Probe control method, device and system, storage medium, and laser radar

Abstract

A kind of detector control method, device and system, storage medium, laser radar, detector control method includes: receiving control signal, the control signal includes trigger signal and instruction code;In instruction table, find the execution action corresponding to the instruction code, the instruction table includes multiple instruction codes and its corresponding execution action;At least one detector is controlled to execute the execution action corresponding to the instruction code.The technical scheme of the present application can realize the flexibility of laser radar detector control.

Description

Technical Field

[0001] This invention relates to the field of lidar technology, and in particular to a detector control method, device and system, storage medium, and lidar. Background Technology

[0002] With the rise of autonomous vehicle technology, lidar, as an important detection component, is receiving increasing attention. LiDAR is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. Its working principle involves emitting a detection signal (laser beam) towards the target, then comparing the received signal reflected back from the target (target echo) with the emitted signal. After appropriate processing, information about the target can be obtained, such as its distance, azimuth, altitude, velocity, attitude, and even shape.

[0003] A lidar system consists of multiple detectors and multiple lasers. The information path for a lidar system to transmit and receive laser light once can be called a channel. All channels together constitute the lidar's entire field of view (FOV). For the detector end, one channel refers to one detector. When a lidar system is working, its receiver end (RX end) needs to perform multiple operations, such as applying / reducing voltage to the detector, enabling / disabling the time-of-flight (TOF) calculation function, selecting channels, etc.

[0004] Different types of lidar have different requirements for the implementation sequence of multi-step operations and the implementation time of each step. Different types of lidar require customized chips to match them. Therefore, the control chips of the receiver of different lidars are not interchangeable. Summary of the Invention

[0005] The technical problem solved by this invention is how to achieve flexibility in the control of lidar detectors.

[0006] To address the aforementioned technical problems, in a first aspect, embodiments of the present invention provide a detector control method, the detector control method comprising: receiving a control signal, the control signal including a trigger signal and an instruction code; searching for an execution action corresponding to the instruction code in an instruction table, the instruction table including multiple instruction codes and their corresponding execution actions; and controlling at least one detector to execute the execution action corresponding to the instruction code.

[0007] Optionally, the receiving control signal includes: receiving the trigger signal; and acquiring the instruction code at the acquisition time indicated by the trigger signal.

[0008] Optionally, the trigger signal is a pulse signal, and acquiring the instruction code at the acquisition time indicated by the trigger signal includes: acquiring the instruction code at the rising edge of the trigger signal; or, acquiring the instruction code at the falling edge of the trigger signal.

[0009] Optionally, the receiving control signal includes: receiving the trigger signal and acquiring level information on multiple data lines, wherein the level information on the multiple data lines is used to represent the instruction code.

[0010] Optionally, the control signal includes a trigger signal from at least one receiving port, the receiving port corresponding to at least one detector group, each detector group including at least one detector, and controlling at least one detector to execute the execution action corresponding to the instruction code includes: controlling at least a portion of the detectors in the detector group corresponding to the receiving port of the trigger signal to execute the execution action corresponding to the instruction code.

[0011] Optionally, before receiving the control signal, the method further includes: determining the identifier of each receiving port and its corresponding detector group, wherein each receiving port is used to receive the corresponding trigger signal.

[0012] Optionally, the acquisition times indicated by trigger signals from different receiving ports do not overlap.

[0013] Secondly, embodiments of the present invention also disclose another detector control method, the detector control method comprising: determining an execution action to be performed by at least one detector; determining an instruction code corresponding to the execution action in an instruction table, the instruction table including multiple instruction codes and their corresponding execution actions; and sending a control signal, the control signal including a trigger signal and the instruction code, so that a receiving end can search for the execution action corresponding to the instruction code in the instruction table and control the at least one detector to execute the execution action corresponding to the instruction code.

[0014] Thirdly, embodiments of the present invention also disclose a detector control device, comprising: a receiving module for receiving a control signal, the control signal including a trigger signal and an instruction code; a lookup module for looking up an execution action corresponding to the instruction code in an instruction table, the instruction table including multiple instruction codes and their corresponding execution actions; and a control module for controlling at least one detector to execute the execution action corresponding to the instruction code.

[0015] Optionally, the receiving module includes: at least one receiving port, which receives a corresponding trigger signal, and the receiving port corresponds to at least one detector group, each detector group including at least one detector; and a register for storing the correspondence between the at least one receiving port and the at least one detector group.

[0016] Fourthly, embodiments of the present invention also disclose a detector control device, comprising: an action determination module for determining an action to be performed by at least one detector; an instruction code determination module for determining an instruction code corresponding to the action in an instruction table, the instruction table including multiple instruction codes and their corresponding actions; and a transmission module for transmitting a control signal, the control signal including a trigger signal and the instruction code, so that a receiving end can search for the action corresponding to the instruction code in the instruction table and control the at least one detector to perform the action corresponding to the instruction code.

[0017] Fifthly, embodiments of the present invention also disclose a detector control system, which includes a first control device and a second control device; the first control device includes: an action determination module for determining an action to be performed by at least one detector; an instruction code determination module for determining an instruction code corresponding to the action in an instruction table, the instruction table including multiple instruction codes and their corresponding actions; and a sending module for sending a control signal, the control signal including a trigger signal and the instruction code; the second control device includes: a receiving module for receiving the control signal; a search module for searching for an action corresponding to the instruction code in the instruction table; and a control module for controlling at least one detector to perform the action corresponding to the instruction code.

[0018] Optionally, the transmitting module includes at least one transmitting port configured to transmit the trigger signal; the receiving module includes at least one receiving port configured to receive the trigger signal; there is a one-to-one correspondence between the at least one transmitting port and the at least one receiving port.

[0019] In a sixth aspect, embodiments of the present invention also disclose a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to perform the steps of the detector control method.

[0020] In a seventh aspect, embodiments of the present invention also disclose a lidar, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and when the processor runs the computer program, it executes the steps of the detector control method, or executes the steps of the detector control method.

[0021] Compared with the prior art, the technical solution of the embodiments of the present invention has the following beneficial effects:

[0022] In this invention, the control chip of the lidar receives a control signal, which includes a trigger signal and an instruction code. It then searches for the corresponding execution action in an instruction table, which includes multiple instruction codes and their corresponding execution actions. Finally, it controls at least one detector to execute the execution action corresponding to the instruction code. By setting instruction codes to indicate corresponding execution actions, the order and execution time of different execution actions can be adjusted by changing the order and timing of the instruction codes, thereby increasing the flexibility of lidar detector control and expanding the applicability of the lidar control chip.

[0023] Furthermore, the control signals include multiple trigger signals from multiple receiving ports, each trigger signal corresponding to one or more detector groups, and each detector group including at least one detector. The present invention uses multiple trigger signals from multiple receiving ports to independently control the corresponding detector groups, thereby further achieving greater flexibility in detector control. Attached Figure Description

[0024] Figure 1 This is a structural diagram of a detector control system in the prior art;

[0025] Figure 2 This is a flowchart of a detector control method provided in an embodiment of the present invention;

[0026] Figure 3 This is a framework structure diagram of a detector control system provided in an embodiment of the present invention;

[0027] Figure 4 This is a flowchart of another detector control method provided in an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram illustrating the relationship between a trigger signal and an instruction code provided in an embodiment of the present invention;

[0029] Figure 6 This is a framework structure diagram of another detector control system provided in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram illustrating another relationship between trigger signals and instruction codes provided in an embodiment of the present invention;

[0031] Figure 8 This is a schematic diagram of the structure of a detector control device provided in an embodiment of the present invention;

[0032] Figure 9This is a schematic diagram of another detector control device provided in an embodiment of the present invention;

[0033] Figure 10 This is a schematic diagram of a detector control system provided in an embodiment of the present invention. Detailed Implementation

[0034] like Figure 1 As shown, in the control chip 10 of the current lidar receiver (RX end), the sequence of operation steps and the time interval of each step (i.e., the operation timing) are pre-designed according to the working requirements of the laser and stored in the control chip 10. Simultaneously, the control chip 10 has a built-in scan table 30, which sequentially arranges multiple instructions, each corresponding to a channel selection. For example, the scan table 30 includes sequentially arranged channel identifiers a, b, c, and d. The Field Programmable Gate Array (FPGA) 20 and the control chip 10 store the same scan table 30, which includes multiple instructions (channel activation information). When the lidar is working, the FPGA 20 sends a trigger signal to the control chip 10. The control chip 10 executes the pre-set operation timing and activates the corresponding channel according to the channel selection information in the scan table 30. When the control chip 10 receives another trigger signal, it executes the next piece of information in the scan table 30, i.e., activates the next channel.

[0035] Therefore, different types of lidar have different requirements for the implementation sequence and time of multi-step operations, and different types of lidar require customized chips to match them. The control chips at the receiving end cannot be universal.

[0036] In this invention, the control chip of the lidar receives a control signal, which includes a trigger signal and an instruction code; it searches for the corresponding execution action in an instruction table, which includes multiple instruction codes and their corresponding execution actions; and it controls at least one detector to execute the execution action corresponding to the instruction code. By setting instruction codes to indicate corresponding execution actions, the order and execution time of different execution actions can be adjusted by changing the order and timing of the instruction codes, thereby achieving flexibility in lidar detector control and expanding the applicability of the lidar control chip. To make the above-mentioned objectives, features, and advantages of this invention more apparent and understandable, specific embodiments of this invention will be described in detail below with reference to the accompanying drawings.

[0037] Figure 2 This is a flowchart of a detector control method provided in an embodiment of the present invention.

[0038] The detector control method in this embodiment of the invention can be used in the control chip of a lidar, that is, the control chip can execute each step of the method.

[0039] Specifically, the detector control method may include the following steps:

[0040] Step 201: Receive a control signal, the control signal including a trigger signal and an instruction code;

[0041] Step 202: Search for the execution action corresponding to the instruction code in the instruction table, wherein the instruction table includes multiple instruction codes and their corresponding execution actions;

[0042] Step 203: Control at least one detector to execute the action corresponding to the instruction code.

[0043] Unlike existing scan tables that include multiple sequentially arranged channel identifiers, the instruction table 60 in this embodiment includes multiple instruction codes and their corresponding execution actions. Different instruction codes correspond to different execution actions. Table 1 is an example of an instruction table according to an embodiment of this invention.

[0044] Table 1

[0045] Instruction encoding Execute action 00000 Voltage 00001 Lower voltage 00010 Channel 1 00011 Channel 2 ...... ...... 11111 .....

[0046] As shown in Table 1, instruction code 00000 corresponds to the upper voltage of the execution action, instruction code 00001 corresponds to the lower voltage of the execution action, instruction code 00010 corresponds to the selection of channel 1 for the execution action, and instruction code 00011 corresponds to the selection of channel 2 for the execution action. Each execution action corresponds to a unique instruction code that is different from other execution actions. Other instruction codes are similar, and will not be described in detail here.

[0047] It should be noted that the multiple instruction codes and their corresponding execution actions in the instruction table can be adaptively configured and adjusted according to the actual application scenario. For example, the execution actions may also include enabling the TOF calculation function, disabling the TOF calculation function, etc. This embodiment of the invention does not limit this.

[0048] Refer to together Figure 3 The detector control system includes an FPGA 50 and a control chip 40. Both the FPGA 50 and the control chip 40 store the same instruction table. The FPGA 50 can send control signals to the control chip 40, whereby the control signals include trigger signals and instruction codes, and the control chip 40 can execute them. Figure 2 The steps of the method are shown. Accordingly, FPGA50 can execute... Figure 4 The steps of the method shown are as follows.

[0049] Specifically, Figure 4The detector control method shown may include the following steps:

[0050] Step 401: Determine at least one action that the detector needs to perform;

[0051] Step 402: Determine the instruction code corresponding to the execution action in the instruction table, wherein the instruction table includes multiple instruction codes and their corresponding execution actions;

[0052] Step 403: Send a control signal, the control signal including a trigger signal and the instruction code.

[0053] It should be noted that the sequence number of each step in this embodiment does not represent a limitation on the execution order of each step.

[0054] It is understood that, in specific implementations, the detector control method can be implemented using software programs, which run in a processor integrated within the chip or chip module. This method can also be implemented using a combination of software and hardware; this application does not impose any limitations on this approach.

[0055] In this embodiment of the invention, a corresponding instruction code can be configured for each execution action, and all execution actions and their corresponding instruction codes form an instruction table. The control chip 40 has a built-in instruction table 60. When the LiDAR is working, the FPGA 50 sends a trigger signal and an instruction code to the control chip 40 simultaneously. Upon receiving the trigger signal, the control chip 40 acquires the instruction code, determines the operation corresponding to that instruction code in the instruction table, and executes it. The FPGA 50 achieves different timing operations by adjusting the order and timing of sending instruction codes to the control chip 40. That is, the FPGA 50 sends an instruction code simultaneously with each trigger signal. Different LiDARs can be configured with parameters on the FPGA 50 to send a set of trigger signals and instruction codes according to the needs of different LiDARs. The control chip 40 performs instruction acquisition, instruction parsing, and instruction execution, thereby enabling one control chip 40 to adapt to different LiDARs and expanding the applicability of the control chip.

[0056] In a non-limiting embodiment, the trigger signal and command code can be transmitted wirelessly or via a wired connection.

[0057] In one specific implementation, the FPGA 50 can send a trigger signal and an instruction code together, and correspondingly, the control chip 40 can receive the trigger signal and the instruction code together. Specifically, the trigger signal and the instruction code can be placed in the same signaling.

[0058] In another specific implementation, the FPGA 50 may first send a trigger signal and then send the instruction code. Correspondingly, the control chip 40 may first receive the trigger signal and then acquire the instruction code. Specifically, the FPGA 50 sends a trigger signal; the FPGA 50 sends the instruction code at the acquisition time indicated by the trigger signal. Correspondingly, the control chip 40 receives the trigger signal; the control chip 40 acquires the instruction code at the acquisition time indicated by the trigger signal. More specifically, the FPGA 50 sends the instruction code via a data line, and the control chip 40 acquires the instruction code via a data line.

[0059] In another specific implementation, the FPGA 50 first sends the instruction code through the data line, and the data line continuously holds the instruction code. Then the FPGA 50 sends a trigger signal. When the control chip 40 receives the trigger signal, it collects the instruction code from the data line.

[0060] In a non-limiting embodiment, the FPGA 50 represents instruction encoding using level information on multiple data lines. Accordingly, the control chip 40 receives a trigger signal and acquires level information on the multiple data lines to obtain the instruction encoding.

[0061] Furthermore, the FPGA 50 sends instruction codes on the rising or falling edge of the trigger signal, and correspondingly, the control chip 40 acquires instruction codes on the rising or falling edge of the trigger signal.

[0062] In practice, the data lines are connected to the control chip 40 and the FPGA 50 respectively. (Refer to...) Figure 5 The control chip 40 acquires the instruction code at the rising edge of the trigger signal. The data lines maintain the level information of the instruction code for a period of time before and after the rising edge of the trigger signal. When the rising edge of the trigger signal arrives, the control chip 40 acquires the level information on the data lines. Specifically, taking an instruction code of 5 bits as an example, there are 5 data lines, with high level representing 1 and low level representing 0. If the current execution action is to select channel 2, the corresponding instruction code is 00011. Then, the FPGA 50 controls the data lines to maintain low level, low level, low level, high level, and high level respectively for a period of time before and after the rising edge of the trigger signal.

[0063] In a non-limiting embodiment, please refer to Figure 6 The control chip 40 may include multiple receiving ports 41. For example... Figure 6 As indicated by identifiers 0, 1, 2, and 3. Each receive port 41 is used to receive a trigger signal. Accordingly, the FPGA 50 may include multiple transmit ports 51. Figure 6As indicated by identifiers 0, 1, 2, and 3, each transmitting port 51 is used to transmit a trigger signal. There is a one-to-one correspondence between transmitting port 51 and receiving port 41.

[0064] Furthermore, the control signals received by the control chip 40 may include trigger signals from multiple receiving ports 41. Accordingly, each rising edge (or falling edge) of each trigger signal corresponds to an instruction code, and different trigger signals may correspond to the same or different instruction codes. Each trigger signal corresponds to one or more detector banks, and each detector bank includes at least one detector. The control chip 40 can control at least a portion of the detectors in the detector bank corresponding to each trigger signal to perform the execution action corresponding to the instruction code.

[0065] Specifically, the control chip 40 can control some detectors in the detector group to execute the execution actions corresponding to the instruction code, or it can control all detectors in the detector group to execute the execution actions corresponding to the instruction code. For example, the trigger signal 0 is identified as identifier 0 in the transmitting port 51 of the FPGA 50, and the trigger signal 0 is identified as identifier 0 in the receiving port 41 of the control chip 40. The identifier 0 port of the receiving port 41 corresponds to the detector group 0, which includes 8 detectors, corresponding to channels 1 to 8 respectively. If the received instruction code is parsed as an up voltage instruction, then all 8 detectors in the detector group 1 will be up voltage. If the received instruction code is parsed as channel 1, then the switch corresponding to the detector in channel 1 will be closed.

[0066] Furthermore, before receiving the control signal, the control chip 40 can determine the identifier of each receiving port and its corresponding detector group. For example, if the identifier 0 of the receiving port corresponds to the detector group 0, then after the control chip 40 receives the trigger signal 0 at the receiving port 0, it will acquire the instruction code 0 and control at least some of the detectors in the detector group 0 to execute the execution action corresponding to the instruction code 0.

[0067] Specifically, the control chip 40 includes a register 42, which stores the identifier of the receiving port and its corresponding detector group. More specifically, one detector group corresponds to one identifier of the receiving port; or, one identifier of the receiving port may correspond to one or more detector groups.

[0068] In specific application scenarios, the FPGA 50 can issue multiple trigger signals, which are transmitted from multiple receiving ports 41 of the control chip 40. Different trigger signals can correspond to different instruction codes. By mapping the identifiers of the receiving ports to the detector groups, independent control of different detector groups can be achieved, enabling different detector groups to execute different actions simultaneously, i.e., different detector groups can execute different operation sequences.

[0069] Furthermore, the acquisition times indicated by the trigger signals from different receiving ports do not overlap.

[0070] In practice, if trigger signals from different receiving ports correspond to their own data line transmission command codes, the acquisition times may or may not overlap. When trigger signals from different receiving ports share a data line, the acquisition times indicated by different trigger signals do not overlap. Of course, if the command codes corresponding to trigger signals from different receiving ports at the same time are the same, the acquisition times indicated by different trigger signals may overlap.

[0071] Refer to together Figure 7 Trigger signals from different receiving ports share a data line, and the instruction acquisition times of different trigger signals are staggered. Specifically, the control chip 40 acquires the instruction code on the data line at the rising edge of the trigger signal, and the rising edges of trigger signal 1 and trigger signal 2 are staggered in time. At the rising edge of trigger signal 1, the control chip 40 acquires instruction code 1 (… Figure 7 As shown in the shaded rectangles, where each shaded rectangle can be the same or different instruction codes; at the rising edge of trigger signal 2, control chip 40 acquires instruction code 2 ( Figure 7 The shaded triangles in the diagram represent different instruction codes (each of which may be encoded as the same or different).

[0072] In a non-limiting embodiment of the present invention, please refer to Figure 8 , Figure 8 A detector control device 80 is disclosed. The detector control device 80 includes:

[0073] Receiver module 801 is used to receive control signals, the control signals including trigger signals and instruction codes;

[0074] The lookup module 802 is used to look up the execution action corresponding to the instruction code in the instruction table, the instruction table including multiple instruction codes and their corresponding execution actions;

[0075] The control module 803 is used to control at least one detector to perform the execution action corresponding to the instruction code.

[0076] Furthermore, the receiving module 801 may include multiple receiving ports, each receiving port being used to receive a trigger signal, the multiple receiving ports corresponding to multiple detector groups, each detector group including at least one detector.

[0077] Furthermore, the detector control device 80 may also include a register for storing the correspondence between the plurality of receiving ports and the plurality of detector groups.

[0078] In this embodiment, the detector control device 80 can be the control chip in the lidar.

[0079] In a non-limiting embodiment of the present invention, please refer to Figure 9 , Figure 9 A detector control device 90 is disclosed. The detector control device 90 includes:

[0080] The action determination module 901 is used to determine the action that at least one detector needs to perform;

[0081] The instruction code determination module 902 is used to determine the instruction code corresponding to the execution action in the instruction table, the instruction table including multiple instruction codes and their corresponding execution actions;

[0082] The transmitting module 903 is used to transmit a control signal, which includes a trigger signal and the instruction code, so that the receiving end can find the execution action corresponding to the instruction code in the instruction table and control the at least one detector to execute the execution action corresponding to the instruction code.

[0083] In this embodiment, the detector control device 90 can be an FPGA in a lidar.

[0084] For more information on the working principles and modes of operation of the detector control device 80 and detector control device 90, please refer to [link / reference needed]. Figures 2 to 7 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0085] Please refer to Figure 10 The present invention also discloses a detector control system 100, which includes a first control device 101 and a second control device 102.

[0086] Specifically, the first control device 101 includes:

[0087] The action determination module 1011 is used to determine the action that at least one detector needs to perform;

[0088] The instruction code determination module 1012 is used to determine the instruction code corresponding to the execution action in the instruction table, the instruction table including multiple instruction codes and their corresponding execution actions;

[0089] The transmitting module 1013 is used to transmit control signals, the control signals including trigger signals and instruction codes.

[0090] Specifically, the second control device 102 includes:

[0091] Receiver module 1021 is used to receive control signals;

[0092] The lookup module 1022 is used to look up the execution action corresponding to the instruction code in the instruction table;

[0093] The control module 1023 is used to control at least one detector to perform the execution action corresponding to the instruction code.

[0094] In one specific embodiment, the transmitting module 1013 includes at least one transmitting port configured to transmit the trigger signal. Correspondingly, the receiving module 1021 includes at least one receiving port configured to receive the trigger signal. There is a one-to-one correspondence between the at least one transmitting port and the at least one receiving port.

[0095] Regarding the modules / units included in the various devices and products described in the above embodiments, they can be software modules / units, hardware modules / units, or a combination of both. For example, for various devices and products applied to or integrated into a chip, all of their modules / units can be implemented using hardware methods such as circuits, or at least some modules / units can be implemented using software programs that run on a processor integrated within the chip, while the remaining (if any) modules / units can be implemented using hardware methods such as circuits; for various devices and products applied to or integrated into a chip module, all of their modules / units can be implemented using hardware methods such as circuits, and different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components of the chip module, or at least some modules / units can be implemented using hardware methods such as circuits. The components can be implemented using software programs that run on the processor integrated within the chip module. The remaining (if any) modules / units can be implemented using hardware methods such as circuits. For various devices and products applied to or integrated into the terminal, each of its components / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or in different components within the terminal. Alternatively, at least some modules / units can be implemented using software programs that run on the processor integrated within the terminal, while the remaining (if any) modules / units can be implemented using hardware methods such as circuits.

[0096] This invention also discloses a storage medium, which is a computer-readable storage medium storing a computer program thereon. When the computer program is run, it can execute the steps of the aforementioned detector control method.

[0097] This invention also discloses a lidar, which may include a memory and a processor. The memory stores a computer program that can run on the processor. When the processor runs the computer program, it can execute the steps of the aforementioned detector control method. The lidar includes multiple detectors.

[0098] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article indicates that the preceding and following related objects have an "or" relationship.

[0099] In the embodiments of this application, "multiple" refers to two or more.

[0100] The descriptions of "first," "second," etc., appearing in the embodiments of this application are for illustrative purposes and to distinguish the objects being described. They have no order and do not indicate any special limitation on the number of devices in the embodiments of this application, nor do they constitute any limitation on the embodiments of this application.

[0101] In this application embodiment, "connection" refers to various connection methods such as direct connection or indirect connection to realize communication between devices. This application embodiment does not limit this in any way.

[0102] It should be understood that in the embodiments of this application, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0103] It should also be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0104] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can 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 sets of available media.

[0105] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0106] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of units is merely a logical functional division, and other division methods may exist in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0107] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0108] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0109] The integrated unit implemented as a software functional unit described above can be stored in a computer-readable storage medium. This software functional unit, stored in a storage medium, includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute some steps of the methods described in the various embodiments of the present invention.

[0110] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A detector control method, executed on a second control device of a detector control system, the detector control system further comprising a first control device, the first control device and the second control device being communicatively connected, the second control device comprising a control chip for a lidar receiver, characterized in that, include: Receive control signals; The control signal comes from the first control device and includes a trigger signal and a target instruction code; The execution action corresponding to the target instruction code is found in the instruction table, which includes multiple instruction codes and their corresponding multiple execution actions, and the multiple instruction codes include the target instruction code. Control at least one detector to execute the action corresponding to the target instruction code.

2. The detector control method according to claim 1, characterized in that, The received control signal includes: Receive the trigger signal; The target instruction code is acquired at the acquisition time indicated by the trigger signal.

3. The detector control method according to claim 2, characterized in that, The trigger signal is a pulse signal, and acquiring the target instruction code at the acquisition time indicated by the trigger signal includes: The target instruction code is acquired at the rising edge of the trigger signal; Alternatively, the target instruction code can be obtained at the falling edge of the trigger signal.

4. The detector control method according to claim 1, characterized in that, The received control signal includes: The trigger signal is received, and the level information on multiple data lines is collected. The level information on the multiple data lines is used to represent the target instruction code.

5. The detector control method according to claim 1, characterized in that, The control signal includes a trigger signal from at least one receiving port, the receiving port corresponding to at least one detector group, each detector group including at least one detector, and controlling at least one detector to execute the execution action corresponding to the target instruction code includes: The detectors in the detector group corresponding to the receiving port of the trigger signal are controlled to perform the execution action corresponding to the target instruction code.

6. The detector control method according to claim 5, characterized in that, Before receiving the control signal, the following is also included: The identifier of each receiving port and its corresponding detector group are determined, and each receiving port is used to receive the corresponding trigger signal.

7. The detector control method according to claim 5, characterized in that, The acquisition times indicated by trigger signals from different receiving ports do not overlap.

8. A detector control method, executed on a first control device of a detector control system, the detector control system further comprising a second control device, the first control device and the second control device being communicatively connected, the second control device comprising a control chip for a lidar receiver, characterized in that... include: Determine at least one target action that the detector needs to perform; A target instruction code corresponding to the target execution action is determined in the instruction table. The instruction table includes multiple instruction codes and their corresponding multiple execution actions. The multiple instruction codes include the target instruction code. The multiple execution actions include the target execution action. A control signal is sent to the second control device. The control signal includes a trigger signal and the target instruction code, so that the second control device can look up the execution action corresponding to the target instruction code in the instruction table, and control the at least one detector to execute the execution action corresponding to the target instruction code.

9. A detector control device, characterized in that, include: A receiving module is used to receive control signals, the control signals including trigger signals and target instruction codes; A lookup module is used to search for an execution action corresponding to the target instruction code in an instruction table. The instruction table includes multiple instruction codes and their corresponding multiple execution actions, and the multiple instruction codes include the target instruction code. The control module is used to control at least one detector to perform the execution action corresponding to the target instruction code.

10. The detector control device according to claim 9, characterized in that, The receiving module includes: At least one receiving port, the receiving port receiving a corresponding trigger signal, the receiving port corresponding to at least one detector group, each detector group including at least one detector; A register is used to store the correspondence between the at least one receiving port and the at least one detector group.

11. A detector control device, characterized in that, include: The action determination module is used to determine the target action that at least one detector needs to perform; The instruction code determination module is used to determine the target instruction code corresponding to the target execution action in the instruction table. The instruction table includes multiple instruction codes and multiple corresponding execution actions. The multiple instruction codes include the target instruction code, and the multiple execution actions include the target execution action. The transmitting module is used to transmit control signals, the control signals including trigger signals and target instruction codes, so that the receiving end can find the execution action corresponding to the target instruction code in the instruction table, and cause the receiving end to control the at least one detector to execute the execution action corresponding to the target instruction code.

12. A detector control system, characterized in that, It includes a first control device and a second control device; the first control device includes: The action determination module is used to determine the target action that at least one detector needs to perform; The instruction code determination module is used to determine the target instruction code corresponding to the target execution action in the instruction table. The instruction table includes multiple instruction codes and multiple corresponding execution actions. The multiple instruction codes include the target instruction code, and the multiple execution actions include the target execution action. A transmitting module is used to transmit control signals, the control signals including trigger signals and the target instruction code; The second control device includes: The receiving module is used to receive control signals; The lookup module is used to find the execution action corresponding to the target instruction code in the instruction table; The control module is used to control the at least one detector to perform the execution action corresponding to the target instruction code.

13. The detector control system according to claim 12, characterized in that: The transmitting module includes at least one transmitting port, which is configured to transmit the trigger signal; The receiving module includes at least one receiving port, which is configured to receive the trigger signal; There is a one-to-one correspondence between the at least one transmitting port and the at least one receiving port.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program, when run by a processor, performs the steps of the detector control method according to any one of claims 1 to 8.

15. A lidar system, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor runs the computer program, it performs the steps of the detector control method according to any one of claims 1 to 7, or performs the steps of the detector control method according to claim 8.

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