Lateral blind spot lidar and its scanning method, control module, and mobile device

Abstract

This invention provides a scanning method for a lateral blind spot lidar. The lateral blind spot lidar is mounted on the side of a mobile device, and the method includes: acquiring the current direction of travel of the mobile device; determining the direction of travel as the scanning direction for the lateral blind spot lidar to scan column by column; and scanning according to the determined scanning direction to obtain scanning data. This scanning method determines the scanning direction of the lateral blind spot lidar to scan column by column based on the vehicle's direction of travel, ensuring that the scanning direction of the lateral blind spot lidar is consistent with the direction of travel. Because the lateral blind spot lidar has a widened field of view, it covers more scanning data. Without increasing the development costs of sensors and scanning data processing algorithms, it solves the problem of potential blind spots between frames during lateral blind spot lidar scanning in motion, ensuring travel safety. This invention also provides a scanning control module using a lateral blind spot lidar, the lateral blind spot lidar itself, and the mobile device.

Description

Technical Field

[0001] This invention relates to a lateral blind spot lidar technology, and more particularly to a lateral blind spot lidar and its scanning method, control module, and mobile device. Background Technology

[0002] With the continuous development of autonomous vehicles, side-mounted LiDAR (Lidar) systems have become widely used. When a vehicle is in motion, the side-mounted LiDAR moves along with the vehicle, causing its field of view to distort over time. As speed increases, this distortion leads to blind spots, posing a threat to driving safety. Therefore, reducing or even avoiding these blind spots during vehicle-mounted side-mounted LiDAR operation has become a key technical challenge. Summary of the Invention

[0003] In view of this, it is necessary to provide a lateral blind spot lidar and its scanning method, control module, and mobile device, which can avoid the detection blind spot of the lateral blind spot lidar when the mobile device is running, thereby improving safety.

[0004] Firstly, a scanning method for a lateral blind-spot lidar is provided. The lateral blind-spot lidar is mounted on the side of a mobile device and is used to scan the side of the mobile device in its direction of travel column by column. The scanning method includes: acquiring the current direction of travel of the mobile device; determining the scanning direction of the lateral blind-spot lidar for column-by-column scanning based on the direction of travel; wherein the column direction of the lateral blind-spot lidar during column-by-column scanning is perpendicular to the direction of travel; and scanning a preset detection range according to the determined scanning direction to obtain scanning data of objects within the preset detection range.

[0005] Optionally, the sensing beam is deflected according to the scanning direction of the column-by-column scan to illuminate the corresponding area of ​​the preset detection range, and the sensing beam returning from the corresponding area is sensed and analyzed to obtain the scanning data of the object in the corresponding area.

[0006] Optionally, determining the scanning direction of the lateral blind spot lidar by the travel direction includes:

[0007] If the current scanning direction of the lateral blind spot lidar is consistent with the traveling direction, then the current scanning direction of the lateral blind spot lidar is maintained; and

[0008] If the current scanning direction of the lateral blind spot lidar is inconsistent with the travel direction, the current scanning direction is switched to the travel direction; wherein, the travel direction includes a first travel direction and a second travel direction, and the first travel direction is opposite to the second travel direction.

[0009] Optionally, the lateral blind spot lidar emits a strip-shaped sensing beam during column-by-column scanning. The length direction of the strip-shaped sensing beam is a vertical direction perpendicular to the traveling direction of the mobile device, and the scanning direction of the lateral blind spot lidar is the deflection direction of the strip-shaped sensing beam.

[0010] Optionally, the lateral blind spot lidar emits dot-shaped sensing spots during column-by-column scanning. The column direction of the dot-shaped sensing spots during column-by-column scanning is a vertical direction perpendicular to the traveling direction of the mobile device, and the scanning direction of the lateral blind spot lidar is the deflection direction of the dot-shaped sensing spots during column-by-column scanning.

[0011] Optionally, the scanning method further includes: acquiring the current speed information of the mobile device; and adjusting the scanning frame rate of the lateral blind spot lidar based on the speed information.

[0012] Optionally, the degree of broadening of the scanned data is based on the formula Certainly, among them, This indicates the degree of widening of the scanned data. This indicates the relative speed between the lateral blind spot lidar and the target object. This indicates the scanning frame rate of the lateral blind spot lidar. This indicates the detection distance of the target object from the lateral blind spot lidar. This indicates the horizontal field of view of the lateral blind spot lidar.

[0013] Secondly, a scanning control module for a lateral blind spot lidar is also provided. The scanning control module is disposed on the mobile device or integrated within the lateral blind spot lidar. The scanning control module includes:

[0014] A direction acquisition unit is used to acquire the current travel direction of the mobile device;

[0015] A direction determination unit is used to determine the scanning direction of the lateral blind spot fill lidar column by column scanning based on the travel direction; wherein, the column direction of the lateral blind spot fill lidar during column by column scanning is perpendicular to the travel direction;

[0016] The scanning execution unit is used to scan a preset detection range according to a determined scanning direction to obtain scanning data of objects within the preset detection range.

[0017] Optionally, the scanning execution unit includes:

[0018] The transmission control unit is configured to control the transmission module of the lateral blind spot lidar to deflect the sensing beam in accordance with the scanning direction of the column-by-column scan to illuminate the corresponding area of ​​the preset detection range;

[0019] The receiving control unit is configured to control the receiving module of the lateral blind spot lidar to sense and analyze the sensing beam returned from the corresponding area to obtain scanning data of objects in the corresponding area.

[0020] The scanning control module also includes:

[0021] A speed acquisition unit is used to acquire the current speed information of the mobile device;

[0022] A frame rate adjustment unit is used to adjust the scanning frame rate of the lateral blind spot lidar according to the speed information.

[0023] Thirdly, the present invention also provides a lateral blind spot lidar, which is installed on the side of a mobile device and is used to scan the side of the mobile device in the direction of travel column by column to obtain scanning data of objects located within a preset detection range on the side of the mobile device in the direction of travel. The lateral blind spot lidar includes a transmitting module, a receiving module, and a scanning control module as described in the second aspect.

[0024] Fourthly, the present invention also provides a mobile device comprising a mobile device body, wherein the side of the mobile device body is equipped with the lateral blind spot lidar described in the third aspect.

[0025] The scanning method, scanning control module, lateral blind-filling lidar, and mobile device provided in this invention embodiment determine the scanning direction of the lateral blind-filling lidar for column-by-column scanning based on the traveling direction of the mobile device, so that the scanning direction of the lateral blind-filling lidar is consistent with the traveling direction. At this time, because the lateral blind-filling lidar has a widened field of view, it covers more scanning data, thus eliminating blind spots. Without increasing the research and development costs of sensors and scanning data processing algorithms, it solves the problem of potential blind spots between frames when the lateral blind-filling lidar scans during the movement of the mobile device, ensuring travel safety. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0027] Figure 1 A vehicle side view provided for an embodiment of the present invention.

[0028] Figure 2 A top view of a vehicle provided for an embodiment of the present invention.

[0029] Figure 3 A schematic diagram of a LiDAR beam scanning vertically for vehicle side blind spot coverage.

[0030] Figure 4 A schematic diagram of a LiDAR beam scanning horizontally for vehicle side blind spot coverage.

[0031] Figure 5 A schematic diagram illustrating the effect of line-by-line scanning by a LiDAR for lateral blind spot detection on a vehicle.

[0032] Figure 6 This is a schematic diagram illustrating the effect of a vehicle lateral blind spot detection lidar scanning column by column in the opposite direction of the vehicle's travel direction.

[0033] Figure 7 A schematic diagram of the blind spot in the first scenario where the vehicle's lateral blind spot coverage lidar scans column by column in the opposite direction of the vehicle's travel direction.

[0034] Figure 8 This is a schematic diagram of the blind spot in the second scenario, where the vehicle's lateral blind spot coverage lidar scans column by column in the opposite direction of the vehicle's travel direction.

[0035] Figure 9 This is a schematic diagram of a lateral blind spot lidar module provided in an embodiment of the present invention.

[0036] Figure 10 This is a first flowchart of a scanning method for a lateral blind spot lidar provided in an embodiment of the present invention.

[0037] Figure 11 This is a schematic diagram of the side-to-side blind spot scanning of a lidar stripe pattern provided in an embodiment of the present invention.

[0038] Figure 12 This is a schematic diagram of the lateral blind spot lidar scanning column by column provided in an embodiment of the present invention.

[0039] Figure 13 This is a schematic diagram of the movement direction and scanning direction of the lateral blind spot lidar provided in an embodiment of the present invention.

[0040] Figure 14 The second flowchart is a scanning method for a lateral blind spot lidar provided in an embodiment of the present invention.

[0041] Figure 15 A schematic diagram of the control module for a lateral blind spot lidar provided in an embodiment of the present invention.

[0042] Figure 16 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0043] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0045] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar planned objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data are interchangeable where appropriate; in other words, the described embodiments are implemented according to a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, may also include other content; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0046] It should be noted that the descriptions involving "first," "second," etc., in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0047] Currently, side-viewing LiDAR has begun to be applied to mobile devices such as automobiles, mobile robots, and drones to achieve intelligent sensing, helping these devices avoid obstacles or perform corresponding operations based on scanned images. For high-speed moving mobile devices, side-viewing LiDAR is prone to blind spots when scanning the side of the device's direction of travel during high-speed movement. The following explanation uses an automobile (or vehicle) as an example to illustrate the scanning method of side-viewing LiDAR and the principle behind the generation of blind spots.

[0048] Please refer to the following: Figure 1 and Figure 2The lateral blind spot lidar 100 is disposed on at least one of the opposite left and right sides of the vehicle body 10, and is used to scan the main lateral blind spot lidar along the traveling direction of the scanning vehicle 1. Figure 1 and Figure 2 Lateral blind spot filling (not shown in the image) is performed. The lateral blind spot filling lidar can use a scanning method along a preset direction, such as scanning row by row or column by column according to a preset frequency along a preset direction.

[0049] In some embodiments, such as Figure 3 As shown, when the lateral blind spot lidar performs line-by-line scanning, it emits a strip-shaped sensing beam. The length direction of the strip-shaped sensing beam is along the vehicle's direction of travel, or in other words, it is arranged in a horizontal or transverse direction. The horizontally arranged strip-shaped sensing beam scans along a preset vertical direction, such as scanning from top to bottom or from bottom to top, to cover the entire detection range of the lateral blind spot lidar.

[0050] like Figure 4 As shown, in some embodiments, the lateral blind spot lidar emits strip-shaped sensing beams during column-by-column scanning. The length direction of the strip-shaped sensing beams is along a vertical direction perpendicular to the vehicle's direction of travel, or arranged longitudinally. The longitudinally arranged strip-shaped sensing beams scan along a preset horizontal direction, such as... Figure 4 The scanning proceeds from left to right or from right to left to cover the entire detection range of the lateral blind spot lidar.

[0051] It should be understood that the scanning of the bar sensing beam along the preset direction refers to deflecting or moving the bar sensing beam along the preset direction, so that the bar sensing beam sequentially traverses the entire detection range in a time-division manner. The scanning direction of the bar sensing beam can be understood as the direction in which the bar sensing beam deflects or moves.

[0052] However, after extensive research and experimentation, the inventors discovered that when performing line-by-line scanning or column-by-column scanning in the opposite direction to the direction of movement, the lateral blind spot lidar will exhibit scanning blind spots under certain circumstances, as described below.

[0053] Please refer to the following: Figure 5 , Figure 5 This diagram illustrates the effect of a vehicle's lateral blind spot lidar performing line-by-line scanning. Specifically, when the lateral blind spot lidar uses line-by-line scanning, the emitted sensing beam scans vertically line by line, either from top to bottom or from bottom to top. When the last line of a frame is scanned and the system switches to the first line of the next frame, if the distance the lateral blind spot lidar moves relative to the frame exceeds the scanning field of view of a single frame, an inter-frame blind zone will occur. The specific formula for calculating the blind zone of the lateral blind spot lidar in line-by-line scanning is as follows:

[0054]

[0055] in, Indicates the width of the blind spot. This indicates the relative speed between the lateral blind spot lidar and the target object. This indicates the scanning frame rate of the lateral blind spot lidar. This represents the actual distance the lateral blind spot lidar moves along the vehicle's direction of travel in each frame. Since the sensing beam emitted by the lateral blind spot lidar scans line by line, the actual distance the sensing beam moves horizontally along the vehicle's direction of travel within a frame is the distance the lateral blind spot lidar moves laterally within that frame. This represents the detection distance of the target object from the lateral blind spot lidar. (Since the scanning speed of the lateral blind spot lidar per unit time is much greater than the moving speed of the vehicle, the vehicle can be considered stationary when defining the detection distance.) (The minimum distance between the plane containing the target object, parallel to the direction of movement of the lateral blind spot lidar, and the lateral blind spot lidar). This indicates the horizontal field of view (FOV) of the lateral blind spot lidar. The term "side-view lidar frame" indicates the horizontal field of view width of the side-view lidar when the vehicle is stationary. This is the effective scanning distance (i.e., horizontal field of view width) of the side-view lidar in the horizontal direction. Therefore, if the actual distance the side-view lidar moves along the vehicle's direction of travel within a frame exceeds this effective distance, a blind spot will occur. For example, assuming a vehicle speed of 120 km / h (33.33 m / s), a frame rate of 20 fps (fps represents frames per second), and a horizontal field of view angle of... Under a 120° angle, when the target object is less than 0.48 meters away from the detection range of the lateral blind spot lidar, the blind zone width is... The result will be greater than 0, meaning a blind zone will appear. Therefore, when a lateral blind zone lidar used for lateral blind zone detection employs a line-by-line scanning method, a scanning blind zone phenomenon will occur under certain conditions.

[0056] Please refer to the following: Figure 6 , Figure 6 This diagram illustrates the effect of a lateral blind-scanning lidar scanning column-by-column in the opposite direction to the direction of movement. Specifically, when the column-by-column scanning direction of the lateral blind-scanning lidar is opposite to the direction of movement, the horizontal field of view of the lateral blind-scanning lidar will be compressed to a certain extent. The degree of compression... The formula for calculating (unit: %) is as follows:

[0057]

[0058] in, This indicates the relative speed between the lateral blind spot lidar and the target object. This indicates the scanning frame rate of the lateral blind spot lidar. This indicates the detection distance of the target object from the lateral blind spot lidar. This indicates the horizontal field of view of the lateral blind spot lidar. This represents the actual distance the lateral blind spot lidar moves along the vehicle's direction of travel in each frame. Since the sensing beam emitted by the lateral blind spot lidar scans line by line, the actual distance the sensing beam moves horizontally along the vehicle's direction of travel within a frame is the distance the lateral blind spot lidar moves laterally within that frame. This represents the horizontal field of view width. When the lateral blind-spot lidar is stationary, the horizontal field of view width is the distance it scans horizontally within one frame. As the lateral blind-spot lidar moves in the opposite direction to the scanning direction, its horizontal field of view width is compressed. For example, at a vehicle speed of 120 km / h (33.33 m / s), a frame rate of 20 fps, and a horizontal field of view angle of 120°, the detection distance of the target object from the lateral blind-spot lidar can be determined. When the length is 1 meter, the degree of compression The percentage is 48%. This refers to the distance between the target object and the detection range of the lateral blind spot lidar. At a length of 10 meters, the degree of compression It is 4.8%.

[0059] Therefore, when a lateral blind spot lidar uses a column-by-column scanning method and its movement direction is opposite to the scanning direction, the field of view of the lateral blind spot lidar will be compressed. When the image is compressed to a certain extent, that is, when the horizontal field of view of the lateral blind spot lidar is compressed by 1 / 3 or more, a scanning blind zone will appear. The calculation process of the blind zone size is described in detail below.

[0060] Please refer to the following: Figure 7 ,when The formula for calculating the blind spot size is as follows:

[0061]

[0062] in, Indicates the width of the blind spot. This indicates the relative speed between the lateral blind spot lidar and the target object. This indicates the scanning frame rate of the lateral blind spot lidar. This indicates the detection distance of the target object from the lateral blind spot lidar. This indicates the horizontal field of view (FOV) of the lateral blind spot lidar. This represents the actual distance the lateral blind spot lidar moves along the vehicle's direction of travel in each frame. Since the sensing beam emitted by the lateral blind spot lidar scans line by line, the actual distance the sensing beam moves horizontally along the vehicle's direction of travel within a frame is the distance the lateral blind spot lidar moves laterally within that frame. This represents the horizontal field of view width of the lateral blind spot lidar in each frame when the vehicle is stationary, which is the effective scanning distance of the lateral blind spot lidar in the horizontal direction. When the vehicle is moving and the scanning direction of the lateral blind spot lidar is opposite to the direction of vehicle movement, the effective scanning distance of each frame of the lateral blind spot lidar in the horizontal direction is: .like Figure 7 As shown, when When the vehicle moves in the opposite direction, the lateral blind spot lidar cannot scan the area within its horizontal field of view in the current frame's actual scanned range. In other words, the effective scanned area of ​​the lateral blind spot lidar in the current frame is M0. Therefore, the effective scanning distance of the lateral blind spot lidar in the horizontal direction in each frame is... blind spot for .

[0063] Please refer to the following: Figure 8 ,when The formula for calculating the blind spot size is as follows:

[0064]

[0065] in, Indicates the width of the blind spot. This indicates the relative speed between the lateral blind spot lidar and the target object. This indicates the scanning frame rate of the lateral blind spot lidar. This indicates the detection distance of the target object from the lateral blind spot lidar. This indicates the horizontal field of view (FOV) of the lateral blind spot lidar. This represents the actual distance the lateral blind spot correction lidar moves along the vehicle's direction of travel in each frame. This represents the horizontal field of view width of the lateral blind spot lidar in each frame when the vehicle is stationary, which is the effective scanning distance of the lateral blind spot lidar in the horizontal direction. When the vehicle is moving and the scanning direction of the lateral blind spot lidar is opposite to the direction of vehicle movement, the effective scanning distance of each frame of the lateral blind spot lidar in the horizontal direction is -( ).like Figure 8 As shown, when When the vehicle moves in the opposite direction, the lateral blind spot lidar only senses the last N columns of the current frame (the first effective scanning area M1 in the horizontal direction) and the first N columns of the next frame (the second effective scanning area M2 in the horizontal direction) within the field of view P of the current frame. The first and second effective scanning areas in the horizontal direction are the horizontal field of view width of the lateral blind spot lidar in each frame when the vehicle is stationary, minus the actual horizontal scanning distance of the lateral blind spot lidar in each frame. Therefore, when the lateral blind spot lidar on the side of the vehicle uses column-by-column scanning and the scanning direction is opposite to the direction of movement, there will be a scanning blind spot.

[0066] As the analysis above shows, blind spots occur in lateral blind spot detection lidar when scanning row by row with a horizontal stripe beam along the vertical direction and when scanning column by column with a vertical stripe beam in the opposite direction to the horizontal movement. Therefore, how to avoid blind spots and be unaffected by vehicle speed has become an urgent need for lateral blind spot detection lidar.

[0067] In view of this, the present invention proposes a lateral blind spot lidar scanning method to avoid scanning blind spots when the lateral blind spot lidar is used for lateral blind spot filling.

[0068] Please refer to it again. Figure 1 and Figure 2 In some embodiments, lateral blind spot lidar can be used to fill in the lateral blind spots of the vehicle 1's main radar. For example, the vehicle 1 may include multiple lateral blind spot lidars, all of which are located on the sides of the vehicle body 10, and are mainly used to scan and detect obstacles on both sides of the vehicle body 10 to expand the detection range of the entire vehicle-mounted radar.

[0069] The mobile device described in this embodiment of the invention is only a vehicle as an example and should not be construed as meaning that the scanning method of the lateral blind spot lidar is only applicable to vehicle blind spot lidar scanning. It should be understood that in some other embodiments, the lateral blind spot lidar can also be installed on industrial robots, drones, and other mobile devices to achieve three-dimensional image sensing, thereby improving the navigation accuracy and safety of smart mobile devices.

[0070] To address the issue of blind spots in lateral blind spot radar scanning, this invention proposes a resource-saving scanning method for lateral blind spot radar. Without adding additional sensors or increasing the development cost of scanning data processing algorithms, this method eliminates lateral blind spots of vehicles by leveraging the performance of the lateral blind spot radar itself.

[0071] In this embodiment, the lateral blind spot lidar can, for example, employ a dToF measurement device based on the direct time-of-flight (dToF) principle for 3D information sensing. The dToF measurement device emits a sensing beam within its detection range and receives the sensing beam reflected back from an object within that range. The time difference between the emission and reception times of the reflected sensing beam is called the flight time t of the sensing beam. The 3D information of the object can be obtained by calculating half the distance traveled by the sensing beam within the flight time t using the formula D=(c*t) / 2, where c is the speed of light.

[0072] Please refer to the following: Figure 9 This is a schematic diagram of a lateral blind spot lidar module provided in an embodiment of the present invention. The lateral blind spot lidar 100 includes a transmitting module 110, a receiving module 120, and a scanning control module 130. The transmitting module 110 is configured to emit longitudinally arranged strip-shaped sensing beams into the detection range to scan objects within a preset detection range. That is, the sensing beams are deflected according to the scanning direction of column-by-column scanning to illuminate the corresponding areas of the preset detection range. Part of the sensing beams are reflected back by the objects, and the reflected sensing beams carry the three-dimensional information of the objects. A portion of the reflected sensing beams can be sensed and analyzed by the receiving module 120 to obtain the scanning data of the objects.

[0073] In this embodiment, the lateral blind spot lidar 100 includes at least one set of transmitting modules 110 and receiving modules 120. The scanning control module 130 determines the scanning direction of the lateral blind spot lidar for column-by-column scanning based on the vehicle's current direction of travel. In this embodiment, the scanning control module is integrated inside the lateral blind spot lidar 100 or utilizes the processing module of the lateral blind spot lidar 100 itself to perform some or all of its functions, thereby improving the response speed of scanning control. Specifically, when the vehicle moves along the first direction of travel, the scanning control module 130 controls the transmitting module 110 to scan according to the scanning direction determined according to the first direction of travel. When the vehicle moves to the second direction of travel, the scanning control module 130 controls the transceiver to scan according to the scanning direction determined according to the second direction of travel. When the vehicle switches between the first and second directions of travel, the scanning control module 130 controls the transceiver to switch the current scanning direction to the corresponding scanning direction. When the vehicle changes from the first direction of travel to the second direction of travel, that is, when the vehicle changes from forward to reverse, the scanning control module 130 controls the transceiver to stop scanning from back to front and switch to scanning from front to back.

[0074] It should be noted that the direction of travel includes a first direction of travel and a second direction of travel. The first direction of travel and the second direction of travel are opposite to each other, and both are parallel to the length of the vehicle body. That is, the first direction of travel and the second direction of travel can also be represented by the vehicle's forward direction and the vehicle's reverse direction.

[0075] Alternatively, in some other embodiments, the scanning control module 130 may be located inside the mobile device, for example, by the mobile device's own controller or by a processor additionally installed inside the mobile device to perform the corresponding functions. This makes the internal structure of the lateral blind spot lidar 100 simpler and easier to mass-produce and install.

[0076] Please refer to the following: Figure 10 This is a first flowchart of the scanning method for a lateral blind spot lidar provided in an embodiment of the present invention. The scanning method for the lateral blind spot lidar executes a scanning procedure based on the aforementioned lateral blind spot lidar, ensuring that the scanning direction of the lateral blind spot lidar's column-by-column scanning is consistent with the travel direction of the mobile device (in the following embodiments, the mobile device is described using a vehicle as an example). This allows the lateral blind spot lidar to acquire more information, avoids blind spots, and prevents detection blind spots in vehicle-mounted lateral blind spot lidar. The scanning method for the lateral blind spot lidar specifically includes the following steps.

[0077] Step S101: Obtain the current direction of travel of the mobile device.

[0078] Specifically, the current direction of travel of the mobile device (vehicle) is obtained from the vehicle's main control unit by a side-to-side blind spot lidar. The direction of travel includes a first direction of travel and a second direction of travel, which are opposite to each other and both parallel to the length of the vehicle body. That is, the first and second directions of travel can also be represented by the vehicle's forward and reverse directions. Since the vehicle's non-linear movements, such as turning, can be considered a dynamic process where the direction of travel is constantly changing, the embodiments of this invention, for the sake of brevity, only illustrate the vehicle's linear movement. However, it should be understood that the described content is applicable to situations where the vehicle is moving non-linearly.

[0079] Step S102: Determine the direction of travel as the scanning direction of the lateral blind spot lidar for column-by-column scanning.

[0080] In this embodiment, the scanning direction of the lateral blind spot fill lidar for scanning point cloud data column by column should be consistent with the vehicle's direction of travel. For example, if the vehicle's first direction of travel is the forward direction and the second direction of travel is the reverse direction, when the vehicle moves along the first direction of travel, the scanning direction of the lateral blind spot fill lidar should be determined as from back to front; when the vehicle moves along the second direction of travel, the scanning direction of the lateral blind spot fill lidar should be determined as from front to back.

[0081] Optionally, the direction of travel determines the scanning direction of the lateral blind spot lidar's column-by-column scanning, including:

[0082] If the current scanning direction of the lateral blind spot lidar is consistent with the travel direction, then the current scanning direction of the lateral blind spot lidar is maintained.

[0083] If the current scanning direction of the lateral blind spot lidar is inconsistent with the direction of travel, the current scanning direction will be switched to the direction of travel, so that the scanning direction of the lateral blind spot lidar scanning the point cloud data column by column is always consistent with the direction of vehicle travel.

[0084] Please refer to the following: Figure 13 This is a schematic diagram illustrating the effect of the lateral blind spot filling lidar having the same movement direction and scanning direction as provided in an embodiment of the present invention. In this embodiment, due to the widened field of view, there is no blind spot when the scanning direction of the lateral blind spot filling lidar is the same as the vehicle's movement direction.

[0085] Specifically, the formula for calculating blind spot size is as follows:

[0086]

[0087] in: Indicates the width of the blind spot; This indicates the relative speed of movement between the lateral blind spot lidar and the target object; This indicates the scanning frame rate of the lateral blind spot lidar. This indicates the detection distance of the target object from the lateral blind spot lidar. This indicates the horizontal field of view of the lateral blind spot lidar. This represents the actual scanning distance of the lateral blind spot lidar in each frame. Since the vehicle is moving and the scanning direction of the lateral blind spot lidar is the same as the direction of the vehicle's movement, the actual scanning distance of the lateral blind spot lidar in the horizontal direction in each frame is the actual moving distance of the lateral blind spot lidar relative to the target object. This indicates the detection distance of the target object from the lateral blind spot lidar. This represents the horizontal field of view width of the lateral blind spot lidar when it is stationary, i.e., the effective distance of each frame of the lateral blind spot lidar scan along the lateral direction. Therefore, when the vehicle is moving and the scanning direction of the lateral blind spot lidar is the same as the direction of vehicle movement, the effective distance of each frame of the lateral blind spot lidar scan along the lateral direction is: .

[0088] As shown in the formula above, when the scanning direction of the lateral blind-spot lidar is consistent with the vehicle's direction of movement, regardless of the relative speed between the lateral blind-spot lidar and the target object, the scanning frame rate of the lateral blind-spot lidar, the detection distance between the target object and the lateral blind-spot lidar, or the specific value of the horizontal field of view angle of the lateral blind-spot lidar, the blind zone size is less than or equal to 0. In other words, there is no scanning blind zone. That is, when the scanning direction of the lateral blind-spot lidar is consistent with the vehicle's direction of movement, due to the widened field of view, there is no detection blind zone.

[0089] As analyzed above, when scanning column by column, the lateral blind spot lidar will not have blind spots if the scanning direction is the same as the radar's movement direction. Therefore, in the above embodiment, the scanning direction of the lateral blind spot lidar is determined according to the vehicle's direction of travel, and the lateral blind spot lidar is scanned column by column according to the determined scanning direction. This ensures that the scanning direction of the lateral blind spot lidar is always consistent with the vehicle's direction of travel. At this time, the formula for calculating the blind spot size is as shown above, and the blind spot S3 is always less than or equal to 0 (i.e., there is no blind spot), thereby avoiding blind spots in the lateral blind spot lidar detection during vehicle movement.

[0090] Step S103: Scan the preset detection range according to the determined scanning direction to obtain the scanning data of the objects within the preset detection range.

[0091] Specifically, if the current scanning direction of the lateral blind-filling lidar is consistent with the determined scanning direction, then the current scanning direction of the lateral blind-filling lidar is maintained; if the current scanning direction of the lateral blind-filling lidar is inconsistent with the determined scanning direction, then the current scanning direction is switched to the determined scanning direction; and scanning is performed according to the current scanning direction. It can be understood that the preset detection range can be considered as the field of view of the lidar, and the scanning data is point cloud data.

[0092] Optionally, scanning the preset detection range to obtain scan data of objects within the preset detection range includes:

[0093] The sensing beam is deflected according to the scanning direction of column-by-column scanning to illuminate the corresponding area of ​​the preset detection range, and the sensing beam returning from the corresponding area is sensed and analyzed to obtain the scanning data of the object in the corresponding area.

[0094] In some embodiments, such as Figure 11As shown, the lateral blind spot lidar emits a strip-shaped sensing beam during column-by-column scanning. The strip-shaped sensing beams L1-L15 are arranged longitudinally, that is, the length direction of the long strip-shaped sensing beam is vertical, which is perpendicular to the vehicle's direction of travel. In this case, the lateral blind spot lidar changes the position of the longitudinal strip-shaped beam irradiated in the horizontal direction over time to achieve column-by-column scanning in the horizontal direction. In other words, the scanning direction of the lateral blind spot lidar is the deflection direction of the strip-shaped sensing beam.

[0095] Optionally, the column-by-column scanning of the aforementioned longitudinal bar beam can be achieved by time-division lighting of the corresponding light-emitting units of the emitting module, i.e., flash (FLASH) mode; it can also be achieved by using solid-state optical deflection devices, such as acousto-optic deflectors, electro-optic deflectors, liquid crystal polarization gratings, etc., to deflect the bar sensing beam emitted by the emitting module; or it can be achieved by using mechanical or semi-solid-state optical deflection devices that rotate or vibrate to deflect the sensing beam emitted by the emitting module.

[0096] In some embodiments, such as Figure 12 As shown, the sensing beam emitted by the transmitting module of the lateral blind spot lidar is a dot-shaped sensing spot. During column-by-column scanning, the dot-shaped sensing spot first completes a column scan along the column direction, and then changes the position of the column scan along the scanning direction to sequentially complete the column-by-column scan. That is, the scanning direction of the lateral blind spot lidar is the deflection direction of the dot-shaped sensing spot during column-by-column scanning. It should be understood that the column direction is a vertical direction perpendicular to the direction of travel of the moving device.

[0097] Continue reading Figure 12 Taking the sensing beam emitted by the lateral blind-filling lidar as a single point light source as an example, a high-frequency scan is first performed in the column direction (i.e., the vertical direction) followed by a vertical scan, such as scanning from top to bottom or from bottom to top. After completing the dot matrix scan of one column, it deflects along the horizontal direction to perform the dot matrix scan of the next column, until the entire detection range is scanned. In other words, in these embodiments, the lateral blind-filling lidar first performs a high-frequency scan in the column direction (i.e., the vertical direction) and then deflects along the horizontal direction, performing the dot matrix scan of the next column after deflecting at a preset angle.

[0098] It should be noted that when performing dot matrix scanning in the vertical direction, the scanning frequency of the control lateral blind spot lidar is extremely high, with scanning speeds on the order of nanoseconds. Therefore, the arrangement of the column of light spots from the first spot to the last spot in the vertical direction is basically unaffected by vehicle movement.

[0099] In this embodiment, the lateral blind spot lidar achieves scanning in the horizontal and / or vertical directions by electrically controlling the laser beam deflection. In some feasible embodiments, the lateral blind spot lidar can also achieve scanning in the horizontal and / or vertical directions by mechanical, mirror-rotating, or other methods to deflect the laser beam.

[0100] Furthermore, to reduce the cost of autonomous vehicles and meet automotive-grade requirements, the use of solid-state side-mounted LiDAR has become an urgent need. Solid-state side-mounted LiDAR is small in size due to the absence of inertial components, and its placement on the left and right sides of the vehicle body facilitates automotive-grade verification. At the same time, the lower cost of solid-state side-mounted LiDAR can also reduce vehicle costs.

[0101] In this embodiment, the lateral blind spot lidar can be a solid-state lateral blind spot lidar. Solid-state lateral blind spot lidar is a type of lateral blind spot lidar without any internal moving mechanical parts, mainly including two types: Optical Phase Array (OPA) lateral blind spot lidar and Flash lateral blind spot lidar. In this embodiment, the light source of the Flash lateral blind spot lidar can emit vertically arranged strip-shaped light spots to scan different field-of-view areas. It should be noted that the frame spacing is equal when the lateral blind spot lidar performs column-by-column scanning.

[0102] Please refer to the following: Figure 14 This is a second flowchart of the scanning method for a lateral blind spot lidar provided in an embodiment of the present invention. In some feasible embodiments, the scanning method for the lateral blind spot lidar further includes the following steps.

[0103] Step S301: Obtain the current speed information of the mobile device.

[0104] Specifically, the vehicle's current speed information is obtained from the vehicle's main control unit by the scanning control module.

[0105] Step S302: Adjust the scanning frame rate of the lateral blind spot lidar based on the speed information. Dynamically adjusting the scanning frame rate based on the speed can control the broadening of the scanning data to a certain extent and improve the quality of the scanned image.

[0106] Specifically, when the scanning direction of the lateral blind spot fill lidar is consistent with its own direction of travel, the lidar moves along with the vehicle, resulting in an extension of the horizontal field of view compared to its stationary state, thus creating a certain degree of widening. The degree of widening... With relative speed Frame rate The detection range of the target object from the lateral blind spot lidar This is related to the field of view angle θ of the lateral blind spot lidar. For ease of comparison with the compression levels in the aforementioned embodiments... To differentiate, the degree of widening in this embodiment is used... (%) indicates the degree of expansion With compression degree In reality, they are the same parameter, distinguished by the consistency between the vehicle's direction of movement and the scanning direction of the lateral blind spot lidar. Specifically as follows:

[0107]

[0108] in: This indicates the degree of widening of the scan data (which can be understood as the actual field of view scanned by the lateral blind spot lidar within one frame). This indicates the relative speed between the lateral blind spot lidar and the target object. This indicates the scanning frame rate of the lateral blind spot lidar. This indicates the detection distance of the target object from the lateral blind spot lidar. This indicates the horizontal field of view of the lateral blind spot lidar. This represents the actual distance moved by the lateral blind spot lidar relative to the target object in each frame. This indicates the horizontal field of view width. Understandably, the target object refers to a stationary object, and the moving speed of the lateral blind spot lidar is the same as the vehicle's speed.

[0109] In some embodiments, the scanning frame rate of the lateral blind-spot lidar is dynamically adjusted according to actual conditions. This embodiment uses a lateral blind-spot lidar with two frame rates as an example. The scanning frame rate of the lateral blind-spot lidar includes a first frame rate and a second frame rate, wherein the second frame rate is greater than the first frame rate. It should be noted that the scanning frame rate in this embodiment is not limited to the first and second frame rates; it can also be divided into multiple scanning frame rates according to vehicle speed. This allows for scanning at different speeds using corresponding frame rates, minimizing the lidar's power consumption while improving the quality of the scanned image, all while meeting the lidar's scanning requirements.

[0110] Optionally, the first frame rate is 10fps, and the second frame rate is 20fps. After receiving the speed information provided by the vehicle, the lateral blind spot lidar adjusts the frame rate accordingly. For example, if the vehicle's current speed is greater than a preset value, the scanning frame rate of the lateral blind spot lidar is adjusted to the second frame rate. Specifically, when the vehicle's speed is relatively high, the scanning frame rate of the lateral blind spot lidar is adjusted to 20fps. If the vehicle's current speed is less than a preset value, the scanning frame rate of the lateral blind spot lidar is adjusted to the first frame rate. Specifically, when the vehicle's speed is relatively low, the scanning frame rate of the lateral blind spot lidar is adjusted to 10fps to reduce the power consumption of the lateral blind spot lidar and the amount of data processed by the entire vehicle, thus saving resources and improving the quality of the scanned image to some extent.

[0111] In this embodiment, if the current vehicle speed is 120 km / h, the corresponding =33.33m / s, frame rate =20fps, field of view =120°, when the target object is 10 meters away from the lateral blind spot lidar, the widening degree is 4.8%; when the target object is 1 meter away from the lateral blind spot lidar, the widening degree is 48%. That is to say, the closer the perpendicular distance between the lateral blind spot lidar and the target object, the greater the widening degree, i.e., the more obvious the widening. Similarly, under the condition that other parameters remain unchanged, the relative moving speed... The faster the scanning speed, the greater the widening effect, meaning the wider the widening is more pronounced. For lateral blind spot lidar, the higher the scanning frame rate and the faster the scanning speed, the smaller the widening effect, meaning the wider the widening is less pronounced.

[0112] From the point cloud perspective of the side-by-side blind spot lidar, the side-by-side blind spot lidar moving in the same direction as the vehicle will cause the horizontal field of view of the side-by-side blind spot lidar to be greater than 120°, collecting more information, thereby eliminating the inter-frame blind spot and achieving blind spot detection of the side-by-side blind spot lidar during vehicle movement.

[0113] The side-to-side blind spot lidar scanning method of the present invention has been described in detail above. The structure of the side-to-side blind spot lidar is described below to help further understand the side-to-side blind spot lidar scanning method of the present invention.

[0114] Please refer to the following: Figure 15 This is a schematic diagram of the scanning control module of the lateral blind spot lidar provided in this embodiment of the invention. The scanning control module executes the scanning method in the aforementioned embodiment. It should be noted that the scanning control module can be the vehicle's own control unit, or it can be a control unit integrated inside the lateral blind spot lidar. Alternatively, some or all of the functions can be performed by the processing module of the lateral blind spot lidar itself. This embodiment does not specifically limit this.

[0115] In this embodiment, the scanning control module 130 of the lateral blind spot lidar 100 includes: a direction acquisition unit 1301, a direction determination unit 1302, and a scanning execution unit 1303. The direction acquisition unit 1301 is used to acquire the vehicle's current direction of travel. Specifically, the vehicle's current direction of travel is acquired by the direction acquisition unit 1301 of the scanning control module 130 from the vehicle's main control device. The vehicle's main control device does not participate in the specific operation of the lateral blind spot lidar scanning method, resulting in better compatibility between the lateral blind spot lidar and the vehicle, and effectively reducing the power consumption of the vehicle's main control device.

[0116] Further, the direction determination unit 1302 determines the travel direction of the vehicle (or the lateral blind spot lidar 100) as the scanning direction for the lateral blind spot lidar 100 to scan column by column. Specifically, the direction determination unit 1302 determines the vehicle travel direction obtained by the direction acquisition unit 1301 as the scanning direction for the lateral blind spot lidar 100 to scan column by column. The scanning execution unit 1303 is used to control the lateral blind spot lidar 100 to execute the scanning direction to obtain scanning data, that is, to scan a preset detection range according to the determined scanning direction to obtain scanning data of objects within the preset detection range. Specifically, the scanning execution unit 1303 controls the lateral blind spot lidar 100 to scan the preset detection range according to the determined scanning direction for the lateral blind spot lidar 100 to scan column by column according to the determined scanning direction.

[0117] In the above embodiment, the vehicle's direction of travel is obtained by the direction acquisition unit 1301, the direction determination unit 1302 determines the direction of travel as the scanning direction of the lateral blind spot lidar for column-by-column scanning, and the scanning execution unit 1303 controls the lateral blind spot lidar 100 to execute the determined scanning direction.

[0118] The scanning control module of the lateral blind spot lidar provided in this embodiment controls the lateral blind spot lidar to scan in the determined scanning direction according to the scanning direction of the lateral blind spot lidar column by column, so that the scanning direction of the lateral blind spot lidar is consistent with the direction of travel. At this time, because the lateral blind spot lidar has a widened field of view, it covers more scanning data and thus does not produce blind spots. This solves the problem of blind spots that may exist between frames when the vehicle-mounted lateral blind spot lidar scans during vehicle movement, avoids the existence of blind spots, and ensures driving safety.

[0119] Optionally, the scan execution unit 1303 further includes:

[0120] The transmission control unit is configured to control the transmission module of the lateral blind spot lidar to deflect the sensing beam in a column-by-column scanning direction to illuminate the corresponding area of ​​the preset detection range.

[0121] The receiving control unit is configured to control the receiving module of the lateral blind-filling LiDAR to sense and analyze the sensing beam returning from the corresponding area to obtain scanning data of objects within that area. It should be noted that the receiving module of the lateral blind-filling LiDAR can either sense only the echo signal of the sensing beam returning from the corresponding area, with a separate processing module analyzing and processing the echo signal, or it can be processed uniformly by the receiving module itself. The specific functionality of the receiving module of the lateral blind-filling LiDAR can be configured accordingly.

[0122] Optionally, the scanning control module 130 also includes:

[0123] The speed acquisition unit is used to acquire the current speed information of the mobile device.

[0124] The frame rate adjustment unit is used to adjust the scanning frame rate of the lateral blind spot lidar based on the speed information.

[0125] This embodiment uses a speed acquisition unit and a frame rate adjustment unit to dynamically adjust the scanning frame rate according to the speed, minimizing power consumption while meeting radar scanning requirements and improving the quality of the scanned image. For details, please refer to the foregoing method embodiment; further details will not be repeated here.

[0126] Please refer to the following: Figure 16 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device includes a memory 202 for storing a computer-executable program; and a processor 201 for executing the executable program of the scanning method of the lateral blind spot lidar to implement the above-described scanning method of the lateral blind spot lidar.

[0127] In some embodiments, the processor 201 may be a central processing unit (CPU), controller, microcontroller, microprocessor or other data processing chip, used to run the scanning method program instructions of the lateral blind spot lidar stored in the memory 202.

[0128] The memory 202 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 202 can be an internal storage unit of a computer device, such as a hard disk. In other embodiments, the memory 202 can be an external storage device of a computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. Furthermore, the memory 202 can include both internal and external storage units of a computer device. The memory 202 can be used not only to store application software and various types of data installed on the computer device, such as code implementing a side-view lidar scanning method, but also to temporarily store data that has been output or will be output.

[0129] The present invention also provides a vehicle that employs a lateral blind spot lidar 100 having the scanning method described above. Since the positional relationship between the lateral blind spot lidar 100 and the vehicle can be conventionally set, it will still be referred to here as... Figure 1 and Figure 2 The vehicle shown is an example to illustrate the vehicle provided by this invention. Figure 1 A side view of vehicle 1 provided in an embodiment of the present invention is shown; Figure 2 The diagram illustrates a top view of a vehicle 1 provided in an embodiment of the present invention. The vehicle 1 includes a body 10 and lateral blind spot detection lidar 100 disposed on the side of the body 10. In this embodiment, two lateral blind spot detection lidars 100 are disposed on the side of the body 10 near the front of the vehicle, and two lateral blind spot detection lidars 100 are disposed on the side of the body 10 near the rear of the vehicle. In some feasible embodiments, the number of lateral blind spot detection lidars 100 is not limited to this; specifically, lateral blind spot detection lidars 100 can be disposed at designated locations on the side of the body 10. The number can also be determined according to the size of the vehicle 1; for example, multiple lateral blind spot detection lidars 100 can be installed on the side of large vehicles such as buses and trucks. The installation height can be determined according to the size of the vehicle 1, and is not limited here.

[0130] In the above embodiments, by determining the current direction of vehicle travel as the scanning direction of the lateral blind spot lidar, the scanning direction of the lateral blind spot lidar is kept consistent with the direction of vehicle movement. At this time, since the lateral blind spot lidar has a widened field of view, it covers more scanning data and thus does not produce blind spots. Without increasing the research and development costs of sensors and scanning data processing algorithms, the problem of blind spots that may exist between frames when the vehicle-mounted lateral blind spot lidar scans during vehicle movement is solved, ensuring driving safety.

[0131] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0132] The above-listed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A scanning method for a lateral blind spot lidar, characterized in that, The lateral blind spot lidar is installed on the side of the mobile device and is used to scan the side of the mobile device in the direction of travel column by column. The scanning method includes: Obtain the current direction of travel of the mobile device; The direction of travel determines the scanning direction of the lateral blind spot fill lidar, so that the scanning direction is always consistent with the direction of travel; wherein, the column direction of the lateral blind spot fill lidar during column scanning is perpendicular to the direction of travel; The preset detection range is scanned according to the determined scanning direction to obtain the scanning data of the objects within the preset detection range.

2. The scanning method of the lateral blind spot lidar as described in claim 1, characterized in that, Scanning the preset detection range to obtain scan data of objects within the preset detection range includes: The sensing beam is deflected according to the scanning direction of the column-by-column scan to illuminate the corresponding area of ​​the preset detection range, and the sensing beam returning from the corresponding area is sensed and analyzed to obtain the scanning data of the object in the corresponding area.

3. The scanning method of the lateral blind spot lidar as described in claim 1, characterized in that, Determining the scanning direction of the lateral blind spot lidar by the travel direction includes: If the current scanning direction of the lateral blind spot lidar is consistent with the traveling direction, then the current scanning direction of the lateral blind spot lidar is maintained; and If the current scanning direction of the lateral blind spot lidar is inconsistent with the travel direction, the current scanning direction is switched to the travel direction; wherein, the travel direction includes a first travel direction and a second travel direction, and the first travel direction is opposite to the second travel direction.

4. The scanning method of the lateral blind spot lidar as described in claim 2, characterized in that, The lateral blind spot lidar emits a strip-shaped sensing beam during column-by-column scanning. The length direction of the strip-shaped sensing beam is a vertical direction perpendicular to the direction of travel of the mobile device, and the scanning direction of the lateral blind spot lidar is the deflection direction of the strip-shaped sensing beam.

5. The scanning method of the lateral blind spot lidar as described in claim 2, characterized in that, The lateral blind spot lidar emits dot-shaped sensing spots during column-by-column scanning. The column direction of the dot-shaped sensing spots during column-by-column scanning is a vertical direction perpendicular to the traveling direction of the mobile device. The scanning direction of the lateral blind spot lidar is the deflection direction of the dot-shaped sensing spots during column-by-column scanning.

6. The scanning method of the lateral blind spot lidar as described in claim 1, characterized in that, The scanning method further includes: Obtain the current speed information of the mobile device; The scanning frame rate of the lateral blind spot lidar is adjusted based on the speed information.

7. The scanning method of the lateral blind spot lidar as described in claim 6, characterized in that, The degree of broadening of the scanned data is based on the formula. Certainly, among which: The value represents the extent of data expansion of the scan data, V represents the relative moving speed between the lateral blind-filling lidar and the target object, F represents the scan frame rate of the lateral blind-filling lidar, and d represents the detection distance between the target object and the lateral blind-filling lidar. This indicates the horizontal field of view of the lateral blind spot lidar.

8. A scanning control module for a lateral blind spot lidar, wherein the scanning control module is disposed on a mobile device or integrated inside the lateral blind spot lidar, characterized in that, The lateral blind spot lidar is installed on the side of the mobile device and is used to scan the side of the mobile device in the direction of travel column by column. The scanning control module includes: A direction acquisition unit is used to acquire the current travel direction of the mobile device; A direction determination unit is used to determine the scanning direction of the lateral blind spot fill lidar column-by-column scanning based on the travel direction, so that the scanning direction is always consistent with the travel direction; wherein, the column direction of the lateral blind spot fill lidar during column-by-column scanning is perpendicular to the travel direction; The scanning execution unit is used to scan a preset detection range according to a determined scanning direction to obtain scanning data of objects within the preset detection range.

9. The scanning control module according to claim 8, characterized in that, The scanning execution unit includes: The transmission control unit is configured to control the transmission module of the lateral blind spot lidar to deflect the sensing beam in accordance with the scanning direction of the column-by-column scan to illuminate the corresponding area of ​​the preset detection range; The receiving control unit is configured to control the receiving module of the lateral blind spot lidar to sense and analyze the sensing beam returned from the corresponding area to obtain scanning data of objects in the corresponding area.

10. The scanning control module according to claim 8, characterized in that, The scanning control module also includes: A speed acquisition unit is used to acquire the current speed information of the mobile device; A frame rate adjustment unit is used to adjust the scanning frame rate of the lateral blind spot lidar according to the speed information.

11. A lateral blind spot lidar, characterized in that, Mounted on the side of a mobile device, the lateral blind spot lidar is used to scan the side of the mobile device in the direction of travel column by column to obtain scanning data of objects located within a preset detection range on the side of the mobile device in the direction of travel. The lateral blind spot lidar includes a transmitting module, a receiving module, and a scanning control module as described in any one of claims 8-10.

12. A mobile device, characterized in that, It includes a mobile device body, and the side of the mobile device body is equipped with a lateral blind spot lidar as described in claim 11.

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