Method, apparatus and electronic device for controlling lidar

Abstract

The application discloses a method for controlling a laser radar, the laser radar comprising a laser emission array and a laser receiving array, the method comprising: determining at least one emission block to be turned on in a current measurement period from the laser emission array in a measurement period, the emission array comprising a plurality of the emission blocks; each of the emission blocks comprising a plurality of emission units; controlling the at least one emission block to emit laser beams according to a preset rule; and controlling a receiving block of the laser receiving array corresponding to the at least one emission block to receive laser echoes, the laser echoes being echoes of the laser beams reflected by target objects. The method can ensure a frame rate, reduce optical crosstalk, improve measurement flexibility and the accuracy of measurement results.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser detection, in particular to a method and device for controlling a laser radar and an electronic device. BACKGROUND

[0002] The laser radar can directly and quickly and accurately image a three-dimensional space, and thus becomes one of the main sensors in the current automatic driving technology. At present, the development of the laser radar mainly focuses on stronger ranging and higher point cloud density. How to improve the ranging performance and the density of the detected point cloud becomes a problem to be solved. SUMMARY

[0003] Embodiments of the present application provide a method and device for controlling a radar and an electronic device. By controlling the scanning mode of the laser radar, the optical crosstalk can be reduced while ensuring the frame rate, and the flexibility of measurement and the accuracy of measurement results can be improved.

[0004] The number of concurrent transmitting units of the laser radar is increased, thereby improving the detection efficiency of the laser radar.

[0005] The technical solution is as follows:

[0006] In a first aspect, a method for controlling a laser radar is provided, the laser radar comprising a laser transmitting array and a laser receiving array, and the method comprising:

[0007] In a measurement period, at least one transmitting block to be turned on in the current measurement period is determined from the laser transmitting array, the transmitting array comprising a plurality of transmitting blocks, and each transmitting block comprising a plurality of transmitting units;

[0008] controlling the transmitting block to transmit a laser beam;

[0009] controlling a receiving block of the laser receiving array corresponding to the transmitting block to receive a laser echo, the laser echo being a reflection of the laser beam by a target object; and the receiving block comprising a plurality of receiving units.

[0010] As an example of the present application, the method further comprises:

[0011] When the transmitting block to be turned on in the current period comprises at least two transmitting blocks, the at least two transmitting blocks satisfy the optical non-crosstalk condition in physical position;

[0012] controlling the at least two transmitting blocks to transmit laser beams based on a preset rule.

[0013] As another example of the present application, the control of the at least one transmitting block to transmit a laser beam comprises:

[0014] controlling the plurality of emission units in the at least one emission block to emit the probe laser simultaneously.

[0015] As another example of the present application, before controlling the at least one emission block to emit the laser beam, the method further comprises:

[0016] acquiring the number of times of turning on of the at least one emission block in the current measurement period;

[0017] controlling the at least one emission block to emit the laser beam according to the number of times of turning on and a preset rule.

[0018] controlling the at least one emission block to emit the laser beam according to the number of times of turning on and a preset rule.

[0019] As another example of the present application, the controlling the at least one emission block to emit the laser beam according to the number of times of turning on and a preset rule comprises:

[0020] acquiring a time coding sequence corresponding to the at least one emission block, and emitting the laser beam according to the time coding sequence corresponding to the at least one emission block and the number of times of turning on.

[0021] As another example of the present application, the controlling the at least two emission blocks to emit the laser beam based on a preset rule comprises:

[0022] controlling the kth emission block to emit the laser beam at a corresponding time according to a time coding sequence corresponding to the kth emission block, where k is an integer greater than or equal to 1;

[0023] after a first preset time threshold is passed, controlling the k+1th emission block to emit the laser beam at a corresponding time according to a time coding sequence corresponding to the k+1th emission block.

[0024] As another example of the present application, the determination manner of the time coding sequence corresponding to any one of the at least two emission blocks comprises:

[0025] generating a series of pseudo-random sequences by a linear feedback shift register based on a first preset sequence, to obtain a plurality of pseudo-random sequences;

[0026] determining an autocorrelation function of each pseudo-random sequence in the plurality of pseudo-random sequences;

[0027] according to the autocorrelation function, screening a pseudo-random sequence with an autocorrelation coefficient less than a first specified threshold from the plurality of pseudo-random sequences;

[0028] selecting one pseudo-random sequence from the at least one screened pseudo-random sequence as the time coding sequence corresponding to the any one emission block.

[0029] As another example of the present application, the plurality of transmitting units included in each transmitting block simultaneously transmits the probe laser.

[0030] As another example of the present application, the number of transmitting units corresponding to each transmitting block is less than or equal to the number of receiving units corresponding to each receiving block.

[0031] As another example of the present application, before the receiving block of the laser receiving array corresponding to the transmitting block receives the laser echo, the method further comprises:

[0032] obtaining a receiving unit group corresponding to each transmitting block; wherein the receiving unit group includes N receiving unit blocks, N being a positive integer greater than 1;

[0033] After the receiving block of the laser receiving array corresponding to the transmitting block receives the echo laser, the method further comprises:

[0034] fusing the echo data received by the receiving unit group to obtain a fusion result;

[0035] determining the distance of the target object based on the fusion result.

[0036] As another example of the present application, the physical positional relationship of the at least two transmitting blocks is determined according to the power, field of view angle, and detection distance of each transmitting block in the at least two transmitting blocks.

[0037] In a second aspect, a device for controlling a laser radar is provided, the laser radar including a laser transmitting array and a laser receiving array, and the device including:

[0038] a determining module configured to determine, in a measurement period, at least one transmitting block to be turned on in the current measurement period from the laser transmitting array, the transmitting array including a plurality of transmitting blocks; each transmitting block including a plurality of transmitting units;

[0039] a first control module configured to control the transmitting block to transmit a laser beam;

[0040] a second control module configured to control a receiving block of the laser receiving array corresponding to the transmitting block to receive a laser echo, the laser echo being the echo after the laser beam is reflected by a target object; the receiving block including a plurality of receiving units.

[0041] In a third aspect, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement the method of any one of the first aspect.

[0042] In a fourth aspect, a computer-readable storage medium is provided, and the computer-readable storage medium has stored thereon instructions which, when executed by a processor, implement the method according to any one of the first aspect.

[0043] In a fifth aspect, a computer program product is provided, and the computer program product contains instructions which, when executed on a computer, cause the computer to perform the method according to any one of the first aspect.

[0044] The technical scheme provided by the embodiments of the present application has the following beneficial effects:

[0045] In one measurement period, at least one emission block to be turned on in the current measurement period is determined from the laser emission array, the emission array includes a plurality of emission blocks; each emission block includes a plurality of emission units; the emission block is controlled to emit a laser beam; the receiving block of the laser receiving array corresponding to the emission block is controlled to receive a laser echo, the laser echo is the echo after the laser beam is reflected by a target object; the receiving block includes a plurality of receiving units. In this way, in one measurement period, a plurality of emission units in at least one emission block are controlled to emit a laser beam. At the same time, the receiving block corresponding to the emission block is controlled to receive a laser echo. By reducing the distance between the concurrent emission units, the range of emission crosstalk influence is reduced, thereby ensuring the frame rate while reducing the optical crosstalk, ensuring the flexibility of emission control, that is, the method provided by the present application can solve the problems of optical crosstalk and frame rate of array type laser radar, thereby accurately determining the measurement result. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0047] Figure 1 is a schematic diagram of a laser emission array and a laser receiving array according to an exemplary embodiment;

[0048] Figure 2 is a flowchart of a method for controlling a laser radar according to an exemplary embodiment;

[0049] Figure 3 is a layout diagram in three emission blocks according to an exemplary embodiment;

[0050] Figure 4 is a layout diagram in an emission block and a receiving block corresponding thereto according to an exemplary embodiment;

[0051] Figure 5 is a flow chart of a method of controlling a laser radar according to an example embodiment;

[0052] Figure 6 is a schematic diagram of a laser emitting array and a laser receiving array according to another example embodiment;

[0053] Figure 7 is a schematic diagram of a laser beam emitting rule according to an example embodiment;

[0054] Figure 8 is a flow chart of a method of controlling a laser radar according to another example embodiment;

[0055] Figure 9 is a schematic diagram of a laser emitting array and a laser receiving array according to another example embodiment;

[0056] Figure 10 is a schematic diagram of a laser emitting array and a laser receiving array according to another example embodiment;

[0057] Figure 11 is a schematic diagram of a laser emitting array and a laser receiving array according to another example embodiment;

[0058] Figure 12 is a schematic diagram of a laser emitting array and a laser receiving array according to another example embodiment;

[0059] Figure 13 is a schematic diagram of a laser emitting array according to another example embodiment;

[0060] Figure 14 is a structural schematic diagram of an apparatus of controlling a laser radar according to an example embodiment;

[0061] Figure 15 is a structural schematic diagram of an electronic device according to an example embodiment. DETAILED DESCRIPTION

[0062] In order to make the purposes, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0063] It should be understood that the "multiple" mentioned in the present application refers to two or more than two. In the description of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" herein only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone. In addition, in order to clearly describe the technical solutions of the present application, "first", "second" and the like are used to distinguish the same items or similar items with basically the same function and role. Those skilled in the art can understand that "first", "second" and the like do not limit the quantity and execution order, and "first", "second" and the like do not necessarily mean different.

[0064] Firstly, the execution subject involved in the embodiments of the present application is introduced. The method provided by the embodiments of the present application can be executed by an electronic device, which can be configured in an array type laser radar or connected with an array type laser radar, that is, the laser radar includes a laser emission array and a laser receiving array. For example, please refer to Figure 1 , Figure 1 is a schematic diagram of an array according to an exemplary embodiment, wherein Figure 1 (a) of FIG. 1 is a schematic diagram of a laser emission array, Figure 1 (b) of FIG. 1 is a schematic diagram of a laser receiving array. As shown in Figure 1 (a), the laser emission array includes a plurality of emission blocks, and each emission block includes a plurality of emission units. Wherein, the number of emission blocks included in the emission array and the number of emission units included in each emission block are not limited by the present application. As shown in Figure 1 (b), the laser receiving array includes a plurality of receiving blocks, and each receiving block includes a plurality of receiving units. Wherein, the number of receiving blocks included in the receiving array and the number of receiving units included in each receiving block are not limited by the present application.

[0065] In one example, the electronic device can be a terminal device such as a mobile phone, a notebook computer, a tablet computer, a mobile phone, a processor, or a car machine device, and the embodiments of the present application are not limited thereto.

[0066] Based on the above provided electronic device, the method provided by the embodiments of the present application is introduced in detail. Please refer to Figure 2 , Figure 2 is a method flow chart for controlling laser radar according to an exemplary embodiment, which is an example and not a limitation, the method is applied to the above-mentioned electronic device, and the method can include the following steps:

[0067] Step 201: determining at least one emitting block to be turned on in the current measurement period from the laser emitting array, the laser emitting array comprising a plurality of emitting blocks; each of the emitting blocks comprising a plurality of emitting units;

[0068] It can be understood that the measurement period can be set according to actual needs.

[0069] It can be understood that the emitting units in each of the emitting blocks can be regularly arranged or irregularly arranged, and the application does not limit the specific arrangement form, which is shown in Figs. 3(a), 3(b) and 3(c). The application does not limit the specific arrangement form of the emitting units in each of the emitting blocks. It can be understood that 3(b) is a preferred arrangement form of the emitting units. By such arrangement, the distance between any two light emitting holes can be increased in a limited area, thereby improving the yield of the VCSEL production process. Figure 3

[0070] In application, the electronic device controls the laser emitting array of the laser radar to periodically emit laser beams. As an example of the application, it is necessary to determine which emitting block or blocks are to be turned on, that is, to determine the emitting group to be turned on in the current measurement period from the laser emitting array. The application does not limit the order and position of the emitting block to be turned on in each measurement period.

[0071] As an example of the application, the different emitting blocks can be controlled to emit in different measurement periods from the middle laser emitting row or column, for example, referring to Fig. 4. Figure 1 First, the different emitting blocks in the fourth row or column are controlled to emit laser beams in different measurement periods, and then the different emitting blocks in the fifth row or column are controlled to emit laser beams in different measurement periods, and then the different emitting blocks in the third row or column are controlled to emit laser beams in different measurement periods. By analogy, the scanning gradually moves from the middle area to the two side areas until the emitting group in the last row or column ends the emission. Then, the different emitting blocks in the fourth row or column can be controlled to emit laser beams in different measurement periods, and the control is repeated in this way.

[0072] As an example of the application, the different emitting blocks can be controlled to emit in different measurement periods from the first row or column, for example, referring to Fig. 5. Figure 1 First, the different emitting groups in the first row or column are controlled to emit laser beams in different measurement periods, and then the different emitting groups in the second row or column are controlled to emit laser beams in different measurement periods, and then the different emitting groups in the third row or column are controlled to emit laser beams in different measurement periods. By analogy, the scanning gradually moves from the first row or column to the last row or column until the emitting group in the last row or column ends the emission. Then, the different emitting groups in the first row or column can be controlled to emit laser beams in different measurement periods, and the control is repeated in this way.

[0073] ​Step 202: controlling at least one of the emitting blocks to emit a laser beam according to a preset rule;

[0074] It can be understood that the control of the at least one emitting block to emit a laser beam according to a preset rule can be the control of the multiple emitting units in the at least one emitting block to emit a probe laser beam simultaneously.

[0075] It can be understood that the laser beam can be emitted by controlling all the emitting units in the emitting block to emit the laser beam simultaneously, or by controlling the emitting units in the emitting block to emit the laser beam in time-sharing mode until all the emitting units in the emitting block emit the laser beam. Alternatively, the laser beam can be emitted by controlling part of the emitting units to emit the laser beam each time. The number, form and times of the emitting units in each emitting block that are turned on each measurement period are not limited in the present application.

[0076] Step 203: controlling the receiving blocks of the laser receiving array corresponding to the emitting block to receive a laser echo, wherein the laser echo refers to the echo of the laser beam reflected by the target object.

[0077] It can be understood that the emitting block corresponds to N receiving blocks of the receiving array; N is a positive integer greater than or equal to 1. It can be understood that when N is 1, the correspondence between each emitting block of the emitting array and the receiving block of the receiving array is a one-to-one relationship, and when N is a positive integer greater than 1, the correspondence between each emitting block of the emitting array and the receiving block of the receiving array is a one-to-many relationship.

[0078] It can be understood that the control of the receiving blocks of the laser receiving array corresponding to the emitting block to receive a laser echo includes:

[0079] acquiring N receiving blocks corresponding to each emitting block;

[0080] controlling the N receiving blocks to receive a laser echo.

[0081] It can be understood that since there is a shift in the mapping position between the emitting block and the receiving block in the case of a change in the distance of the target object from the emitting, the present embodiment determines the target receiving unit block based on the shift in the mapping position when controlling the emitting block to emit a signal. When the target receiving unit block includes multiple blocks, the mapping shift at all distances can be better covered to ensure that the echo data can be received.

[0082] As an optional way, each emitting block can also correspond to the entire receiving surface array.

[0083] Wherein, the number of the receiving blocks corresponding to each transmitting block is determined by the detection distance requirement of the laser radar, the transmitting field angle of each transmitting block, the receiving field angle of the receiving block, and the physical distance between the transmitting array and the receiving array.

[0084] Wherein, as an optional way, each receiving block can include M receiving units, wherein M is a positive integer greater than or equal to 1.

[0085] Wherein, it can be understood that the receiving field angle corresponding to each receiving block is greater than or equal to the transmitting field angle corresponding to each transmitting block.

[0086] Wherein, it can be understood that, as an optional embodiment, when the transmitting field angle corresponding to the transmitting block is less than the receiving field angle corresponding to the receiving block, an optical adjustment unit can be arranged in front of the transmitting block, and the field angle of the transmitting block is adjusted through the optical adjustment unit, so that the transmitting field angle of the transmitting block is as equal as possible to the receiving field angle of the receiving block, so that the receiving field angle of the receiving block is better utilized. As an optional embodiment, Figure 4 The number of transmitting units included in the transmitting block can be less than the number of receiving units of the receiving block, and the overall exit spot of the transmitting unit is adjusted through the optical adjustment unit, so as to reduce the complexity of the transmitting block and the cost of the transmitter device, and to ensure the receiving efficiency of the receiving block and the frame rate as much as possible.

[0087] As an optional way, after the receiving block of the laser receiving array corresponding to the transmitting block receives the echo laser, the method further comprises: fusing the echo data received by the N receiving blocks to obtain a fusion result; determining the detection information of the target object based on the fusion result. It can be understood that the detection information includes the distance, size, speed, reflectivity and other information of the target object.

[0088] As an optional way, before controlling at least one transmitting block to emit laser beams according to a preset rule, the method further comprises: obtaining the number of times of turning on of at least one transmitting block in the current measurement period; and the control of the at least one transmitting block to emit laser beams according to the preset rule comprises: controlling the at least one transmitting block to emit laser beams according to the number of times of turning on.

[0089] As an optional way, before controlling at least one transmitting block to emit laser beams according to a preset rule, the method further comprises: obtaining the emission power of at least one transmitting block in the current measurement period, and controlling at least one transmitting block to emit laser beams according to the emission power.

[0090] As an optional mode, before the control of the at least one emitting block emitting the laser beam according to the preset rule, the method further comprises: obtaining a time coding sequence of the at least one emitting block, and the control of the at least one emitting block emitting the laser beam according to the preset rule comprises: control of the at least one emitting block emitting the laser beam according to the time coding sequence.

[0091] As can be understood, the control of the at least one emitting block emitting the laser beam according to the preset rule further comprises: obtaining a time coding sequence corresponding to the at least one emitting block, and emitting the laser beam according to the time coding sequence corresponding to the at least one emitting block and the number of times of turning on.

[0092] As can be understood, the preset rule can also be a combination of the above optional modes, which is not limited in the present application.

[0093] As can be understood, the time coding sequence corresponding to each emitting block in the laser emitting array can be predetermined. As an example of the present application, the determination mode of the time coding sequence corresponding to any one emitting block in the emitting group comprises: generating a series of pseudo-random sequences based on a first preset sequence through a linear feedback shift register to obtain a plurality of pseudo-random sequences. Determining the autocorrelation function of each pseudo-random sequence in the plurality of pseudo-random sequences, and selecting a pseudo-random sequence with an autocorrelation coefficient less than a first specified threshold from the plurality of pseudo-random sequences according to the autocorrelation function. Select one pseudo-random sequence from the selected at least one pseudo-random sequence as the time coding sequence corresponding to the arbitrary emitting block.

[0094] The first preset sequence can be set according to actual needs, which can be understood as a sequence seed for generating a series of pseudo-random sequences. In an example, different emitting units correspond to different first preset sequences.

[0095] As can be understood, the first specified threshold can be set according to actual needs.

[0096] In implementation, the first preset sequence can be input into the linear feedback shift register, and a series of pseudo-random sequences can be output from the linear feedback shift register to obtain a plurality of pseudo-random sequences. For any one pseudo-random sequence in the plurality of pseudo-random sequences, if the pseudo-random sequence has a large correlation with itself, when the pseudo-random sequence is selected as the time coding sequence of the emitting unit subsequently, the laser beam emitted by the emitting block is easy to interfere with the laser beam emitted by itself at the next time, therefore, the autocorrelation function of each pseudo-random sequence in the plurality of pseudo-random sequences can be determined to select a pseudo-random sequence with less interference to itself according to the autocorrelation function. In implementation, the autocorrelation function of each pseudo-random sequence can be determined through the following formula (1):

[0097]

[0098] wherein ACF(a, t) is an autocorrelation function, a i represents the i-th pseudo-random sequence, and t is a preset time offset.

[0099] Afterwards, a pseudo-random sequence that satisfies the condition of being as small as possible (for example, less than an energy threshold) outside the main lobe of the autocorrelation function is selected, and at this time, the selected pseudo-random sequence is a pseudo-random sequence whose autocorrelation coefficient is less than a first specified threshold. In one example, the electronic device randomly selects one pseudo-random sequence from the at least one screened pseudo-random sequence as the time coding sequence corresponding to the transmitting unit in the transmitting group, for example, determines that the time coding sequence of a certain transmitting unit is {0.1, 0.4, 0.2, 0.25,...} after the above processing. In this way, the time coding sequence corresponding to each transmitting block in the laser emitting array can be determined.

[0100] Based on the electronic device provided above, the method provided by the embodiments of the present application will be described in detail. Please refer to Figure 5 Figure 5 is a flow chart of a method for controlling a laser radar according to an example embodiment, which is an example and not a limitation, and the method applies to the electronic device described above. The method can include the following steps:

[0101] Step 501: In a measurement period, determine from the laser emitting array which transmitting group is to be turned on in the current measurement period, and when the current period includes at least two transmitting blocks to be turned on, the at least two transmitting blocks satisfy the optical non-crosstalk condition in physical position.

[0102] wherein the measurement period can be set according to actual needs.

[0103] wherein the optical non-crosstalk means that there is almost no interference between the multiple laser beams emitted by the at least two transmitting blocks, which can be understood as that the multiple laser beams emitted by the at least two transmitting blocks almost do not overlap or do not overlap at all. That is, the overlap rate is almost close to zero, or there is no laser beam superposition.

[0104] In application, the electronic device controls the laser emitting array of the laser radar to periodically emit laser beams. As an example of the present application, the transmitting blocks can be controlled in groups in each measurement period, and for this purpose, it is necessary to determine which transmitting group or groups are to be turned on, that is, to determine from the laser emitting array which transmitting group is to be turned on in the current measurement period. The order and position of the transmitting group to be turned on are not limited in the embodiments of the present application.

[0105] As an example of the present application, the different transmitting groups can be controlled to emit in different measurement periods starting from the middle laser emitting row or column, for example, as shown in​Figure 1 First, the different emission groups in the fourth row or column are controlled to emit laser beams in different measurement periods, then the different emission groups in the fifth row or column are controlled to emit laser beams in different periods after the fourth row or column finishes emitting, and then the different emission groups in the third row or column are controlled to emit laser beams in different periods. This is repeated until the emission groups in the last row or column finish emitting. Then, the different emission groups in the fourth row or column can be controlled to emit laser beams in different measurement periods again, and the control is repeated.

[0106] As an example of the present application, the different emission groups can be controlled to emit in different measurement periods starting from the first row or column of laser emission rows or columns, for example, refer to Figure 1 First, the different emission groups in the first row or column are controlled to emit laser beams in different measurement periods, then the different emission groups in the second row or column are controlled to emit laser beams in different measurement periods after the first row or column finishes emitting, and this is repeated until the emission groups in the last row or column finish emitting. Then, the different emission groups in the first row or column can be controlled to emit laser beams in different measurement periods again, and the control is repeated.

[0107] In this way, the emission groups to be turned on in each measurement period can be determined according to the above-mentioned control sequence of the rows. The number of emission blocks included in an emission group can be set according to requirements.

[0108] In an example, the number of emission blocks included in an emission group is 2, for example, two emission blocks include a first emission block and a second emission block, that is, two emission blocks to be turned on are determined in a measurement period. For example, refer to Figure 1 When in the first measurement period, the determined emission group includes emission block A0 and emission block A6. When in the second measurement period, the determined emission group includes emission block A1 and emission block A7. When in the third measurement period, the determined emission group includes emission block A2 and emission block A8. When in the fourth measurement period, the determined emission group includes emission block A3 and emission block A9. When in the fifth measurement period, the determined emission group includes emission block A4 and emission block A10. When in the sixth measurement period, the determined emission group includes emission block A5 and emission block A11. This is repeated, as shown in Table 1.

[0109] Table 1

[0110]

[0111] It should be noted that the above is an example of including two emission blocks in one emission group. In another embodiment, one emission group can also include three or more emission blocks, which is not limited by the embodiments of the present application.

[0112] It should be noted that each transmitting block can include a plurality of transmitting units, as described in the above embodiments.

[0113] It should be further noted that the physical positional relationship of the at least two transmitting blocks is determined according to the power, field of view angle, and detection distance of each transmitting block in the at least two transmitting blocks.

[0114] Since the laser beams of adjacent or closely spaced transmitting blocks can interfere with each other, if the number of concurrent transmissions needs to be increased, the optical interference between the multiple transmitting units in concurrent transmission needs to be avoided. Exemplarily, taking the number of transmitting blocks included in a transmitting group as two, in order to improve the anti-optical interference capability, the spatial position interval of the transmitting blocks included in each transmitting group can be set according to the transmitting schematic diagram in FIG. 8, mainly following the principle that the return light of one laser beam does not fall into the position of another receiving block, that is, d1 and d2 are required to be greater than 0. As an example but not limitation, the width of the main energy of the return light is equal to the width of the receiving block. For example, there is no optical interference between the transmitting block A0 and the transmitting block A6. Figure 6

[0115] The number of receiving units corresponding to the transmitting block is related to the power, field of view angle, and detection distance of the transmitting block. If the intensity of the laser return light of the transmitting block is large, the number of receiving blocks corresponding to the transmitting block is large. If the transmitting field of view angle of the transmitting block is small, the number of receiving blocks corresponding to the transmitting block is large. If the detection distance corresponding to the transmitting block is close, the number of receiving blocks corresponding to the transmitting block is large.

[0116] Step 502: Control the at least two transmitting blocks to transmit the laser beams in time based on a preset rule.

[0117] The preset rule can be set according to actual needs.

[0118] As an example of the present application, the specific implementation of step 502 can include: controlling the transmitting block of the kth transmission to transmit the laser beam at the corresponding time according to the time coding sequence corresponding to the transmitting unit of the kth transmission in the at least two transmitting blocks, k being an integer greater than or equal to 1. After a first preset time threshold is passed, controlling the transmitting block of the k+1th transmission to transmit the laser beam at the corresponding time according to the time coding sequence corresponding to the transmitting unit of the k+1th transmission.

[0119] The first preset time threshold can be set by the user according to actual needs, or can also be set by default by the electronic device, and the present application embodiment does not limit this.

[0120] ​That is, for two emission blocks of adjacent two times of emission in the emission group, there is an emission time interval between the two emission blocks, and the emission time interval is a first preset time length threshold. For example, it is assumed that the emission group includes three emission blocks. In implementation, the electronic device controls the first emission block to emit a laser beam at a corresponding time according to a time coding sequence corresponding to the first emission block. After a first preset time length threshold, the electronic device controls the second emission block to emit a laser beam at a corresponding time according to a time coding sequence corresponding to the second emission block. After another first preset time length threshold, the electronic device controls the third emission block to emit a laser beam at a corresponding time according to a time coding sequence corresponding to the third emission block.

[0121] In the formula, the time coding sequence corresponding to each emission block in the laser emission array can be determined in advance. As an example of the present application, the determination of the time coding sequence corresponding to any emission block in the emission group includes: generating a series of pseudo-random sequences based on a first preset sequence through a linear feedback shift register to obtain a plurality of pseudo-random sequences. Determining the autocorrelation function of each pseudo-random sequence in the plurality of pseudo-random sequences, and selecting a pseudo-random sequence with an autocorrelation coefficient less than a first specified threshold from the plurality of pseudo-random sequences according to the autocorrelation function. Select one pseudo-random sequence from the selected at least one pseudo-random sequence as the time coding sequence corresponding to the arbitrary emission block.

[0122] The first preset sequence can be set according to actual needs, which can be understood as a sequence seed for generating a series of pseudo-random sequences. In an example, different emission units correspond to different first preset sequences.

[0123] In the formula, the first specified threshold can be set according to actual needs.

[0124] In implementation, the first preset sequence can be input into the linear feedback shift register, and a series of pseudo-random sequences can be output from the linear feedback shift register to obtain a plurality of pseudo-random sequences. For any one of the plurality of pseudo-random sequences, if the pseudo-random sequence has a large correlation with itself, when the pseudo-random sequence is selected as the time coding sequence of the emission unit, the laser beam emitted by the emission block is easy to interfere with the laser beam emitted at the next time. Therefore, the autocorrelation function of each pseudo-random sequence in the plurality of pseudo-random sequences can be determined to select a pseudo-random sequence with less self-interference according to the autocorrelation function. In implementation, the autocorrelation function of each pseudo-random sequence can be determined by the following formula (1):

[0125]

[0126] In the formula, ACF(a, τ) is the autocorrelation function, a irepresents the ith pseudo-random sequence, and τ is a preset time offset.

[0127] Afterwards, a pseudo-random sequence that satisfies a condition of being as small as possible (for example, less than an energy threshold) outside the main lobe of the autocorrelation function is selected, and the selected pseudo-random sequence is a pseudo-random sequence with an autocorrelation coefficient less than a first specified threshold. In an example, the electronic device randomly selects one pseudo-random sequence from the at least one screened pseudo-random sequence as a time coding sequence corresponding to a transmitting unit in the transmitting group, for example, determines that the time coding sequence of a certain transmitting unit is {0.1, 0.4, 0.2, 0.25,...} after the above processing. In this way, the time coding sequence corresponding to each transmitting block in the laser transmitting array can be determined.

[0128] In an example, the number of values included in the time coding sequence is the same as the number of times of cyclic transmission. For example, if a certain transmitting block needs to be cyclically transmitted 64 times, the number of values included in the time coding sequence is 64.

[0129] It is worth mentioning that the transmission time of each transmitting block in different measurement periods is encoded by a pseudo-random sequence, and different transmitting blocks use different encodings, which can achieve low crosstalk in high concurrency and reduce interference between each other.

[0130] After determining the time coding sequence corresponding to each transmitting block, the time coding sequence corresponding to each transmitting block can be stored locally, and when it is necessary to control the transmitting block to transmit, the time coding sequence corresponding to each transmitting block can be used according to actual needs.

[0131] For example, please refer to Figure 7 When in the first measurement period, the first time controls the transmitting block A0 in the transmitting group to transmit at t1, and the second time controls the transmitting unit A6 in the transmitting group to transmit at t2. Assuming that the time coding sequence of the transmitting unit A0 is {0.2, 0.3, 0.4, 0.6...}, the time coding sequence of the transmitting unit A1 is {0.3, 0.4, 0.6, 0.7...}, and the first preset time length threshold is 3 seconds. Assuming that the start time of the current measurement period is the second second, the transmitting unit A0 is controlled to emit a laser beam at 2.2 seconds, and the transmitting unit A1 is controlled to emit a laser beam at 5.3 seconds. Similarly, when in the second measurement period, the first time controls the A1 in the transmitting group to transmit at t1 in the second measurement period, and the second time controls the A7 to transmit at t2, and so on.

[0132] As an example but not limitation, the transmitting order of the multiple transmitting blocks in a transmitting group in a measurement period can also be exchanged.

[0133] Step 503: Control the receiving blocks of the laser receiving array corresponding to the transmitting group to receive the laser echo, where the laser echo refers to the echo of the laser beam reflected by the target object.

[0134] Please refer to Figure 1 , assuming that the first row of laser transmitting rows corresponds to the first row of laser receiving rows, the second row of laser transmitting rows corresponds to the second row of laser receiving rows, and so on, and the last row of laser transmitting rows corresponds to the last row of laser receiving rows, when controlling any transmitting block in the first row of laser transmitting rows to emit a laser beam, the laser echo is received by the first row of laser receiving blocks, and similarly, when controlling any transmitting block in the second row of laser transmitting rows to emit a laser beam, the laser echo is received by the second row of laser receiving rows. By analogy, when controlling any transmitting unit in the last row of laser transmitting rows to emit a laser beam, the laser echo is received by the last row of laser receiving rows.

[0135] For example, if transmitting block A0 and transmitting block A6 are controlled to transmit in the current measurement period, the laser echo is received by the first row of laser receiving rows, that is, the laser beam emitted by transmitting block A0 is received by the first row of laser receiving rows, and the laser beam emitted by transmitting block A6 is received by the first row of laser receiving rows.

[0136] When the laser receiving array extracts the laser echoes in the entire measurement period, the laser echoes of the first transmitting unit are less than t2 in time, and the laser echoes of the second transmitting group are greater than t2 in time. Further, when the time code t1 corresponding to the first transmitting unit is zero, the transmission time of the first transmitting unit is aligned with the start time of the current measurement period. When t1 is greater than 0, the distance of t1*c is further subtracted when calculating the distance of the laser echo of the first transmitting unit. When t1 is negative, the distance of t1*c is further added when calculating the distance of the laser echo of the first transmitting unit. The transmission time of the second transmitting unit is generally delayed by a large delay t2 from the start time of the measurement period, where t2 is the first preset time threshold. The time difference between t2 and t1 is generally t2-t1 >= Lset*2 / c, where Lset is the farthest detection distance of the laser radar. Similarly, the distance of t2*c is subtracted when calculating the distance of the laser echo of the second transmitting unit.

[0137] It should be noted that the above is an example of one row of laser transmitting rows corresponding to one row of laser receiving rows. In another embodiment, multiple rows of laser transmitting rows can correspond to one row of laser receiving rows, or one row of laser transmitting rows can correspond to multiple rows of laser receiving rows, which is not limited in the embodiment of the application.

[0138] In addition, it should be noted that, in a measurement period, the laser receiving row continuously performs the receiving operation, that is, from the start time of a measurement period to the end time of the measurement period, the electronic device controls the laser receiving row corresponding to the laser emitting row where the emitting group is located to continuously receive the laser echo.

[0139] As an optional implementation, before the control of the at least two emitting blocks to emit the laser beams based on the preset rule, the method further includes: obtaining the number of times of turning on of the at least two emitting blocks in the current measurement period; and the control of the at least one emitting block to emit the laser beams based on the preset rule includes: control of each of the two emitting blocks to emit the laser beams according to the corresponding number of times of turning on.

[0140] As an optional implementation, before the control of the at least two emitting blocks to emit the laser beams based on the preset rule, the method further includes: obtaining the number of times of turning on of the at least two emitting blocks in the current measurement period; and the control of the at least one emitting block to emit the laser beams based on the preset rule includes: control of each of the two emitting blocks to emit the laser beams according to the corresponding number of times of turning on.

[0141] It can be understood that the preset rule can also be a combination of the above optional manners, which is not limited in the present application.

[0142] In the embodiments of the present application, in a measurement period, the emitting group to be turned on in the current measurement period is determined from the laser emitting array, the emitting group includes at least two emitting blocks, and the at least two emitting blocks satisfy the optical non-crosstalk condition in the physical position. The at least two emitting blocks emit the laser beams based on a preset rule. The receiving unit group of the laser receiving array corresponding to the emitting group receives the laser echo, and the laser echo refers to the echo after the laser beam is reflected by the target object. In this way, in a measurement period, by controlling multiple emitting blocks to emit laser beams at different times, the optical crosstalk caused by the simultaneous emission of multiple emitting blocks can be avoided while ensuring the scanning frame rate, that is, the method provided by the present application can take into account the optical crosstalk and frame rate of the array type laser radar, so that the measurement result can be accurately determined.

[0143] The above embodiments are introduced by taking one emitting group in a measurement period as an example. In another embodiment, at least two emitting groups can exist in a measurement period. In this case, please refer to Figure 8 , Figure 8 A method for controlling a laser radar is provided according to another exemplary embodiment, and the method can include the following contents:

[0144] Step 801: determining at least two emission groups to be turned on in a current measurement period from the laser emission array, each emission group including at least two emission blocks, the at least two emission blocks satisfying the optical non-crosstalk condition in physical position.

[0145] Wherein, it can be understood that each emission group includes a plurality of emission units, as described in the above embodiments, and the embodiments will not be repeated.

[0146] As an example of the present application, the electronic device can determine a plurality of emission groups to be turned on in each measurement period according to the preset rules. For example, the plurality of emission groups to be turned on in each measurement period can be determined according to the control sequence of the rows in the laser emission array.

[0147] As an example of the present application, all emission units in a partition (for example, a row of emission units is a partition) in the laser emission array can be controlled to emit laser beams in time division in a measurement period, or part of the emission blocks in a partition in the laser emission array can also be controlled to emit laser beams in time division in a measurement period. The length of a measurement period and the number of emission groups included in a measurement period can be set according to actual needs.

[0148] For example, the number of emission groups in each measurement period is 2, for example, including a first emission group and a second emission group, the first emission group including two emission blocks, and the second emission group including two emission blocks. That is, two emission groups to be turned on in a measurement period are determined, and the number of emission blocks to be turned on in each emission group is 2.

[0149] For example, please refer to Figure 9 In the first measurement period, the first emission group includes emission block A0 and emission block A6, and the second emission group includes emission block A1 and emission unit A7. In the second measurement period, it is determined that the first emission group includes emission block A2 and emission block A8, and the second emission group includes emission block A3 and emission block A9. In the third measurement period, it is determined that the first emission group includes emission block A4 and emission block A10, and the second emission group includes emission block A5 and emission block A11. And so on, as shown in Table 2.

[0150] Table 2

[0151]

[0152] It should be noted that the above is an example of taking the number of transmission groups in each measurement period as 2, that is, in a measurement period, part of the transmission blocks of a partition are determined as the to-be-started transmission blocks. In another embodiment, the number of transmission groups in each measurement period can also be other values, for example, the number of transmission groups in each measurement period can also be 6, which are (A0, A6), (A1, A7), (A2, A8), (A3, A9), (A4, A10), and (A5, A11), that is, in a measurement period, all transmission blocks of a partition can be determined as the to-be-started transmission blocks.

[0153] In addition, it should be noted that the above is an example of row-by-row control. In another embodiment, control can also be performed in other control modes, for example, control can be performed in an interlaced manner. For example, please refer to Figure 7 , at least two transmission groups satisfy the optical non-crosstalk condition in the physical position, at this time, in a measurement period, the first transmission group includes the transmission block A0 and the transmission block A6, and the second transmission group includes the transmission block F0 and the transmission block F6.

[0154] Step 802: Control at least two transmission groups to emit laser beams in a time-division manner based on a preset rule.

[0155] As an example of the present application, the transmission blocks in each transmission group can be controlled to emit laser beams in a serial control manner. In implementation, each of the at least two transmission groups is controlled to emit laser beams according to a preset emission timing, and the emission time of the first transmission block of each of the at least two transmission groups has an emission time interval of a second preset time length threshold in the same measurement period.

[0156] The preset emission timing can be set according to actual needs, for example, assuming that the at least two transmission groups include a first transmission group, a second transmission group, and a third transmission group, the first transmission group is controlled to emit first, the second transmission group is controlled to emit second, and the third transmission group is controlled to emit last. There is a certain emission time interval between the two adjacent transmission groups, that is, there is an emission time interval of a second preset time length threshold between the first transmission block in the first transmission group and the first transmission block in the second transmission group, and there is an emission time interval of a second preset time length threshold between the first transmission block in the second transmission group and the first transmission block in the third transmission group.

[0157] The second preset time length threshold can be set according to actual needs. In an example, the time difference between the second preset time length threshold t3 and t4 satisfies the condition t3-t4 >= Lset*2 / c, where t4 is the time code corresponding to the first emission unit in the adjacent emission group, Lset is the farthest detection distance of the laser radar, and c represents the speed of light of the laser beam. In an example, the second preset time length threshold is greater than the first preset time length threshold, and the difference between the second preset time length threshold and the first preset time length threshold is greater than a preset value.

[0158] In an embodiment, the at least two emission groups include a first emission group and a second emission group, the first emission group includes a first emission block and a second emission block, and the second emission group includes a third emission block and a fourth emission block. In this case, the specific implementation of controlling the at least two emission groups to emit laser beams in time based on the preset rule can include: controlling the first emission unit to emit laser beams at corresponding times according to the time code sequence corresponding to the first emission block, after a first preset time length threshold, controlling the second emission block to emit laser beams at corresponding times according to the time code sequence corresponding to the second emission unit. After the control of the first emission block to emit laser beams ends and a second preset time length threshold elapses, controlling the third emission block to emit laser beams at corresponding times according to the time code sequence corresponding to the third emission block, and after a first preset time length threshold elapses, controlling the fourth emission unit to emit laser beams at corresponding times according to the time code sequence corresponding to the fourth emission unit.

[0159] For example, referring to Figure 9 In the first measurement period, a total of four emission blocks A0, A6, A1, and A7 are emitted, and the emission block A0 and the emission block A6 are first controlled to emit laser beams, and after a second preset time length threshold elapses, the emission block A1 and the emission block A7 are controlled to emit laser beams. Assuming that the time code sequence corresponding to the emission block A0 is {0.2, 0.3, 0.4, 0.6...}, the time code sequence corresponding to the emission block A6 is {0.3, 0.4, 0.6, 0.7...}, the time code sequence corresponding to the emission block A1 is {0.2, 0.3, 0.5, 0.7...}, the time code sequence corresponding to the emission block A7 is {0.32, 0.41, 0.53, 0.7...}, the first preset time length threshold is 3 seconds, and the second preset time length is 5 seconds. If the start time of the current measurement period is the second second, the emission block A0 is controlled to emit laser beams at 2.2 seconds, the emission block A6 is controlled to emit laser beams at 5.3 seconds, the emission block A1 is controlled to emit laser beams at 7.2 seconds, and the emission block A7 is controlled to emit laser beams at 10.32 seconds.

[0160] It should be noted that the above explanation uses the example of the first transmitter block in each transmitter group having a transmission time interval with a second preset duration threshold within the same measurement period. In another embodiment, the transmission time interval of the first transmitter block in each transmitter group within the same measurement period can also be determined by time encoding, and the time encoding rules are described below.

[0161] As another example of this application, when two emission groups meet the optical non-crosstalk condition in physical location, the electronic device can also control the two emission groups to emit in parallel. In implementation, each emission group in at least two emission groups is controlled to emit laser beams in parallel, wherein each emission unit in the at least two emission groups with the same emission order emits laser beams according to the time-coded sequence corresponding to each emission unit, wherein the cross-correlation coefficient between the time-coded sequences corresponding to the emission units with the same emission order in adjacent emission groups is less than a second specified threshold.

[0162] The second specified threshold can be set according to actual needs, and this application embodiment does not limit it.

[0163] Among them, such as Figure 9 As shown, when any transmitting group in the same row emits a laser beam, the corresponding receiving unit in the same row receives the echo laser beam emitted by that transmitting group. For example, when the first transmitting groups A0 and A6 emit laser beams, the receiving unit in row A receives the corresponding echo laser beam. When the second transmitting groups A1 and A7 emit laser beams, the receiving unit in row A receives the corresponding echo laser beam. It can be understood that the number of rows of receivers corresponding to any transmitting group can be one or two, depending on the required detection distance and the positional relationship between the transmitting and receiving groups.

[0164] Optionally, as another possible implementation, when any emitter group in any emitter group emits a laser beam, it can be received by the receiving block corresponding to the emitter block in that emitter group. It is understood that there can be a one-to-one correspondence between the emitter blocks and the corresponding receiving blocks in any emitter group. For example... Figure 10 As shown, the laser beams emitted by the first transmitting groups A0 and A6 can be received by the first receiving groups A0 and A6. Similarly, the laser beams emitted by the second transmitting groups A1 and A7 can be received by the second receiving groups A1 and A7. It is understood that the correspondence between the transmitting blocks and corresponding receiving blocks in any transmitting group can also be one transmitting block and multiple receiving blocks, for example... Figure 11As shown, when the first transmitting group A0 transmits laser beams, the corresponding receiving blocks A0 and A1 receive corresponding echo lasers; when the first transmitting group A6 transmits laser beams, the corresponding receiving blocks A5, A6 and A7 receive corresponding echo lasers. When the second transmitting group A1 transmits laser beams, the corresponding second receiving group receiving blocks A0, A1 and A2 receive corresponding echo lasers. When the second transmitting group transmitting block A7 transmits laser beams, the corresponding second receiving group receiving blocks A6, A7 and A8 receive corresponding echo lasers.

[0165] The corresponding relationship between the transmitting block and the receiving block is related to the detection distance requirement of different regions of the radar, the distance between the corresponding transmitting block and the receiving block, the focal length of the radar, and the position of the transmitting block in the transmitting array. It can be understood that the closer the detection distance of the radar is, the greater the spot shift is, and the more receiving blocks corresponding to one transmitting block are. As an optional implementation, the corresponding relationship between the transmitting block and the receiving block in different regions of the radar can be set according to requirements. For example, as shown in Figure 12 As shown, the corresponding detection distance of the first transmitting group in the first row is relatively close, and the spot shift is relatively large, so the corresponding first receiving group of the first transmitting group is the entire row. The corresponding second receiving group of the second transmitting group in the F row is part of the receiving blocks in the F row. It can be understood that the corresponding relationship between the transmitting block and the receiving block is not uniquely limited in the present application. When the transmitting surface array includes multiple transmitting groups, the corresponding relationship between the different transmitting groups and the receiving groups can be all the same or partially the same, which is not uniquely limited in the present application.

[0166] For example, please refer to Figure 13 In the first measurement period, a total of four transmitting blocks A0, A6, F0 and F6 are transmitted, wherein A0 and A6 belong to the first transmitting group, and F0 and F6 belong to the second transmitting group. The electronic device controls the first transmitting group and the second transmitting group to transmit in parallel. Assuming that the time coding sequence corresponding to the transmitting block A0 is {0.2, 0.3, 0.4, 0.6...}, the time coding sequence corresponding to the transmitting unit A6 is {0.3, 0.4, 0.6, 0.7...}, the time coding sequence corresponding to the transmitting unit F0 is {0.4, 0.3, 0.1, 0.5...}, the time coding sequence corresponding to the transmitting block F6 is {0.32, 0.4, 0.5, 0.7...}, and the first preset time length threshold is 3 seconds. If the starting time of the current measurement period is the second second, the transmitting block A0 is controlled to transmit laser beams at 2.2 seconds, the transmitting block A6 is controlled to transmit laser beams at 5.3 seconds, the transmitting block F0 is controlled to transmit laser beams at 2.4 seconds, and the transmitting block F6 is controlled to transmit laser beams at 5.32 seconds.

[0167] As an example but not limitation, the order of the multiple emission groups in a measurement cycle can also be exchanged. For example, in the above example, the laser beams can be emitted by the emission blocks in the second emission group first, and then emitted by the emission blocks in the first emission group.

[0168] The time encoding sequence corresponding to each of the above-mentioned emission units can be determined in advance. Taking an example of two emission groups in each measurement cycle, for two emission blocks with the same emission order in the first emission group and the second emission group (for example, A0 in the first emission block in the first emission group and A1 in the first emission block in the second emission group in the serial control, or A0 in the first emission block in the first emission group and F0 in the first emission block in the second emission group in the parallel control), the determination of the time encoding sequence corresponding to each of the two emission blocks includes: generating a series of pseudo-random sequences based on a second preset sequence by a linear feedback shift register to obtain m pseudo-random sequences, m being an integer greater than 1. Determine the autocorrelation function of each of the m pseudo-random sequences. According to the autocorrelation function of each of the m pseudo-random sequences, s pseudo-random sequences with autocorrelation coefficients less than a third specified threshold are selected from the m pseudo-random sequences, s being an integer greater than 1 and less than or equal to m. According to the s pseudo-random sequences, the time encoding sequence corresponding to each of the two emission units is determined.

[0169] The third specified threshold can be set according to actual needs. In one example, the third specified threshold can be the same as the first specified threshold. In another example, the third specified threshold can also be different from the first specified threshold.

[0170] The second preset sequence can be set according to actual needs, and the second preset sequence can also be understood as a sequence seed for generating a series of pseudo-random sequences.

[0171] In implementation, the second preset sequence is input to the linear feedback shift register, and a series of pseudo-random sequences are generated by the linear feedback shift register. Similarly, for any one of the generated series of pseudo-random sequences, if the correlation of the pseudo-random sequence with itself is large, when the pseudo-random sequence is selected as the time encoding sequence of the emission unit later, the laser beam emitted by the emission unit is easy to interfere with the next time laser beam emitted by itself. Therefore, the autocorrelation function of each of the m generated pseudo-random sequences can be determined, for example, the autocorrelation function can be determined by formula (1). Then, the pseudo-random sequence that meets the main lobe of the autocorrelation function as small as possible is selected, for example, the pseudo-random sequence with an autocorrelation coefficient less than the third specified threshold is selected.

[0172] Afterwards, based on the screened s pseudo-random sequences, the time encoding sequence corresponding to each of the two transmitting blocks is determined. As an example of the present application, the specific implementation can include: determining the cross-correlation function of each of the s pseudo-random sequences with each of the other s pseudo-random sequences. According to the determined cross-correlation function, two pseudo-random sequences with a cross-correlation coefficient less than a second specified threshold are screened from the s pseudo-random sequences. The screened two pseudo-random sequences are respectively determined as the time encoding sequence corresponding to each of the two transmitting units.

[0173] Since a plurality of transmitting groups are included in one measurement period, if the plurality of transmitting groups transmit in parallel, that is, if the plurality of transmitting groups use the same pseudo-random sequence as the time encoding sequence, optical crosstalk is easily generated between the plurality of transmitting groups. Therefore, in one example, the electronic device determines the cross-correlation function between each of the screened s pseudo-random sequences and each of the other s pseudo-random sequences, so as to screen the pseudo-random sequence that will not generate optical crosstalk from the s pseudo-random sequences according to the determined cross-correlation function. In implementation, the cross-correlation function of two pseudo-random sequences can be determined by the following formula (2):

[0174]

[0175] wherein CCF(a, b, τ) is the cross-correlation function, a i is one pseudo-random sequence, and b i+τ is another pseudo-random sequence.

[0176] Afterwards, a pair of pseudo-random sequences satisfying a cross-correlation coefficient less than a preset second specified threshold is selected, for example, a pair of pseudo-random sequences with the minimum cross-correlation coefficient can be selected. The selected pair of pseudo-random sequences are respectively determined as the time encoding sequence corresponding to each of the two transmitting units. In this way, the time encoding sequence corresponding to each of the transmitting units in the laser transmitting array can be determined.

[0177] In another embodiment, if three or more emission groups are included in one measurement period, when determining the time encoding sequence corresponding to each emission unit in each emission group, the time encoding sequence corresponding to each emission unit in the first emission group and the second emission group can be determined in the above manner, and then based on the time encoding sequence corresponding to each emission unit in the second emission group, the time encoding sequence corresponding to each emission unit in the third emission group adjacent to the second emission group can be determined in the above manner, for example, the cross-correlation coefficient of the time encoding sequence corresponding to the first emission unit in the second emission group can be selected from the remaining s-2 pseudo-random sequences, and the selected pseudo-random sequence can be used as the time encoding sequence corresponding to the first emission unit in the third emission group. In this way, the time encoding sequence corresponding to each emission unit in each emission group in the multiple emission groups can be determined.

[0178] Step 803: respectively control the receiving units of the laser receiving array corresponding to each of the at least two emission groups to receive laser echoes.

[0179] In one example, when the electronic device controls the multiple emission groups to emit in series, for example, controls A0, A6, A1, and A7 to emit laser beams in one measurement period, the laser echoes in this measurement period can be received by the first row of laser receiving rows.

[0180] In one example, when the electronic device controls the multiple emission groups to emit in parallel, for example, controls A0, A6, F0, and F6 to emit laser beams in one measurement period, the laser echoes of A0 and A6 can be controlled to be received by the first row of laser receiving rows, and the laser echoes of F0 and F6 can be controlled to be received by the sixth row of laser receiving rows.

[0181] As an optional mode, before controlling the at least one emission block to emit laser beams according to the preset rule, the method further includes: acquiring the number of times of turning on of the at least one emission block in the current measurement period; and the control of the at least one emission block to emit laser beams according to the preset rule includes: controlling the at least one emission block to emit laser beams according to the number of times of turning on.

[0182] As an optional mode, before controlling the at least two emission groups to emit laser beams according to the preset rule, the method further includes: acquiring the emission power of each emission block in the at least two emission groups in the current measurement period, and controlling the at least two emission groups to emit laser beams according to the emission power of each emission block.

[0183] It can be understood that the preset rule can also be a combination of the above optional modes, which is not limited in the present application.

[0184] In the embodiments of the present application, different emission blocks in the multiple emission groups can be controlled to emit laser beams in time division, so that the scanning frame rate is further improved, and the optical crosstalk caused by the simultaneous emission of laser beams by multiple emission blocks is avoided, and the accuracy of the measurement result is improved.

[0185] It should be understood that the serial numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of the processes should be determined according to their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0186] Figure 14 Fig. 1 is a structural schematic diagram of a device for controlling a laser radar according to an exemplary embodiment, which can be implemented by software, hardware or a combination of both. The device for controlling a laser radar can include:

[0187] A determination module 1110 is configured to determine, in a measurement period, at least one emission block to be turned on in the current measurement period from a laser emission array, the emission array including a plurality of emission blocks; each of the emission blocks including a plurality of emission units.

[0188] A first control module 1120 is configured to control the at least one emission block to emit a laser beam according to a preset rule.

[0189] A second control module 1130 is configured to control the at least one emission block to receive a laser echo by a receiving block of the laser receiving array corresponding to the at least one emission block, the laser echo being a reflection of the laser beam by a target object.

[0190] As an example of the present application, the first control module 1120 is configured to:

[0191] Control the plurality of emission units in the at least one emission block to emit a detection laser simultaneously.

[0192] As an example of the present application, the device further includes an acquisition module 1140 configured to acquire a number of times of turning on the at least one emission block in the current measurement period; and the first control module 1120 is further configured to control the at least one emission block to emit a laser beam according to the number of times of turning on.

[0193] As an example of the present application, the acquisition module 1140 is further configured to acquire a time coding sequence corresponding to the at least one emission block; and the first control module 1120 is further configured to emit a laser beam according to the time coding sequence corresponding to the at least one emission block and the number of times of turning on.

[0194] As an example of the present application, when the current period includes at least two emission blocks to be turned on, the at least two emission blocks satisfy an optical non-crosstalk condition in physical position.

[0195] The first control module 1120 is further configured to control the at least two emission blocks to emit laser beams in time based on a preset rule.

[0196] The first control module 1120 is specifically configured to control the kth emission block to emit the laser beam at a corresponding time according to a time coding sequence corresponding to the kth emission block in the at least two emission blocks, where k is an integer greater than or equal to 1.

[0197] After a first preset time threshold is passed, the k+1th emission block is controlled to emit the laser beam at a corresponding time according to a time coding sequence corresponding to the k+1th emission block.

[0198] The determination manner of the time coding sequence corresponding to any one of the at least two emission blocks includes: generating a series of pseudo-random sequences by a linear feedback shift register based on a first preset sequence to obtain a plurality of pseudo-random sequences; determining an autocorrelation function of each pseudo-random sequence in the plurality of pseudo-random sequences; selecting a pseudo-random sequence with an autocorrelation coefficient less than a first specified threshold from the plurality of pseudo-random sequences according to the autocorrelation function; and selecting one pseudo-random sequence from the at least one selected pseudo-random sequence as the time coding sequence corresponding to the any one emission block.

[0199] As an example of the present application, the emission block corresponds to N receiving blocks of the laser receiving array; N is a positive integer greater than or equal to 1.

[0200] The second control block 1120 is configured to obtain N receiving blocks corresponding to each emission block; control the N receiving blocks to receive laser echoes; after the receiving blocks of the laser receiving array corresponding to the emission block receive the echo laser, the method further comprises: fusing the echo data received by the N receiving blocks to obtain a fusion result; and determining the distance of the target object based on the fusion result.

[0201] In this embodiment, within a measurement cycle, a transmission group to be activated within the current measurement cycle is determined from the laser emission array. The transmission group includes at least two emission units, and these at least two emission units physically satisfy the optical non-crosstalk condition. The at least two emission units are controlled to emit laser beams in a time-division manner according to a preset rule. The receiving unit group of the laser receiving array corresponding to the transmission group is controlled to receive the laser echo, which refers to the echo after the laser beam is reflected by the target object. Thus, within a measurement cycle, by controlling at least two emission units to emit laser beams at different times, optical crosstalk can be prevented while maintaining the scanning frame rate. In other words, the method provided in this application can address both the optical crosstalk and frame rate issues of array-type lidar, thereby accurately determining the measurement results.

[0202] Figure 15 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 15 As shown, the electronic device 12 of this embodiment includes: at least one processor 120 ( Figure 15 (Only one is shown in the diagram), memory 121, and computer program 122 stored in said memory 121 and executable on said at least one processor 120, wherein said processor 120 executes said computer program 122 to implement the steps in any of the above method embodiments.

[0203] The electronic device 12 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. This electronic device may include, but is not limited to, a processor 120 and a memory 121. Those skilled in the art will understand that... Figure 12 This is merely an example of electronic device 12 and does not constitute a limitation on electronic device 12. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0204] The processor 120 may be a CPU (Central Processing Unit), or it may be other general-purpose processors, DSPs (Digital Signal Processors), ASICs (Application Specific Integrated Circuits), FPGAs (Field-Programmable Gate Arrays), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0205] The memory 121 can be an internal storage unit of the electronic device 12, such as a hard disk or a memory of the electronic device 12 in some embodiments. The memory 121 can also be an external storage device of the electronic device 12, such as a plug-in hard disk, an SMC (Smart Media Card), an SD (Secure Digital) card, a Flash Card, and the like equipped on the electronic device 12 in other embodiments. Further, the memory 91 can include both the internal storage unit and the external storage device of the electronic device 12. The memory 91 is used to store an operating system, an application program, a BootLoader, data, and other programs, such as program codes of the computer program, and the like. The memory 121 can also be used to temporarily store data that has been output or is to be output.

[0206] It should be noted that the information interaction, execution process, and the like between the above devices / units are based on the same concept as the method embodiments of the present application, and the specific functions and the technical effects brought by the same can be referred to the method embodiments part for details, which will not be described herein again.

[0207] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described herein again.

[0208] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method of controlling a laser radar, characterized by, The laser radar comprises a laser emission array and a laser receiving array, and the method comprises: In a measurement period, at least one emission block to be turned on in the current measurement period is determined from the laser emission array, the emission array comprises a plurality of emission blocks; each of the emission blocks comprises a plurality of emission units; controlling at least one of the emission blocks to emit a laser beam according to a preset rule; controlling at least one of the emission blocks to correspond to the receiving block of the laser receiving array to receive a laser echo, wherein the laser echo refers to the echo of the laser beam reflected by a target object; The control of the at least one emission block to emit a laser beam according to a preset rule comprises: controlling the plurality of emission units in the at least one emission block to emit a detection laser at the same time; controlling different emission blocks to emit a laser beam in different measurement periods; the receiving field angle of each receiving block is greater than or equal to the emission field angle of each emission block; the plurality of emission units in each emission block are staggered in the vertical direction and the horizontal direction; Before the control of the at least one emission block to emit a laser beam according to a preset rule, the method further comprises: obtaining a time coding sequence of the at least one emission block; The control of the at least one emission block to emit a laser beam according to a preset rule comprises: controlling the at least one emission block to emit a laser beam according to a time coding sequence; Wherein, obtaining a time coding sequence of the at least one emission block comprises: based on a first preset sequence, a series of pseudo-random sequences are generated by a linear feedback shift register to obtain a plurality of pseudo-random sequences; the autocorrelation function of each pseudo-random sequence in the plurality of pseudo-random sequences is determined; according to the autocorrelation function, the pseudo-random sequences with autocorrelation coefficients less than a first specified threshold are screened out from the plurality of pseudo-random sequences; one of the at least one screened pseudo-random sequence is selected as the time coding sequence corresponding to the arbitrary emission block.

2. The method of claim 1, wherein, Before the control of the at least one emission block to emit a laser beam according to a preset rule, the method further comprises: obtaining the number of times of turning on of the at least one emission block in the current measurement period; The control of the at least one emission block to emit a laser beam according to a preset rule comprises: controlling the at least one emission block to emit a laser beam according to the number of times of turning on.

3. The method of claim 2, wherein, The method further comprises: obtaining the time coding sequence corresponding to the at least one emission block, and emitting a laser beam according to the time coding sequence corresponding to the at least one emission block and the number of times of turning on.

4. The method of claim 1, wherein, The method further comprises: When the current measurement period comprises at least two emission blocks to be turned on, the at least two emission blocks satisfy the optical non-crosstalk condition in physical position; controlling the at least two emission blocks to emit a laser beam based on the preset rule.

5. The method of claim 4, wherein the control of the at least two emission blocks to emit a laser beam based on the preset rule comprises: controlling the emission block to emit the laser beam at the corresponding time according to the time coding sequence corresponding to the emission block that emits for the kth time in the at least two emission blocks, wherein k is an integer greater than or equal to 1. After a first preset time length threshold is passed, a time coding sequence corresponding to a k+1th emission block is used to control the k+1th emission block to emit the laser beam at a corresponding time.

6. The method of claim 1, wherein, The emission block corresponds to N receiving blocks of the laser receiving array; N is a positive integer greater than or equal to 1; The control of the receiving block of the laser receiving array corresponding to the emission block to receive the laser echo includes: Obtaining N receiving blocks corresponding to each emission block; Controlling the N receiving blocks to receive laser echoes; After the control of the receiving block of the laser receiving array corresponding to the emission block to receive the echo laser, the method further includes: Fusing the echo data received by the N receiving blocks to obtain a fusion result; Determining the distance of the target object based on the fusion result.

7. An apparatus for controlling a lidar, the apparatus comprising: The laser radar includes a laser emission array and a laser receiving array, and the device includes: A determination module is configured to determine at least one emission block to be turned on in a current measurement period from the laser emission array in a measurement period, the emission array including a plurality of emission blocks; each emission block including a plurality of emission units; A first control module is configured to control at least one emission block to emit a laser beam according to a preset rule; A second control module is configured to control a receiving block of the laser receiving array corresponding to the emission block to receive a laser echo, the laser echo being a reflection of the laser beam by a target object; The first control module is specifically configured to: Control the plurality of emission units in the at least one emission block to emit a detection laser simultaneously; control different emission blocks to emit laser beams in different measurement periods; each receiving block corresponds to a receiving field of view angle greater than or equal to an emission field of view angle corresponding to each emission block; the plurality of emission units in each emission block are staggered in the vertical direction and the horizontal direction; The device further includes an acquisition module; the acquisition module is configured to: Acquire a time coding sequence of at least one emission block; The first control module is specifically configured to control at least one emission block to emit a laser beam according to a time coding sequence; The acquisition module is specifically configured to: Based on a first preset sequence, a series of pseudo-random sequences are generated by a linear feedback shift register to obtain a plurality of pseudo-random sequences; the autocorrelation function of each pseudo-random sequence in the plurality of pseudo-random sequences is determined; according to the autocorrelation function, a pseudo-random sequence with an autocorrelation coefficient less than a first specified threshold is selected from the plurality of pseudo-random sequences; one pseudo-random sequence is selected from the at least one selected pseudo-random sequence as the time coding sequence corresponding to the arbitrary emission block.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, The processor executes the computer program to implement the method of any one of claims 1 to 6.

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