavelength scanning scenario.

[0204] 12D is a schematic diagram of the point cloud generated by the radar system when detecting a target using light signals 1 and 2 within the same receiving FOV. As shown in 12D, when light signals 1 and 2 are received within the same receiving FOV, their pixels are identical. In this case, any pixel contains two origins, meaning two echo signals.

[0205] Figure 12E is a schematic diagram of the point cloud generated by the radar system using light signals 1 and 2 for target detection within identical but interleaved receiving FOVs. As shown in Figure 12E, although the pixels of light signal 1 and light signal 2 do not completely overlap, the number of point clouds within a unit receiving FOV is significantly increased compared to Figures 12A and 12B.

[0206] Figure 12F shows a schematic diagram of the point cloud generated by the radar system using optical signals 1, 2, and 3 to detect targets within three different receiving fields of view (FOVs). As shown in Figure 12F, when radar detection is performed using three optical signals of different wavelengths, the three optical signals can be transmitted and received simultaneously or in a time-sharing manner. Each wavelength is transmitted through its own backbone and then wavelength-division-multiplexed (WDM) to be received by the corresponding detector, preventing interference. This significantly improves the radar system's point cloud count and resolution.

[0207] For example, you can refer to Figure 13 , Figure 13 The figure shows the relationship between the transmission field of view and the reception field of view of the multi-wavelength optical signal. Figure 13 Only the optical signal 1 with wavelength λ1 and the optical signal 2 with wavelength λ2 are used as examples for specific description. And, it can be understood that, Figure 13 Only a few possible scenarios are shown as examples. Actual scenarios may include but are not limited to Figure 13 The situation shown. Figure 13 The origin in is used to illustrate the emission positions of light signal 1 and light signal 2. The emission positions of light signal 1 and light signal 2 can be the same size or different. Figure 13 This is exemplarily illustrated by two dots of different sizes.

[0208] Figure 13 The schematic diagram of 10 receiving fields of view is specifically shown, as shown in FIG. Figure 13 As shown in FIG, each receiving field of view may include one or two transmitting fields of view of optical signals. Figure 13As shown in receiving fields of view 1 to 3 in the figure, the emission fields of view of optical signal 1 and optical signal 2 are different in size but overlap in position; in receiving fields of view 4 to 6, the emission fields of view of optical signal 1 and optical signal 2 are different in size and have no intersection in position, and the emission fields of both are located in their respective receiving fields of view; receiving fields of view 7 and 9 contain the emission field of view of optical signal 1, and receiving fields of view 8 and 10 contain the emission field of view of optical signal 2, and the emission fields of optical signal 1 and optical signal 2 are completely unrelated.

[0209] It should be noted that Figure 13 The 10 receiving fields of view shown can be a schematic diagram of the receiving fields of view of the radar system as it moves sequentially during a two-dimensional scan. In this case, the receiving fields of view of the two-dimensional scanner can be variable during the two-dimensional scan. Alternatively, the radar system can perform two-dimensional scanning according to a fixed pattern, for example, scanning in fields of view 1 through 3, scanning in fields of view 4 through 6, or performing two-dimensional scanning by alternatingly emitting optical signals of different wavelengths in fields of view 7 through 10.

[0210] like Figure 13 As shown, the divergence angles, detector FOVs, and TOF times of each wavelength laser can be identical or different. Each laser's emitted laser light can independently correspond to its own wavelength's receiving FOV, or it can correspond to the same FOV for all wavelengths. The emission times and azimuths of each wavelength's laser light can be aligned in the temporal and spatial domains, or they can each use their own starting time and starting position. The end time corresponding to the maximum measurement distance and the maximum receiving azimuth position of each wavelength detector can be aligned in the temporal and spatial domains, or they can be set separately.

[0211] In any of the aforementioned radar systems, the processor is configured to obtain first point cloud data based on the electrical signals corresponding to the wavelengths. Specifically, the present embodiment can provide at least two implementations.

[0212] In one possible embodiment, the processor can directly generate first point cloud data based on the electrical signals corresponding to each of the multiple wavelengths. In this embodiment, after receiving the electrical signals from the detection module, the processor calculates the emission parameters corresponding to each of these electrical signals to determine the point cloud position corresponding to each electrical signal. Thus, by summarizing the point cloud positions corresponding to each electrical signal, the first point cloud data can be obtained.

[0213] The implementation of this embodiment is simple and easy. Furthermore, in this embodiment, the first point cloud data is obtained based on target detection using optical signals of multiple wavelengths. As previously mentioned, compared to the existing two-dimensional scanning method using a single-wavelength optical signal, the number of point clouds in the first point cloud data can be multiplied. This not only overcomes the limitations of TOF time and other factors on the number of point clouds, but also helps address the issue of environmental adaptability of single-wavelength optical signals (this situation will be described in detail later).

[0214] In addition to directly generating the first point cloud data, the processor may also calculate an environmental quality parameter and use it to compensate the generated point cloud data (in this case, the generated electrical cloud data may be recorded as second point cloud data) to obtain the (compensated) first point cloud data. In other words, the processor may also be specifically configured to: generate second point cloud data based on the electrical signals corresponding to each of the multiple wavelengths, and compensate the second point cloud data using the environmental quality parameter to obtain the first point cloud data.

[0215] The environmental quality parameter is used to indicate the impact of the current environment on the radar detection results. The environmental quality parameters involved in the embodiments of the present application may include but are not limited to: fog type, weather severity, particle concentration, humidity or particle size distribution.

[0216] In an embodiment of the present application, the processor can also be used to obtain environmental quality parameters.

[0217] In one possible embodiment, specifically, when the environmental quality parameter is stored in a preset location, the processor can directly access the data stored in the preset location, thereby obtaining the environmental quality parameter. In this embodiment, the environmental quality parameter can be calculated by another electronic device, such as a controller of a movable platform carried by a radar system, and pre-stored in the preset location.

[0218] In another possible embodiment, the processor may be further configured to calculate and obtain an environmental quality parameter. In other words, the processor may calculate the environmental quality parameter based on electrical signals corresponding to the plurality of wavelengths.

[0219] In this embodiment, the processor can extract noise parameters corresponding to each wavelength from the electrical signals corresponding to each of the multiple wavelengths, and then determine the environmental quality parameter based on the noise parameters corresponding to the multiple wavelengths. The noise parameters may include, but are not limited to, backscatter noise parameters. In addition, the noise parameters may also include atmospheric noise parameters, noise parameters from other radars, fog noise parameters, and ambient light noise (e.g., sunlight noise).

[0220] The atmospheric impact on the signal is divided into two parts: scattering and absorption. Both scattering and absorption cause signal attenuation and pulse broadening. Signal attenuation weakens the target signal, affecting ranging performance and the estimation of target signal strength (reflectivity). Pulse broadening causes measurement errors in the echo signal, thus affecting ranging accuracy. Scattering disperses the laser light into reflected light in different directions. Backscattered light enters the lidar system, generating backscatter noise on the echo signal, affecting the signal-to-noise ratio of target signal detection.

[0221] Therefore, the scattering coefficient and absorption coefficient can be calculated by inverting the echo signal, filtering or suppressing the noise signal, and correcting the waveform and amplitude of the target signal. The scattering coefficient and absorption coefficient can be used to determine environmental quality parameters.

[0222] In an exemplary embodiment, when the processor obtains the environmental quality parameters, it can use the backscattering function to process the backscattering noise parameters corresponding to multiple wavelengths to obtain the scattering coefficient; and use the atmospheric absorption function to process the electrical signals and backscattering noise parameters corresponding to multiple wavelengths to obtain the absorption coefficient; thereby, the environmental quality parameters are determined based on the scattering coefficient and the absorption coefficient.

[0223] For example, when a radar system uses multi-wavelength optical signals (including optical signal 1 and optical signal 2, and the wavelengths of the two are not equal) for target detection, after processing by the detector, the processor can receive electrical signal 1 corresponding to optical signal 1, and electrical signal 2 corresponding to optical signal 2.

[0224] In this scenario, the processor can perform matched filtering on electrical signal 1 to extract backscattered noise parameter 1 corresponding to electrical signal 1. The processor can then process backscattered noise parameter 1 using a backscattering function to obtain scattering coefficient 1. Furthermore, the processor can process backscattered noise parameter 1 and electrical signal 1 using an atmospheric absorption function to obtain absorption coefficient 1. Furthermore, the processor can perform matched filtering on electrical signal 2 to extract backscattered noise parameter 2 corresponding to electrical signal 2. The processor can then process backscattered noise parameter 2 using a backscattering function to obtain scattering coefficient 2. Furthermore, the processor can process backscattered noise parameter 2 and electrical signal 2 using an atmospheric absorption function to obtain absorption coefficient 2. The processor can then determine the environmental quality parameter based on scattering coefficient 1, absorption coefficient 1, scattering coefficient 2, and absorption coefficient 2.

[0225] It is understandable that different environmental quality parameters are determined in different ways. When determining the environmental quality parameters, it is only necessary to bring the calculated scattering coefficient and absorption coefficient into the corresponding environmental parameter determination model to obtain the environmental quality parameters output by the environmental parameter determination model. In other words, the environmental parameter determination model is used to determine the environmental quality parameters. The input of the model can be the scattering coefficient and absorption coefficient corresponding to the multi-wavelength optical signal, and the output of the model is the environmental quality parameter. For example, the first model is used to determine the type of fog cluster, and the second model is used to determine the severity of the weather. Then, the processor can input the aforementioned scattering coefficient 1, absorption coefficient 1, scattering coefficient 2, and absorption coefficient 2 into the first model to obtain the type of fog cluster output by the first model; and input the aforementioned scattering coefficient 1, absorption coefficient 1, scattering coefficient 2, and absorption coefficient 2 into the second model to obtain the severity of the weather output by the second model.

[0226] It should be noted that the present application example has no particular restrictions on the model type of the environmental parameter determination model. For example, the environmental parameter determination model can be a formula model, a neural network model, or other mathematical models.

[0227] As previously mentioned, the environmental quality parameter can be calculated by a processor in the radar system, or it can also be calculated by another processor. For example, the radar system can send the second point cloud data and / or the electrical signals corresponding to the multiple wavelengths to the main controller, and the main controller can obtain the environmental quality parameter based on the second point cloud data and / or the electrical signals corresponding to the multiple wavelengths. The main controller can then send the environmental quality parameter to the radar system, or the main controller can store the environmental quality parameter in a preset location, and the radar system has data access permission for the preset location.

[0228] In an embodiment of the present application, the environmental quality parameters can be obtained by real-time calculation or by interval calculation. For example, in an actual radar detection scenario, after the processor receives multiple electrical signals of different wavelengths, it can directly generate the second point cloud data, and calculate the environmental quality parameters based on the received electrical signals in real time, and then use the environmental quality parameters to compensate the second point cloud data to obtain the first point cloud data. Or, for example, the radar system can periodically calculate the environmental quality parameters. In this way, when the processor generates the second point cloud data, it can directly obtain the environmental quality parameters calculated in the current period (or the most recent time), and compensate the second point cloud data accordingly to obtain the first point cloud data.

[0229] When the environmental quality parameters are used to compensate the second point cloud data, it can be processed as follows: the processor can obtain a target compensation formula that matches the environmental quality parameters in a preset compensation formula, and then use the target compensation formula to compensate the second point cloud data to obtain the first point cloud data.

[0230] It should be noted that the preset compensation formula may be an empirical formula, or a formula obtained through a preset calibration experiment. The embodiment of the present application has no particular limitation on the source of the compensation formula.

[0231] In one possible embodiment, a correspondence between various environmental quality parameters and various preset compensation formulas can be preset. Thus, when determining the target compensation formula, only one compensation formula corresponding to each environmental quality parameter needs to be obtained. For example, a correspondence between fog cluster types and preset compensation formulas can be preset in advance. In this way, the target compensation formula can be obtained by simply determining the fog cluster type according to the aforementioned steps and obtaining the compensation formula corresponding to that fog cluster type.

[0232] When compensating the second point cloud data using the target compensation formula, the compensation method may vary depending on the preset compensation formula, and there are no particular limitations on the compensation formula. In one exemplary embodiment, the target compensation formula may be used to process the scanning parameters of the two-dimensional scanner, the detection responsivity of the detection module, the amplification factor, the transmission parameters of the first light signal, and the reception parameters of the second light signal to obtain a compensation value. The compensation value is then used to compensate the second point cloud data to obtain the first point cloud data.

[0233] In addition to directly outputting the first point cloud data, the radar system provided in the embodiments of the present application can also analyze the first point cloud data to determine radar detection results, and further, can output the radar detection results. In other words, the radar system can be used to output: the first point cloud data and / or the radar detection results.

[0234] In one exemplary embodiment, the processor may also obtain a single-wavelength detection result corresponding to each wavelength based on the first point cloud data, and then determine a radar detection result based on the single-wavelength detection results for the multiple wavelengths. Thus, unlike the prior art practice of directly using single-wavelength detection results as radar detection results, the present application combines the single-wavelength detection results for multiple wavelengths to obtain a radar detection result. This effectively addresses the issue of single-wavelength optical signals being limited by the environment and helps improve the accuracy of radar detection results.

[0235] The radar detection results involved in the embodiments of the present application may include but are not limited to: the distance between the target (or referred to as the detection target) and the radar (ie, the radar system) and / or the target type.

[0236] Exemplarily, the processor can use the transmission and reception times of the optical signals corresponding to each wavelength in the first point cloud data to determine the first distance corresponding to each wavelength as a single wavelength detection result; then, based on the first distances corresponding to multiple wavelengths, the second distance is determined, and the second distance is used to characterize the distance between the radar system and the detection target.

[0237] The processor can use the speed-distance formula to calculate the transmission and reception times of the optical signal and the speed of light to obtain the first distance corresponding to each wavelength of light. It can be understood that the first distance represents the distance between the radar system and the detected target obtained by detecting light of a certain wavelength. In this application, determining the second distance based on multiple first distances can be implemented in various ways.

[0238] For example, in one possible embodiment, the processor may obtain an average of the multiple first distances and determine the average as the second distance. In another possible embodiment, the processor may filter out the maximum and minimum values ​​among the multiple first distances, then obtain the average of the remaining first distances and determine the average as the second distance. In another possible embodiment, the processor may obtain the minimum value among the multiple first distances and determine the minimum value as the second distance. This list is not exhaustive.

[0239] The processor can also use the echo intensity of the light signal corresponding to each wavelength in the first point cloud data to determine the target reflectivity corresponding to each wavelength as a single wavelength detection result, and then determine the type of the detected target based on the target reflectivity corresponding to multiple wavelengths.

[0240] For example, in one possible embodiment, the processor may obtain an average of the reflectivity of multiple targets and determine the type corresponding to the average as the type of the detected target. In another possible embodiment, the processor may filter out the maximum and minimum values ​​among the multiple target reflectivity values, then obtain the average of the remaining target reflectivity values ​​and determine the type corresponding to the average as the type of the detected target. In another possible embodiment, the processor may filter out the type corresponding to the maximum or minimum value among the multiple target reflectivity values ​​and determine that value as the type of the detected target.

[0241] For example, Figure 14 FIG. 1 shows a schematic diagram of a processor obtaining radar detection results (radar detection method). Figure 14 As shown, after receiving electrical signal 1 (wavelength 1) and electrical signal 2 (wavelength 2), the processor performs matched filtering on each signal, separating electrical signal 1 into noise signal 1 and waveform signal 1, and separating electrical signal 2 into noise signal 2 and waveform signal 2. Furthermore, wavelength 1 and wavelength 2 are not equal.

[0242] Afterwards, on the one hand, the processor can determine noise parameter 1 based on noise signal 1, and determine noise parameter 2 based on noise signal 2, and then determine the environmental quality parameter by combining noise parameter 1 and noise parameter 2, as well as electrical signal 1 and electrical signal 2.

[0243] On the other hand, the processor can obtain echo time 1 and echo intensity 1 of waveform signal 1; and obtain echo time 2 and echo intensity 2 of waveform signal 2.

[0244] On this basis, the processor can calculate the first distance 1 corresponding to the electrical signal 1 based on the environmental quality parameters and the echo time 1. In this step, the processor can use the environmental quality parameters to calculate the ranging error 1, and use the ranging error 1 to compensate for the distance 1' to obtain the first distance 1, wherein the distance 1' is directly calculated based on the emission time of the optical signal corresponding to the electrical signal 1 and the echo time 1. In addition, the processor can also calculate the first distance 2 corresponding to the wavelength 2 based on the environmental quality parameters and the echo time 2. The processor can use the environmental quality parameters to calculate the ranging error 2, and use the ranging error 2 to compensate for the distance 2' to obtain the first distance 2, wherein the distance 2' is directly calculated based on the emission time of the optical signal corresponding to the electrical signal 2 and the echo time 2. Thereafter, the processor can determine the second distance between the radar system and the detected target based on the first distance 1 and the first distance 2.

[0245] In addition, the processor can also calculate the target reflectivity 1 corresponding to the electrical signal 1 based on the environmental quality parameters and the echo intensity 1. In a specific implementation, the processor can calculate the compensation value 1 of the echo intensity 1 based on the environmental quality parameters, and use the compensation value 1 to compensate the echo intensity 1, and then use the compensated echo intensity 1' to calculate the target reflectivity 1. And, the processor can also calculate the target reflectivity 2 corresponding to the electrical signal 2 based on the environmental quality parameters and the echo intensity 2. In a specific implementation, the processor can calculate the compensation value 2 of the echo intensity 2 based on the environmental quality parameters, and use the compensation value 2 to compensate the echo intensity 2, and then use the compensated echo intensity 2' to calculate the target reflectivity 2. Thereafter, the processor can determine the type of the detected target based on the target reflectivity 1 and the target reflectivity 2.

[0246] Determining target types based on the reflectivity of targets at multiple different wavelengths can effectively improve target recognition accuracy. When target distance and topography are similar, target recognition and classification primarily rely on reflectivity information. Target reflectivity is related to the incident wavelength, target material, and angle. Different materials within a single wavelength band may have the same reflectivity. Leveraging the differentiated reflectivity information of the same target at different wavelengths can effectively enhance target recognition.

[0247] For example, Figure 15Schematic diagrams show target recognition using a single-wavelength optical signal and a multi-wavelength optical signal. 15A shows target detection using a single-wavelength optical signal, while 15B shows target detection using a multi-wavelength optical signal. Clearly, 15B includes more electrical clouds and can detect more effective information.

[0248] In any of the aforementioned embodiments, the radar system's processor may also be configured to determine detection parameters of the radar system and detect targets based on the detection parameters. The detection parameters involved may include, but are not limited to, transmission parameters for multi-wavelength optical signals of multiple wavelengths and configuration parameters of the radar system. The transmission parameters are described above and will not be repeated here. Configuration parameters are used to configure various modules in the radar system. For example, configuration parameters may include, but are not limited to, scanning frequency and detection frequency.

[0249] In an exemplary embodiment, the detection parameters of the radar system can be determined by a controller. That is, the controller can determine the detection parameters of the radar system and send first information to the processor of the radar system, and the first information is used to indicate the transmission parameters and / or configuration parameters of the radar system. In this way, when the processor determines the detection parameters, it can receive the first information from the controller and determine the detection parameters based on the received first information. For example, the processor can directly determine the transmission parameters and / or configuration parameters carried in the first information as the detection parameters. Alternatively, the processor can perform custom adjustments based on the transmission parameters and / or configuration parameters carried in the first information according to a preset algorithm, and determine the adjusted transmission parameters and / or configuration parameters as the detection parameters.

[0250] Alternatively, the detection parameters of the radar system may be determined by the processor itself.

[0251] In an exemplary possible embodiment, the detection parameters of the radar system have been configured in advance, and the processor can automatically extract the pre-configured data as the detection parameters.

[0252] In another exemplary embodiment, the radar system may also obtain environmental parameters of the current environment and determine transmission parameters and / or configuration parameters based on the environmental parameters. Environmental parameters may include, but are not limited to, one or more of the following: the current weather type, the current world coordinates, or image data of the current environment. Thus, the environmental parameters may be derived from other sensors or communication modules communicatively connected to the radar system.

[0253] Exemplarily, the sensor may include, but is not limited to, one or more of: a millimeter wave radar, an image acquisition device, a global positioning system receiver (GPS), an inertial measurement unit, and a human-computer interaction interface.

[0254] For example, a vehicle is equipped with a radar system and a camera (an image acquisition device), and the radar system and the camera are in communication with each other, so that the camera can send collected image data to the radar system. In this way, after the radar system receives this image data, specifically, after the processor receives the image data, it can determine the current weather type through image recognition technology. Then, based on the correspondence between the preset weather type and the detection parameters (transmission parameters and / or configuration parameters), the target is detected according to a detection parameter corresponding to the current weather type.

[0255] The communication module can be connected to other electronic devices or to a network, so that the current weather type can be obtained through the communication module. It should be noted that the communication module can be a communication module of the radar system, or it can be a communication module of a mobile device carried by the radar system. In this case, the communication module is directly or indirectly connected to the radar system (for example, through a controller).

[0256] In summary, the radar system provided by the embodiments of this application can detect targets simultaneously or in a time-sharing manner using multi-wavelength optical signals of different wavelengths, and can also generate a 3D point cloud image within the scanning field of view (FOV) using one or more 2D scanners. This technical solution can overcome the various performance deficiencies of current automotive LiDAR products, especially LiDAR systems based on 2D scanning architectures, and improve overall measurement capabilities. This is specifically reflected in the following aspects:

[0257] In terms of resolution, the use of multiple wavelengths can overcome the limitations of TOF time and scanning performance within a limited receiving FOV, increase the number of pixel units, and thus improve the resolution of the lidar. By taking advantage of the differences in beam quality between wavelengths, wavelengths with smaller divergence angles can be used for intensive detection in areas where resolution needs to be improved. Furthermore, by taking advantage of the differences in eye safety between wavelengths, laser power can be increased, distributing the emission energy of a single beam across multiple detector pixels, further improving system resolution.

[0258] Regarding the number of point clouds. As mentioned above, the number of LiDAR point clouds is related to the number of transceiver channels, TOF time, and laser repetition rate. Multi-wavelength is an effective way to overcome TOF limitations. Furthermore, different wavelength lasers have different repetition rates, pulse widths, and power performance, which can further improve light output efficiency per unit time and space.

[0259] Eye safety and dynamic range. Different wavelength lasers have different eye safety thresholds. Long-wavelength lasers with high eye safety thresholds can be used to output high-power lasers for long-range detection, while short-wavelength lasers with low eye safety thresholds can be used to output low-power lasers for short- and medium-range detection. This also compensates for the saturation and blind spot limitations of long-wavelength, high-power lasers in short-range measurements, improving the overall dynamic range of the system and ranging accuracy across the entire measurement range.

[0260] Improved target recognition. For vehicle-mounted perception systems equipped with LiDAR, when target distance and shape information are similar, target recognition and classification primarily rely on reflectivity information. Target reflectivity is related to the incident wavelength, target material, and angle. Different materials may have the same reflectivity within a single wavelength band. Utilizing the differentiated reflectivity information of the same target at different wavelengths can effectively enhance target recognition.

[0261] Improved weather adaptability. By utilizing the differences in light scattering and absorption characteristics of different wavelengths in adverse weather conditions (sand, rain, snow, fog, etc.), different backscatter echo noises can be obtained to determine the type and degree of obscurants (fog). This can be used to compensate for signal echo strength and ranging accuracy, and can also help filter out noise echo peaks.

[0262] The present application also provides a mobile device and a radar detection method thereof. Figures 1 to 3 The movable device may include a fuselage, a radar system mounted on the fuselage, and a controller. The controller is used to control the movement of the movable device, and the radar system may be any of the radar systems described in the embodiments of this application, which will not be repeated here. The radar system is coupled to the controller, so that the controller can be based on data from the radar system (first point cloud data and / or radar detection results).

[0263] Now let's briefly describe the controller.

[0264] In an embodiment of the present application, the controller can be used to control the operation of the radar system to detect targets, and can also be used to receive data output by the radar system.

[0265] In a possible embodiment, the radar system may output first point cloud data and / or radar detection results; and the controller may be used to control the movement of the movable device based on the first point cloud data.

[0266] In another possible embodiment, the radar system may directly output the first point cloud data. Thus, when the radar system does not output radar detection results, the controller of the mobile device may receive the first point cloud data from the radar system and obtain radar detection results based on the first point cloud data. Specifically, the controller may receive second information from the radar system, the second information carrying the first point cloud data, and then, based on the first point cloud data, obtain single-wavelength detection results corresponding to each wavelength. Thus, the radar detection results may be determined based on the single-wavelength detection results for multiple wavelengths.

[0267] Exemplarily, the controller can use the transmission and reception time of the optical signal corresponding to each wavelength in the first point cloud data to determine the first distance corresponding to each wavelength as the single wavelength detection result, and then determine the second distance based on the first distances corresponding to multiple wavelengths. The second distance is used to characterize the distance between the radar system and the detection target.

[0268] Exemplarily, the controller can use the echo intensity of the light signal corresponding to each wavelength in the first point cloud data to determine the target reflectivity corresponding to each wavelength as the single wavelength detection result, and then determine the type of the detected target based on the target reflectivity corresponding to multiple wavelengths.

[0269] The specific implementation method of the controller obtaining the radar detection result based on the first point cloud data is the same as the method of the processor in the aforementioned radar system obtaining the radar detection result based on the first point cloud data. Please refer to the previous text and will not be repeated here.

[0270] In addition, when controlling the radar system to perform target detection tasks, the controller may also determine the radar system's detection parameters. Specifically, it may determine the radar system's transmission parameters and / or configuration parameters. The determination method is described above. The controller may then send a first message to the radar system, indicating the radar system's transmission parameters and / or configuration parameters.

[0271] When determining the detection parameters, the controller may obtain environmental parameters through sensors and / or communication modules onboard the mobile device, and determine the emission parameters and / or configuration parameters of the laser signals at each wavelength based on the environmental parameters. Sensors onboard the mobile device may include, but are not limited to, one or more of: millimeter-wave radar, image acquisition device, global positioning system receiver, inertial measurement unit, and human-computer interface. Details will not be repeated here.

[0272] In other words, in the embodiment of the present application, the mobile device can take on part of the computing functions of the radar system and obtain a radar detection result with higher accuracy based on the first point cloud data obtained by the multi-wavelength light signal.

[0273] It is understood that some or all of the steps or operations in the above embodiments are merely examples, and the present application embodiments may also perform other operations or variations of various operations. In addition, the various steps may be performed in a different order than those presented in the above embodiments, and it is possible that not all of the operations in the above embodiments need to be performed.

[0274] It can be understood that in the above embodiments, the operations or steps implemented by the processor can also be implemented by components that can be used in the processor (such as chips or circuits), and the operations or steps implemented by the controller can also be implemented by components that can be used in the controller (such as chips or circuits).

[0275] The present application further provides an electronic device that can be used to implement the corresponding portion of the method on the processor side or the controller side described in the above method embodiment. For details, please refer to the description in the above embodiment.

[0276] The electronic device may include one or more processing units, which may also be referred to as processors (note that the processor herein refers to the processing module or processing unit in the radar system processor described above), and may implement certain control functions. The processing unit may be a general-purpose processing unit or a dedicated processing unit.

[0277] In an optional design, the processing unit may also store instructions, which can be executed by the processing unit to enable the electronic device to execute the method corresponding to the processor side or the controller side described in the above method embodiment.

[0278] In another possible design, the electronic device may include a circuit, which can implement the functions of sending, receiving, or communicating in the aforementioned method embodiments.

[0279] Optionally, the electronic device may include one or more memories on which instructions or intermediate data are stored. The instructions may be executed on the processing unit, so that the electronic device performs the method described in the above embodiment. Optionally, other relevant data may also be stored in the memory. Optionally, the processing unit may also store instructions and / or data. The processing unit and memory may be provided separately or integrated together.

[0280] Optionally, the electronic device may further include a transceiver. The transceiver may be referred to as a transceiver unit, a transceiver, a transceiver circuit, or a transceiver, etc., and is configured to implement the transceiver function of the electronic device.

[0281] If the electronic device is a processor in a radar system, the processing unit in the electronic device is used to determine and output the first point cloud data and / or radar detection results when receiving electrical signals corresponding to multiple wavelengths, and the transceiver in the electronic device can be used to receive the first information from the controller. For example, the transceiver can also be used to send the second information to the controller. The transceiver can also further perform other corresponding communication functions. The processing unit is used to perform the corresponding determination or control operation, and optionally, the corresponding instructions can be stored in the memory. The specific processing methods of each component can refer to the relevant description of the aforementioned embodiment.

[0282] If the electronic device is a controller in a mobile device, the processing unit in the electronic device can be used to receive the first point cloud data and obtain the radar detection results based on it, and the transceiver in the electronic device can be used to receive the second information from the radar system. For example, the transceiver can also be used to send the first information to the radar system. The transceiver can also further perform other corresponding communication functions. The processing unit is used to complete the corresponding determination or control operation, and optionally, the corresponding instructions can be stored in the memory. The specific processing methods of each component can refer to the relevant description of the aforementioned embodiment.

[0283] The processing unit and transceiver described in this application can be implemented on an integrated circuit (IC), an analog IC, a radio frequency integrated circuit (RFIC), a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processing unit and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0284] Alternatively, the electronic device may be a stand-alone device or may be part of a larger device. For example, the device may be: (1) a stand-alone integrated circuit (IC), or a chip, or a chip system or subsystem; (2) a collection of one or more ICs, optionally including a storage component for storing data and / or instructions; (3) an ASIC, such as a modem (MSM); (4) a module that can be embedded in other devices; (5) a receiver, a terminal, a cellular phone, a wireless device, a handset, a mobile unit, an electronic device, etc.; (6) other devices, etc.

[0285] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer-readable storage medium is run on a computer, the computer executes the radar detection method implemented by the processor or controller in the above embodiment.

[0286] In addition, an embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is run on a computer, it enables the computer to execute the radar detection method implemented by the processor or controller in the above embodiment.

[0287] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described herein are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive).

Claims

1. A radar system, characterized in that: include: A laser module for generating multi-wavelength optical signals; a two-dimensional scanner configured to perform two-dimensional scanning using the multi-wavelength optical signal and receive echo signals within a receiving field of view of the two-dimensional scanner, wherein the echo signals are reflection signals generated by a scanned object after being irradiated by the multi-wavelength optical signal; wherein a unit receiving field of view of the two-dimensional scanner includes a plurality of the echo signals; a wavelength division module, configured to perform optical splitting processing on the echo signal received by the two-dimensional scanner to obtain a plurality of single-wavelength optical signals; A detection module, configured to convert the plurality of single-wavelength optical signals into electrical signals corresponding to the respective wavelengths; a processor, configured to acquire first point cloud data according to the electrical signal; The processor is specifically configured to: Extracting noise parameters corresponding to each wavelength from electrical signals corresponding to each of the multiple wavelengths; determining an environmental quality parameter based on the noise parameters corresponding to the plurality of wavelengths; generating second point cloud data according to the electrical signals corresponding to the plurality of wavelengths; The second point cloud data is compensated using the environmental quality parameter to obtain the first point cloud data.

2. The system according to claim 1, wherein: The multi-wavelength optical signal includes a first wavelength optical signal and a second wavelength optical signal; the first wavelength optical signal and the second wavelength optical signal have different wavelengths; When the transmission parameters of the first wavelength optical signal and the second wavelength optical signal are different, the parameters of the minimum receiving field of view of the first wavelength optical signal and the second wavelength optical signal are different; The emission parameters include one or more of: divergence angle, emission position, emission time, emission angle, position of receiving field of view, size of receiving field of view or flight time; The parameters of the minimum receiving field of view include: one or more of the position, size or number of the minimum receiving field of view.

3. The system according to claim 1 or 2, characterized in that The laser module includes: one or more lasers; When the laser module includes one laser, the laser is a tunable laser; the multi-wavelength optical signal includes multiple single-wavelength optical signals; When the laser module includes multiple lasers, the multiple lasers include: tunable lasers and / or single-wavelength lasers; wherein, the wavelengths of the optical signals generated by any two of the single-wavelength lasers are different; the multi-wavelength optical signal includes: an optical signal including multiple wavelengths, or multiple single-wavelength optical signals.

4. The system according to claim 1 or 2, characterized in that The wavelength division module is specifically used for: The echo signal is subjected to optical splitting processing to obtain a plurality of single-wavelength optical signals; any two of the single-wavelength optical signals have different wavelengths.

5. The system according to claim 1 or 2, characterized in that The wavelength division module is also used for: The multi-wavelength optical signal generated by the laser module is subjected to a splitting process or a focusing process, and is provided to the two-dimensional scanner for two-dimensional scanning.

6. The system according to claim 1 or 2, characterized in that The wavelength division module includes: one or more of a beam splitter, an optical fiber, a lens, a prism, a reflector or a diffraction device.

7. The system according to claim 1 or 2, characterized in that The detection module includes: one or more detectors; When the detection module includes one detector, the detector is a multi-wavelength detector, and the multi-wavelength detector is used to receive and process the single-wavelength optical signals of multiple wavelengths; When the detection module includes a plurality of the detectors, the plurality of detectors include: multi-wavelength detectors and / or single-wavelength detectors; wherein any one of the single-wavelength detectors is used to receive and process the single-wavelength optical signal of one wavelength.

8. The system according to claim 1 or 2, characterized in that The radar system is an off-axis optical system or a coaxial optical system.

9. The system according to claim 1 or 2, characterized in that The noise parameters include: backscatter noise parameters; The processor is specifically configured to: Processing the backscattering noise parameters corresponding to multiple wavelengths using a backscattering function to obtain a scattering coefficient; Processing the electrical signals and the backscattering noise parameters corresponding to multiple wavelengths using an atmospheric absorption function to obtain an absorption coefficient; The environmental quality parameter is determined according to the scattering coefficient and the absorption coefficient.

10. The system according to claim 1 or 2, characterized in that The environmental quality parameters include: one or more of fog type, weather severity, particle concentration, humidity or particle size distribution.

11. The system according to claim 1, wherein: The processor is specifically configured to: In a preset compensation formula, a target compensation formula matching the environmental quality parameter is obtained; The second point cloud data is compensated using the target compensation formula to obtain the first point cloud data.

12. The system according to any one of claims 1-2 and 11, characterized in that: The processor is further configured to: Obtaining a single wavelength detection result corresponding to each wavelength according to the first point cloud data; A radar detection result is determined according to the single wavelength detection results of the multiple wavelengths.

13. The system according to claim 12, wherein: The processor is specifically configured to: Determine the first distance corresponding to each wavelength using the transmitting and receiving time of the optical signal corresponding to each wavelength in the first point cloud data as the single wavelength detection result; A second distance is determined according to the first distances corresponding to the multiple wavelengths, where the second distance is used to represent the distance between the radar system and the detection target.

14. The system according to claim 12, wherein: The processor is specifically configured to: Determining the target reflectivity corresponding to each wavelength using the echo intensity of the optical signal corresponding to each wavelength in the first point cloud data as the single wavelength detection result; The type of the detected target is determined according to the target reflectivity corresponding to the multiple wavelengths.

15. The system according to any one of claims 1-2, 11, 13-14, characterized in that: The processor is further configured to: Determining detection parameters of the radar system; the detection parameters include: transmission parameters of the multi-wavelength optical signal of multiple wavelengths and configuration parameters of the radar system; The target is detected according to the detection parameters.

16. The system according to claim 15, wherein: The processor is further configured to: First information is received, where the first information is used to indicate the transmission parameter and / or the configuration parameter of the radar system.

17. A movable device, characterized in that: include: The radar system according to any one of claims 1 to 16; A controller is coupled to the radar system and is configured to control the movement of the movable device based on the first point cloud data.

18. A movable device, characterized in that: include: The radar system according to any one of claims 1 to 16; A controller is coupled to the radar system, and is used to obtain a single-wavelength detection result corresponding to each wavelength based on the first point cloud data, and is used to determine a radar detection result based on the single-wavelength detection results of multiple wavelengths.

19. The movable device according to claim 17 or 18, characterized in that: The controller is specifically used for: A first message is sent to the radar system, where the first message is used to indicate transmission parameters and / or configuration parameters of the radar system.

20. The movable device according to claim 19, wherein: The movable device further comprises: a sensor and / or a communication module; The controller is further configured to: Acquiring environmental parameters through the sensor and / or the communication module; The emission parameters and / or the configuration parameters of the laser signal of each wavelength are determined according to the environmental parameters.

21. The movable device according to claim 20, wherein: The sensor includes one or more of: a millimeter wave radar, an image acquisition device, a global positioning system receiver, an inertial measurement unit, and a human-computer interaction interface.

22. The mobile device according to any one of claims 17-18, 20-21, characterized in that: The controller is further configured to: receiving second information from the radar system, wherein the second information carries first point cloud data; Obtaining a single wavelength detection result corresponding to each wavelength according to the first point cloud data; A radar detection result is determined according to the single wavelength detection results of the multiple wavelengths.

23. The movable device according to claim 22, wherein: The controller is specifically used for: Determine the first distance corresponding to each wavelength using the transmitting and receiving time of the optical signal corresponding to each wavelength in the first point cloud data as the single wavelength detection result; A second distance is determined according to the first distances corresponding to the multiple wavelengths, where the second distance is used to represent the distance between the radar system and the detection target.

24. The movable device according to claim 22, wherein: The controller is specifically used for: Determining the target reflectivity corresponding to each wavelength using the echo intensity of the optical signal corresponding to each wavelength in the first point cloud data as the single wavelength detection result; The type of the detected target is determined according to the target reflectivity corresponding to the multiple wavelengths.

25. The mobile device according to any one of claims 17-18, 20-21, 23-24, characterized in that: The movable device includes: a vehicle, a drone or a ground robot.

26. A radar detection method, characterized in that: include: generating a multi-wavelength optical signal; Performing two-dimensional scanning using the multi-wavelength optical signal and receiving echo signals within a receiving field of view of the two-dimensional scanner, wherein the echo signals are reflection signals generated by the scanned object after being irradiated by the multi-wavelength optical signal; wherein a unit receiving field of view of the two-dimensional scanner includes a plurality of the echo signals; Performing optical splitting processing on the echo signal to obtain multiple single-wavelength optical signals; Converting the plurality of single-wavelength optical signals into electrical signals corresponding to the respective wavelengths; Acquire first point cloud data according to the electrical signal; Extracting noise parameters corresponding to each wavelength from electrical signals corresponding to each of the multiple wavelengths; determining an environmental quality parameter based on the noise parameters corresponding to the plurality of wavelengths; generating second point cloud data according to the electrical signals corresponding to the plurality of wavelengths; The second point cloud data is compensated using the environmental quality parameter to obtain the first point cloud data.

27. A radar detection method, characterized in that: A controller for use in a mobile device, the mobile device further comprising a body and a radar system mounted on the body; the radar system being the radar system according to any one of claims 1 to 16, the controller being coupled to the radar system; The method comprises: receiving second information from the radar system, wherein the second information carries first point cloud data; The movable device is controlled to move based on the first point cloud data.

28. A radar detection method, characterized in that: A controller for use in a mobile device, the mobile device further comprising a body and a radar system mounted on the body; the radar system being the radar system according to any one of claims 1 to 16, the controller being coupled to the radar system; The method comprises: receiving second information from the radar system, wherein the second information carries first point cloud data; Obtaining a single wavelength detection result corresponding to each wavelength according to the first point cloud data; A radar detection result is determined according to the single wavelength detection results of the multiple wavelengths.

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