Detection method and device, optical detection device and carrier

Abstract

The present disclosure relates to the field of optical detection technology, and discloses a detection method and device, an optical detection device and a carrier. The detection method is used to automatically detect the detection capability of the optical detection device, and the optical detection device is installed on the carrier. The detection method includes: determining whether the carrier meets the preset conditions; when the carrier meets the preset conditions, starting the detection of the detection capability of the optical detection device; determining the detection capability of the optical detection device. Thus, during the service life of the optical detection device, the optical detection device or the carrier to which it is applied can timely grasp the upper limit of the detection capability of the optical detection device, adopt reasonable detection results, and improve the reliability of the carrier to which the optical detection device is applied.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of optical detection technology, and in particular to a detection method and device for detection capability, an optical detection device and a carrier. Background Art

[0002] An optical detection device is a sensor that uses light as a medium to detect objects and provides sensor information to the system in which it is used. At present, the detection capability of an optical detection device can be evaluated before it leaves the factory, and the detection capability of the optical detection device can be evaluated using an evaluation system at the factory end. In this evaluation system, the first platform can be used to carry a standard distance measurement device and a laser radar; and the second platform can be used to carry a preset target board. The first platform and the second platform move relative to each other to adjust the relative posture of the laser radar and the preset target board so that the detection light of the laser radar channel to be measured is incident on the preset target board. The standard distance measurement device measures the relative distance between the laser radar and the target board under preset test conditions until the limit distance of the laser radar is obtained. The preset test conditions may include one or more parameters such as illumination, detection probability, and noise rate.

[0003] Optical detection devices are widely used in intelligent driving (or assisted driving, automatic driving), drones, robot recognition, geographic mapping, or environmental monitoring. The use of optical detection devices is related to the reliability of the systems in which they are used, so they are of great concern. Summary of the invention

[0004] In view of this, the embodiments of the present disclosure provide a detection method and device, an optical detection device and a carrier. By detecting the detection capability of the optical detection device, changes in the detection capability of the optical detection device can be timely understood, thereby improving the reliability of the system (for example, a carrier) in which the optical detection device is used.

[0005] In a first aspect, a detection method is provided for automatically detecting the detection capability of an optical detection device, wherein the optical detection device is installed on a carrier, and the detection method comprises: determining whether the carrier satisfies a preset condition; when the carrier satisfies the preset condition, initiating detection of the detection capability of the optical detection device; and determining the detection capability of the optical detection device.

[0006] The above detection method starts the detection of the detection capability of the optical detection device based on preset conditions during the use cycle of the optical detection device. Since the conditions are set in advance, the detection trigger can be automated, and the detection capability of the optical detection device is determined during the use cycle of the optical detection device, so that the optical detection device or the carrier used can promptly understand the changes in the detection capability of the optical detection device, thereby grasping the upper limit of the detection capability of the optical detection device, so as to adopt reasonable detection results and improve the reliability of the optical detection device and the carrier used.

[0007] Optionally, the preset condition includes: the carrier is in a stable state relative to the environment. The preset condition is anchored to the stable scene of the optical detection device in the application (for example, the stable scene of the laser radar in the whole vehicle environment), and the preset condition is used to determine whether to enable the detection of the detection capability, so as to start the detection of the detection capability at an appropriate time and improve the accuracy of the detection.

[0008] Optionally, the preset condition includes one or all of the following conditions: the working state of the carrier is in a first stable state; or, the environment of the carrier is in a second stable state.

[0009] Optionally, the first stable state includes that the carrier is in a stationary state or the moving speed of the carrier is maintained within a preset speed range within a first preset time.

[0010] Optionally, when the preset condition includes that the working state of the carrier is in a first stable state, determining whether the carrier meets the preset condition includes: determining the working state information of the carrier, the working state information including one or more of the following information: speed information, acceleration information, gear information or functional state information; based on the working state information, determining whether the working state of the carrier is in the first stable state.

[0011] Optionally, when the preset condition includes that the working state of the carrier is in a first stable state, determining whether the carrier satisfies the preset condition includes: receiving indication information, the indication information being used to indicate that the working state of the carrier is in the first stable state or to enable detection of detection capability; based on the indication information, determining that the working state of the carrier is in the first stable state.

[0012] Optionally, when the carrier is a vehicle, the carrier is in a first stable state when one or more of the following conditions are met: the speed of the vehicle is 0; the gear of the vehicle is in the parking gear; the gear of the vehicle is in the neutral gear; the functional state of the vehicle is in the cruise control state; or, within the first preset time, the acceleration of the vehicle is less than or equal to the acceleration threshold, or, the speed is greater than or equal to the speed threshold and the acceleration is less than or equal to the acceleration threshold.

[0013] Optionally, when the preset condition includes that the environment of the carrier is in the second stable state, determining whether the carrier satisfies the preset condition includes: determining detection data of the optical detection device relative to the reference object; and determining whether the environment of the carrier is in the second stable state based on the detection data. The above method can determine the appropriate detection time in real time based on the detection data determined during the daily operation of the optical detection device, without adding additional hardware, so as to enable detection of the detection capability of the optical detection device.

[0014] Optionally, the optical detection device includes a first channel, the detection data includes first detection data of the first channel relative to a reference object, and based on the detection data, determining whether the environment of the carrier is in a second stable state includes: determining a first detection result of the first channel based on the first detection data; when the first detection result displayed by the first detection data within a second preset time is within a preset range, determining that the environment of the carrier is in the second stable state.

[0015] Optionally, determining whether the carrier satisfies a preset condition includes: when determining a first instruction triggered by a user, determining whether the carrier satisfies the preset condition.

[0016] Optionally, determining the detection capability of the optical detection device includes: determining a critical emission energy of a detection channel of the optical detection device under a first detection result, the first detection result being determined based on a reference detection result of the detection channel relative to a reference object; based on the first detection result and the critical emission energy, determining an attenuation coefficient of the detection channel, the attenuation coefficient being used to determine the detection capability of the optical detection device.

[0017] Optionally, determining the critical emission energy of the detection channel of the optical detection device under the first detection result includes: adjusting the emission energy of the detection channel in a decreasing manner; when the difference between the first detection result under the first emission energy and the second detection result under the second emission energy is greater than or equal to a first threshold, determining that the first emission energy is the critical emission energy, and the first emission energy and the second emission energy are energies obtained from two adjacent adjustments during the adjustment process of the emission energy.

[0018] Optionally, the detection method further includes: inserting a diagnostic timing sequence within a detection period of the detection channel at a first scanning angle, wherein when the diagnostic timing sequence arrives, determining a critical emission energy of the detection channel of the optical detection device under the first detection result.

[0019] Optionally, the optical detection device further includes a second channel, and the detection range of the second channel does not include the reference object. The method further includes: determining the attenuation coefficient of the second channel based on the attenuation coefficient of the detection channel.

[0020] Optionally, the reference object is the ground.

[0021] In a second aspect, a detection device is provided for automatically detecting the detection capability of an optical detection device, wherein the optical detection device is installed on a carrier, and the detection device comprises: a first determination unit for determining whether the carrier satisfies a preset condition; a start unit for starting the detection of the detection capability of the optical detection device when the carrier satisfies the preset condition; and a second determination unit for determining the detection capability of the optical detection device.

[0022] In a third aspect, a detection device is provided, comprising: a processor, which is used to couple to a memory, wherein the memory comprises instructions, and when the instructions are called by the processor, the processor executes any one of the detection methods provided in the first aspect above.

[0023] In a fourth aspect, an optical detection device is provided, comprising: a transmitter for emitting laser; a receiver for receiving the echo of the laser and converting the echo into an electrical signal; and a processor for executing the detection method provided in the first aspect above, and detecting the detection capability of the optical detection device based on the electrical signal.

[0024] In a fifth aspect, a carrier is provided, comprising: an optical detection device and a control device in communication connection, wherein the optical detection device is used to execute the detection method provided in the first aspect above or the control device is used to execute the detection method provided in the first aspect above.

[0025] In a sixth aspect, a computer-readable storage medium is provided, comprising instructions stored thereon, wherein when the instructions are executed by a processor, any one of the detection methods provided in the first aspect above is executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The following is a brief introduction to the drawings used in describing the embodiments of the present disclosure:

[0027] Figure 1 A diagram showing an application scenario of an example of an optical detection device provided in some embodiments of the present disclosure is shown;

[0028] Figure 2 A structural block diagram of a laser radar example provided in some embodiments of the present disclosure is shown;

[0029] Figure 3 A flowchart showing an example of a detection method provided in some embodiments of the present disclosure is shown;

[0030] Figure 4 An example of a comparison diagram of detection distance and emission energy provided in some embodiments of the present disclosure is shown;

[0031] Figure 5 A structural block diagram of an example of a carrier provided in some embodiments of the present disclosure is shown;

[0032] Figure 6 A flowchart showing an example of a method for determining whether a preset condition is satisfied provided in some embodiments of the present disclosure;

[0033] Figure 7 A flowchart showing another method example of determining whether a preset condition is satisfied provided in some embodiments of the present disclosure;

[0034] Figure 8A flowchart showing another example of a method for determining whether a preset condition is satisfied provided in some embodiments of the present disclosure;

[0035] Fig. 9 A flowchart showing another example of a method for determining whether a preset condition is satisfied provided in some embodiments of the present disclosure;

[0036] Fig.10 A schematic diagram showing an example of a scene of an optical detection device relative to a reference object provided in some embodiments of the present disclosure is shown;

[0037] Fig.11 A flowchart showing another example of a method for determining whether a preset condition is satisfied provided in some embodiments of the present disclosure;

[0038] Fig.12 A flowchart of a detection example of enabling laser radar detection capability provided in some embodiments of the present disclosure is shown;

[0039] Fig.13 A flowchart of another detection example of enabling laser radar detection capability provided in some embodiments of the present disclosure is shown;

[0040] Fig.14 A flowchart showing an example of a detection process of a detection capability provided in some embodiments of the present disclosure is shown;

[0041] Fig.15 A schematic diagram showing an example of the relationship between the detection distance and the emission energy of a detection channel provided in some embodiments of the present disclosure is shown;

[0042] Fig.16 A schematic diagram showing an example of a method for determining an attenuation coefficient provided in some embodiments of the present disclosure;

[0043] Fig.17 A schematic diagram showing an example of a field of view and an example of a reference object of an optical detection device provided in some embodiments of the present disclosure is shown;

[0044] Fig.18 A flowchart showing an example of a detection capability detection process provided in some embodiments of the present disclosure is shown;

[0045] Fig.19 A structural block diagram showing an example of a detection device for detection capability provided in some embodiments of the present disclosure is shown;

[0046] Fig. 20 A structural block diagram showing an example of another detection capability detection device provided in some embodiments of the present disclosure;

[0047] Fig.21A structural block diagram of an example of an optical detection device provided in some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will illustrate examples of implementation of the present disclosure with reference to the accompanying drawings. The accompanying drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other accompanying drawings and other implementations can be obtained based on these drawings without creative work. Adjustments and improvements made without departing from the concept of the present disclosure are all within the protection scope of the present disclosure.

[0049] In order to simplify the drawings, each figure only schematically shows the parts related to the embodiments, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only a part of the components with the same structure or function is schematically drawn, and there may be more or less components with the same structure or function in reality.

[0050] In the present disclosure, unless otherwise clearly specified and limited, ordinal numbers, such as "first", "second", etc., are only used to distinguish and describe associated objects, and cannot be understood as indicating or implying the relative importance or order between associated objects; in addition, they do not represent the number of associated objects. "Multiple" includes two or more, and other quantifiers are similar. " / " is used to describe the relationship between associated objects, which indicates the "or" relationship between associated objects. "And / or" is used to describe the relationship between associated objects, which includes any combination relationship between associated objects, such as "a and / or b" includes: "alone a", "alone b", or "a and b". "One or more" or "at least one" in multiple objects refers to any object or any combination of multiple objects, such as "one or more of a1, a2, a3" or "at least one of a1, a2, a3" includes: "alone a1", "alone a2", "alone a3", "a1 and a2", "a1 and a3", "a2 and a3", or "a1, a2 and a3".

[0051] An optical detection device is a device that uses light as a medium to detect objects. Compared with ordinary light sources, lasers have the characteristics of monochromaticity and good directionality. Therefore, object detection using lasers as a medium has been applied in more and more fields, such as intelligent driving (such as assisted driving, automatic driving, etc.), drones, robot recognition, geographic mapping, environmental monitoring, etc. The optical detection device can be installed on a carrier, such as a vehicle, ship, aircraft (such as flying vehicles, drones, etc.), industrial robot or household robot, etc., to provide sensor information to the carrier, so that the carrier can use the sensor information to realize functions such as analysis, decision-making or control.

[0052] At present, the detection capability of optical detection devices can be evaluated before leaving the factory, and the detection capability of optical detection devices can be evaluated using the factory-side evaluation system. However, after leaving the factory, the optical detection device is mounted on a carrier for use to provide sensing information for the carrier. During the use cycle of the optical detection device, the detection capability of the optical detection device may decay due to the decay of its own electronic components or external environmental factors. If the decay of the detection capability is not discovered in time, the optical detection device or the carrier may overestimate the detection capability, which may affect the reliability or safety of the carrier during operation.

[0053] For example, during the use of the optical detection device, due to the attenuation of its own electronic devices, etc., the detection capability may be reduced. The attenuation of electronic devices, for example, includes the attenuation of lasers; the attenuation of lasers may include the attenuation of energy (for example, the preset emission energy is X, and the actual emission energy is 0.8X); or may include the attenuation of pulse width (for example, the preset pulse width is 10ns, and the actual emission pulse width is 20ns). Due to the existence of the attenuation of electronic devices, the energy emitted by the laser emitter is less than the preset driving energy or the pulse width is greater than the preset pulse width, thereby reducing the detection capability of the optical detection device.

[0054] If the system (for example, carrier) in which the optical detection device is used cannot promptly learn of the reduction in its detection capability, the carrier may overestimate its detection capability and adopt unreliable detection results, thereby affecting the reliability of the carrier.

[0055] Taking the above problems into consideration, the embodiments of the present disclosure provide a detection method, which, during the use cycle of the optical detection device, starts automatic detection of the detection capability of the optical detection device through preset conditions, so as to timely understand changes in the detection capability of the optical detection device during use, so that the optical detection device or the carrier used by it can timely grasp the upper limit of the detection capability of the optical detection device, adopt reasonable detection results, and improve the reliability of the carrier used by the optical detection device.

[0056] The following description takes the optical detection device as a LiDAR (Light Detection And Ranging, LiDAR), and the application of LiDAR in the field of intelligent driving as an example. When the optical detection device is applied in other fields, the solution provided in the embodiment of the present disclosure can also be adopted to detect the detection capability of the optical detection device to improve the reliability of the applied carrier.

[0057] Please refer to Figure 1 , which shows an application scenario diagram of an example of an optical detection device provided in some embodiments of the present disclosure. Figure 1As shown, the optical detection device includes, for example, a laser radar 110 , and the carrier includes, for example, a vehicle 120 . The laser radar 110 is installed on the vehicle 120 to detect objects around the vehicle 120 . Figure 1 The laser radar 110 is installed on the front side of the roof, but it is only an example. The dotted box in the figure also shows several other possible installation positions. For example, the installation position of the laser radar 110 on the vehicle 120 includes: the top of the vehicle (such as the front side of the roof, the rear side or other roof positions), near the headlights, hidden in the headlights, both sides of the body, the front bumper, the grille, above the front windshield, above the rear window glass, the side fenders, the front wheel eyebrows, the front cover, the trunk cover, the bottom of the trunk, or the position in the cabin that can be detected externally through the front windshield, etc. In addition, the vehicle 120 can be installed with one or more laser radars 110. In summary, the present disclosure does not limit the number and location of laser radars installed on a vehicle. The number and location of laser radars can be selected and designed based on various factors such as perception performance, safety, cost, appearance and engineering. For example, a laser radar is installed on the front side of the roof; for example, a laser radar is installed near the headlights on both sides of the vehicle; for example, a laser radar is installed in the front of the roof, and a laser radar is installed on each fender on both sides of the vehicle; for example, a laser radar is installed at the front and rear of the roof, and a laser radar is installed on each front wheel arch on both sides of the vehicle.

[0058] The laser radar can be a mechanical laser radar, a semi-solid laser radar or a solid-state laser radar; among which, the semi-solid laser radar can be, for example, a micro electro mechanical system (MEMS) laser radar, a rotating mirror laser radar, a swinging mirror laser radar, or a prism laser radar, etc.; the solid-state laser radar can be an optical phase array (OPA) laser radar, or a flash laser radar, etc. When a vehicle is equipped with multiple laser radars, the types of laser radars can be the same or different, and the shapes can be the same or different.

[0059] Please refer to Figure 2 , shows a structural block diagram of a laser radar example provided in some embodiments of the present disclosure. Figure 2 As shown, the laser radar 200 includes a laser emitting system 210, a laser receiving system 220, and a control and processing system 230; optionally, the laser radar 200 also includes a scanning system 240, for example, a mechanical laser radar or a semi-solid laser radar may also include a scanning system 240. The scanning system 240 may include a rotating platform, a rotating mirror, a swinging mirror, a galvanometer, or other devices that can make the laser emit to different directions in the environment.

[0060] The laser emitting system 210 is used to emit laser. After the laser encounters the object 10, it is reflected by the surface of the object 10 to the laser radar 200; the laser receiving system 220 receives the reflected echo and converts it into an electrical signal, and provides it to the control and processing system 230; the control and processing system 230 receives the electrical signal and processes the electrical signal to obtain information about the object 10, such as the distance, position or speed of the object 10, and the three-dimensional structure of the object.

[0061] The laser emission system 210 mainly includes an excitation source (for example, a driving circuit), a laser and an emission optical element. The laser emits laser light under the drive of the excitation source, and the laser light is emitted through the emission optical element. The laser receiving system 220 mainly includes a receiving optical element and a detector. The receiving optical element collects the echo reflected by the object and collects it on the photosensitive surface of the detector; the detector converts the optical signal into an electrical signal using the photoelectric effect. The laser radar 200 may also include a preprocessing circuit, such as an analog to digital converter (ADC), which converts the analog signal into a digital signal and provides it to the control and processing system 230. For example, the preprocessing circuit may include a time to digital converter (TDC); when the control and processing system 230 controls the laser to emit laser light through the driving circuit, a signal to start timing of the TDC may be synchronized, and then the echo is converted into an electrical signal through the detector, and the electrical signal may be converted (for example, converted and amplified into a voltage, and compared with a reference voltage to determine whether there is light incident) and provided to the TDC; based on the received electrical signal, the TDC may time the arrival time of the echo and provide the time information to the control and processing system 230. The preprocessing circuit may also include an analog front-end circuit for channel gating and analog signal amplification. The transmitting optical element and the receiving optical element may include, for example, one or more optical elements such as a lens, a reflector, an optical filter, a beam splitter, and an aperture. The transmitting optical element and the receiving optical element may be independently arranged optical elements, or may be fully or partially multiplexed.

[0062] The control and processing system 230 may include an information processing circuit and a light source control circuit. The information processing circuit is used to process the electrical signal to obtain information about the object. In some embodiments, the information processing circuit includes, for example, an application specific integrated circuit (ASIC), or a hardware circuit implemented by a programmable logic device (PLD), such as a field programmable gate array (FPGA), or a microcontroller unit (MCU), or a digital signal processor (DSP), etc.; this implementation is conducive to improving the efficiency of information processing. In some other embodiments, the information processing circuit includes, for example, a central processing unit (CPU). The light source control circuit is used to send a control instruction to the excitation source to control the excitation source to drive the laser to emit light and realize the pulsed emission of the laser. For example, a timing signal can be sent to control the emission timing of the laser; for example, the pulse interval, pulse intensity and pulse width can be configured to increase the pulse coding function and enhance the anti-interference ability of the laser radar. The light source control circuit and the information processing circuit can be integrated together, for example, integrated into a main control chip, or each can be independent or partially independent as a chip. When the laser radar 200 includes a scanning system 240, the control and processing system 230 may also include a scanning control circuit for controlling the scanning system. The scanning control circuit can be integrated with one or all of the light source control circuit and the information processing circuit, for example, the scanning control circuit, the light source control circuit and the information processing circuit are integrated into a main control chip; or each can be independent or partially independent as a chip, which is not limited by the embodiments of the present disclosure. In some embodiments, the control and processing system 230 can be implemented in the form of a system on chip (SOC) or an application specific integrated circuit (ASIC).

[0063] During the use of the laser radar, its own device attenuation or external environmental factors may cause its detection capability to decrease. The detection method provided by the embodiment of the present disclosure can dynamically identify the situation of the laser radar's detection capability decrease during the use of the laser radar, so that the laser radar or the carrier used can timely grasp the upper limit of the laser radar's detection capability, thereby reducing the problem of intelligent driving strategy misjudgment caused by the laser radar's overestimation of the detection capability of objects during the use cycle, and improving the safety of the carrier's intelligent driving system.

[0064] The following is a description in conjunction with the accompanying drawings:

[0065] Please refer to Figure 3 , shows a flow chart of an example of a detection method provided in some embodiments of the present disclosure. The method is executed by a carrier (e.g., a vehicle), an optical detection device (e.g., a laser radar), or a control device of the carrier or a processor of the optical detection device, and the processor of the optical detection device is, for example, part of a control and processing system or is independent of the control and processing system. Figure 3 As shown, the method comprises at least the following steps:

[0066] S310, determining whether the carrier meets a preset condition;

[0067] S320, when the carrier meets the preset conditions, starting the detection of the detection capability of the optical detection device;

[0068] S330, determining the detection capability of the optical detection device.

[0069] After completing the factory inspection, the optical detection device can be mounted on a carrier for use. During the use of the carrier, the detection capability of the optical detection device may be attenuated due to the attenuation of its own electronic components or external environmental factors, which may cause the optical detection device or the carrier to overestimate the detection capability, affecting the reliability or safety of the carrier during operation. Taking the above problems into consideration, the disclosed embodiment can start the detection of the detection capability of the optical detection device based on preset conditions during the use cycle of the optical detection device or the carrier. Since the conditions are pre-set, the detection trigger can be automated, and the detection capability of the optical detection device can be determined during the use cycle of the optical detection device, so that the optical detection device or the carrier used can promptly understand the changes in the detection capability of the optical detection device, thereby grasping the upper limit of the detection capability of the optical detection device, so as to adopt reasonable detection results and improve the reliability of the optical detection device and the carrier used.

[0070] In addition, the hardware circuit of the optical detection device is complex and consists of many electronic components. It is difficult to obtain a normalized attenuation curve through a large number of endurance tests during the R&D, production or testing stages. Through this method, the changes in the detection ability of the optical detection device during use can be understood in a timely manner, reducing the dependence on inspection and the limitations of factory testing.

[0071] The detection capability can be characterized by the relationship between the detection result of the optical detection device and the emission energy. The detection result includes, for example, the detection distance, flight time or reflectivity. The detection result can be represented by the detection boundary of an object with a specific reflectivity, such as the maximum detectable distance of an object with a specific reflectivity. The embodiment of the present disclosure does not limit the size of the specific reflectivity. The relationship between the detection result and the emission energy can be obtained through factory calibration, and the reflectivity of the object is determined by the reflectivity of the object selected during calibration, and its size is not limited. Please refer to Figure 4 , which shows an example of a comparison chart of detection distance and transmission energy provided in some embodiments of the present disclosure. The comparison chart includes the relationship between the detection distance and the transmission energy under different attenuation percentages, Figure 4 The detection distance refers to the farthest detectable distance. The attenuation percentage refers to the ratio of attenuation to the highest detection capability (for example, 100% detection capability), and the detection capability can be reflected by the attenuation percentage. For example, the initial detection capability (100% detection capability) of the optical detection device can reach: when detecting an object with a reflectivity of 10%, the farthest detectable distance is 200m. 90% detection capability means that the detection capability is attenuated to 90% of the highest detection capability. 90% detection capability can reach: when detecting an object with a reflectivity of 10%, the farthest detectable distance is 180m. In some other embodiments, the attenuation percentage can also be reflected by the attenuation ratio. For example, a 90% attenuation ratio refers to attenuation to 10% of the highest detection capability. The above attenuation percentage or attenuation ratio can be called an attenuation coefficient. Figure 4 In the example, the horizontal axis represents the emission energy and the vertical axis represents the farthest detectable distance. When the optical detection device measures with a certain emission energy, the position of the horizontal axis can be determined, and the position of the vertical axis can be determined based on the farthest detectable distance. Then, Figure 4 A point is determined based on the position of the horizontal coordinate and the vertical coordinate, and the attenuation of the detection capability of the optical detection device can be determined based on the attenuation percentage of the curve where the point is located. The embodiment of the present disclosure can use the characteristic relationship between the emission energy and the farthest detection distance to determine the actual detection capability of the detection channel of the current optical detection device. Figure 4 For example, the vertical axis in the detection distance is used as an example. In other embodiments, the detection distance can also be replaced by other parameters such as flight time that can reflect the detection capability of the optical detection device. Based on this, the critical value at which the detection distance will change significantly when the emission energy is further reduced can be found by decreasing the emission energy at a specific detection distance. Using the critical value of the emission energy and the detection distance (i.e., the farthest detectable distance), it is possible to Figure 4 The corresponding point is found in the curve where the point is located, which can represent the attenuation of the detection ability of the optical detection device.

[0072] In some embodiments of the present disclosure, the preset condition includes that the carrier is in a stable state relative to the environment. The preset condition is anchored to the stable scene of the optical detection device in the application (for example, the stable scene of the laser radar in the vehicle environment), and the preset condition is used to determine whether to enable the detection of the detection capability, so as to enable the detection of the detection capability at an appropriate time and improve the accuracy of the detection.

[0073] In some embodiments of the present disclosure, the preset condition (or the carrier is in a stable state relative to the environment) can be set from one or all of the stable working state of the carrier and the stable environment. For example, the carrier is in a stable state relative to the environment, including the working state of the carrier being in a first stable state (hereinafter referred to as the first condition) and the environment being in a second stable state (hereinafter referred to as the second condition). The working state of the carrier is in the first stable state, for example, including the moving speed of the carrier being maintained within a preset speed range within the first preset time or the carrier being in a stationary state. The environment of the carrier is in the second stable state, indicating that the environment (such as the fluctuation of road obstacles, or the interference of nearby traffic) has little effect on the detection ability of the optical detection device. In some embodiments, the second stable state can be determined by the optical detection device on the carrier through detection. Or in some embodiments, the second stable state can be determined by the control device on the carrier to determine the environmental information, and based on the environmental information, the environmental information is, for example, weather information obtained by the communication device on the carrier, or perception information obtained by other sensors on the carrier (such as image sensors), the perception information is used to indicate the situation of the environment in which the carrier is located.

[0074] In some embodiments, the detection method provided by the present disclosure can be performed by an optical detection device; in some embodiments, the detection method provided by the present disclosure can be performed by a device on a carrier. Figure 5 , which shows a structural block diagram of an example of a carrier provided in some embodiments of the present disclosure. Figure 5As shown, the carrier 500 includes a control device 510 and an optical detection device 520; the control device 510 is in communication connection with the optical detection device 520. The above method can be performed by the control device 510 or the optical detection device 520. In some embodiments, the carrier 500 may also include a communication device 530 for communicating with a remote server 20, which is, for example, a cloud server. The communication device 530 and the server 20 may communicate via wireless communication, such as a cellular network (e.g., 3G, 4G, 5G or 6G, etc.). The control device 510 includes one or more processors of the carrier. Taking the carrier as a vehicle and the optical detection device as a laser radar as an example, the control device is, for example: a domain control unit (DCU), an electronic control unit (ECU), a vehicle central computer (VCC), a zonal / zone ECU (or, a zone control unit, ZCU), a micro control unit (MCU) or a vehicle control unit (VCU), etc. The domain controller includes, for example, a vehicle domain controller (VDC), a cockpit domain controller (CDC), or a domain controller for advanced driving assistance system / autonomous driving.

[0075] The following describes the determination method of the above step S310 when the preset condition includes the first condition, or the preset condition includes the second condition. When the preset condition includes the first condition and the second condition, it can be implemented in combination with the following method.

[0076] First, the determination of the first condition is described:

[0077] Please refer to Figure 6 , which shows a flowchart of an example of a method for determining whether a preset condition is satisfied provided in some embodiments of the present disclosure. The method is executed by the control device 510, and the preset condition includes a first condition, that is, the working state of the carrier is in a first stable state. The above step S310 includes:

[0078] S610: Determine working state information of the carrier, where the working state information includes one or more of the following information: speed information, acceleration information, gear information, or functional state information;

[0079] S620: Determine whether the working state of the carrier is in a first stable state based on the working state information.

[0080] For example, the operating state information includes speed information, and the operating state of the carrier can be determined based on the speed information. For example, when the speed information of the carrier indicates that the moving speed of the carrier is zero, it is determined that the carrier is in the first stable state. In some embodiments, when the speed information of the carrier indicates that the moving speed of the carrier is 0 within a preset time (referred to as preset time T1 for distinction), it is determined that the carrier is in the first stable state.

[0081] For another example, the working state information includes acceleration information, and the working state of the carrier can be determined based on the acceleration information. For example, the acceleration information indicates that the moving speed of the carrier changes within a preset range, and the carrier is determined to be in a first stable state. In some embodiments, when the acceleration information of the carrier indicates that the acceleration of the carrier is less than or equal to the acceleration threshold within a preset time (for distinction, referred to as preset time T2), it can be considered that the carrier is in a state close to uniform motion, thereby determining that the carrier is in the first stable state.

[0082] For another example, the working state information includes speed information and acceleration information, and the working state of the carrier can be determined based on the speed information and the acceleration information. For example, the speed information of the carrier indicates that the moving speed of the carrier is maintained within a preset speed range, and the acceleration information indicates that the moving speed of the carrier changes within a preset range, and the carrier is determined to be in a first stable state. In some embodiments, when the acceleration information and the speed information of the carrier indicate that the speed of the carrier is greater than or equal to the speed threshold and the acceleration is less than or equal to the acceleration threshold within a preset time (for distinction, referred to as preset time T3), the carrier is determined to be in the first stable state.

[0083] For another example, the working state of the carrier can be determined based on the gear information. For example, when the gear information is displayed in a non-driving gear (such as the P gear or the N gear of the vehicle), the carrier is determined to be in the first stable state. In some embodiments, when the gear information is displayed in a non-driving gear (such as the P gear or the N gear of the vehicle) within a preset time (for distinction, referred to as the preset time T4), the carrier is determined to be in the first stable state.

[0084] The working state of the carrier can be determined based on the speed information and the gear information. For example, when the gear information is displayed in a non-driving gear (such as the P gear or N gear of the vehicle), and the speed information indicates that the moving speed of the carrier is 0, it is determined that the carrier is in the first stable state. In some embodiments, when the gear information is displayed in a non-driving gear (such as the P gear or N gear of the vehicle) within a preset time (for distinction, referred to as the preset time T5), and the speed information indicates that the moving speed of the carrier is 0, it is determined that the carrier is in the first stable state. The non-driving gear, for example, represents that there is no driving force to drive the carrier to move.

[0085] For another example, the working state of the carrier may be determined based on the functional state information. For example, when the functional state information indicates that the carrier is in a working state with a stable speed (for example, the cruise control function of the vehicle is turned on), it is determined that the carrier is in a first stable state.

[0086] All or part of the above preset times T1-T5 may be the same or different, and the size of the preset time is not limited and can be set based on the stable and continuous time requirement.

[0087] Taking the carrier as a vehicle as an example, the situation where the carrier is determined to be in the first stable state through the working state information includes, for example:

[0088] When the speed information indicates that the speed of the vehicle is 0, it is determined that the vehicle is in the first stable state. The speed information of the vehicle can be determined by a speed sensor installed on the vehicle. For example, the speed of the rotation of the vehicle tire is measured by a vehicle speed sensor. The sensor can be a magnetic, Hall effect, photoelectric or other technology sensor. By monitoring the rotation speed of the wheel, the speed of the vehicle can be calculated.

[0089] When the gear information indicates that the gear of the vehicle is in the parking gear, it is determined that the vehicle is in the first stable state. The gear information of the vehicle can be determined by a transmission sensor or switch on the vehicle. Different types of transmission systems use different sensors and technologies. For example, a manual transmission can use a mechanical sensor, which is located on the gear lever or clutch; when the driver switches the gear, the mechanical sensor detects the corresponding action and sends a signal to the electronic control unit (ECU) of the vehicle. An automatic transmission can use an electronic sensor to detect the current gear. The sensor is located inside the transmission and determines the gear by monitoring the state of hydraulic or electronic components. The gear information can also be determined by a position switch located on the transmission, and the current gear of the vehicle is determined by detecting the position of the gear lever. The parking gear of the vehicle is the gear selected when the vehicle is parked, which is used to prevent the vehicle from sliding or moving. The parking gear may include the P (Parking) gear. When the vehicle is parked, the gear of the vehicle is adjusted to the P gear, which locks the drive wheels to prevent the vehicle from sliding. In the P gear, the mechanical connection between the engine and the drive wheels is disconnected, and the vehicle cannot move. At this time, it can be indicated that the vehicle is stationary. In some manual transmission vehicles or automatic transmission vehicles, the handbrake can be used instead of the P gear. The handbrake locks the drive wheels by pulling the handbrake lever, which plays a similar role to the P gear.

[0090] When the gear information indicates that the gear of the vehicle is in the neutral (Neutral, N) gear, referred to as neutral, and the speed information indicates that the speed of the vehicle is 0, it is determined that the vehicle is in the first stable state. The neutral gear of the vehicle means that the vehicle transmission is in a neutral state, and there is no direct mechanical connection between the drive wheels and the engine. When the vehicle is in neutral, the power of the engine is not transmitted to the drive wheels, and the vehicle will not move forward or backward. Neutral gear in vehicle operation includes the following situations, for example: starting and shutting down, coasting, towing operation, idling the engine to perform vehicle maintenance or repair, etc. The vehicle is in the neutral gear, and the speed information indicates that the speed of the vehicle is 0, which can be considered to be in the first stable state.

[0091] The function status information indicates the activation status of the vehicle's functions, such as the activation status of the assisted driving function. When the function status information indicates that the vehicle is in a cruise control state, it can be determined that the vehicle is in a first stable state. In the cruise control state, the vehicle maintains a constant speed through the cruise control system without the need for the driver to intervene to maintain the speed. The main feature of the vehicle's cruise control state is that the cruise control system will strive to maintain the vehicle at a constant speed, so the working state of the vehicle can be determined to be in the first stable state.

[0092] When the speed information indicates that the speed of the vehicle is greater than or equal to the speed threshold, and the acceleration information indicates that the acceleration of the vehicle is less than or equal to the acceleration threshold within the first preset time, the vehicle is determined to be in the first stable state. For example, when the vehicle is in motion but the road conditions are relatively good, the driving state is stable, and the vehicle can be determined to be in the first stable state. For example, on a highway with relatively good road conditions, the vehicle is driving at a speed greater than or equal to 60 kilometers per hour, and the acceleration is less than or equal to 0.1 meters per second squared. After driving for the first preset time, the vehicle is determined to be in the first stable state.

[0093] The speed information or gear information shows that the vehicle is in a stationary state after starting, for example, the gear of the vehicle is P gear or the vehicle moving speed is 0. After detecting that the vehicle is started and the vehicle remains stationary for a period of time, it is determined that the vehicle is in the first stable state, and the detection capability test of the optical detection device can be started. In some embodiments, the vehicle starts the vehicle self-test when the vehicle starts, and the optical detection device can be started when the vehicle starts, and the self-test of the optical detection device is started, and the detection capability of the optical detection device is tested.

[0094] In some embodiments, whether the carrier is in the first stable state can be judged based on one or more of the above working state information. When judging whether the carrier is in the first stable state based on multiple of the above working state information, the judgment of the first stable state can be made more accurate. For example, the speed information indicates that the speed of the vehicle is 0 and the gear information indicates that the gear of the vehicle is in the parking gear. The two factors are judged comprehensively, which can make the judgment that the vehicle is in the first stable state more accurate. Or the functional state information indicates that the vehicle is in a cruise control state and the acceleration information indicates that the acceleration of the vehicle is less than or equal to the acceleration threshold. The two factors are judged comprehensively to more accurately judge whether the vehicle is in the first stable state.

[0095] One or more of the above multiple conditions for determining that the carrier is in the first stable state can be used independently or in combination to determine whether to start the detection of the detection capability of the optical detection device, so that the accuracy of the judgment that the carrier is in a stable state relative to the environment can be improved, and misjudgment and unnecessary detection links for starting the detection capability can be reduced. In addition, the execution order of the conditions is not limited when combined.

[0096] For example, when the vehicle's gear is in the parking gear and the vehicle's speed is 0 within a preset time to determine whether the carrier is in the first stable state, it is possible to first determine whether the vehicle's gear is in the parking gear; when the vehicle's gear is in the parking gear, it is then determined whether the vehicle's speed is 0 within the preset time, and when the vehicle's speed is 0 within the preset time, it is determined that the vehicle is in the first stable state. Alternatively, it is possible to first determine whether the vehicle's speed is 0 within the preset time; when the vehicle's speed is 0 within the preset time, it is then determined whether the vehicle's gear is in the parking gear, and when the vehicle's gear is in the parking gear, it is determined that the vehicle is in the first stable state; or it is possible to determine both at the same time, and when any one condition is not satisfied, the determination of another condition is stopped. Other condition combinations are similar.

[0097] Please refer to Figure 7 , which shows a flowchart of another method example of determining whether a preset condition is satisfied provided in some embodiments of the present disclosure. Figure 3 The method shown further comprises:

[0098] S710: Receive a first instruction, where the first instruction is triggered by a user;

[0099] The above step S310 includes: based on the first instruction, determining whether the carrier meets a preset condition.

[0100] In some embodiments of the present disclosure, a user may trigger the detection capability test. After the user triggers the test, the detection device determines whether a preset condition is met. When the preset condition is met, the detection capability test of the optical detection device is started. The preset condition may include a first condition and / or a second condition.

[0101] In some embodiments, when the user determines that the carrier is in a stable state, the detection capability detection is triggered, and the carrier is kept in a stable state during the detection. For example, after the detection capability detection is started, the carrier is kept in the state when the first instruction is triggered during the detection capability detection.

[0102] For example, the user can trigger the detection of the detection capability when the carrier is stable, for example, when the user is not using the carrier, or when the carrier is in a relatively stable environment, the user can trigger the detection of the detection capability, and during the detection, the stable state of the carrier is maintained, that is, the state when the detection is triggered. The first instruction is an instruction generated in response to the user's trigger, and the user's triggering method can be any human-computer interaction method, such as triggering by voice command, or by physical or virtual button, or by gesture command, which is not limited in the embodiments of the present disclosure.

[0103] Taking the laser radar and vehicle as an example, the user can trigger the detection capability test when the vehicle is parked in a stable environment, for example, when it is parked in a garage. For another example, the user can trigger the detection capability test when the vehicle is using the assisted driving function for stable driving, such as during cruise control. At this time, the detection device receives the first instruction in response to the user's trigger, and determines whether the carrier meets the preset conditions when receiving the first instruction. In some embodiments, when the first instruction is received and the first condition is determined, it can be assumed that the vehicle is in the first stable state. Alternatively, when the first instruction is received and the first condition is determined, any of the above methods can be used to determine whether the vehicle is in the first stable state.

[0104] In some embodiments of the present disclosure, the user triggering the first instruction may represent that the user wishes to enable detection of the detection capability. The first instruction is equivalent to an enable signal of "determining whether the carrier meets the preset conditions". In this way, in some embodiments, it is not necessary to monitor whether the carrier meets the preset conditions in real time, but to determine whether the preset conditions are met when the user needs, thereby reducing the requirements on the computing power of the carrier system.

[0105] The first instruction may be received by the control device 510, and when the control device 510 performs the preset condition judgment, the judgment of "determining whether the preset condition is satisfied" is initiated based on the first instruction. Alternatively, the user triggers the generation of the second instruction, and the control device 510 sends the first instruction to the optical detection device 520 based on the second instruction, and the optical detection device 520 initiates the judgment of "determining whether the preset condition is satisfied".

[0106] Please refer to Figure 8 , which shows a flowchart of another method example of determining whether a preset condition is satisfied provided in some embodiments of the present disclosure. The method is executed by the optical detection device 520 (for example, a processor of the optical detection device 520), and the preset condition includes a first condition, that is, the working state of the carrier is in a first stable state, and the above step S310 includes:

[0107] S810: Receive first indication information, where the first indication information is used to indicate that the working state of the carrier is in a first stable state or to enable detection of a detection capability;

[0108] S820: Based on the first indication information, determine that the working state of the carrier is in a first stable state.

[0109] The control device 510 may adopt any of the above methods (for example, Figure 6 or Figure 7When the operating state of the carrier is determined to be in the first stable state by the method shown in the figure, the first indication information is sent to the optical detection device 520. After receiving the first indication information, the optical detection device 520 or the processor of the optical detection device 520 can determine that the operating state of the carrier is in the first stable state, thereby determining that the first condition for starting detection is satisfied. In other implementations, the control device 510 can also send the operating state information of the carrier to the optical detection device 520, and the optical detection device 520 or the processor of the optical detection device 520 determines that the operating state of the carrier is in the first stable state.

[0110] Since the control device 510 can more easily obtain the working status information of the carrier, and thus use the obtained information to determine whether the working status of the carrier is in the first stable state, the judgment of the first condition is performed in the control device 510 of the carrier, and then the judgment result is notified to the optical detection device 520 through the first indication information, so that the optical detection device 520 can simply determine whether the first condition is met based on the first indication information, thereby reducing the computing power requirements of the optical detection device, reducing the path of information flow, and improving the working efficiency of the optical detection device.

[0111] The determination of the second condition is described below. Similarly, the determination method may be executed by the control device 510 or by the optical detection device 520 or a processor of the optical detection device 520 .

[0112] Please refer to Fig. 9 , which shows a flowchart of another method example of determining whether a preset condition is satisfied provided in some embodiments of the present disclosure. The method is executed by the optical detection device 520 or the processor of the optical detection device 520, and the preset condition includes a second condition, that is, the environment of the carrier is in a second stable state, and the above step S310 includes:

[0113] S910: Determine detection data of the optical detection device relative to the reference object;

[0114] S920: Determine whether the environment of the carrier is in a second stable state based on the detection data.

[0115] In some embodiments, the detection data of the optical detection device relative to the reference object may include: the optical detection device emits a laser to the reference object, the echo of the laser reflected by the reference object returns to the optical detection device, and is converted into an echo electrical signal by the optical detection device, and the detection data is obtained after the echo electrical signal is processed.

[0116] The above method is based on the detection data determined during the daily operation of the optical detection device, and can determine the appropriate detection time in real time without adding additional hardware, so as to enable the detection of the detection capability of the optical detection device.

[0117] The reference object may be an object that is stable relative to the carrier. For example, in some embodiments, the ground is used as a reference object. In this way, the positional relationship between the optical detection device and the ground can be used to determine the working condition of the detection enablement. Fig.10 , which shows a schematic diagram of an example of a scene of an optical detection device relative to a reference object provided in some embodiments of the present disclosure. Fig.10 As shown, when the optical detection device scans at a vertical angle to the ground, the detection distance of each detection channel (referred to as channel) of the optical detection device can be determined. The determined detection distance can be used to collect data of the production process based on the installation position of the optical detection device on the carrier at the factory, and saved in the non-volatile memory of the laser radar, such as flash. For example, data of the production process is collected and saved based on the installation position of the laser radar on the vehicle. In addition, in some embodiments, other detection results can also be collected and saved, such as the reflectivity of the ground.

[0118] The optical detection device can store pre-collected reference detection results. After the optical detection device leaves the factory, it can be tested during use, and the detection results obtained through the test can be compared with the reference detection results to determine whether the environment in which the carrier is located is stable, that is, whether the second condition is met. For example, when the detection result is within a preset range, the environment in which the carrier is located is in a stable state; the preset range can be centered on the reference detection result to expand a tolerance range, for example, subtracting the tolerance threshold to obtain the lower boundary of the preset range, and adding the tolerance threshold as the upper boundary of the preset range. The detection result can be the detection distance, flight time or reflectivity, or the detection distance, flight time and reflectivity, etc.

[0119] Please refer to Fig.11 , which shows a flowchart of another method example of determining whether a preset condition is satisfied provided in some embodiments of the present disclosure. The optical detection device includes a first channel, the detection data includes first detection data of the first channel relative to a reference object, and based on the detection data, determining whether the environment of the carrier is in a second stable state, that is, the above step S920 includes:

[0120] S111: Determine a first detection result of a first channel based on the first detection data;

[0121] S112: When the first detection result is within a preset range, it is determined that the environment of the carrier is in a second stable state.

[0122] The first channel is a channel through which the laser can scan the reference object, and the number of the first channels can be one or more, the number of the first detection data can be one or more, and the number of the first detection results can be one or more.

[0123] In some embodiments, the detection result may include a detection distance, and the preset range may include a distance range. In some embodiments, the detection result may include a reflectivity, and the preset range may include a reflectivity range. Determining the detection distance based on the detection data may include, but is not limited to, time of flight (TOF) method, frequency modulated continuous wave (FMCW) method, triangulation ranging method or phase method, etc. The phase method may also be called indirect time of flight (dToF) method or amplitude modulated continuous wave (AMCW) method.

[0124] In some other embodiments of the present disclosure, other methods may be used to judge the second condition, which is performed in the control device 510 of the carrier and includes: determining environmental information; determining whether the environment of the carrier is in the second stable state based on the environmental information. The environmental information is, for example, weather information obtained by the control device 510 through the communication device 530. The weather information shows that the weather is clear without rain, snow, wind, sand, etc. At this time, it is determined that the environment of the carrier is in the second stable state. The environmental information may also be, for example, perception information obtained by the control device 510 from other sensors of the carrier (such as an image sensor), and the control device 510 determines whether the environment of the carrier is in the second stable state based on the perception information.

[0125] Alternatively, the judgment is performed in the control device 510, and the determination process of the above step S310 is performed in the optical detection device 520 or the processor of the optical detection device 520. At this time, when the control device 510 determines that the environment of the carrier is in the second stable state, it sends the second indication information to the optical detection device 520, and the second indication information is used to indicate that the environment of the carrier is in the second stable state or to enable the detection of the detection capability. The above step S310 includes: receiving the second indication information; based on the second indication information, determining that the environment of the carrier is in the second stable state.

[0126] External environmental factors may include weather factors, which may also cause a decrease in detection capabilities. For example, in rainy or snowy weather, there are a large number of suspended particles in the air, and the laser propagating in the air may be scattered or absorbed by the suspended particles, causing the laser intensity to attenuate, thereby causing the detection capability of the optical detection device to decrease. In some embodiments, when enabling the detection capability detection of the optical detection device, environmental factors such as weather can be used as one of the preset conditions to determine the decrease in detection capability caused by the attenuation of the optical detection device's own devices. Alternatively, in some embodiments, environmental factors such as weather may not be considered as a factor in the preset conditions, for example, weather factors are not used as one of the preset conditions, or weather factors are not used as a factor in the second condition. When one or more of the other conditions in the preset conditions are met, the detection of the detection capability of the optical detection device is started to determine the detection capability of the optical detection device. At this time, the decline in detection capability caused by external environmental factors such as weather will also be detected, so as to promptly warn the user that the current external environmental factors may affect the detection capability of the optical detection device. Alternatively, the optical detection device or the carrier it uses can promptly grasp the upper limit of the detection capability of the optical detection device under the current environmental factors, adopt reasonable detection results, and improve the reliability of the carrier used by the optical detection device.

[0127] The following are two scenarios for adaptive startup of detection capability: one is when the vehicle is static in P gear, and the other is when the vehicle is running steadily at a relatively high speed. Since the decline in the detection capability of the LiDAR is not an instantaneous process, but a slow decay, intermittent use of these two daily use scenarios can cover the entire life cycle of the LiDAR, which is conducive to timely determination of the detection capability throughout the life cycle.

[0128] Please refer to Fig.12 , which shows a flowchart of a detection example of enabling laser radar detection capability provided in some embodiments of the present disclosure. In this embodiment, when the vehicle is stationary in P gear, it is determined that the vehicle is in a stable state. The laser radar determines the detection data by scanning the angle of the ground and compares it with the reference data stored in the laser radar. If the deviation between the two is within the tolerance range and lasts for a certain period of time, the detection distance detection is enabled. Fig.12 As shown, the enabling process includes:

[0129] S121: The vehicle starts.

[0130] S122: Determine that the vehicle gear is in the parking gear and the vehicle speed is 0.

[0131] S123: Determine whether the laser radar is turned on or wake up the laser radar.

[0132] At this time, you can determine the status of the laser radar. If the laser radar is not turned on, wake up and turn on the laser radar.

[0133] S124: The laser radar determines detection data of one or more channels relative to a reference object.

[0134] For example, one or all of the detection distance or reflectivity of one or more channels at a vertical angle to the ground is determined. In this example, the reference object is the ground. In other embodiments, the reference object may also be other objects that are stable relative to the vehicle, such as a parking space next to the parking lot, a wall, and other reference objects.

[0135] S1251: Read the reference detection results of one or more channels stored in the memory.

[0136] The reference detection result includes, for example, one or both of a reference ground detection distance and a reference reflectivity.

[0137] S1252: Determine whether the detection results of one or more channels are within a preset range, where the preset range is determined by the reference detection results.

[0138] For example, the reference detection result includes a reference detection distance, and the reference detection distance can be used to determine a preset distance range, and then determine whether the detection distance of one or more channels is within the preset distance range.

[0139] S126: When the detection result is within the preset range and lasts for a second preset time, execute step S127; if the detection result is outside the preset range or the detection result is within the preset range but lasts for less than the second preset time, the laser radar detection capability detection is not enabled.

[0140] S127: If there is no abnormality in the laser radar self-test, execute step S128; if the self-test is abnormal, the laser radar detection capability test is not enabled.

[0141] Self-checking without abnormality includes, for example, no fault, no shielding, no condensation, or no cleaning function is activated, etc. Self-checking abnormality includes, for example, current fault, shielding, condensation, or cleaning function is activated, etc.

[0142] S128: Enable laser radar detection capability detection.

[0143] The above step S127 can be determined by humans to enable detection of detection capability through human-computer interaction, or can be determined by the laser radar or the vehicle to enable detection of detection capability. Alternatively, the step S127 can be omitted because the above step S126 has already reflected that the environment of the laser radar is in a stable state.

[0144] Please refer to Fig.13, which shows a flowchart of another example of enabling detection of laser radar detection capability provided in some embodiments of the present disclosure. This scenario takes into account that when the vehicle is cruising stably at a relatively high speed, the laser radar searches for working conditions that meet the conditions during normal operation, and enables detection of detection capability when it detects that the difference between the ground departure data and the reference data stored in the laser radar is within the tolerance range. Fig.13 As shown, the enabling process includes:

[0145] S131: The vehicle is running at a relatively high speed.

[0146] S132: Determine that the speed of the vehicle is greater than or equal to a speed threshold, and the acceleration is less than or equal to an acceleration threshold.

[0147] For example, the speed is greater than or equal to 60 km / h, and the acceleration is less than or equal to 0.1 m / s².

[0148] S133: Determine whether the situation in S132 lasts for a first preset time.

[0149] S134: Determine whether the laser radar is in operation or wake up the laser radar.

[0150] S135: The laser radar determines detection data of one or more channels relative to a reference object.

[0151] For example, one or all of the detection distance or reflectivity of one or more channels at a vertical angle to the ground is determined; in this example, the reference object is the ground, and in other embodiments, the reference object may also be other stable objects, such as fixed fences on highways.

[0152] S1361: Read the reference detection results of one or more channels stored in the memory.

[0153] The reference detection result includes, for example, one or both of a reference ground detection distance and a reflectivity.

[0154] S1362: Determine whether the detection results of one or more channels are within a preset range, where the preset range is determined by the reference detection results.

[0155] For example, the reference detection result includes a reference detection distance, and the reference detection distance can be used to determine a preset distance range, and then determine whether the detection distance of one or more channels is within the preset distance range.

[0156] S137: When the detection result is within the preset range and lasts for a second preset time, execute step S138; if the detection result is outside the preset range or the detection result is within the preset range but lasts for less than the second preset time, the laser radar detection capability detection is not enabled.

[0157] S138: If there is no abnormality in the self-test of the laser radar, execute step S139: If the self-test is abnormal, do not enable the detection capability of the laser radar.

[0158] Self-checking without abnormality includes, for example, no fault, no shielding, no rain, no condensation, or no cleaning function is activated, etc. Self-checking abnormality includes, for example, current fault, shielding, rain, condensation, or cleaning function is activated, etc.

[0159] S139: Enable LiDAR detection capability detection.

[0160] The description of step S138 is the same as that of step S127 above.

[0161] The above two scenarios are only used as examples to help more clearly understand the solutions of the embodiments of the present disclosure.

[0162] The above first condition and the second condition can be used selectively or together to determine whether the preset condition is met. When the first condition and the second condition are used together to determine whether the preset condition is met, one or more situation judgments included in the first condition can be selected for use, or used in combination. Through the judgment methods of different preset conditions, different scenarios or needs can be flexibly applied, or the accuracy of judging whether the carrier is in a stable state relative to the environment can be improved, and the detection link of misjudgment or unnecessary start-up detection capability can be reduced. In addition, the selection of the first condition and the second condition in the embodiment of the present disclosure is based on the common working scenarios of the optical detection device, so that in the daily use of the optical detection device, it is easy to meet the needs of enabling detection capability detection, and perform detection in a timely and frequent manner. In addition, when the judgment of the first condition and the second condition is combined, the execution order between the conditions is not restricted.

[0163] In the above step S320, when the detection method is executed by the control device 510 of the carrier, step S320 may include: sending a start instruction, the start instruction is used to enable the detection of the detection capability of the optical detection device. When the detection method is executed by the optical detection device or the processor of the optical detection device, step S320 may include: the optical detection device starts the detection of the detection capability; and then performs the detection of the detection capability.

[0164] In the above step S330, when the detection method is executed by the control device 510 of the carrier, step S330 (determining the detection capability of the optical detection device) includes: determining a detection result from the optical detection device, the detection result indicating the detection capability of the optical detection device; and determining the detection capability of the optical detection device based on the detection result. When the detection method is executed by the optical detection device or the processor of the optical detection device, step S320 (determining the detection capability of the optical detection device) includes: the optical detection device performs detection capability detection to obtain the detection capability of the optical detection device.

[0165] The following describes the process of detecting the detection capability of the optical detection device.

[0166] Please refer to Fig.14 , which shows a flowchart of an example of a detection process of a detection capability provided in some embodiments of the present disclosure. Fig.14 As shown, the detection process of the detection capability includes at least the following steps:

[0167] S141: determining a critical emission energy of a detection channel of the optical detection device under a first detection result, the first detection result being determined based on a reference detection result of the detection channel relative to a reference object;

[0168] S142: Determine the detection capability of the optical detection device based on the first detection result and the critical emission energy.

[0169] The first detection result is, for example, a first detection distance, which is determined based on a reference detection distance of the detection channel relative to the reference object; in other implementations, the detection distance may be replaced by other detection results such as reflectivity. The reference detection result may be a reference detection result of the detection channel relative to the reference object stored in the optical detection device, or a reference detection result obtained by the optical detection device after leaving the factory.

[0170] When the optical detection device detects the distance to a reference object, the laser in the detection channel of the optical detection device emits laser for detection under the drive of an excitation source; the excitation source drives the laser to emit with a certain driving energy, and the driving energy can also be called emission energy, which can affect the detection distance of the detection channel of the optical detection device.

[0171] The critical emission energy can be obtained by the change of detection results at different emission energies. Fig.15, which shows a schematic diagram of an example of the relationship between the detection distance and the emission energy of a detection channel provided in some embodiments of the present disclosure. The receiving end of the optical detection device can distinguish between the echo signal (i.e., the light reflected after being irradiated on the object) and the ambient light signal based on the intensity of the received echo. By setting the echo intensity threshold, only the echo with an intensity greater than the preset threshold will be identified as an echo signal. Therefore, when the position of a specific object (an object with a certain reflectivity) relative to the optical detection device is relatively fixed (i.e., the detection distance is relatively fixed), the intensity of the echo will change with the change of the emission energy (or driving energy). Then, when the emission energy gradually decreases, the echo intensity will also gradually decrease. When the emission energy decreases to less than the critical emission energy, the echo intensity will be less than the preset threshold, and the object will be difficult to be accurately detected at this time. Therefore, the distance of the object relative to the channel of the optical detection device is equal to the maximum detection distance corresponding to the critical emission energy. By gradually lowering the emission energy and comparing the detection distance, it can be found that the detection distance has changed significantly. The adjacent emission energy before the change can be used as the critical emission energy. By pre-calibrating Figure 4 The curve shown (or Figure 4 The detection capability can be determined by determining the curve on which the point corresponding to the critical emission energy (horizontal axis) and the corresponding maximum detection distance (vertical axis) is located, thereby determining the detection capability.

[0172] In some embodiments of the present disclosure, the above step S141 includes: adjusting the emission energy of the detection channel in a decreasing manner; when the difference between a first detection result under a first emission energy and a second detection result under a second emission energy is greater than or equal to a first threshold, determining that the first emission energy is the critical emission energy, and the first emission energy and the second emission energy are the energies obtained by two adjacent adjustments during the adjustment process of the emission energy.

[0173] The emission energy may be decreased in a linear adjustment or a nonlinear adjustment or a combination of the two. The emission energy adjustment method of the disclosed embodiment is not limited to the above-mentioned linear or nonlinear decrease in emission energy. The critical emission energy may be found by, for example, a hill climbing algorithm. For example, the emission energy may be decreased in a larger step size first. When the difference between the first detection result under the first emission energy and the second detection result under the second emission energy is greater than or equal to a threshold value (i.e., when a sudden change in the detection result occurs), the emission energy may be increased in a relatively smaller step size until an accurate detection result is obtained again, so as to increase the efficiency and accuracy of obtaining the critical emission energy.

[0174] Please refer to Figure 4 , the relationship between critical emission energy, maximum detection distance and attenuation coefficient can be obtained by Figure 4The characteristic diagram shown is used to reflect this. The optical detection device may store a correspondence between the emission energy, the detection distance, and the attenuation coefficient, such as a characteristic diagram, a relationship table, etc., and the embodiments of the present disclosure do not limit their forms. The correspondence may be obtained and stored in the optical detection device before leaving the factory, or may be stored in the optical detection device through an upgrade during subsequent use. In the above step S142, after obtaining the critical emission energy and the first detection result corresponding thereto, the correspondence may be used to determine the attenuation coefficient based on the critical emission energy and the first detection result; and then determine the detection capability of the optical detection device. For example, please refer to Fig.16 , which shows a schematic diagram of an example of a method for determining an attenuation coefficient provided in some embodiments of the present disclosure. Fig.16 As shown, the first detection result includes, for example, a first detection distance, and the attenuation coefficient corresponding to the critical emission energy of the detection channel and the first detection distance is 60%. In some embodiments of the present application, when the number of curves in the figure is limited, if the determined point is not on a known curve, the attenuation amount can be determined based on the distance of the determined point from each curve.

[0175] In the process of testing the detection capability of the optical detection device, there may be a situation where the reference object cannot be completely covered, that is, there is a partial channel where the laser of this channel cannot be emitted to the reference object. In order to distinguish, the channel where the laser cannot be emitted to the reference object is called the second channel. For example, please refer to Fig.17 , which shows a schematic diagram of an example of a field of view and an example of a reference object of an optical detection device provided in some embodiments of the present disclosure. Fig.17The reference object is the ground as an example. In the field of view (FOV) area of ​​the optical detection device, there is a scene where not all channels can be emitted to the ground, and a relatively fixed distance is obtained. In this scene, the channel that fails to be emitted to the ground is the second channel. In some embodiments, the attenuation coefficient of the detection channel can be used to determine the attenuation coefficient of the second channel. When there are multiple detection channels, the attenuation coefficients of the multiple detection channels can be averaged to obtain the channel average attenuation coefficient, and the channel average attenuation coefficient is applied to the second channel to determine the attenuation coefficient of the second channel. The number of second channels can be one or more. In the detection process of the detection capability of the optical detection device, if there is a stable object to be detected (for example, a wall or other vehicle) in the field of view of the optical detection device involved in the second channel within a preset time, the detection capability detection can be performed directly. That is, when the second channel detects an object with a stable distance within a third preset time, such as a reference object such as a parking space vehicle next to the parking lot, a wall, a fixed fence on a highway, etc., the detection capability detection can also be enabled to determine the attenuation coefficient. At this time, the reference object and the reference detection distance are the detected object and the detected stable distance, and the detection method is similar to the above embodiment. At this time, the second channel can determine its own attenuation coefficient through detection, and the above process of estimating the attenuation coefficient of the second channel through the first channel is not performed.

[0176] The following is an exemplary description of a method for detecting the detection capability of the above optical detection device in combination with a scenario.

[0177] In some embodiments, the optical detection device can use the ground as a reference object when testing the detection capability, and the optical detection device can start the detection capability test through the detection channel to determine the attenuation coefficient of the detection channel. When there is a second channel that cannot detect the reference object, the attenuation coefficient of the detection channel can be used to determine the attenuation coefficient of the second channel.

[0178] In some embodiments, there is the ground and other stable objects in the field of view of the optical detection device, and the displacement between the stable object and the vehicle does not change within a certain period of time or the displacement change is within a preset range. The optical detection device uses the ground as a reference object to start the detection capability detection through the detection channel and determine the attenuation coefficient of the detection channel; the optical detection device uses the stable object as a reference object to start the detection capability detection through the second channel and determine the attenuation coefficient of the second channel.

[0179] When the optical detection device includes one channel, the attenuation coefficient of the channel can be used to characterize the detection capability of the optical detection device. When the optical detection device includes multiple channels, the attenuation coefficients of the multiple channels can be used to characterize the detection capability of the optical detection device, so that the attenuation of each channel can be determined, and the detection result of each channel can be considered more accurately; alternatively, the average value of the attenuation coefficients of the multiple channels can be used to characterize the detection capability of the optical detection device. Alternatively, the minimum value of the attenuation coefficients of the multiple channels can be used to characterize the detection capability of the optical detection device. Alternatively, weights can be assigned to the multiple channels, and the detection capability of the optical detection device can be determined using the weights and the attenuation coefficients of the multiple channels. The present disclosure is not limited to the above-mentioned methods for determining detection capability based on average values, minimum values ​​or assigned weights.

[0180] In some embodiments of the present disclosure, a diagnostic timing sequence is inserted into the detection cycle of the detection channel of the optical detection device, and when the diagnostic timing sequence arrives, the emission energy of the optical detection device is adjusted to determine the critical emission energy of the detection channel of the optical detection device under the first detection result. In this way, there is no need to add additional optical devices inside the optical detection device to detect the detection capability of the optical detection device. The above method can be used to make judgments using the perception data of the optical detection device relative to the reference object without adding additional optical elements specifically used for detection capability detection, which can improve the detection accuracy. The timing of inserting the diagnostic timing sequence can be determined by the scanning angle, and the above method also includes: inserting the diagnostic timing sequence in the detection cycle of the detection channel at the first scanning angle; when the diagnostic timing sequence arrives, determining the critical emission energy of the detection channel of the optical detection device under the first detection result. In some embodiments, the first scanning angle can be determined based on a reference scanning angle, and when the laser radar uses the reference scanning angle for scanning, the above reference detection result (for example, the above reference detection distance) can be determined relative to the reference object. For example, when the ground is a reference object, the first scanning angle can include an angle close to the vertical angle, that is, the absolute value of the difference between the first angle and the vertical angle is less than or equal to the angle threshold. In some embodiments, the first scanning angle may be any angle at which the detection channel can detect the reference object.

[0181] Please refer to Fig.18 , which shows a flowchart of an example of a detection capability detection process provided in some embodiments of the present disclosure. Here, the ground is used as a reference object, such as Fig.18 As shown, after the optical detection device enables detection capability detection, the detection process includes:

[0182] S181: Select detection channel n.

[0183] S182: inserting a diagnostic sequence when the optical detection device scans to a first scanning angle.

[0184] S183: Control the emission energy of detection channel n to be reduced by one level.

[0185] S184: Check whether the detection distance of the echo received by the detection channel n has changed significantly; when the detection distance has not changed significantly, repeat steps S182-S184; when the detection distance has changed significantly (eg, decreased), execute step S185.

[0186] S185: Record the emission energy of the previous level of detection channel n at this time.

[0187] S186: Read the corresponding relationship between the emission energy, the detection distance and the attenuation coefficient (eg, a characteristic table) from the memory of the optical detection device, and obtain the attenuation coefficient by looking up the table.

[0188] S187: Save the emission energy and attenuation coefficient of the current detection channel n.

[0189] The above is an example of the order of a single detection in a frame of point cloud time. In actual applications, each channel can be carried out simultaneously, and multiple detections can be performed in a frame of point cloud time based on the light emission sequence of the optical detection device and the position of the light emitting device.

[0190] In addition, saving the emission energy and attenuation coefficient obtained from this detection can make the next detection of detection capability adjustable based on the previous detection, thereby providing a certain continuity in the determination of the detection capability of the optical detection device during its life cycle, further improving the accuracy of detection capability detection.

[0191] The present disclosure also provides a detection capability detection device, including a unit or means for executing any of the above detection capability detection method steps. For example, please refer to Fig.19 , which shows a structural block diagram of an example of a detection capability detection device provided in some embodiments of the present disclosure. The detection capability detection device 190 includes a first determination unit 191, a start unit 192, and a second determination unit 193. The first determination unit 191 is used to determine whether the carrier meets the preset conditions; the start unit 192 is used to start the detection of the detection capability of the optical detection device when the carrier meets the preset conditions; the second determination unit 193 is used to determine the detection capability of the optical detection device.

[0192] The description of the preset conditions, working status, and detection capability is the same as that of the above method embodiment and will not be repeated here.

[0193] The division of the above units is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the above units can be implemented in the form of a processor calling software; for example, the detection device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of each unit, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU), and the memory is a memory in the device or a memory outside the device. Alternatively, the above units can be implemented in the form of hardware circuits, and the functions of some or all units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors; for example, in some embodiments, the hardware circuit is an application specific integrated circuit (ASIC), and the functions of some or all units above are realized by designing the logical relationship of the components in the circuit; for example, in another implementation, the hardware circuit can be implemented by a programmable logic device (PLD), which can include a large number of logic gate circuits, and the logical relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of some or all units above. All units of the above device may be implemented entirely in the form of a processor calling a program, or entirely in the form of a hardware circuit, or partially in the form of a processor calling a program and the rest in the form of a hardware circuit.

[0194] In some embodiments of the present disclosure, the processor is a circuit with signal processing capability. In some embodiments, the processor may be a circuit with instruction reading and running capability, such as a CPU, a microprocessor, a graphics processing unit (GPU) or a digital signal processor (DSP), etc. In another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document and implementing the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0195] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0196] In addition, all or part of the units in the above devices may be integrated together, or may be implemented independently. In some embodiments, these units are integrated together and implemented in the form of a system on chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the above devices.

[0197] For example, see Fig. 20 , which shows a structural block diagram of another detection capability detection device example provided in some embodiments of the present disclosure. The detection capability detection device 2000 includes: a processor 2010, which is used to couple to a memory 2020, and the memory 2020 includes instructions. When the instructions are called by the processor 2010, the processor 2010 executes the detection method of the above method embodiment.

[0198] Any of the above detection devices may be located in the control device 510 or in the optical detection device 520 .

[0199] Please refer to Fig.21 , which shows a structural block diagram of an example of an optical detection device provided in some embodiments of the present disclosure. The optical detection device 2100 includes: a transmitter 2110, a receiver 2120 and a processor 2130. The transmitter 2110 is used to emit a laser. After the laser encounters the object 10, it is reflected from the surface of the object 10 to the optical detection device 2100. The receiver 2120 is used to receive the echo of the laser and convert the echo into an electrical signal. The processor 2130 is used to execute any of the above detection methods and detect the detection capability of the optical detection device based on the electrical signal.

[0200] The transmitter 2110 includes, for example, a laser, and the laser may include a semiconductor laser or a fiber laser or other types of lasers. The semiconductor laser includes, for example, a laser emission circuit, a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a distributed feedback laser (DFB), or a similar device. The above is only an example, and the embodiment of the present disclosure does not limit the type of laser. The receiver 2120 includes, for example, a photodetector. The photodetector includes, for example: a photodetection circuit, a PIN photodiode (PINPD), an avalanche photodiode (APD), a single photon avalanche diode (SPAD), or a silicon photomultiplier (SiPM) or a similar device. The implementation form of the processor 2130 includes, for example: an application specific integrated circuit (ASIC), or a hardware circuit implemented by a programmable logic device (PLD), such as a field programmable gate array (FPGA), or a microcontroller unit (MCU), or a digital signal processor (DSP), or a central processing unit (CPU), etc.

[0201] For example, the optical detection device is a laser radar; the transmitter 2110 includes Figure 2 The laser in the laser transmitting system 210 is shown; the receiver 2120 includes the detector in the laser receiving system 220; the processor 2130 can be located in the control and processing system 230 or independent of the control and processing system 230.

[0202] In addition, the embodiment of the present disclosure further provides a computer-readable storage medium, including instructions stored thereon, and when the instructions are called by a processor, any one of the detection methods in the above embodiments is executed. The embodiment of the present disclosure further provides a computer program (or computer program product), including instructions, and when the instructions are called by a processor, any one of the control methods in the above embodiments is executed.

[0203] The above computer-readable storage medium can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, and can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0204] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. In addition, the above embodiments can be freely combined as needed.

Claims

1. A detection method, characterized in that: Used to automatically detect the detection capability of an optical detection device, the optical detection device is installed on a carrier, and the detection method includes: Determining whether the carrier meets a preset condition; When the carrier meets the preset condition, starting the detection of the detection capability of the optical detection device; Determining the detection capability of the optical detection device includes: Determining a critical emission energy of a detection channel of the optical detection device under a first detection result, wherein the first detection result is determined based on a reference detection result of the detection channel relative to a reference object; Based on the first detection result and the critical emission energy, an attenuation coefficient of the detection channel is determined, and the attenuation coefficient is used to determine the detection capability of the optical detection device.

2. The detection method according to claim 1, characterized in that: The preset condition includes: the carrier is in a stable state relative to the environment.

3. The detection method according to claim 2, characterized in that: The preset conditions include one or all of the following conditions: The working state of the carrier is in a first stable state; The environment of the carrier is in a second stable state.

4. The detection method according to claim 3, characterized in that: The first stable state includes that the carrier is in a stationary state or the moving speed of the carrier is maintained within a preset speed range within a first preset time.

5. The detection method according to claim 4, characterized in that: The preset condition includes that when the working state of the carrier is in a first stable state, the determining whether the carrier satisfies the preset condition includes: Determine the working state information of the carrier, the working state information including one or more of the following information: speed information, acceleration information, gear information, and functional state information; Based on the working state information, it is determined whether the working state of the carrier is in the first stable state.

6. The detection method according to claim 4, characterized in that: The preset condition includes that when the working state of the carrier is in a first stable state, the determining whether the carrier satisfies the preset condition includes: receiving indication information, the indication information being used to indicate that the working state of the carrier is in a first stable state or to enable detection of the detection capability; Based on the indication information, it is determined that the working state of the carrier is in the first stable state.

7. The detection method according to claim 5 or 6, characterized in that: When the carrier is a vehicle, the carrier is in a first stable state when one or more of the following conditions are met: The speed of the vehicle is 0; The gear position of the vehicle is in the parking gear position; The gear position of the vehicle is in neutral position; The functional state of the vehicle is in a cruise control state; During the first preset time, the acceleration of the vehicle is less than or equal to an acceleration threshold, or the speed is greater than or equal to a speed threshold and the acceleration is less than or equal to an acceleration threshold.

8. The detection method according to claim 3, characterized in that: The preset condition includes that the environment of the carrier is in a second stable state, and the determining whether the carrier satisfies the preset condition includes: Determining detection data of the optical detection device relative to a reference object; Based on the detection data, it is determined whether the environment of the carrier is in the second stable state.

9. The detection method according to claim 8, characterized in that: The optical detection device includes a first channel, the detection data includes first detection data of the first channel relative to the reference object, and based on the detection data, determining whether the environment of the carrier is in a second stable state includes: When the first detection result displayed by the first detection data is within a preset range within the second preset time, it is determined that the environment of the carrier is in the second stable state.

10. The detection method according to claim 1, characterized in that: The determining whether the carrier meets a preset condition includes: When a first instruction triggered by a user is received, it is determined whether the carrier meets a preset condition.

11. The detection method according to claim 1, characterized in that: Determining the critical emission energy of the detection channel of the optical detection device under the first detection result includes: adjusting the emission energy of the detection channel in a decreasing manner; When the difference between the first detection result under the first emission energy and the second detection result under the second emission energy is greater than or equal to a first threshold, the first emission energy is determined to be the critical emission energy, and the first emission energy and the second emission energy are the energies obtained by two adjacent adjustments during the adjustment process of the emission energy.

12. The detection method according to claim 1, characterized in that: Also includes: A diagnostic timing sequence is inserted into a detection period of the detection channel at a first scanning angle, wherein when the diagnostic timing sequence arrives, a critical emission energy of the detection channel of the optical detection device under a first detection result is determined.

13. The detection method according to claim 1, characterized in that: The optical detection device further includes a second channel, the detection range of the second channel does not include the reference object, and the method further includes: Based on the attenuation coefficient of the detection channel, an attenuation coefficient of the second channel is determined.

14. The detection method according to claim 1 or 8, characterized in that: The reference object is the ground.

15. A detection device, characterized in that: Used to automatically detect the detection capability of an optical detection device, the optical detection device is installed on a carrier, and the detection device includes: A first determining unit, used to determine whether the carrier meets a preset condition; A starting unit, used for starting the detection of the detection capability of the optical detection device when the carrier meets the preset condition; A second determination unit is used to determine the detection capability of the optical detection device, including: determining a critical emission energy of a detection channel of the optical detection device under a first detection result, wherein the first detection result is determined based on a reference detection result of the detection channel relative to a reference object; based on the first detection result and the critical emission energy, determining an attenuation coefficient of the detection channel, wherein the attenuation coefficient is used to determine the detection capability of the optical detection device.

16. A detection device, characterized in that: It comprises: a processor, which is used to couple with a memory, wherein the memory comprises instructions, and when the instructions are called by the processor, the processor executes the detection method as described in any one of claims 1-15.

17. An optical detection device, characterized in that: include: A transmitter, used for emitting laser light; A receiver, used for receiving the echo of the laser and converting the echo into an electrical signal; A processor is used to execute the detection method as described in any one of claims 1-4, 6-14, and detect the detection capability of the optical detection device based on the electrical signal.

18. A carrier, characterized in that include: An optical detection device and a control device that are communicatively connected, wherein the optical detection device is used to execute the detection method as described in any one of claims 1-4, 6-14 or the control device is used to execute the detection method as described in any one of claims 1-5, 7, 10.

19. A computer-readable storage medium, characterized in that: The method comprises instructions stored thereon, wherein when the instructions are executed by a processor, the detection method according to any one of claims 1 to 14 is executed.

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