A method and device for controlling a lidar, a control chip, and a lidar

Abstract

An embodiment of the present application provides a lidar control method, device, control chip, and lidar, which relate to the technical field of lidar. The method is applied to the control chip of the lidar, and the lidar further includes a receiving unit and a transmitting unit; the receiving unit includes a specified number of receiving areas, and each receiving area includes at least one receiver; the transmitting unit includes a specified number of transmitting areas, and each transmitting area includes at least one transmitter; the specified number of receiving areas correspond one-to-one with the specified number of transmitting areas. The method includes: determining the receivers that have been activated and generate crosstalk noise during activation as alternative receivers; determining a first receiver to be activated from the alternative receivers, and determining a receiving area to be activated from the unactivated receiving areas; while activating the transmitting area corresponding to the receiving area to be activated, activating the transmitter corresponding to the first receiver to be activated. In this way, the accuracy of the detection result can be improved.

Description

[0001] This application is a divisional application of a Chinese patent application filed with the Chinese Patent Office on January 5, 2023, with the application number 202310010551.5 and the invention title "A Method, Device, Control Chip and Lidar for Lidar Control". Technical Field

[0002] This application relates to the technical field of lidar, and in particular to a method, device, control chip and lidar for lidar control. Background Art

[0003] Solid-state lidar has advantages such as high reliability, small size, and fast imaging speed. Therefore, solid-state lidar is suitable for vehicle driving fields such as assisted driving and autonomous driving. Solid-state lidar can detect the surrounding environment based on a transmitting unit and a receiving unit. The transmitting unit includes multiple transmitters, the receiving unit includes multiple receivers, and the transmitters in the transmitting unit correspond one-to-one with the receivers in the receiving unit. Among them, the transmitter can be a VCSEL (Vertical-Cavity Surface-Emitting Laser), and the receiver can be a SPAD (Single Photon Avalanche Diode).

[0004] In the related art, when multiple adjacent receivers in the receiving unit are simultaneously in the working state, there will be crosstalk between the multiple receivers, resulting in crosstalk noise in the detection results of the receivers, and further, the accuracy of the detection results is not high. Summary of the Invention

[0005] The purpose of the embodiments of this application is to provide a method, device, control chip and lidar for lidar control to improve the accuracy of detection results. The specific technical solutions are as follows:

[0006] In the first aspect of the embodiments of this application, first, a method for lidar control is provided. The method is applied to a control chip of a lidar, and the lidar further includes a receiving unit and a transmitting unit; the receiving unit includes a specified number of receiving areas, and each receiving area includes at least one receiver; the transmitting unit includes the specified number of transmitting areas, and each transmitting area includes at least one transmitter; the specified number of receiving areas correspond one-to-one with the specified number of transmitting areas so that the receiving areas receive the measurement pulses emitted by the corresponding transmitting areas;

[0007] The method includes: when activating all receiving areas in a first order, perform the following steps until all receiving areas are activated to obtain a first detection result:

[0008] Identify the receivers that have been activated and generate crosstalk noise during activation as alternative receivers;

[0009] Determine a first receiver to be activated from the alternative receivers, and determine a receiving area to be activated from the unactivated receiving areas; wherein, the distance between the receiving area to be activated and the first receiver to be activated is not less than a first preset distance;

[0010] While activating the transmitting area corresponding to the receiving area to be activated, activate the transmitter corresponding to the first receiver to be activated, so that the receiving area to be activated and the first receiver to be activated receive the respective measurement pulses;

[0011] Wherein, the first detection result is determined according to the detection results obtained from the last activation of all the receivers.

[0012] In some embodiments, the method further includes:

[0013] After activating all the receiving areas, identify the receivers with crosstalk noise in the first detection result as target receivers;

[0014] Activate the transmitters corresponding to the respective target receivers and the respective target receivers in a second order, so that each target receiver receives the measurement pulses transmitted by its corresponding transmitter, and obtain the second detection results of each target receiver; wherein, the second order is determined according to the positional relationship between the respective target receivers;

[0015] Based on the first detection results of all the receivers and the second detection results of the respective target receivers, determine the target detection result.

[0016] In some embodiments, the activating the transmitters corresponding to the respective target receivers and the respective target receivers in a second order includes:

[0017] Determine at least one target receiver from the respective target receivers as a second receiver to be activated in the second order; wherein, the distance between every two receivers in the second receivers to be activated is not less than a second preset distance;

[0018] Activate the transmitters corresponding to the second receivers to be activated and the second receivers to be activated, and return to execute the step of determining at least one target receiver from the respective target receivers as a second receiver to be activated in the second order until all the target receivers are activated.

[0019] In some embodiments, the identifying the receivers with crosstalk noise in the first detection result as target receivers includes:

[0020] For each receiver, calculate the ratio of the signal to the crosstalk noise in the first detection result of the receiver as the signal-to-noise ratio of the first detection result of the receiver.

[0021] If the signal-to-noise ratio of the first detection result of the receiver is not greater than a preset threshold, determine the receiver as a target receiver.

[0022] In some embodiments, determining the first receiver to be activated from the alternative receivers and determining the receiving area to be activated from the unactivated receiving areas includes:

[0023] Determine at least one receiving area from the unactivated receiving areas as the receiving area to be activated according to the first order; wherein, the distance between every two receiving areas in the receiving area to be activated is not less than a third preset distance.

[0024] Determine at least one receiver whose distance from the receiving area to be activated is not less than the first preset distance from the alternative receivers as the first receiver to be activated; wherein, the distance between every two receivers in the at least one receiver is not less than the second preset distance.

[0025] In some embodiments, determining the first receiver to be activated from the alternative receivers and determining the receiving area to be activated from the unactivated receiving areas includes:

[0026] Determine at least one receiver from the alternative receivers as the first receiver to be activated; wherein, the distance between every two receivers in the first receiver to be activated is not less than the second preset distance.

[0027] Determine at least one receiving area whose distance from the first receiver to be activated is not less than the first preset distance from the unactivated receiving areas as the receiving area to be activated; wherein, the distance between every two receiving areas in the at least one receiving area is not less than the third preset distance.

[0028] In a second aspect of the embodiments of the present application, a lidar control device is provided. The device is applied to a control chip of a lidar. The lidar further includes a receiving unit and a transmitting unit; the receiving unit includes a specified number of receiving areas, and each receiving area includes at least one receiver; the transmitting unit includes the specified number of transmitting areas, and each transmitting area includes at least one transmitter; the specified number of receiving areas and the specified number of transmitting areas correspond one by one so that the receiving area receives the measurement pulses emitted by the corresponding transmitting area.

[0029] Each module included in the device is used to activate each receiving area in a first order until all receiving areas are activated, and a first detection result is obtained.

[0030] The device includes:

[0031] A first determination module, configured to determine a receiver that has been activated and generates crosstalk noise during activation as an alternative receiver.

[0032] A second determination module, configured to determine a first receiver to be activated from the alternative receivers, and determine a receiving area to be activated from the non-activated receiving areas; wherein, the distance between the receiving area to be activated and the first receiver to be activated is not less than a first preset distance.

[0033] A first activation module, configured to activate the transmitter corresponding to the receiving area to be activated while activating the transmitter corresponding to the first receiver to be activated, so that the receiving area to be activated and the first receiver to be activated receive the measurement pulses corresponding to them respectively; wherein, the first detection result is determined according to the detection results obtained when all the receivers are activated for the last time.

[0034] In some embodiments, the device further includes:

[0035] A third determination module, configured to determine, after all receiving areas are activated, a receiver with crosstalk noise in the first detection result as a target receiver.

[0036] A second activation module, configured to activate the transmitters corresponding to the respective target receivers and the respective target receivers in a second order, so that each target receiver receives the measurement pulse transmitted by the corresponding transmitter, and a second detection result of each target receiver is obtained; wherein, the second order is determined according to the positional relationship between the respective target receivers.

[0037] A result determination module, configured to determine a target detection result based on the first detection results of all receivers and the second detection results of the respective target receivers.

[0038] In some embodiments, the second activation module includes:

[0039] A first determination sub-module, configured to determine at least one target receiver from the respective target receivers as a second receiver to be activated in the second order; wherein, the distance between every two receivers in the second receivers to be activated is not less than a second preset distance.

[0040] A first activation sub-module, configured to activate the transmitters corresponding to the second receivers to be activated and the second receivers to be activated, and trigger the first determination sub-module until all target receivers are activated.

[0041] In some embodiments, the third determination module is specifically configured to:

[0042] For each receiver, calculate the ratio of the signal to the crosstalk noise in the detection result of the receiver as the signal-to-noise ratio of the detection result of the receiver.

[0043] If the signal-to-noise ratio of the detection result of the receiver is not greater than a preset threshold, determine the receiver as a target receiver.

[0044] In some embodiments, the second determination module includes:

[0045] A second determination sub-module, configured to determine at least one receiving area from the unactivated receiving areas as a receiving area to be activated according to the first order; wherein the distance between every two receiving areas in the receiving area to be activated is not less than a third preset distance.

[0046] A third determination sub-module, configured to determine at least one receiver from the alternative receivers, the distance between which and the receiving area to be activated is not less than the first preset distance, as a first receiver to be activated; wherein the distance between every two receivers in the first receivers to be activated is not less than the second preset distance.

[0047] In some embodiments, the second determination module includes:

[0048] A fourth determination sub-module, configured to determine at least one receiver from the alternative receivers as a first receiver to be activated; wherein the distance between every two receivers in the first receivers to be activated is not less than the second preset distance.

[0049] A fifth determination sub-module, configured to determine at least one receiving area from the unactivated receiving areas, the distance between which and the first receivers to be activated is not less than the first preset distance, as a receiving area to be activated; wherein the distance between every two receiving areas in the receiving area to be activated is not less than the third preset distance.

[0050] In a third aspect of the embodiments of the present application, a control chip is provided, including a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus;

[0051] The memory is used to store a computer program;

[0052] The processor is configured to implement the lidar control method described in any one of the above when executing the program stored on the memory.

[0053] In a fourth aspect of the embodiments of the present application, a lidar is provided. The lidar includes a receiving unit, a transmitting unit, and a control chip configured to execute the lidar control method according to any one of the above. The receiving unit includes a specified number of receiving regions, and each receiving region includes at least one receiver. The transmitting unit includes the specified number of transmitting regions, and each transmitting region includes at least one transmitter. The specified number of receiving regions corresponds one-to-one with the specified number of transmitting regions, so that the receiving regions receive the measurement pulses emitted by the corresponding transmitting regions.

[0054] The embodiments of the present application further provide a computer program product containing instructions, which, when running on a computer, causes the computer to execute the lidar control method according to any one of the above.

[0055] Advantages of the embodiments of the present application:

[0056] The embodiments of the present application provide a lidar control method, which is applied to the control chip of the lidar. The lidar further includes a receiving unit and a transmitting unit. The receiving unit includes a specified number of receiving regions, and each receiving region includes at least one receiver. The transmitting unit includes a specified number of transmitting regions, and each transmitting region includes at least one transmitter. The specified number of receiving regions corresponds one-to-one with the specified number of transmitting regions, so that the receiving regions receive the measurement pulses emitted by the corresponding transmitting regions. The method includes: when activating all the receiving regions in a first order, performing the following steps until all the receiving regions are activated to obtain a first detection result: determining the receivers that have been activated and generate crosstalk noise when activated as candidate receivers; determining a first receiver to be activated from the candidate receivers, and determining a receiving region to be activated from the unactivated receiving regions; wherein the distance between the receiving region to be activated and the first receiver to be activated is not less than a first preset distance; while activating the transmitting region corresponding to the receiving region to be activated, activating the transmitter corresponding to the first receiver to be activated, so that the receiving region to be activated and the first receiver to be activated receive the measurement pulses corresponding to them; wherein the first detection result is determined according to the detection result obtained when all the receivers are activated for the last time.

[0057] Based on the above processing, the control chip can obtain the detection results of the receivers in the receiving area while obtaining the detection results of the receivers that have been activated and generate crosstalk noise during activation. For the receivers that have been activated and generate crosstalk noise during activation, when they are activated again, the distance between other activated receiving areas and this receiver is not less than the first preset distance, which can reduce the influence of other receivers on this receiver and improve the accuracy of the detection results. In addition, based on the above processing, it is also possible to obtain the detection results of the unactivated receiving areas and the detection results of the receivers that have been activated and generate crosstalk noise during activation at the same time, which can shorten the time to obtain the final detection results and improve the detection efficiency.

[0058] Of course, it is not necessary for any product or method implementing this application to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0060] Figure 1 Structural schematic diagram of a planar array provided by an embodiment of the present application;

[0061] Figure 2 Another structural schematic diagram of a planar array provided by an embodiment of the present application;

[0062] Figure 3 Flowchart of a lidar control method provided by an embodiment of the present application;

[0063] Figure 4 Schematic diagram of the position of the receiving area in a receiving unit provided by an embodiment of the present application;

[0064] Figure 5 Structural schematic diagram of a receiving unit provided by an embodiment of the present application;

[0065] Figure 6 Flowchart of another lidar control method provided by an embodiment of the present application;

[0066] Figure 7 Structural diagram of a lidar control device provided by an embodiment of the present application;

[0067] Figure 8 Structural diagram of a control chip provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0068] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0069] A solid-state Flash (laser) radar can detect the surrounding environment based on a transmitting unit and a receiving unit. Compared with a mechanical radar, the solid-state lidar has advantages such as high reliability, small size, fast imaging speed, and large FOV (Field Of View). It can be used as a vehicle-mounted radar and is widely applicable to scenarios such as assisted driving and autonomous driving.

[0070] In a real scenario, there are various types of interference during the detection process of a lidar based on a transmitter and a receiver. Different types of interference will affect the detection results. For example, there may be crosstalk between multiple adjacent receivers that are simultaneously in the working state in the lidar, resulting in crosstalk noise in the detection results of the receivers and affecting the accuracy of the detection results.

[0071] The embodiments of the present application provide a lidar control method, which is applied to a control chip of a lidar. The lidar further includes a receiving unit and a transmitting unit; the receiving unit includes a specified number of receiving areas, and each receiving area includes at least one receiver; the transmitting unit includes a specified number of transmitting areas, and each transmitting area includes at least one transmitter; the specified number of receiving areas correspond one-to-one with the specified number of transmitting areas so that the receiving area receives the measurement pulses emitted by the corresponding transmitting area.

[0072] Among them, the number of receivers included in the receiving area and the arrangement of each receiver can represent the dimension of the receiving area. For example, the arrangement of each receiver can be: arranged in the form of a matrix; the number of transmitters included in the transmitting area and the arrangement of each transmitter can represent the dimension of the transmitting area. For example, the arrangement of each transmitter can be: arranged in the form of a matrix. The transmitter can be a VCSEL, and the receiver can be a SPAD or a SiPM (Silicon photomultiplier).

[0073] The receiving unit includes a specified number of receiving areas with the same or different dimensions. For any receiving area, the receiving area may include at least one receiver. The dimension of the receiving area indicates the number and arrangement form of the receivers included in the receiving area. If the receiving area includes multiple receivers, the spatial positions of the multiple receivers included in the receiving area in the receiving unit can be diverse. For example, the multiple receivers can be adjacent in spatial position, or the multiple receivers can be separated in spatial position. If the multiple receivers included in the receiving unit are arranged in a matrix form, the receiving unit can also be called a receiving plane array.

[0074] Correspondingly, the transmitting unit includes a specified number of transmitting areas with the same or different dimensions. The dimension of the transmitting area indicates the number and arrangement form of the transmitters included in the transmitting area. For any transmitting area, the transmitting area may include at least one transmitter. If the transmitting area includes multiple transmitters, the spatial positions of the multiple transmitters included in the transmitting area can also be diverse. For example, the multiple transmitters can be adjacent in spatial position, or the multiple transmitters can be separated in spatial position. If the multiple transmitters included in the transmitting unit are arranged in a matrix form, the transmitting unit can also be called a transmitting plane array.

[0075] In one implementation, the receivers in the receiving unit are arranged in a matrix form. Correspondingly, the transmitters in the transmitting unit are arranged in a matrix form. Furthermore, the receiving unit can be divided into a specified number of rectangular areas, and each rectangular area is a receiving area; similarly, according to the same division method, the transmitting unit can be divided into a specified number of rectangular areas, and each rectangular area is a transmitting area.

[0076] When one transmitter (forming one transmitting area) corresponds to one receiver (forming one receiving area), the number of receivers included in one receiving area is the same as the number of transmitters included in the corresponding transmitting area. The main control chip can activate one transmitter and one receiver corresponding to the transmitter. The receiver can receive the measurement pulse emitted by the transmitter to obtain a detection result.

[0077] When one transmitter (forming one transmitting area) corresponds to multiple receivers (forming one receiving area), the number of receivers included in one receiving area is greater than the number of transmitters included in the corresponding transmitting area. The main control chip can activate one transmitter and multiple receivers corresponding to the transmitter. The multiple receivers can receive the measurement pulse emitted by the transmitter to obtain a detection result.

[0078] When multiple transmitters (forming a transmission area) correspond to multiple receivers (forming a reception area), the main control chip can activate all the transmitters within a transmission area and all the receivers within the reception area corresponding to that transmission area. The receivers within that reception area can receive the measurement pulses transmitted by that transmission area to obtain detection results.

[0079] The control chip of the lidar can pre-determine the reception area to which each receiver in the reception unit belongs. Furthermore, it can thus determine the receivers included in each of the specified number of reception areas. Correspondingly, it can also determine the transmission area to which each transmitter in the transmission unit belongs. Furthermore, it can thus determine the transmitters included in each of the specified number of transmission areas. Additionally, it can also determine the correspondence between the reception area and the transmission area, as well as the correspondence between the receiver and the transmitter. That is, for each reception area in the reception unit, there is a corresponding transmission area in the transmission unit.

[0080] Figure 1 It is a schematic structural diagram of a planar array provided by an embodiment of the present application. Figure 2 It is another schematic structural diagram of a planar array provided by an embodiment of the present application. Figure 1 and Figure 2 The planar arrays shown in can represent a reception planar array (i.e., the reception unit) or a transmission planar array (i.e., the transmission unit). Figure 1 and Figure 2 Each circle in represents a device in the planar array, that is, it can be a receiver in the reception planar array or a transmitter in the transmission planar array. For example, Figure 1 In, the main control chip can control a single point to be activated, that is, activate a device A in the planar array alone; or it can also control a region to be activated, that is, activate the devices included in region A in the planar array. Figure 2 In, the main control chip can activate multiple devices (device B and device C) simultaneously, and the multiple devices are not adjacent.

[0081] See Figure 3 , Figure 3 It is a flowchart of a lidar control method provided by an embodiment of the present application. The method may include: when activating all the reception areas in the first order, perform the following steps:

[0082] S301: Determine the receivers that have been activated and generate crosstalk noise during activation as alternative receivers.

[0083] S302: Determine the first receiver to be activated from the alternative receivers and determine the reception area to be activated from the unactivated reception areas.

[0084] Among them, the distance between the to-be-activated receiving area and the first to-be-activated receiver is not less than the first preset distance.

[0085] S303: While activating the transmitting area corresponding to the to-be-activated receiving area, activate the transmitter corresponding to the first to-be-activated receiver, so that the to-be-activated receiving area and the first to-be-activated receiver receive the measurement pulses corresponding to them respectively, until all receiving areas are activated, and obtain the first detection result.

[0086] Among them, the first detection result is determined according to the detection results obtained when all receivers are activated for the last time.

[0087] It can be understood that after executing step S303, if not all receiving areas are activated, step S301 can be returned to for execution.

[0088] Based on the above processing, the control chip can, while obtaining the detection results of the receivers in the receiving area, obtain the detection results of the receivers that have been activated and generate crosstalk noise during activation when they are detected again. For the receivers that have been activated and generate crosstalk noise during activation, when they are activated again, the distance between other activated receiving areas and this receiver is not less than the first preset distance, which can reduce the influence of other receivers on this receiver and improve the accuracy of the detection results. In addition, based on the above processing, it is also possible to obtain the detection results of the unactivated receiving areas and the detection results of the receivers that have been activated and generate crosstalk noise during activation when they are detected again at the same time, which can shorten the time required to obtain the final detection results and improve the detection efficiency.

[0089] In the embodiments of the present application, dividing the receiving unit into a specified number of receiving areas, dividing the transmitting unit into a specified number of transmitting areas, and activating each transmitting area and the corresponding receiving area in the first order for detection can be called a two-dimensional addressable method.

[0090] It can be understood that when it is necessary to obtain the detection results of the receivers in each receiving area, the control chip can activate the transmitting area corresponding to this receiving area and this receiving area, so that the receivers in this receiving area can receive the measurement pulses transmitted by the corresponding transmitters in this transmitting area, and thus the detection results of the receivers can be obtained. The moment of activating this receiving area can be called the receiving start moment. The detection results of the receivers include: the number of photons received by the receivers per unit time within a preset time period starting from the receiving start moment. For example, for any receiver, the detection results of the receiver can be represented in the form of a histogram. Among them, the horizontal axis of the histogram represents time, with the unit of nanosecond; the vertical axis represents the number of photons, with the unit of piece, and the unit time represents 1 nanosecond.

[0091] For each receiving area, activating the receiving area means activating each receiver in the receiving area, putting each receiver in the receiving area in a working state. Correspondingly, for each transmitting area, activating the transmitting area means activating each transmitter in the transmitting area, putting each transmitter in the transmitting area in a working state.

[0092] The first order represents the order of activating the specified number of receiving areas. In this application, the first order can be fixed or non-fixed. The first order does not mean that a unique position serial number needs to be assigned to all receiving areas, and two eligible receiving areas can be activated simultaneously as the same position in the first order.

[0093] Figure 4 It is a schematic diagram of the positions of receiving areas in a receiving unit provided by an embodiment of this application. Each small rectangle with a number in the figure represents a receiving area.

[0094] For example, the transmitting areas corresponding to each receiving area and each receiving area can be activated in the order of the row numbers of the rows to which the receiving areas belong from small to large, and for the receiving areas in the same row, in the order of the column numbers from small to large. For Figure 4 the multiple receiving areas in the receiving unit:

[0095] 1) When the number of receiving areas activated simultaneously at one time is 1, the first order of activating the multiple receiving areas is: 1-2-3-4-5-6-7-8-9-10-11-12-13-14-15-16. Or, in a spiral manner, in the direction from the outside to the inside, the transmitting areas corresponding to each receiving area and each receiving area can be activated in turn. For Figure 4 the multiple receiving areas in the receiving unit, the order of activating the multiple receiving areas is: 1-2-3-4-8-12-16-15-14-13-9-5-6-7-11-10. If based on the above spiral manner, in the direction from the outside to the inside, each receiving area is activated in turn, it can make the distance between the determined first receiver to be activated and the area to be activated relatively far. Based on the above processing, there is no need to calculate the distance between the first receiver to be activated and the area to be activated, which can reduce the calculation amount and improve the detection efficiency.

[0096] 2) When the number of receiving areas activated simultaneously at one time is more than 1, this method is mainly to improve the detection efficiency and shorten the time required to traverse all areas. In this case, in order to minimize crosstalk as much as possible, receiving areas with a relatively large distance can be activated at the same time. For example, Figure 4 receiving areas 1 and 16 with a relatively large distance can be in the same position in the first order and be activated at the same time.

[0097] In another implementation, the first order can also be determined based on the position of the first receiver to be activated, and can be dynamically adjusted according to the different positions of the first receivers to be activated required next time. For example, the control chip can determine a receiving area whose distance from the first receiver to be activated is not less than a first preset distance, activate the corresponding transmitting area of the receiving area, and activate the receiving area.

[0098] In this application, for any transmitting area, after activating the transmitting area and the corresponding receiving area and obtaining the corresponding detection result, the transmitting area and the corresponding receiving area can be turned off. Based on this, crosstalk between multiple adjacent receivers that are simultaneously in the working state can be reduced, crosstalk noise in the detection results of the receivers can be reduced, and the accuracy of the detection results can be improved.

[0099] It can be understood that the control chip can repeatedly execute the above steps S301-S303. That is to say, every time steps S301-S303 are executed once, the activated receivers will change, and the activated receiving areas will also change until all the receiving areas are traversed.

[0100] In one implementation, for step S301, the receivers that have been activated and generate crosstalk noise during activation indicate: the receivers with crosstalk noise in the current detection results. The specific process of determining whether there is crosstalk noise in the detection results will be introduced in detail in the subsequent embodiments.

[0101] The control chip can obtain the current detection results of each receiver in the activated receiving area, and then, based on the detection results, determine whether the receiver is a receiver that has been activated and generates crosstalk noise during activation as an alternative receiver.

[0102] For example, Figure 4 if the receiving areas that the control chip has activated at a certain moment include: receiving area 1 and receiving area 2, then the receiving area to which any alternative receiver belongs is receiving area 1 or receiving area 2.

[0103] The first receivers to be activated are a subset of the alternative receivers. Since the distances between multiple alternative receivers may be relatively close, there is a possibility of generating secondary crosstalk when they are activated simultaneously. Therefore, a part of the receivers with relatively large distances can be selected from them as the first receivers to be activated.

[0104] For step S302, the distance between the first receiver to be activated and the receiving area to be activated is expressed as: the minimum value of the distances between the first receiver to be activated and each receiver in the receiving area to be activated; or, the distance between the first receiver to be activated and the receiving area to be activated is expressed as: the distance between the first receiver to be activated and the receiver at the center position of the receiving area to be activated.

[0105] The method of determining the first receiver to be activated from the alternative receivers and the receiving area to be activated from the unactivated receiving areas can be various. For example, the first receiver to be activated and the receiving area to be activated can be determined by at least the following methods:

[0106] Method 1: After determining the receiving area to be activated, determine the first receiver to be activated. Step S302 includes:

[0107] Step 1: Determine at least one receiving area from the unactivated receiving areas in the first order as the receiving area to be activated.

[0108] Among them, the distance between every two receiving areas in the receiving area to be activated is not less than the third preset distance.

[0109] Step 2: Determine at least one receiver whose distance from the receiving area to be activated is not less than the first preset distance from the alternative receivers as the first receiver to be activated.

[0110] Among them, the distance between every two receivers in the first receivers to be activated is not less than the second preset distance.

[0111] The distance between two receiving areas can be expressed as: the minimum value of the distances between each receiver in one receiving area and each receiver in the other receiving area; or, the distance between two receiving areas can be expressed as: the distance between the receiver at the center position of one receiving area and the receiver at the center position of the other receiving area.

[0112] In this method, the first order can be pre-set, that is, the first order is fixed. After the control chip determines the receiving area to be activated in the first order, it can obtain the distances between each alternative receiver and each receiving area to be activated. For any alternative receiver, if the corresponding distances of the alternative receiver are not less than the first preset distance, the alternative receiver can be determined as the first receiver to be activated.

[0113] For example, Figure 4Among them, the activated receiving areas include: receiving area 1 and receiving area 2. The receiving areas to be activated at the next moment are receiving area 3, receiving area 5, receiving area 11, and receiving area 13 (assuming that the distances between receiving area 3, receiving area 5, receiving area 11, and receiving area 13 are not less than the third preset distance from each other, so the possibility of crosstalk between areas is small and they can be activated simultaneously). Furthermore, for any alternative receiver in receiving area 1 and receiving area 2, if the distance between this alternative receiver and each receiving area to be activated is not less than the first preset distance, then this receiver can be used as the first receiver to be activated.

[0114] Moreover, when the number of determined first receivers to be activated is more than 1, based on the principle of reducing crosstalk, when the distance between two receivers among the first receivers to be activated is less than the second preset distance, only one of the receivers to be activated can be selected to be activated simultaneously with the receiving area to be activated. The remaining one is left for processing in the next activation cycle.

[0115] In the embodiment of the present application, since the control chip can simultaneously activate the transmitting areas corresponding to multiple receiving areas and activate these multiple receiving areas, therefore, if multiple receiving areas to be activated are determined, the distance between any two receiving areas among these multiple receiving areas to be activated is not less than the third preset distance, which can avoid the influence of crosstalk on the receivers in this receiving area from other receivers with a relatively short distance. Furthermore, the accuracy of the detection results of each receiver in this receiving area can be improved.

[0116] In addition, since the control chip can simultaneously activate the transmitters corresponding to multiple first receivers to be activated and activate these multiple first receivers to be activated, therefore, the distance between any two receivers among these multiple first receivers to be activated is not less than the second preset distance, which can avoid the influence of crosstalk on this first receiver to be activated from other first receivers with a relatively short distance. Furthermore, the accuracy of the detection results of this first receiver to be activated can be improved.

[0117] Based on the above processing, the time for obtaining the detection results of all receivers in the receiving unit can be reduced, and the efficiency of obtaining the detection results can be improved.

[0118] Method 2: After determining the first receiver to be activated, the receiving area to be activated can be determined. Step S302 includes:

[0119] Step 1: Determine at least one receiver from the alternative receivers as the first receiver to be activated.

[0120] Among them, the distance between every two receivers among the first receivers to be activated is not less than the second preset distance.

[0121] Step 2: From the unactivated receiving areas, determine at least one receiving area whose distance from the first receiver to be activated is not less than a first preset distance as the receiving area to be activated.

[0122] Among them, the distance between every two receiving areas in the receiving area to be activated is not less than a third preset distance.

[0123] In this way, the first order can also be determined based on the position of the first receiver to be activated. Since the first receiver to be activated is uncertain, the first order is not fixed.

[0124] In one implementation, the number of the first receivers to be activated determined by the control chip each time can be one. The control chip can randomly select a receiver from the alternative receivers as the first receiver to be activated. Or, the control chip can, according to the sequence of the activated receiving areas, use the alternative receiver in the receiving area that is activated first as the first receiver to be activated.

[0125] In another implementation, the number of the first receivers to be activated determined by the control chip each time can be multiple. For example, the control chip can respectively and randomly select an alternative receiver from each of the activated receiving areas as the first receiver to be activated.

[0126] After obtaining the first receiver to be activated, the control chip can obtain the distances between the currently unactivated receiving areas and each first receiver to be activated. Furthermore, it can determine the unactivated receiving areas (which can be called the second alternative receiving areas) whose corresponding distances are not less than the first preset distance. If there is only one second alternative receiving area, the second alternative receiving area can be determined as the receiving area to be activated. If there are multiple second alternative receiving areas, the second alternative receiving area determined from the second alternative receiving areas and having a distance not less than the third preset distance from any other second alternative receiving area can be determined as the receiving area to be activated; or, randomly select a receiving area from the second alternative receiving areas as the receiving area to be activated.

[0127] For example, Figure 4 in, the activated receiving areas include: receiving area 1 and receiving area 2. The alternative receivers exist in receiving area 1 or receiving area 2. After the control chip determines the first receiver to be activated from the alternative receivers, if it is determined that the distances between receiving area 4, receiving area 9, and receiving area 11 and the first receiver to be activated are not less than the first preset distance, and the distance between every two of receiving area 4, receiving area 9, and receiving area 11 is not less than the third preset distance, the control chip can determine receiving area 4, receiving area 9, and receiving area 11 as the receiving areas to be activated.

[0128] In the embodiment of the present application, since the control chip can simultaneously activate the transmitters corresponding to multiple first receivers to be activated and activate the multiple first receivers to be activated, the distance between any two receivers among the multiple first receivers to be activated is not less than a second preset distance. Therefore, it is possible to avoid the crosstalk effect of other first receivers to be activated with a relatively short distance on the first receiver to be activated. Furthermore, the accuracy of the detection result of the first receiver to be activated is improved.

[0129] In addition, since the control chip can simultaneously activate the transmission areas corresponding to multiple receiving areas and activate the multiple receiving areas, if multiple receiving areas to be activated are determined, the distance between any two receiving areas among the multiple receiving areas to be activated is not less than a third preset distance. Therefore, it is possible to avoid the crosstalk effect of other receivers with a relatively short distance on the receivers in the receiving area. Furthermore, the accuracy of the detection results of the receivers in the receiving area is improved.

[0130] Based on the above processing, the time for obtaining the detection results of all receivers in the receiving unit can be reduced, and the efficiency of obtaining the detection results can be improved.

[0131] For step S303, the control chip can simultaneously activate the transmission area corresponding to the receiving area to be activated and the transmitter corresponding to the first receiver to be activated, and activate the receiving area to be activated and the first receiver to be activated. The receiving area to be activated and the first receiver to be activated can receive the respective measurement pulses to obtain a first detection result.

[0132] The first detection result is the detection result obtained when all the receivers in the receiving unit are finally activated when all the receiving areas are activated.

[0133] Since crosstalk will occur in some receivers during the process of traversing all the receiving areas, secondary or even tertiary activation is required. Some receivers do not have crosstalk noise during the first activation, so they will not be activated again in the subsequent process, and the result of the first activation is the detection result obtained by the last activation; the crosstalk generated by some receivers during the first activation can be eliminated by reactivation, and the result generated after reactivation is the detection result obtained by its last activation; however, the crosstalk generated by some receivers still cannot be eliminated after reactivation or multiple reactivations. Then, when all areas are traversed, the detection result of the receiver is the detection result obtained by its last activation. Or, although some receivers have crosstalk, they do not meet the distance condition with other receivers or the receiving areas to be opened and are not opened again during a single traversal of the area. This opening also conforms to the definition of the last activation. The detection results obtained by the last activation of all the above receivers during a single traversal of the area are combined to obtain the first detection result.

[0134] Based on the above processing, for any activated first receiver to be activated, since there are no other activated receivers that are relatively close, it is possible to avoid the crosstalk effect of other relatively close receivers on the first receiver to be activated. Furthermore, the accuracy of the detection result of the first receiver to be activated can be improved.

[0135] In addition, the control chip does not need to determine the receivers that need to be re-activated (i.e., the receivers with crosstalk noise in the detection results) after activating all the receiving areas and the corresponding transmitting areas, and then re-activate them. That is to say, in this application, it is possible to activate the receivers that need to be re-activated and the corresponding transmitters determined in other receiving areas while activating the receiving area to be activated and the corresponding transmitting area. Therefore, it is possible to improve the detection efficiency while improving the accuracy of the detection result.

[0136] In the related art, the control chip can obtain the detection results of all the receivers in the receiving unit in a row detection manner. That is, each time the transmitter corresponding to a row of receivers in the receiving unit and the receivers in that row are activated to obtain the detection results of the receivers in that row. Furthermore, after obtaining the detection results corresponding to all the rows, a frame of detection image can be obtained based on the detection results. Or, the detection results of all the receivers in the receiving unit can also be obtained in a column detection manner, and the specific detection method is similar to the above row detection method. The row detection and column detection methods can also be referred to as one-dimensional (1D, Dimensionality) addressable methods.

[0137] The detection method in this application only needs to perform a small number of detections to obtain the detection results of all the receivers. Furthermore, it is possible to shorten the time required to obtain a frame of detection image, improve the frame rate of the obtained detection image, and improve the image quality of the detection image. Furthermore, it is possible to improve the product performance of the lidar, enhance the response speed of the system, and meet the requirements for detecting fast-moving objects.

[0138] In some embodiments, referring to Figure 6 , Figure 6 is a flowchart of another lidar control method provided by an embodiment of this application. Based on Figure 3 , there are two cases for the first detection result:

[0139] 1) If the first detection result does not contain any receivers with crosstalk, the first detection result can be output as the basis for result analysis;

[0140] 2) If there are still receivers with crosstalk in the first detection result, then post-processing of this part of the receivers is still required. Therefore, the method further includes:

[0141] S304: After activating all the receiving areas, determine the receivers with crosstalk noise in the first detection result as the target receivers.

[0142] S305: Activate the transmitters corresponding to each target receiver and each target receiver in the second order, so that each target receiver receives the measurement pulses transmitted by the corresponding transmitter to obtain the second detection results of each target receiver.

[0143] Among them, the second order is determined according to the positional relationship between each target receiver.

[0144] S306: Determine the target detection result based on the first detection results of all receivers and the second detection results of each target receiver.

[0145] Based on this, after activating all the receiving areas, the control chip can determine the receivers with crosstalk noise as the target receivers based on the first detection results. The number of target receivers can be multiple, and all target receivers need to be activated again to completely eliminate crosstalk.

[0146] Among them, among the target receivers activated simultaneously each time, there are no target receivers with a distance less than the second preset distance between any two of them.

[0147] Based on the above processing, for any activated target receiver, since there are no other activated receivers with a relatively short distance, it is possible to avoid the crosstalk effect of other receivers with a relatively short distance on this target receiver. Furthermore, the accuracy of the detection result of this target receiver is improved.

[0148] The control chip can determine the second order according to the positional relationship between each target receiver, and thus can avoid the mutual influence of target receivers during activation.

[0149] The control chip can activate the transmitters corresponding to each target receiver and each target receiver in a variety of ways. For example, the target receivers can be activated by at least the following methods:

[0150] Method 1: According to the second order, there can be multiple target receivers with the same activation order. That is to say, according to the positions of each target receiver, it can be determined that these multiple target receivers are in the working state, and the distances between these multiple target receivers meet certain conditions. For example, the distance between any two of these multiple target receivers is not less than the second preset distance.

[0151] Based on this, the control chip can simultaneously activate multiple transmitters corresponding to multiple target receivers and activate the multiple target receivers, which can shorten the time required to obtain the second detection results of all target receivers and improve the detection efficiency.

[0152] In some embodiments, step S305 described above includes:

[0153] Step ①: Determine at least one target receiver from each of the target receivers in a second order as the second receiver to be activated.

[0154] Among them, the distance between every two target receivers in the second receivers to be activated is not less than a second preset distance.

[0155] Step ②: Activate the transmitters corresponding to the second receivers to be activated and the second receivers to be activated, and return to execute step ① until all target receivers are activated.

[0156] When the control chip activates the transmitters corresponding to the second receivers to be activated and the second receivers to be activated, it can also obtain the detection results of the second receivers to be activated (i.e., the second detection results).

[0157] See Figure 5 , Figure 5 which is a schematic structural diagram of a receiving unit provided by an embodiment of the present application. Figure 5 In

[0158] Assume that the target receivers are receiver 1, receiver 2, receiver 3, and receiver 4. When simultaneously activating the transmitters corresponding to receiver 1 and receiver 2 and activating receiver 1 and receiver 2, since the distance between receiver 1 and receiver 2 is relatively close, both receiver 1 and receiver 2 will be affected by crosstalk. Correspondingly, when simultaneously activating the transmitters corresponding to receiver 3 and receiver 4 and activating receiver 3 and receiver 4, since the distance between receiver 3 and receiver 4 is relatively close, both receiver 3 and receiver 4 will also be affected by crosstalk. That is, receiver 1 and receiver 2 are near points affected by crosstalk interference, and receiver 3 and receiver 4 are near points affected by crosstalk interference.

[0159] However, when the transmitters corresponding to receivers 2 and 3 are activated at the same time, and receivers 2 and 3 are activated, or only receivers 2 and 3 are activated, since the distance between receivers 2 and 3 is relatively far, receivers 2 and 3 will not be affected by the crosstalk. Similarly, when the transmitters corresponding to receivers 1 and 4 are activated at the same time, and receivers 1 and 4 are activated, or only receivers 1 and 4 are activated, since the distance between receivers 1 and 4 is relatively far, receivers 1 and 4 will not be affected by the crosstalk. That is, receivers 2 and 3 are far points affected by the crosstalk, and receivers 1 and 4 are far points affected by the crosstalk.

[0160] Therefore, an exemplary second order may be: first activate receiver 1 and receiver 3 simultaneously, and then activate receiver 2 and receiver 4 simultaneously.

[0161] In the embodiment of the present application, since the control chip can simultaneously activate multiple transmitters corresponding to multiple target receivers and activate the multiple target receivers, if a plurality of second receivers to be activated are determined, the distance between any two of the multiple receivers to be activated is not less than the second preset distance, thereby avoiding the influence of crosstalk on the target receiver by other target receivers that are closer, thereby improving the accuracy of the second detection result of the target receiver.

[0162] Based on the above processing, for any activated target receiver, since there are no other target receivers that are activated simultaneously at a close distance, it is possible to avoid the crosstalk effect of other target receivers that are close to the target receiver on the target receiver, thereby improving the accuracy of the second detection result of the target receiver.

[0163] Mode 2: The control chip can simultaneously activate each transmitter corresponding to each target receiver and activate each target receiver.

[0164] In an embodiment of the present application, the control chip can also simultaneously activate the transmitters corresponding to all target receivers in the receiving unit, and activate all target receivers. Since for any target receiver, when it is activated again, only a part of the other receivers in the receiving area to which it belongs are activated again, it is possible to reduce the influence of other receivers on the target receiver, and improve the accuracy of the second detection result. In addition, it is possible to shorten the time required to obtain the second detection results of all target receivers, and improve the efficiency of detection.

[0165] Mode 3: The control chip only activates the transmitter corresponding to one target receiver and the target receiver at a time.

[0166] In this manner, the activation order between the targets can be random or determined based on the position of each target receiver.

[0167] Based on the above processing, since only one transmitter corresponding to the target receiver and the target receiver are activated each time, the problem of crosstalk generated when target receivers that are relatively close work simultaneously can be avoided. Furthermore, the error caused by crosstalk can be reduced, and the accuracy of the detection result can be improved. In addition, by using this method to activate each target receiver, it is not necessary to determine the target receiver that needs to be activated currently based on the distances between the target receivers. Therefore, the amount of calculation can be reduced, and the time required to obtain the second detection results of all target receivers can be further shortened, improving the detection efficiency.

[0168] In some embodiments, after the control chip determines all the target receivers in the receiving unit, it can also determine whether the number of target receivers is less than a preset number. If the number of target receivers is less than the preset number, it indicates that the number of target receivers is small, and the second detection results of each target receiver can be obtained based on the above method 3.

[0169] If the number of target receivers is not less than the preset number, it indicates that the number of target receivers is large, and the second detection results of each target receiver can be obtained based on the above method 1 or method 2 to improve the efficiency of obtaining the detection results.

[0170] When determining the target detection result, for the target receiver, its second detection result can be used; for other receivers except the target receiver, its first detection result can be used.

[0171] In addition, a frame of detection image can also be obtained based on the target detection result. Based on the above processing, the time required to obtain a frame of detection image is shortened, the frame rate of the obtained detection image is increased, and the image quality of the detection image is improved. Furthermore, the product performance of the lidar can be improved, and the response speed of the system can be enhanced.

[0172] In some embodiments, the above step S304 includes:

[0173] Step (1): For each receiver, calculate the ratio of the signal to the crosstalk noise in the detection result of this receiver as the signal-to-noise ratio of the first detection result of this receiver.

[0174] Step (2): If the signal-to-noise ratio of the detection result of this receiver is not greater than a preset threshold, then determine this receiver as the target receiver.

[0175] In an actual scenario, due to the existence of different types of interference, such as crosstalk, ambient light interference, and micro-current interference, and different types of interference exhibit different morphologies in the histogram. Therefore, for each type of interference, the detection result can be obtained in advance under the condition that only this type of interference exists, and thus the manifestation form of the noise generated by each type of interference in the histogram can be obtained, that is, the histogram model corresponding to this type of interference can be obtained.

[0176] For example, after obtaining the detection results of all receivers in the receiving unit (i.e., the first detection results), based on the histogram models corresponding to various types of interference, matching can be performed in the detection results to determine the crosstalk noise in the detection results. Furthermore, the ratio of the signal to the crosstalk noise in the detection results of this receiver can be calculated as the signal-to-noise ratio of the detection results of this receiver. If the signal-to-noise ratio of the detection results of this receiver is not greater than a preset threshold, it indicates that the crosstalk noise in the detection results has a greater impact on the detection results, and then the receiver to which the detection results belong can be used as the target receiver. For example, the preset threshold is 2.

[0177] Based on the above processing, it is possible to determine the receiver to which the detection results with a signal-to-noise ratio not greater than the preset threshold for crosstalk noise belong. Subsequently, the control chip can reactivate the transmitter corresponding to this receiver and this receiver to obtain new detection results of this receiver. And during the process of re-obtaining the detection results, the distance between the receivers that need to be activated can be made not less than a second preset distance, thus being able to avoid the problem of crosstalk generated when receivers that are relatively close work simultaneously. Furthermore, the error caused by crosstalk can be reduced, and the accuracy of the detection results can be improved.

[0178] Based on the same inventive concept, the embodiments of the present application further provide a lidar control device. Refer to Figure 7 , Figure 7 which is a structural diagram of a lidar control device provided by the embodiments of the present application. The device is applied to the control chip of the lidar, and the lidar further includes a receiving unit and a transmitting unit; the receiving unit includes a specified number of receiving areas, and each receiving area includes at least one receiver; the transmitting unit includes the specified number of transmitting areas, and each transmitting area includes at least one transmitter; the specified number of receiving areas and the specified number of transmitting areas correspond one by one, so that the receiving area receives the measurement pulses emitted by the corresponding transmitting area.

[0179] Each module included in the device is used to activate each receiving area in a first order until all receiving areas are activated to obtain the first detection results.

[0180] The device includes:

[0181] The first determination module 701 is configured to determine a receiver that has been activated and generates crosstalk noise during activation as an alternative receiver.

[0182] The second determination module 702 is configured to determine a first receiver to be activated from the alternative receivers, and determine a reception area to be activated from the unactivated reception areas; wherein, the distance between the reception area to be activated and the first receiver to be activated is not less than a first preset distance.

[0183] The first activation module 703 is configured to activate the transmitter corresponding to the first receiver to be activated while activating the transmission area corresponding to the reception area to be activated, so that the reception area to be activated and the first receiver to be activated receive the measurement pulses corresponding to them respectively; wherein, the first detection result is determined according to the detection results obtained from the last activation of all the receivers.

[0184] In some embodiments, the device further includes:

[0185] The third determination module is configured to determine, after activating all the reception areas, the receivers with crosstalk noise in the first detection result as target receivers.

[0186] The second activation module is configured to activate the transmitters corresponding to the respective target receivers and the respective target receivers in a second order, so that each target receiver receives the measurement pulse transmitted by the corresponding transmitter, and obtain the second detection result of each target receiver; wherein, the second order is determined according to the positional relationship between the respective target receivers.

[0187] The result determination module is configured to determine a target detection result based on the first detection results of all the receivers and the second detection results of the respective target receivers.

[0188] In some embodiments, the second activation module includes:

[0189] The first determination sub-module is configured to determine at least one target receiver from the respective target receivers as a second receiver to be activated in the second order; wherein, the distance between every two target receivers in the second receiver to be activated is not less than a second preset distance.

[0190] The first activation sub-module is configured to activate the transmitters corresponding to the second receiver to be activated and the second receiver to be activated, and trigger the first determination sub-module until all the target receivers are activated.

[0191] In some embodiments, the third determination module is specifically configured to:

[0192] For each receiver, calculate the ratio of the signal to the crosstalk noise in the first detection result of the receiver as the signal-to-noise ratio of the detection result of the receiver.

[0193] If the signal-to-noise ratio of the detection result of the receiver is not greater than a preset threshold, determine the receiver as a target receiver.

[0194] In some embodiments, the second determination module 702 includes:

[0195] A second determination sub-module, configured to determine at least one receiving area from the unactivated receiving areas as a to-be-activated receiving area according to the first order; wherein, the distance between every two receiving areas in the to-be-activated receiving area is not less than a third preset distance.

[0196] A third determination sub-module, configured to determine at least one receiver whose distance from the to-be-activated receiving area is not less than the first preset distance from the alternative receivers as a first to-be-activated receiver; wherein, the distance between every two receivers in the first to-be-activated receivers is not less than the second preset distance.

[0197] In some embodiments, the second determination module 702 includes:

[0198] A fourth determination sub-module, configured to determine at least one receiver from the alternative receivers as a first to-be-activated receiver; wherein, the distance between every two receivers in the first to-be-activated receivers is not less than the second preset distance.

[0199] A fifth determination sub-module, configured to determine at least one receiving area whose distance from the first to-be-activated receiver is not less than the first preset distance from the unactivated receiving areas as a to-be-activated receiving area; wherein, the distance between every two receiving areas in the to-be-activated receiving area is not less than the third preset distance.

[0200] The embodiments of the present application further provide a control chip, as Figure 8 shown, including a processor 801, a communication interface 802, a memory 803, and a communication bus 804. Among them, the processor 801, the communication interface 802, and the memory 803 complete communication with each other through the communication bus 804.

[0201] The memory 803 is used to store a computer program.

[0202] When the processor 801 executes the program stored on the memory 803, it implements the steps of any of the lidar control methods in the above embodiments.

[0203] The communication bus mentioned in the above control chip may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0204] The communication interface is used for communication between the above control chip and other devices.

[0205] The memory may include a Random Access Memory (RAM), or may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0206] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0207] An embodiment of the present application also provides a lidar, which includes a receiving unit, a transmitting unit, and a control chip for executing any of the lidar control methods in the above embodiments; the receiving unit includes a specified number of receiving areas, and each receiving area includes at least one receiver; the transmitting unit includes the specified number of transmitting areas, and each transmitting area includes at least one transmitter; the specified number of receiving areas correspond one-to-one with the specified number of transmitting areas, so that the receiving areas receive the measurement pulses emitted by the corresponding transmitting areas.

[0208] In another embodiment provided by the present application, there is also provided a computer program product containing instructions, which when running on a computer, causes the computer to execute any of the lidar control methods in the above embodiments.

[0209] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part 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, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

[0210] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article, or device that includes the element.

[0211] Each embodiment in this specification is described in a related manner. For the same or similar parts between the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, control chip, lidar, and computer-readable storage medium, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0212] The above are only the preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are all included in the protection scope of the present application.

Claims

1. A lidar control method, characterized in that, The method is applied to a control chip of a lidar, and the lidar further includes a receiving unit; the receiving unit includes a plurality of receiving areas, and each receiving area includes at least one receiver; The method includes: Determining a receiver that has been activated and generates crosstalk noise during the last activation as an alternative receiver; Determining a first receiver to be activated from the alternative receivers, and determining a receiving area to be activated from the non-activated receiving areas; wherein, the distance between each receiver in the receiving area to be activated and the first receiver to be activated is not less than a first preset distance; Activating the receiving area to be activated and the first receiver to be activated simultaneously, so that the receiving area to be activated and the first receiver to be activated receive the respective measurement pulses corresponding to them.

2. The method according to claim 1, characterized in that Determining a first receiver to be activated from the alternative receivers, and determining a receiving area to be activated from the non-activated receiving areas, includes: Determining at least one receiving area from the non-activated receiving areas as the receiving area to be activated in a first order; wherein, the distance between every two receiving areas in the receiving area to be activated is not less than a third preset distance; Determining at least one receiver whose distance from the receiving area to be activated is not less than the first preset distance from the alternative receivers as the first receiver to be activated; wherein, the distance between every two receivers in the first receiver to be activated is not less than a second preset distance.

3. The method according to claim 1, wherein Determining a first receiver to be activated from the alternative receivers, and determining a receiving area to be activated from the non-activated receiving areas, includes: Determining at least one receiver from the alternative receivers as the first receiver to be activated; wherein, the distance between every two receivers in the first receiver to be activated is not less than a second preset distance; Determining at least one receiving area whose distance from the first receiver to be activated is not less than the first preset distance from the non-activated receiving areas as the receiving area to be activated; wherein, the distance between every two receiving areas in the receiving area to be activated is not less than a third preset distance.

4. The method according to claim 1, wherein The method further includes: After activating all the receiving areas, determining a receiver with crosstalk noise in the first detection result during the last activation as the target receiver; Activating each target receiver in a second order, so that each target receiver receives the respective measurement pulse corresponding to it, and obtaining the second detection result of each target receiver; wherein, the second order is determined according to the positional relationship between each target receiver; Determining the target detection result based on the first detection results of all receivers and the second detection results of each target receiver.

5. The method according to claim 4, wherein The activating each target receiver in the second order includes: Determining at least one target receiver from each target receiver as the second receiver to be activated in the second order; wherein, the distance between every two receivers in the second receiver to be activated is not less than a second preset distance; Activate the second receiver to be activated, and return to perform the step of determining at least one target receiver from each target receiver as the second receiver to be activated according to the second order until all target receivers are activated.

6. The method according to claim 4, characterized in that, Determining the receiver with crosstalk noise in the first detection result at the last activation as the target receiver includes: For each receiver, calculate the ratio of the signal to the crosstalk noise in the first detection result of the receiver at the last activation as the signal-to-noise ratio of the first detection result of the receiver. If the signal-to-noise ratio of the first detection result of the receiver is not greater than a preset threshold, determine the receiver as the target receiver.

7. A lidar control device, characterized in that, The device is applied to a control chip of a lidar, and the lidar further includes a receiving unit; the receiving unit includes a plurality of receiving areas, and each receiving area includes at least one receiver. The device includes: A first determination module, configured to determine the receiver that has been activated and generates crosstalk noise at the last activation as an alternative receiver. A second determination module, configured to determine a first receiver to be activated from the alternative receivers, and determine a receiving area to be activated from the unactivated receiving areas; wherein, the distance between each receiver in the receiving area to be activated and the first receiver to be activated is not less than a first preset distance. A first activation module, configured to simultaneously activate the receiving area to be activated and the first receiver to be activated so that the receiving area to be activated and the first receiver to be activated receive their respective corresponding measurement pulses.

8. A control chip, characterized in that, Including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the communication bus. The memory is used to store a computer program. When the processor is configured to execute the program stored on the memory, it implements the method steps described in any one of claims 1-6.

9. A lidar, characterized in that, The lidar includes a receiving unit and a control chip for performing the method described in any one of claims 1-6; the receiving unit includes a plurality of receiving areas, and each receiving area includes at least one receiver.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the method steps described in any one of claims 1-6.

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