A method and apparatus for synchronizing lidar point clouds

Abstract

The application discloses a laser radar point cloud synchronization method and device. The method comprises the following steps: acquiring current point cloud azimuth information corresponding to a current space based on main radar scanning; determining a current macro-pixel set corresponding to the current point cloud azimuth information based on preset azimuth mapping information and the current point cloud azimuth information; controlling a current laser emitter corresponding to the current macro-pixel set to emit a target laser beam based on preset array mapping information; controlling the current macro-pixel set to receive a target echo corresponding to the target laser beam, and obtaining current point cloud information of a blind-filling radar corresponding to the current point cloud azimuth information; the target echo is a reflected beam of the target laser beam in the current space; and controlling the main radar and the blind-filling radar to be synchronized based on the current point cloud azimuth information and the current point cloud information. The technical scheme provided by the application can realize point cloud synchronization of the blind-filling radar and the main radar, and further improve the accuracy of main radar point cloud fusion.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method and apparatus for synchronizing LiDAR point clouds. Background Technology

[0002] In the field of autonomous driving, to ensure full coverage of vehicle-mounted LiDAR at both near and far distances, a combination of scanning radar and solid-state flash radar has begun to emerge. Scanning radar, with its large horizontal field of view and long-range measurement advantages, serves as the main radar, while solid-state flash radar, with its high resolution, large vertical field of view, and short-range measurement characteristics, serves as a blind spot radar, enabling coverage of the area around the vehicle at both near and far distances.

[0003] Because scanning radar and solid-state flash radar have different hardware structures and imaging principles, a synchronization method is needed to achieve data synchronization of radars in this combination, thereby realizing the spatiotemporal synchronization of point cloud acquisition from multiple radars and improving the accuracy of point cloud fusion. Summary of the Invention

[0004] This application provides a lidar point cloud synchronization method and device, which can improve the accuracy and efficiency of selecting target vehicles under different working conditions.

[0005] On one hand, this application provides a method for synchronizing lidar point clouds, the method comprising:

[0006] Obtain the current point cloud azimuth information corresponding to the current space obtained from the main radar scan;

[0007] Based on preset azimuth mapping information and the current point cloud azimuth information, a current macro-pixel set corresponding to the current point cloud azimuth information is determined; the preset azimuth mapping information represents the correspondence between the point cloud azimuth information and the macro-pixels; the current macro-pixel set is the set of macro-pixels in the blind spot radar that correspond to the current point cloud azimuth information; the macro-pixel is composed of a preset number of photon detectors, and the macro-pixel is used to receive and process the detected light signals;

[0008] Based on preset array mapping information, the current laser emitter corresponding to the current macro-pixel set is controlled to emit a target laser beam; the preset array mapping information represents the correspondence between the laser emitter and the macro-pixel in the blind spot radar.

[0009] The current macro-pixel set is controlled to receive the target echo corresponding to the target laser beam, thereby obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information; the target echo is the reflected beam of the target laser beam in the current space;

[0010] Based on the current point cloud azimuth information and the current point cloud information, the main radar and the blind spot radar point cloud are synchronized.

[0011] In some possible implementations, controlling the current laser emitter corresponding to the current macropixel set to emit a target laser beam based on preset array mapping information includes:

[0012] When the preset array mapping information corresponds to a single laser emitter and a single macropixel, based on a preset emission order, the single laser emitter corresponding to each macropixel in the current macropixel set is controlled to emit the target laser beam; the preset emission order includes controlling the single laser emitter to emit the target laser beam sequentially.

[0013] The step of controlling the current macro-pixel set to receive the target echo corresponding to the target laser beam, and obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information, includes:

[0014] A single macropixel corresponding to a single laser emitter that controls and emits the target laser beam receives the target echo;

[0015] If each macro pixel in the current macro pixel set receives the target echo, the current point cloud information is generated based on the target echo received by each macro pixel in the current macro pixel set.

[0016] In some possible implementations, controlling the current laser emitter corresponding to the current macropixel set to emit a target laser beam based on preset array mapping information includes:

[0017] When the preset array mapping information is a correspondence between a single laser emitter and multiple macro pixels, based on a preset emission order, the single laser emitter corresponding to each set of multiple macro pixels in the current macro pixel set is controlled to emit the target laser beam; the preset emission order includes controlling the single laser emitter to emit the target laser beam sequentially.

[0018] The step of controlling the current macro-pixel set to receive the target echo corresponding to the target laser beam, and obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information, includes:

[0019] Based on a preset receiving order, multiple macro pixels corresponding to a single laser emitter that emits the target laser beam are controlled to receive the target echo; the preset receiving order includes controlling the multiple macro pixels to receive the target echo, controlling the multiple macro pixels to receive the target echo row by row, and controlling the multiple macro pixels to receive the target echo column by column.

[0020] When each or more macro pixels in the current macro pixel set receives the target echo, the current point cloud information is generated based on the target echo received by each or more macro pixels in the current macro pixel set.

[0021] In some possible implementations, controlling the current laser emitter corresponding to the current macropixel set to emit a target laser beam based on preset array mapping information includes:

[0022] When the preset array mapping information is a correspondence between multiple laser emitters and a single macro pixel, based on a preset emission order, multiple laser emitters corresponding to each macro pixel in the current macro pixel set are controlled to simultaneously emit the target laser beam; the preset emission order includes sequentially controlling the multiple laser emitters to simultaneously emit the target laser beam.

[0023] The step of controlling the current macro-pixel set to receive the target echo corresponding to the target laser beam, and obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information, includes:

[0024] A single macropixel corresponding to one of the multiple laser emitters that control and emit the target laser beam receives the target echo;

[0025] If each macro pixel in the current macro pixel set receives the target echo, the current point cloud information is generated based on the target echo received by each macro pixel in the current macro pixel set.

[0026] In some possible implementations, the preset azimuth mapping information is determined in the following manner:

[0027] The system acquires echo point coordinate information corresponding to the echo point on each macropixel in the blind spot radar, as well as multiple point cloud information corresponding to the target space obtained based on the main radar scan; the echo point is the reflection point on the macropixel corresponding to the echo emitted by the laser emitter to the target space within the field of view of the blind spot radar; the echo point coordinate information is the coordinate information of the echo point corresponding to the target space obtained based on the blind spot radar scan; the point cloud information includes point cloud coordinate information and point cloud azimuth information;

[0028] Based on the multiple point cloud coordinate information and the coordinate information of each echo point, the point cloud corresponding to each echo point is determined; the point cloud corresponding to each echo point is a point cloud whose distance from the echo point is less than a preset distance;

[0029] Based on the macro-pixel corresponding to each echo point and the point cloud azimuth information of the point cloud corresponding to each echo point, the preset azimuth mapping information is generated.

[0030] In some possible implementations, the echo point coordinates corresponding to the echo point on each macropixel in the blind spot radar are determined in the following way:

[0031] Control the laser emitter in the blind spot radar corresponding to the specified macro pixel to emit a laser beam;

[0032] Control the designated macropixel to receive the echo corresponding to the laser beam;

[0033] Based on the electrical signal converted by the echo at the specified macro pixel, the echo point corresponding to the echo at the specified macro pixel and the echo point coordinate information corresponding to the echo point are determined.

[0034] In some possible implementations, controlling the laser emitter in the blind spot radar corresponding to the designated macropixel to emit a laser beam includes:

[0035] When the specified macro-pixels are all the macro-pixels in the receiving module of the blind spot radar, based on the preset array mapping information and the preset transmission order, all laser emitters corresponding to all the macro-pixels are controlled to emit the laser beam; the preset transmission order includes controlling the laser emitters to emit the laser beam sequentially, controlling the laser emitters to emit the laser beam row by row, and controlling the laser emitters to emit the laser beam column by column.

[0036] The step of controlling the designated macropixel to receive the echo corresponding to the laser beam includes:

[0037] Based on the preset array mapping information and preset receiving order, the macro pixels corresponding to the laser emitter that emits the laser beam are controlled to receive the echo corresponding to the laser beam until all macro pixels receive the echo corresponding to the laser beam; the preset receiving order includes controlling the macro pixels to receive the echo sequentially, controlling the macro pixels to receive the echo row by row, and controlling the macro pixels to receive the echo column by column.

[0038] or,

[0039] The process of controlling the laser emitter corresponding to the specified macro pixel in the blind spot radar to emit a laser beam includes:

[0040] When the designated macropixel is a target macropixel in the receiving module of the blind spot radar, the target laser emitter corresponding to the target macropixel is controlled to emit the laser beam based on the preset array mapping information and the preset emission sequence; the target macropixel includes at least one macropixel;

[0041] The step of controlling the designated macropixel to receive the echo corresponding to the laser beam includes:

[0042] Based on the preset array mapping information and the preset receiving order, the macro-pixel corresponding to the laser emitter that emits the laser beam is controlled to receive the echo corresponding to the laser beam until the target macro-pixel receives the echo corresponding to the laser beam.

[0043] In some possible implementations, the preset array mapping information is determined in the following manner:

[0044] Obtain the first distribution number of laser emitters in the transmitting module and the second distribution number of macropixels in the receiving module of the blind spot radar;

[0045] Based on the first distribution quantity and the second distribution quantity, optical path calibration is performed on the emission optical path of the laser emitter and the echo optical path of the macro pixel to generate the preset array mapping information.

[0046] In some possible implementations, the step of calibrating the emission path of the laser emitter and the echo path of the macropixel based on the first distribution quantity and the second distribution quantity, and generating the preset array mapping information, includes:

[0047] When the first distribution quantity is equal to the second distribution quantity, the optical path of the laser emitter and the echo optical path of the macropixel are optically calibrated to obtain the correspondence between a single laser emitter and a single macropixel, and the correspondence between a single laser emitter and a single macropixel is used as the preset array mapping information.

[0048] When the number of the first distribution is less than the number of the second distribution, the optical path of the laser emitter and the echo optical path of the macropixel are optically calibrated to obtain the correspondence between the single laser emitter and the multiple macropixels, and the correspondence between the single laser emitter and the multiple macropixels is used as the preset array mapping information.

[0049] When the number of the first distribution is greater than the number of the second distribution, optical path calibration is performed on the emission optical path of the laser emitter and the echo optical path of the macro pixel to obtain the correspondence between multiple laser emitters and the single macro pixel, and the correspondence between multiple laser emitters and the single macro pixel is used as the preset array mapping information.

[0050] On the other hand, a lidar point cloud synchronization device is provided, the device comprising:

[0051] The information acquisition module is used to acquire the current point cloud azimuth information corresponding to the current space obtained from the main radar scan;

[0052] The information matching module is used to determine the current macro-pixel set corresponding to the current point cloud azimuth information based on preset azimuth mapping information and the current point cloud azimuth information; the preset azimuth mapping information represents the correspondence between the point cloud azimuth information and the macro-pixels; the current macro-pixel set is the set of macro-pixels in the blind spot radar that correspond to the current point cloud azimuth information; the macro-pixel is composed of a preset number of photon detectors, and the macro-pixel is used to receive and process the detected light signals;

[0053] The radar control module is used to control the current laser emitter corresponding to the current macro-pixel set to emit a target laser beam based on preset array mapping information; the preset array mapping information represents the correspondence between the laser emitter and the macro-pixel in the blind spot radar; and to control the current macro-pixel set to receive the target echo corresponding to the target laser beam, thereby obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information; the target echo is the reflected beam of the target laser beam in the current space.

[0054] The synchronization control module is used to control the synchronization of the main radar and the blind spot radar point cloud based on the current point cloud azimuth information and the current point cloud information.

[0055] The lidar point cloud synchronization method and apparatus provided in this application have the following technical effects:

[0056] This application obtains the current point cloud azimuth information corresponding to the current space obtained from the main radar scan; then, based on the preset azimuth information and the current point cloud azimuth information, it determines the current macro-pixel set corresponding to the current point cloud azimuth information. The preset azimuth information represents the correspondence between the point cloud azimuth information and the macro-pixels, and the current macro-pixel set is the set of macro-pixels corresponding to the current point cloud azimuth information; then, based on the preset array mapping information, it controls the current laser emitter corresponding to the current macro-pixel set to emit a target laser beam. The preset array mapping information represents the correspondence between the laser emitter in the blind spot radar and the macro-pixels; then, it controls the current macro-pixel set to receive the target echo corresponding to the target laser beam, thereby obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information; then, based on the current point cloud azimuth information and the current point cloud information, it controls the main radar and the blind spot radar point cloud to synchronize, which can realize the point cloud synchronization between the blind spot radar and the main radar, thereby improving the accuracy of the point cloud fusion between the blind spot radar and the main radar, thereby improving the accuracy of environmental perception of autonomous vehicles, and thus improving the driving safety of autonomous vehicles. Attached Figure Description

[0057] To more clearly illustrate the technical solutions and advantages in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a flowchart illustrating a lidar point cloud synchronization method provided in an embodiment of this application;

[0059] Figure 2 This is a flowchart illustrating a method for determining preset azimuth mapping information provided in an embodiment of this application;

[0060] Figure 3 This is a schematic diagram of the structure of a lidar point cloud synchronization device provided in an embodiment of this application. Detailed Implementation

[0061] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0062] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0063] Figure 1This is a flowchart illustrating a lidar point cloud synchronization method provided in an embodiment of this application. This specification provides the method operation steps as shown in the embodiments or flowcharts, but based on conventional or non-inventive methods, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only possible execution order. In actual system or server product execution, the method can be executed sequentially according to the embodiments or drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment). Specifically, as shown... Figure 1 As shown, the above method may include:

[0064] S101: Obtain the current point cloud azimuth information corresponding to the current space obtained from the main radar scan;

[0065] In one specific embodiment, the main radar is a radar with advantages such as a large horizontal field of view and long-range measurement. Optionally, the main radar can be configured according to actual application requirements; specifically, the main radar can be a mechanical scanning radar or a rotating mirror scanning radar. The current space is the space scanned by the main radar within its field of view; optionally, the current space can be the environment in which the vehicle is currently driving. Specifically, the current space can be determined based on the actual environmental space. The current point cloud azimuth information is the azimuth information of the current point cloud corresponding to the current space obtained by the main radar scan; optionally, the current point cloud azimuth information includes the horizontal and vertical azimuth information of the current point cloud.

[0066] S103: Based on the preset azimuth mapping information and the current point cloud azimuth information, determine the current macro pixel set corresponding to the current point cloud azimuth information;

[0067] In one specific embodiment, the preset azimuth mapping information represents the correspondence between the point cloud azimuth information and macropixels. The current macropixel set is the set of macropixels in the blind spot radar that correspond to the current point cloud azimuth information; the macropixel consists of a preset number of photon detectors, and is used to receive and process the detected optical signals. Optionally, the macropixel may consist of 3*3 photon detectors.

[0068] In an optional embodiment, Figure 2 This is a flowchart illustrating a method for determining preset azimuth mapping information provided in an embodiment of this application, as shown below. Figure 2 As shown, the above-mentioned preset azimuth mapping information is determined in the following way:

[0069] S2001: Obtain the echo point coordinate information corresponding to the echo point on each macro pixel in the blind spot radar, as well as multiple point cloud information corresponding to the target space obtained based on the main radar scan;

[0070] S2003: Based on multiple point cloud coordinate information and the coordinate information of each echo point, determine the point cloud corresponding to each echo point;

[0071] S2005: Generate preset azimuth mapping information based on the macro-pixel corresponding to each echo point and the point cloud azimuth information of the point cloud corresponding to each echo point.

[0072] In one specific embodiment, the blind spot radar is a radar with characteristics such as high resolution, large vertical field of view, and short range. Optionally, the blind spot radar can be configured according to actual application requirements; specifically, the blind spot radar can be a solid-state flash radar. The echo point is the reflection point on the macropixel corresponding to the echo emitted by the laser emitter into the target space within the blind spot radar's field of view. The echo point coordinate information is the coordinate information of the echo point corresponding to the target space obtained from the blind spot radar scan. Optionally, the echo point is the reflection point on the macropixel corresponding to the echo emitted by the laser emitter into the target space within the blind spot radar's field of view, reflected from the target space into the macropixel, and detected by the macropixel. The point cloud information is the information of the point cloud corresponding to the target space obtained from the main radar scan; optionally, the point cloud information includes point cloud coordinate information and point cloud azimuth information.

[0073] Optionally, the aforementioned echo points and point clouds are obtained by scanning the same spatial environment within the respective fields of view of the gap-filling radar and the main radar. The target space is the same space scanned by the gap-filling radar and the main radar within their respective fields of view. Optionally, the target space can be a simple environmental space, such as a closed, open indoor space. In this embodiment, the target space is not limited to a closed, open indoor space, but can also be a specific outdoor environment; optionally, the target space can be set according to actual application requirements. Optionally, the point cloud corresponding to each echo point is the point cloud whose distance to the echo point is less than a preset distance; specifically, the point cloud corresponding to each echo point is the point cloud closest to the echo point.

[0074] In one specific embodiment, the echo point coordinate information corresponding to the echo point on each macropixel in the blind spot radar is obtained, as well as multiple point cloud information corresponding to the target space obtained based on the main radar scan; then, based on the multiple point cloud coordinate information and the coordinate information of each echo point, the point cloud corresponding to each echo point is determined. Optionally, based on the multiple point cloud coordinate information and the coordinate information of each echo point, the point cloud coordinate information closest to each echo point coordinate information is determined. Each echo point coordinate information has a corresponding echo point, and each point cloud coordinate information has a corresponding point cloud, thereby determining each... The point cloud corresponding to the echo point is determined, that is, the point cloud closest to the echo point. Then, based on the macro-pixel corresponding to each echo point and the point cloud azimuth information of the point cloud corresponding to each echo point, preset azimuth mapping information is generated. Optionally, each echo point has a corresponding macro-pixel and a corresponding point cloud. The point cloud information includes point cloud coordinate information and point cloud azimuth information. Thus, the macro-pixel corresponding to the echo point and the point cloud corresponding to the echo point can be correlated, and consequently, the macro-pixel corresponding to the echo point and the point cloud azimuth information of the point cloud corresponding to the echo point can be correlated, generating the preset azimuth mapping information. Based on the preset azimuth mapping information, the macro-pixel corresponding to the point cloud azimuth information can be determined, that is, the row and column index of the macro-pixel corresponding to the point cloud azimuth information in the blind spot radar's receiving module can be determined. This receiving module can be a macro-pixel array. Optionally, if the preset azimuth mapping information has been determined, and the relative position or relative angle between the main radar and the blind-filling radar has not changed, then it is not necessary to redetermine the preset azimuth mapping information; if the relative position or relative angle between the main radar and the blind-filling radar has changed, then it is necessary to redetermine the preset azimuth mapping information.

[0075] In an optional embodiment, the echo point coordinate information corresponding to the echo point on each macropixel in the above-mentioned blind spot radar is determined in the following way:

[0076] Control the laser emitter in the blind spot radar that corresponds to a specified macro pixel to emit a laser beam;

[0077] Control the designated macropixel to receive the echo corresponding to the laser beam;

[0078] Based on the electrical signal converted by the echo at a specified macro pixel, determine the echo point corresponding to the specified macro pixel and the echo point coordinate information corresponding to the echo point.

[0079] In one specific embodiment, the echo is the reflected beam emitted by a laser emitter into the target space within the field of view of the blind spot radar, reflected from the target space to the macro-pixel, and detected by the macro-pixel. Optionally, the macro-pixel is designated as the macro-pixel that needs to receive the echo; the designated macro-pixel can be set according to actual application requirements.

[0080] In one specific embodiment, in the aforementioned target space, the laser emitter corresponding to a designated macropixel in the blind spot radar is controlled to emit a laser beam; the designated macropixel then receives the echo corresponding to the laser beam; and based on the electrical signal converted from the echo at the designated macropixel, the echo point corresponding to the designated macropixel and the echo point coordinate information corresponding to the echo point are determined. Optionally, the echo point corresponding to the designated macropixel and the echo point coordinate information corresponding to the echo point are determined based on the electrical signal output from the optical signal conversion at the designated macropixel. Optionally, by superimposing multiple exposures, that is, by controlling the laser emitter in the blind spot radar to emit laser beams and the macropixel to receive echoes multiple times, the signal strength can be increased, making the detection results of the echo point coordinate information more accurate and reliable.

[0081] In an optional embodiment, the laser emitter corresponding to the designated macropixel in the above-described blind spot radar emits a laser beam, including:

[0082] When the macro pixels are specified as all macro pixels in the receiving module of the blind spot radar, the laser emitters corresponding to all macro pixels are controlled to emit laser beams based on the preset array mapping information and preset emission order.

[0083] The echo corresponding to the laser beam received by the specified macropixel mentioned above includes:

[0084] Based on preset array mapping information and preset receiving order, the macro-pixels corresponding to the laser emitter that emits the laser beam are controlled to receive the echo corresponding to the laser beam until all macro-pixels receive the echo corresponding to the laser beam.

[0085] or,

[0086] The laser beam emitted by the laser emitter corresponding to the designated macropixel in the aforementioned blind spot control radar includes:

[0087] When a macropixel is designated as a target macropixel in the receiving module of a blind spot radar, the target laser emitter corresponding to the target macropixel emits a laser beam based on preset array mapping information and preset transmission sequence; the target macropixel includes at least one macropixel.

[0088] The echo corresponding to the laser beam received by the specified macropixel mentioned above includes:

[0089] Based on preset array mapping information and preset receiving order, the macro-pixel corresponding to the laser emitter that emits the laser beam is controlled to receive the echo corresponding to the laser beam until the target macro-pixel receives the echo corresponding to the laser beam.

[0090] In one specific embodiment, preset array mapping information characterizes the correspondence between laser emitters and macropixels in the blind spot radar. The preset transmission order controls the order in which the laser emitters emit laser beams; optionally, the preset transmission order includes controlling the laser emitters to emit laser beams sequentially, controlling the laser emitters to emit laser beams row-wise, and controlling the laser emitters to emit laser beams column-wise. The preset reception order controls the order in which the macropixels receive echoes; optionally, the preset reception order includes controlling the macropixels to receive echoes sequentially, controlling the macropixels to receive echoes row-wise, and controlling the macropixels to receive echoes column-wise.

[0091] In one specific embodiment, when the designated macropixels are all macropixels in the receiving module of the blind spot radar, all laser emitters corresponding to all macropixels are controlled to emit laser beams based on preset array information and preset transmission order. Optionally, the correspondence between all macropixels and all laser emitters is determined based on the preset array information, thereby determining the laser emitter corresponding to the macropixel that needs to receive the echo. The transmission order of all laser emitters is determined based on the preset transmission order. Then, based on the preset array mapping information and preset receiving order, the macropixels corresponding to the laser emitters that emit the laser beams are controlled to receive the echoes corresponding to the laser beams, until all macropixels receive the echoes corresponding to the laser beams. Optionally, the macropixels corresponding to the laser emitters that emit the laser beams are determined based on the preset array information. The receiving order of the macropixels corresponding to the laser emitters that emit the laser beams is determined based on the preset receiving order, until each macropixel in all macropixels receives the echo corresponding to the laser beam, thereby determining the echo point corresponding to each macropixel.

[0092] In a specific embodiment, when the macropixel is designated as the target macropixel in the receiving module of the blind spot radar, the target laser emitter corresponding to the target macropixel is controlled to emit a laser beam based on preset array information and preset transmission order. Optionally, the target macropixel can be a macropixel that needs to receive echoes. Optionally, the target macropixel includes at least one macropixel. Specifically, the target macropixel can be set according to actual application requirements. Optionally, the correspondence between the target macropixel and the target laser emitter is determined based on the preset array information, thereby determining the laser emitter corresponding to the macropixel that needs to receive echoes. The transmission order of the target laser emitter is determined based on the preset transmission order. Then, based on the preset array mapping information and preset receiving order, the macropixel corresponding to the laser emitter emitting the laser beam is controlled to receive the echo corresponding to the laser beam until the target macropixel receives the echo corresponding to the laser beam. Optionally, the macropixel corresponding to the laser emitter emitting the laser beam is determined based on the preset array information. The receiving order of the macropixels corresponding to the laser emitter emitting the laser beam is determined based on the preset receiving order until each macropixel in the target macropixel receives the echo corresponding to the laser beam, thereby determining the echo point corresponding to each macropixel.

[0093] In an optional embodiment, the aforementioned preset array mapping information is determined in the following manner:

[0094] Obtain the first distribution number of laser emitters in the transmitting module of the blind spot radar and the second distribution number of macropixels in the receiving module;

[0095] Based on the first and second distribution quantities, the emission optical path of the laser emitter and the echo optical path of the macropixel are calibrated to generate preset array mapping information.

[0096] In one specific embodiment, the laser emitter is used to emit laser beams, and each laser emitter is independently addressable, enabling the determination of the laser emitter corresponding to each laser beam. Optionally, the laser emitter can be configured according to actual application requirements. Specifically, the laser emitter can be a VCSEL (Vertical-Cavity Surface-Emitting Laser). Optionally, the transmitting module of the blind spot radar is a laser emitter array composed of a certain number of laser emitters arranged in both the horizontal and vertical directions. The receiving module of the blind spot radar is a macropixel array composed of a certain number of photon detectors arranged in both the horizontal and vertical directions. Optionally, multiple photon detectors are generally selected to form a macropixel, which is the smallest unit for receiving and processing optical signals. Optionally, 3*3 or 6*6 photon detectors are generally selected as macropixels. Specifically, the number of photon detectors constituting a macropixel can be configured according to actual application requirements. Optionally, the photon detector can be configured according to actual application requirements. Specifically, the photon detector can be a SPAD (Single Photon Avalanche Diode).

[0097] In one specific embodiment, the preset array mapping information includes not only the correspondence between the number of laser emitters and macropixels, but also the correspondence between the positions of laser emitters and macropixels. Optionally, the preset array mapping information is generally determined when the blind spot radar leaves the factory.

[0098] In an optional embodiment, the above-mentioned optical path calibration of the laser emitter's emission optical path and the macro-pixel's echo optical path based on the first distribution quantity and the second distribution quantity, and the generation of preset array mapping information, includes:

[0099] When the number of the first distribution is equal to the number of the second distribution, the optical path of the laser emitter and the echo optical path of the macropixel are calibrated to obtain the correspondence between a single laser emitter and a single macropixel. The correspondence between a single laser emitter and a single macropixel is used as the preset array mapping information.

[0100] When the number of the first distribution is less than the number of the second distribution, the optical path of the laser emitter and the echo optical path of the macropixel are calibrated to obtain the correspondence between a single laser emitter and multiple macropixels. The correspondence between a single laser emitter and multiple macropixels is used as the preset array mapping information.

[0101] When the number of the first distribution is greater than the number of the second distribution, the optical path of the laser emitter and the echo optical path of the macropixel are calibrated to obtain the correspondence between multiple laser emitters and a single macropixel. The correspondence between multiple laser emitters and a single macropixel is used as the preset array mapping information.

[0102] In one specific embodiment, optical path calibration of the emission optical path of the laser emitter and the echo optical path of the macropixel can determine the optical path correspondence between the laser emitter and the macropixel, thereby determining the correspondence between the laser emitter and the macropixel. Optionally, the laser emitter array consists of a certain number of laser emitters arranged in m rows horizontally and n columns vertically; the macropixel array consists of a certain number of photon detectors arranged in m rows horizontally and n columns vertically; the correspondence between a single laser emitter and a single macropixel is that the laser emitter at (i, j) corresponds to the macropixel at (i, j). Optionally, the laser emitter array consists of a certain number of laser emitters arranged in m horizontal rows and n vertical columns; the macropixel array consists of a certain number of photon detectors arranged in 2m horizontal rows and 2n vertical columns; when the correspondence between a single laser emitter and multiple macropixels is the same as the correspondence between a single laser emitter and four macropixels, the correspondence between a single laser emitter and four macropixels is that the laser emitter at (i, j) corresponds to the macropixel at (2i-1, 2j-1), (2i-1, 2j), (2i, 2j-1), and (2i, 2j). Optionally, the laser emitter array consists of a certain number of laser emitters arranged in 2m horizontal rows and 2n vertical columns; the macropixel array consists of a certain number of photon detectors arranged in m horizontal rows and n vertical columns; when the correspondence between multiple laser emitters and a single macropixel is the same as that between four laser emitters and a single macropixel, the correspondence between the four laser emitters and a single macropixel is that the laser emitters at (2i-1, 2j-1), (2i-1, 2j), (2i, 2j-1), and (2i, 2j) correspond to the macropixel at (i, j).

[0103] In one specific embodiment, when the macro pixels are all the macro pixels in the receiving module of the blind spot radar, based on the preset array information which is the correspondence between a single laser emitter and a single macro pixel, the single laser emitter corresponding to each macro pixel in all the macro pixels is sequentially controlled to emit a laser beam, and the single macro pixel corresponding to the single laser emitter that emitted the laser beam is controlled to receive the echo corresponding to the laser beam; until each macro pixel in all the macro pixels receives the echo.

[0104] Optionally, the laser emitter corresponding to each row of macro pixels in all macro pixels is controlled to emit a laser beam, and the macro pixels corresponding to each row of laser emitters that emit the laser beam are controlled to receive the echo corresponding to the laser beam sequentially or receive the echo corresponding to the laser beam row by row; until every macro pixel in all macro pixels has received an echo.

[0105] Optionally, the laser emitter corresponding to each column of macro pixels in each row of all macro pixels is controlled to emit a laser beam, and each column of macro pixels corresponding to each column of laser emitter is controlled to receive the echo corresponding to the laser beam sequentially or receive the echo corresponding to the laser beam column by column; until every macro pixel in all macro pixels receives an echo.

[0106] In one specific embodiment, when the macro pixels are designated as all macro pixels in the receiving module of the blind spot radar, based on the preset array information which is the correspondence between a single laser emitter and multiple macro pixels, the single laser emitter corresponding to each of the multiple macro pixels is sequentially controlled to emit a laser beam, and the multiple macro pixels corresponding to the single laser emitter emitting the laser beam are controlled to sequentially receive the echo corresponding to the laser beam, or receive the echo corresponding to the laser beam row by row, or receive the echo corresponding to the laser beam column by column; until every macro pixel in all macro pixels receives an echo.

[0107] Optionally, the laser emitter corresponding to each row of multiple macro pixels in each row of all macro pixels is controlled to emit a laser beam, and the multiple macro pixels corresponding to each row of laser emitters that emit the laser beam are controlled to receive the echo corresponding to the laser beam in sequence, or receive the echo corresponding to the laser beam row by row, or receive the echo corresponding to the laser beam column by column; until every macro pixel in all macro pixels has received an echo.

[0108] Optionally, the laser emitter corresponding to each column of macro pixels in each row of all macro pixels is controlled to emit laser beams, and the multiple macro pixels corresponding to each column of laser emitters that emit laser beams are controlled to receive the echo corresponding to the laser beams in sequence, or receive the echo corresponding to the laser beams row by row, or receive the echo corresponding to the laser beams column by column; until every macro pixel in all macro pixels has received an echo.

[0109] In one specific embodiment, when the macro pixels are all the macro pixels in the receiving module of the blind spot radar, based on the preset array information which is the correspondence between multiple laser emitters and a single macro pixel, the multiple laser emitters corresponding to each macro pixel in all the macro pixels are controlled to emit laser beams simultaneously, and the single macro pixels corresponding to the multiple laser emitters that emit the laser beams are controlled to receive the echo corresponding to the laser beams; until each macro pixel in all the macro pixels receives the echo.

[0110] Optionally, multiple laser emitters corresponding to each macro pixel in each row of all macro pixels can be controlled to simultaneously emit laser beams, and each row of macro pixels corresponding to the multiple laser emitters emitting the laser beams can be controlled to receive the echo corresponding to the laser beams sequentially or receive the echo corresponding to the laser beams row by row; until every macro pixel in all macro pixels has received an echo.

[0111] Optionally, multiple laser emitters corresponding to each macro pixel in each column of all macro pixels can be controlled to simultaneously emit laser beams, and each column of macro pixels corresponding to the multiple laser emitters emitting the laser beams can be controlled to receive the echo corresponding to the laser beams sequentially or column by column; until every macro pixel in all macro pixels has received an echo.

[0112] Optionally, when the specified macropixel is the target macropixel in the receiving module of the blind spot radar, based on preset array information and preset transmission order, the target laser emitter corresponding to the target macropixel is controlled to emit a laser beam; then, based on preset array mapping information and preset receiving order, the macropixel corresponding to the laser emitter emitting the laser beam is controlled to receive the echo corresponding to the laser beam, until the target macropixel receives the echo corresponding to the laser beam. For a more detailed explanation of this, see the above-described explanation of controlling all laser emitters corresponding to all macropixels to emit laser beams based on preset array information and preset transmission order when the specified macropixel is all macropixels in the receiving module of the blind spot radar; then, based on preset array mapping information and preset receiving order, controlling the macropixel corresponding to the laser emitter emitting the laser beam to receive the echo corresponding to the laser beam, until all macropixels receive the echo corresponding to the laser beam. This will not be elaborated further here.

[0113] S105: Based on preset array mapping information, control the current laser emitter corresponding to the current macro-pixel set to emit the target laser beam;

[0114] S107: Control the current macro-pixel set to receive the target echo corresponding to the target laser beam, and obtain the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information;

[0115] In one specific embodiment, the preset array mapping information characterizes the correspondence between laser emitters and macropixels in the blind-filling radar; the target echo is the reflected beam of the target laser beam in the current space. Optionally, the specific details of the preset array mapping information are described above and will not be repeated here. Optionally, the target echo is the reflected beam detected by the current macropixel set after the laser beam emitted by the current laser emitter into the current space is reflected from the current space into the current macropixel set within the field of view of the blind-filling radar. Optionally, the current laser emitter includes at least one laser emitter. The current point cloud information is the point cloud information corresponding to the current space and the current point cloud azimuth information obtained based on the blind-filling radar scan.

[0116] In an optional embodiment, the above-mentioned control of the current laser emitter corresponding to the current macro-pixel set to emit the target laser beam based on preset array mapping information includes:

[0117] Given a preset array mapping information that establishes a correspondence between a single laser emitter and a single macropixel, the system controls the single laser emitter corresponding to each macropixel in the current macropixel set to emit the target laser beam based on a preset emission order. The preset emission order includes controlling the single laser emitters to emit the target laser beam sequentially.

[0118] The above-mentioned control of the current macro-pixel set to receive the target echo corresponding to the target laser beam, obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information, includes:

[0119] A single macropixel corresponding to a single laser emitter that controls and emits a target laser beam receives the target echo;

[0120] If every macro pixel in the current macro pixel set receives the target echo, the current point cloud information is generated based on the target echo received by each macro pixel in the current macro pixel set.

[0121] In one specific embodiment, given that the preset array mapping information corresponds to a single laser emitter and a single macropixel, the single laser emitter corresponding to each macropixel in the current macropixel set is sequentially controlled to emit a target laser beam; then, the single macropixel corresponding to the single laser emitter emitting the target laser beam is controlled to receive the target echo. Optionally, the (i,j)th laser emitter corresponding to the (i,j)th macropixel is controlled to emit the target laser beam, and the (i,j)th macropixel corresponding to the (i,j)th laser emitter emitting the target laser beam is controlled to receive the target echo; after the (i,j)th laser emitter emits the target laser beam and the (i,j)th macropixel has received the target echo, the (i,j+1)th laser emitter corresponding to the next single macropixel, i.e., the (i,j+1)th macropixel, is controlled to emit the target laser beam, and the (i,j+1)th macropixel corresponding to the (i,j+1)th laser emitter emitting the target laser beam is controlled to receive the target echo, and so on, until each macropixel in the current macropixel set has received the target echo. Sequentially controlling the laser emitter to emit laser beams can reduce interference and power loss. Optionally, the laser emitter's emission and macropixel reception settings can be tailored to the specific application requirements.

[0122] In an optional embodiment, the above-mentioned control of the current laser emitter corresponding to the current macro-pixel set to emit the target laser beam based on preset array mapping information includes:

[0123] Given a preset array mapping information that corresponds to a single laser emitter and multiple macro pixels, based on a preset emission order, the system controls the single laser emitter corresponding to each set of macro pixels in the current macro pixel set to emit the target laser beam; the preset emission order includes controlling the single laser emitter to emit the target laser beam sequentially.

[0124] The above-mentioned control of the current macro-pixel set to receive the target echo corresponding to the target laser beam, obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information, includes:

[0125] Based on a preset receiving order, multiple macro pixels corresponding to a single laser emitter that emits a target laser beam are controlled to receive the target echo; the preset receiving order includes controlling multiple macro pixels to receive the target echo, controlling multiple macro pixels to receive the target echo by row, and controlling multiple macro pixels to receive the target echo by column.

[0126] If every macro-pixel in the current macro-pixel set receives the target echo, the current point cloud information is generated based on the target echo received by every macro-pixel in the current macro-pixel set.

[0127] In a specific embodiment, when the preset array mapping information is a correspondence between a single laser emitter and multiple macro pixels, the single laser emitter corresponding to each set of macro pixels in the current macro pixel set is sequentially controlled to emit a target laser beam; then, the multiple macro pixels corresponding to the single laser emitter emitting the target laser beam are controlled to receive the target echo. Optionally, the (i,j)th laser emitter corresponding to the (2i-1, 2j-1), (2i-1, 2j), (2i, 2j-1), and (2i, 2j)th macro pixels is controlled to emit the target laser beam, and the (2i-1, 2j-1), (2i-1, 2j), (2i, 2j-1), and (2i, 2j)th macro pixels corresponding to the (i,j)th laser emitter emitting the target laser beam are controlled to sequentially receive the target echo, or The operator controls the (2i-1, 2j-1), (2i-1, 2j), (2i, 2j-1), and (2i, 2j) macropixels corresponding to the (i, j) laser emitter that emits the target laser beam to receive the target echo row by row, or controls the (2i-1, 2j-1), (2i-1, 2j), (2i, 2j-1), and (2i, 2j) macropixels corresponding to the (i, j) laser emitter that emits the target laser beam to receive the target echo column by column. Receive target echo; after the target laser beam is emitted by the (i, j)th laser emitter and the target laser beam is received by the (2i-1, 2j-1), (2i-1, 2j), (2i, 2j-1) and (2i, 2j) macro pixels, the target laser beam is emitted by the single laser emitter corresponding to the next set of macro pixels, namely the (i, j+1)th laser emitter. The target laser beam is emitted by the single laser emitter that emitted the target laser beam, namely the (i, j+1)th laser emitter. The target laser beam is received by the target laser beam, and the target laser beam is received by the target laser beam, namely the (2i-1, 2j+1), (2i-1, 2j+2), (2i, 2j+1) and (2i, 2j+2) macro pixels corresponding to the single laser emitter that emitted the target laser beam, namely the (i, j+1)th laser emitter. This process continues until every macro pixel in the current set of macro pixels has received the target laser beam. Optionally, the emission of the laser emitter and the reception of the macropixels can be determined based on the specific application.

[0128] In an optional embodiment, the above-mentioned control of the current laser emitter corresponding to the current macro-pixel set to emit the target laser beam based on preset array mapping information includes:

[0129] Given a preset array mapping information that corresponds to multiple laser emitters and a single macropixel, based on a preset emission order, multiple laser emitters corresponding to each macropixel in the current macropixel set are controlled to simultaneously emit target laser beams; the preset emission order includes sequentially controlling multiple laser emitters to simultaneously emit target laser beams.

[0130] The above-mentioned control of the current macro-pixel set to receive the target echo corresponding to the target laser beam, obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information, includes:

[0131] A single macropixel corresponding to multiple laser emitters that control and emit target laser beams receives the target echo;

[0132] If every macro pixel in the current macro pixel set receives the target echo, the current point cloud information is generated based on the target echo received by each macro pixel in the current macro pixel set.

[0133] In one specific embodiment, when the preset array mapping information is a correspondence between multiple laser emitters and a single macropixel, the multiple laser emitters corresponding to each macropixel in the current macropixel set are sequentially controlled to simultaneously emit the target laser beam; then the single macropixel corresponding to the multiple laser emitters emitting the target laser beam is controlled to receive the target echo. Optionally, the target laser beam is simultaneously emitted by the laser emitters (2i-1, 2j-1), (2i-1, 2j), (2i, 2j-1), and (2i, 2j) corresponding to the (i, j) macro-pixel, and the target laser echo is received by the macro-pixel corresponding to the laser emitters (2i-1, 2j-1), (2i-1, 2j), (2i, 2j-1), and (2i, 2j) simultaneously emitted by the laser emitters (2i-1, 2j-1), (2i-1, 2j), (2i, 2j-1), and (2i, 2j) simultaneously; and the target laser beam is received by the macro-pixel (i, j) after the target echo is received. In this case, the system controls multiple laser emitters corresponding to the next single macropixel (i, j+1), namely the laser emitters at (2i-1, 2j+1), (2i-1, 2j+2), (2i, 2j+1), and (2i, 2j+2), to simultaneously emit the target laser beam. The system then controls the single macropixel corresponding to each of these laser emitters (i, j+1) to receive the target echo, and so on, until every macropixel in the current macropixel set has received the target echo. Optionally, the laser emitter emission and macropixel reception settings are determined based on the specific application requirements.

[0134] S109: Based on the current point cloud azimuth information and the current point cloud information, control the synchronization of the point cloud of the main radar and the blind spot radar.

[0135] In one specific embodiment, the point clouds of the main radar and the blind-filling radar are synchronized based on the current point cloud azimuth information and the corresponding current point cloud information. The aforementioned current point cloud information refers to the point cloud information of the blind-filling radar at the same time and angle as the current point cloud azimuth information of the main radar. Through the above embodiments of this application, the point clouds of the blind-filling radar and the main radar can achieve spatiotemporal synchronization of azimuth angle, thereby achieving better results in the multi-radar point cloud fusion stage and improving the accuracy of multi-radar point cloud fusion.

[0136] As can be seen from the technical solutions provided in the embodiments of this specification above, this specification obtains the current point cloud azimuth information corresponding to the current space obtained from the main radar scan; then, based on the preset azimuth information and the current point cloud azimuth information, it determines the current macro-pixel set corresponding to the current point cloud azimuth information. The preset azimuth information represents the correspondence between the point cloud azimuth information and the macro-pixels, and the current macro-pixel set is the set of macro-pixels corresponding to the current point cloud azimuth information; then, based on the preset array mapping information, it controls the current laser emitter corresponding to the current macro-pixel set to emit a target laser beam. The preset array mapping information represents the correspondence between the laser emitter and macropixels in the blind spot radar; then, it controls the current macropixel set to receive the target echo corresponding to the target laser beam, and obtains the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information; then, based on the current point cloud azimuth information and the current point cloud information, it controls the synchronization of the point clouds of the main radar and the blind spot radar, which can realize the synchronization of the point clouds of the blind spot radar and the main radar, thereby improving the accuracy of the point cloud fusion of the blind spot radar and the main radar, thereby improving the accuracy of the environmental perception of autonomous vehicles, and thus improving the driving safety of autonomous vehicles.

[0137] This application also provides a lidar point cloud synchronization device, correspondingly... Figure 3 This is a schematic diagram of the structure of a lidar point cloud synchronization device provided in an embodiment of this application; as shown below. Figure 3 As shown, the above-mentioned device includes:

[0138] The information acquisition module 310 is used to acquire the current point cloud azimuth information corresponding to the current space obtained from the main radar scan;

[0139] The information matching module 320 is used to determine the current macro-pixel set corresponding to the current point cloud azimuth information based on preset azimuth mapping information and the current point cloud azimuth information; the preset azimuth mapping information represents the correspondence between the point cloud azimuth information and the macro-pixels; the current macro-pixel set is the set of macro-pixels in the blind spot radar that correspond to the current point cloud azimuth information; the macro-pixel is composed of a preset number of photon detectors, and the macro-pixel is used to receive and process the detected light signals;

[0140] The radar control module 330 is used to control the current laser emitter corresponding to the current macro-pixel set to emit a target laser beam based on preset array mapping information; the preset array mapping information represents the correspondence between the laser emitter and the macro-pixel in the blind spot radar; and to control the current macro-pixel set to receive the target echo corresponding to the target laser beam to obtain the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information; the target echo is the reflected beam of the target laser beam in the current space.

[0141] The synchronization control module 340 is used to control the synchronization of the main radar and the blind spot radar point cloud based on the current point cloud azimuth information and the current point cloud information.

[0142] In an optional embodiment, the radar control module 330 includes:

[0143] A first radar control unit is configured to, when the preset array mapping information is a correspondence between a single laser emitter and a single macropixel, control the single laser emitter corresponding to each macropixel in the current macropixel set to emit the target laser beam based on a preset emission sequence; the preset emission sequence includes sequentially controlling the single laser emitters to emit the target laser beam; controlling the single macropixel corresponding to the single laser emitter emitting the target laser beam to receive the target echo; and, when each macropixel in the current macropixel set receives the target echo, generating the current point cloud information based on the target echo received by each macropixel in the current macropixel set.

[0144] In an optional embodiment, the radar control module 330 includes:

[0145] The second radar control unit is configured to, when the preset array mapping information is a correspondence between a single laser emitter and multiple macro pixels, control the single laser emitter corresponding to each of the multiple macro pixels in the current macro pixel set to emit the target laser beam based on a preset emission order; the preset emission order includes controlling the single laser emitter to emit the target laser beam sequentially; and to control the multiple macro pixels corresponding to the single laser emitter that emitted the target laser beam to receive the target echo based on a preset reception order; the preset reception order includes controlling the multiple macro pixels to receive the target echo, controlling the multiple macro pixels to receive the target echo row by row, and controlling the multiple macro pixels to receive the target echo column by column; and, when each of the multiple macro pixels in the current macro pixel set receives the target echo, to generate the current point cloud information based on the target echo received by each of the multiple macro pixels in the current macro pixel set.

[0146] In an optional embodiment, the radar control module 330 includes:

[0147] The third radar control unit is configured to, when the preset array mapping information is a correspondence between multiple laser emitters and a single macropixel, control multiple laser emitters corresponding to each macropixel in the current macropixel set to simultaneously emit the target laser beam based on a preset emission order; the preset emission order includes sequentially controlling the multiple laser emitters to simultaneously emit the target laser beam; controlling the single macropixel corresponding to the multiple laser emitters emitting the target laser beam to receive the target echo; and, when each macropixel in the current macropixel set receives the target echo, generating the current point cloud information based on the target echo received by each macropixel in the current macropixel set.

[0148] In an optional embodiment, the apparatus further includes:

[0149] The data acquisition module is used to acquire the echo point coordinate information corresponding to the echo point on each macropixel in the blind spot radar, and multiple point cloud information corresponding to the target space obtained based on the main radar scan; the echo point is the reflection point on the macropixel corresponding to the echo emitted by the laser emitter to the target space within the field of view of the blind spot radar; the echo point coordinate information is the coordinate information of the echo point corresponding to the target space obtained based on the blind spot radar scan; the point cloud information includes point cloud coordinate information and point cloud azimuth information.

[0150] The point cloud determination module is used to determine the point cloud corresponding to each echo point based on the multiple point cloud coordinate information and the coordinate information of each echo point; the point cloud corresponding to each echo point is a point cloud whose distance from the echo point is less than a preset distance;

[0151] The first information generation module is used to generate the preset azimuth mapping information based on the macro pixel corresponding to each echo point and the point cloud azimuth information of the point cloud corresponding to each echo point.

[0152] In an optional embodiment, the data acquisition module includes:

[0153] The radar transmit and receive control unit is used to control the laser emitter corresponding to the designated macropixel in the blind spot radar to emit a laser beam; and to control the designated macropixel to receive the echo corresponding to the laser beam.

[0154] The information determination unit is used to determine the echo point corresponding to the specified macro pixel and the echo point coordinate information corresponding to the echo point based on the electrical signal converted by the echo at the specified macro pixel.

[0155] In an optional embodiment, the radar transmit / receive control unit includes:

[0156] A first radar transmit / receive control subunit is configured to, when the designated macropixels are all macropixels in the receiving module of the blind spot radar, control all laser emitters corresponding to all macropixels to emit the laser beam based on the preset array mapping information and the preset transmission order; the preset transmission order includes controlling the laser emitters to emit the laser beam sequentially, controlling the laser emitters to emit the laser beam row-wise, and controlling the laser emitters to emit the laser beam column-wise; and based on the preset array mapping information and the preset receiving order, control the macropixels corresponding to the laser emitters that emitted the laser beam to receive the echo corresponding to the laser beam, until all macropixels receive the echo corresponding to the laser beam; the preset receiving order includes controlling the macropixels to receive the echo sequentially, controlling the macropixels to receive the echo row-wise, and controlling the macropixels to receive the echo column-wise.

[0157] The second radar transmit / receive control subunit is configured to, when the designated macropixel is a target macropixel in the receiving module of the blind spot radar, control the target laser emitter corresponding to the target macropixel to emit the laser beam based on the preset array mapping information and the preset transmission order; the target macropixel includes at least one macropixel; and control the macropixel corresponding to the laser emitter emitting the laser beam to receive the echo corresponding to the laser beam based on the preset array mapping information and the preset receiving order, until the target macropixel receives the echo corresponding to the laser beam.

[0158] In an optional embodiment, the apparatus further includes:

[0159] The data determination module is used to obtain the first distribution number of laser emitters in the transmitting module of the blind spot radar and the second distribution number of macro pixels in the receiving module;

[0160] The second information generation module is used to perform optical path calibration on the emission optical path of the laser emitter and the echo optical path of the macro-pixel based on the first distribution quantity and the second distribution quantity, and generate the preset array mapping information.

[0161] In an optional embodiment, the second information generation module includes:

[0162] The first information generation unit is used to perform optical path calibration on the emission optical path of the laser emitter and the echo optical path of the macro pixel when the first distribution quantity is equal to the second distribution quantity, to obtain the correspondence between a single laser emitter and a single macro pixel, and to use the correspondence between the single laser emitter and the single macro pixel as the preset array mapping information.

[0163] The second information generation unit is used to perform optical path calibration on the emission optical path of the laser emitter and the echo optical path of the macropixel when the first distribution quantity is less than the second distribution quantity, to obtain the correspondence between the single laser emitter and multiple macropixels, and to use the correspondence between the single laser emitter and multiple macropixels as the preset array mapping information.

[0164] The third information generation unit is used to perform optical path calibration on the emission optical path of the laser emitter and the echo optical path of the macro pixel when the first distribution number is greater than the second distribution number, to obtain the correspondence between multiple laser emitters and the single macro pixel, and to use the correspondence between multiple laser emitters and the single macro pixel as the preset array mapping information.

[0165] This application also provides an electronic device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The processor loads and executes the at least one instruction, at least one program, code set, or instruction set to implement the lidar point cloud synchronization method described above.

[0166] This application also provides a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the lidar point cloud synchronization method described above.

[0167] It is understood that in the specific implementation of this application, user-related data is involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0168] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0169] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device and server embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0170] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0171] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for synchronizing point clouds with lidar, characterized in that, The method includes: Obtain the azimuth information of the current point cloud corresponding to the current space obtained from the main radar scan; Based on preset azimuth mapping information and the current point cloud azimuth information, a current macro-pixel set corresponding to the current point cloud azimuth information is determined; the preset azimuth mapping information represents the correspondence between the point cloud azimuth information and the macro-pixels; the current macro-pixel set is the set of macro-pixels in the blind spot radar that correspond to the current point cloud azimuth information; the macro-pixel is composed of a preset number of photon detectors, and the macro-pixel is used to receive and process the detected light signals; Based on preset array mapping information, the current laser emitter corresponding to the current macro-pixel set is controlled to emit a target laser beam; the preset array mapping information represents the correspondence between the laser emitter and the macro-pixel in the blind spot radar. The current macro-pixel set is controlled to receive the target echo corresponding to the target laser beam, thereby obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information; the target echo is the reflected beam of the target laser beam in the current space; Based on the current point cloud azimuth information and the current point cloud information, the main radar and the blind spot radar point cloud are synchronized.

2. The lidar point cloud synchronization method according to claim 1, characterized in that, The step of controlling the current laser emitter corresponding to the current macro-pixel set to emit the target laser beam based on preset array mapping information includes: When the preset array mapping information corresponds to a single laser emitter and a single macropixel, based on a preset emission order, the single laser emitter corresponding to each macropixel in the current macropixel set is controlled to emit the target laser beam; the preset emission order includes controlling the single laser emitter to emit the target laser beam sequentially. The step of controlling the current macro-pixel set to receive the target echo corresponding to the target laser beam, and obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information, includes: A single macropixel corresponding to a single laser emitter that controls and emits the target laser beam receives the target echo; If each macro pixel in the current macro pixel set receives the target echo, the current point cloud information is generated based on the target echo received by each macro pixel in the current macro pixel set.

3. The lidar point cloud synchronization method according to claim 1, characterized in that, The step of controlling the current laser emitter corresponding to the current macro-pixel set to emit the target laser beam based on preset array mapping information includes: When the preset array mapping information is a correspondence between a single laser emitter and multiple macro pixels, based on a preset emission order, the single laser emitter corresponding to each set of multiple macro pixels in the current macro pixel set is controlled to emit the target laser beam; the preset emission order includes controlling the single laser emitter to emit the target laser beam sequentially. The step of controlling the current macro-pixel set to receive the target echo corresponding to the target laser beam, and obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information, includes: Based on a preset receiving order, multiple macro pixels corresponding to a single laser emitter that emits the target laser beam are controlled to receive the target echo; the preset receiving order includes controlling the multiple macro pixels to receive the target echo, controlling the multiple macro pixels to receive the target echo row by row, and controlling the multiple macro pixels to receive the target echo column by column. When each or more macro pixels in the current macro pixel set receives the target echo, the current point cloud information is generated based on the target echo received by each or more macro pixels in the current macro pixel set.

4. The lidar point cloud synchronization method according to claim 1, characterized in that, The step of controlling the current laser emitter corresponding to the current macro-pixel set to emit the target laser beam based on preset array mapping information includes: When the preset array mapping information is a correspondence between multiple laser emitters and a single macro pixel, based on a preset emission order, multiple laser emitters corresponding to each macro pixel in the current macro pixel set are controlled to simultaneously emit the target laser beam; the preset emission order includes sequentially controlling the multiple laser emitters to simultaneously emit the target laser beam. The step of controlling the current macro-pixel set to receive the target echo corresponding to the target laser beam, and obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information, includes: A single macropixel corresponding to one of the multiple laser emitters that control and emit the target laser beam receives the target echo; If each macro pixel in the current macro pixel set receives the target echo, the current point cloud information is generated based on the target echo received by each macro pixel in the current macro pixel set.

5. The lidar point cloud synchronization method according to claim 1, characterized in that, The preset azimuth mapping information is determined in the following way: The echo point coordinate information corresponding to the echo point on each macro pixel in the blind spot radar is obtained, as well as multiple point cloud information corresponding to the target space obtained based on the main radar scan; The echo point is the reflection point on the macropixel corresponding to the echo emitted by the laser emitter into the target space within the field of view of the blind spot radar; the echo point coordinate information is the coordinate information of the echo point corresponding to the target space obtained by the blind spot radar scanning; the point cloud information includes point cloud coordinate information and point cloud azimuth information. Based on the multiple point cloud coordinate information and the coordinate information of each echo point, the point cloud corresponding to each echo point is determined; the point cloud corresponding to each echo point is a point cloud whose distance from the echo point is less than a preset distance; Based on the macro-pixel corresponding to each echo point and the point cloud azimuth information of the point cloud corresponding to each echo point, the preset azimuth mapping information is generated.

6. The lidar point cloud synchronization method according to claim 5, characterized in that, The echo point coordinates corresponding to the echo point on each macropixel in the blind spot radar are determined in the following way: Control the laser emitter in the blind spot radar corresponding to the specified macro pixel to emit a laser beam; Control the designated macropixel to receive the echo corresponding to the laser beam; Based on the electrical signal converted by the echo at the specified macro pixel, the echo point corresponding to the echo at the specified macro pixel and the echo point coordinate information corresponding to the echo point are determined.

7. The lidar point cloud synchronization method according to claim 6, characterized in that, The process of controlling the laser emitter corresponding to the specified macro pixel in the blind spot radar to emit a laser beam includes: When the specified macro-pixels are all the macro-pixels in the receiving module of the blind spot radar, based on the preset array mapping information and the preset transmission order, all laser emitters corresponding to all the macro-pixels are controlled to emit the laser beam; the preset transmission order includes controlling the laser emitters to emit the laser beam sequentially, controlling the laser emitters to emit the laser beam row by row, and controlling the laser emitters to emit the laser beam column by column. The step of controlling the designated macropixel to receive the echo corresponding to the laser beam includes: Based on the preset array mapping information and preset receiving order, the macro pixels corresponding to the laser emitter that emits the laser beam are controlled to receive the echo corresponding to the laser beam until all macro pixels receive the echo corresponding to the laser beam; the preset receiving order includes controlling the macro pixels to receive the echo sequentially, controlling the macro pixels to receive the echo row by row, and controlling the macro pixels to receive the echo column by column. or, The process of controlling the laser emitter corresponding to the specified macro pixel in the blind spot radar to emit a laser beam includes: When the designated macropixel is a target macropixel in the receiving module of the blind spot radar, the target laser emitter corresponding to the target macropixel is controlled to emit the laser beam based on the preset array mapping information and the preset emission sequence; the target macropixel includes at least one macropixel; The step of controlling the designated macropixel to receive the echo corresponding to the laser beam includes: Based on the preset array mapping information and the preset receiving order, the macro-pixel corresponding to the laser emitter that emits the laser beam is controlled to receive the echo corresponding to the laser beam until the target macro-pixel receives the echo corresponding to the laser beam.

8. The lidar point cloud synchronization method according to any one of claims 1 to 7, characterized in that, The preset array mapping information is determined in the following way: Obtain the first distribution number of laser emitters in the transmitting module and the second distribution number of macropixels in the receiving module of the blind spot radar; Based on the first distribution quantity and the second distribution quantity, optical path calibration is performed on the emission optical path of the laser emitter and the echo optical path of the macro pixel to generate the preset array mapping information.

9. The lidar point cloud synchronization method according to claim 8, characterized in that, The step of calibrating the emission path of the laser emitter and the echo path of the macropixel based on the first distribution quantity and the second distribution quantity, and generating the preset array mapping information, includes: When the number of the first distribution is equal to the number of the second distribution, optical path calibration is performed on the emission optical path of the laser emitter and the echo optical path of the macropixel to obtain the correspondence between a single laser emitter and a single macropixel. The correspondence between the individual laser emitter and the individual macro pixel is used as the preset array mapping information; When the number of the first distribution is less than the number of the second distribution, the optical path of the laser emitter and the echo optical path of the macropixel are optically calibrated to obtain the correspondence between the single laser emitter and the multiple macropixels, and the correspondence between the single laser emitter and the multiple macropixels is used as the preset array mapping information. When the number of the first distribution is greater than the number of the second distribution, optical path calibration is performed on the emission optical path of the laser emitter and the echo optical path of the macro pixel to obtain the correspondence between multiple laser emitters and the single macro pixel, and the correspondence between multiple laser emitters and the single macro pixel is used as the preset array mapping information.

10. A lidar point cloud synchronization device, characterized in that, The device includes: The information acquisition module is used to acquire the current point cloud azimuth information corresponding to the current space obtained from the main radar scan; The information matching module is used to determine the current macro-pixel set corresponding to the current point cloud azimuth information based on preset azimuth mapping information and the current point cloud azimuth information; the preset azimuth mapping information represents the correspondence between the point cloud azimuth information and the macro-pixels; the current macro-pixel set is the set of macro-pixels in the blind spot radar that correspond to the current point cloud azimuth information; the macro-pixel is composed of a preset number of photon detectors, and the macro-pixel is used to receive and process the detected light signals; The radar control module is used to control the current laser emitter corresponding to the current macro-pixel set to emit a target laser beam based on preset array mapping information; the preset array mapping information represents the correspondence between the laser emitter and the macro-pixel in the blind spot radar; and to control the current macro-pixel set to receive the target echo corresponding to the target laser beam, thereby obtaining the current point cloud information of the blind spot radar corresponding to the current point cloud azimuth information; the target echo is the reflected beam of the target laser beam in the current space. The synchronization control module is used to control the synchronization of the main radar and the blind spot radar point cloud based on the current point cloud azimuth information and the current point cloud information.

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