Laser radar architecture for realizing ROI (Region of Interest) and control method and device of laser radar architecture

Abstract

The invention discloses a laser radar architecture for realizing ROI and a control method and device of the laser radar architecture, and relates to the technical field of laser radar detection, the design of one transmitting module and two receiving modules is adopted, one receiving module is responsible for receiving the whole view field, the other receiving module is responsible for receiving the ROI area, and the receiving module is responsible for receiving the ROI area. The range finding capability of the ROI is improved, and the practicability and flexibility of the laser radar are improved while the signal receiving sensitivity and precision are improved. The laser radar architecture comprises a transmitting module, a first receiving module, a rotating mirror and a second receiving module. The transmitting module is used for transmitting a measurement light beam. The first receiving module and the transmitting module form a coaxial light path; the rotating mirror comprises at least two reflecting surfaces; the second receiving module is placed on one side opposite to the target side of the rotating mirror and is used for receiving a second reflection light beam reflected by the rotating mirror; the field angle of the first receiving module partially coincides with the field angle of the second receiving module and is smaller than the field angle of the second receiving module.

Description

Technical Field

[0001] The present application relates to the field of laser radar detection technology, and in particular to a laser radar architecture for realizing ROI, and a control method and device for the laser radar architecture. Background Art

[0002] With the rapid development of technologies such as autonomous driving and robot navigation, LiDAR, as an important sensor, plays an irreplaceable role in environmental perception and positioning. The LiDAR architecture has gradually evolved from the traditional purely mechanical architecture to new architectures such as two-dimensional semi-solid and one-dimensional semi-solid to meet the needs of higher accuracy, wider field of view and lower cost.

[0003] In the related technologies, the mainstream trend of the forward main lidar architecture tends to adopt the Vcsel (vertical cavity surface emitting laser) + one-dimensional rotating mirror + SPAD (single photon avalanche diode) solution. Compared with the traditional architecture, this solution has improvements in cost and performance. Vcsel has a significant price advantage over EEL (edge ​​emitting laser), and its fast and slow axis divergence angles are the same, making the beam control more flexible. Although the power density of Vcsel is lower than that of EEL, with the continuous development of Vcsel multi-junction technology, its power density disadvantage is gradually decreasing. At the receiving end, SPAD has the advantage of simpler back-end circuits than SiPM (silicon photomultiplier tube), and can output more lines in the same area. Although the number of SPADs contained in a Pixel is relatively small, through multiple cumulative histograms and transmission power enhancement, the overall ranging capability of SPAD can reach the same level as SiPM.

[0004] In the process of implementing the related technology, the applicant realizes that the related technology has at least the following problems:

[0005] In the existing lidar architecture, the ROI (Region of Interest) area is usually implemented by stitching multiple frames or increasing the number of scanning subframes. The ROI area can generally only be fixed and cannot be dynamically adapted according to the specific scene. The ranging capability of the ROI area has not been essentially improved, and the practicality and flexibility of the lidar are not high. Summary of the invention

[0006] In view of this, the present application provides a laser radar architecture for realizing ROI, a control method and a device for the laser radar architecture, the main purpose of which is to solve the problem that the current ROI area is usually realized by splicing multiple frames or increasing the number of scanning sub-frames, the ROI area can generally only be fixed and cannot be dynamically adapted according to the specific scene, and the ranging capability of the ROI area has not been essentially improved, and the practicality and flexibility of the laser radar are not high.

[0007] According to a first aspect of the present application, a laser radar architecture for realizing ROI is provided, the laser radar architecture comprising a transmitting module, a first receiving module, a rotating mirror, and a second receiving module, wherein:

[0008] The transmitting module is placed on the target side of the rotating mirror and is used to transmit the measuring light beam, wherein the transmitting module transmits the measuring light beam according to a preset light emission timing sequence;

[0009] The first receiving module is placed on the target side of the rotating mirror and forms a coaxial optical path with the transmitting module;

[0010] The rotating mirror comprises at least two reflecting surfaces. Based on the at least two reflecting surfaces, the rotating mirror reflects the measuring light beam emitted by the transmitting module to the environment, reflects a first reflected light beam corresponding to the measuring light beam to the first receiving module, and reflects a second reflected light beam corresponding to the measuring light beam to the second receiving module;

[0011] The second receiving module is placed on the opposite side of the target side of the rotating mirror, and is used to receive the second reflected light beam reflected back by the rotating mirror;

[0012] The field of view angle of the first receiving module partially overlaps with the field of view angle of the second receiving module and is smaller than the field of view angle of the second receiving module.

[0013] Optionally, the laser radar architecture further includes a reflector, wherein the reflector has a reflective area and a transmissive area:

[0014] The measuring light beam emitted by the transmitting module is reflected to the rotating mirror through the reflecting area; the first reflected light beam is reflected to the transmitting area through the rotating mirror, and passes through the transmitting area to be received by the first receiving module;

[0015] The reflective area is located in the central area of ​​the reflector, and the transmissive area is located in the edge area of ​​the reflector.

[0016] According to a second aspect of the present application, a control method of a laser radar architecture is provided, and the control method is applied to the laser radar architecture in the first aspect above, and the control method includes:

[0017] Acquire first point cloud information scanned by a first receiving module in the laser radar architecture;

[0018] Acquire second point cloud information scanned by a second receiving module in the laser radar architecture in the ROI area;

[0019] Feature extraction and fusion calculation are performed on the first point cloud information and the second point cloud information to generate a scanned image.

[0020] Optionally, the method further comprises:

[0021] When it is detected that the rotating mirror rotates to the starting position of the ROI area, the transmitting module is controlled to increase the light emission timing until it is detected that the rotating mirror rotates to the ending position of the ROI area, and the transmitting module is controlled to re-emit the measuring beam according to the preset light emission timing.

[0022] Optionally, the ROI region includes a target region, and the target region is a part of the ROI region. The method further includes:

[0023] The pixels of the first receiving module corresponding to the target area are selected for data processing to obtain the first point cloud information.

[0024] Optionally, performing feature extraction and fusion calculation on the first point cloud information and the second point cloud information to generate a scanned image includes:

[0025] Detecting whether the first point cloud information produces a high-reflection distortion effect;

[0026] When it is detected that the first point cloud information produces a high-reflection distortion effect, the high-reflection area is identified according to the first point cloud information, and the first point cloud information in the high-reflection area is filtered out, and the filtered first point cloud information is fused with the second point cloud information to obtain a scanned image of the high-reflection area.

[0027] Optionally, the method further comprises:

[0028] When it is detected that the first point cloud information does not produce a high anti-distortion effect, a preset algorithm is used to perform feature extraction and fusion calculation on the first point cloud information and the second point cloud information, and the obtained image is used as the scanned image.

[0029] According to a third aspect of the present application, a control device of a laser radar architecture is provided, the control device comprising:

[0030] A first acquisition module, used to acquire first point cloud information scanned by a first receiving module in the laser radar architecture;

[0031] A second acquisition module is used to acquire second point cloud information scanned by a second receiving module in the laser radar architecture in the ROI area;

[0032] A fusion module is used to perform feature extraction and fusion calculation on the first point cloud information and the second point cloud information to generate a scanned image.

[0033] Optionally, the control device further includes:

[0034] The control module is used to control the transmitting module to increase the light emission timing when it is detected that the rotating mirror rotates to the starting position of the ROI area, until it is detected that the rotating mirror rotates to the end position of the ROI area, and control the transmitting module to re-emit the measuring light beam according to the preset light emission timing.

[0035] Optionally, the ROI area includes a target area, the target area is a part of the ROI area, and the control device further includes:

[0036] A selection module is used to select pixels of the first receiving module corresponding to the target area for data processing to obtain the first point cloud information.

[0037] Optionally, the fusion module is used to detect whether the first point cloud information produces a high-reflection distortion effect; when it is detected that the first point cloud information produces a high-reflection distortion effect, the high-reflection area is identified according to the first point cloud information, and the first point cloud information in the high-reflection area is filtered out, and the filtered first point cloud information is fused with the second point cloud information to obtain a scanned image of the high-reflection area.

[0038] Optionally, the fusion module is also used to use a preset algorithm to perform feature extraction and fusion calculation on the first point cloud information and the second point cloud information when it is detected that the first point cloud information does not produce a high-reverse distortion effect, and use the obtained image as the scanned image.

[0039] According to a fourth aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the control method described in any one of the second aspects when executing the computer program.

[0040] According to a fifth aspect of the present application, a readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method described in any one of the second aspects are implemented.

[0041] By means of the above technical scheme, the present application provides a laser radar architecture for realizing ROI, a control method and a device for the laser radar architecture. The present application adopts a design of a transmitting module and two receiving modules, one receiving module is responsible for receiving the entire field of view, and the other receiving module is responsible for receiving the ROI area, so that the ranging capability of the ROI area is significantly improved, while improving the sensitivity and accuracy of signal reception, the practicality and flexibility of the laser radar are greatly improved.

[0042] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0044] Figure 1A A schematic diagram of a laser radar architecture for dynamically adjusting ROI provided in an embodiment of the present application is shown;

[0045] Figure 1B A schematic diagram showing a receiving module perspective provided in an embodiment of the present application is shown;

[0046] Figure 2A A schematic diagram of a control method flow of a laser radar architecture provided in an embodiment of the present application is shown;

[0047] Figure 2B A schematic diagram of the configuration of a receiving module Pixel provided in an embodiment of the present application is shown;

[0048] Figure 2C A control schematic diagram of a laser radar architecture provided in an embodiment of the present application is shown;

[0049] Figure 2D A control schematic diagram of a laser radar architecture provided in an embodiment of the present application is shown;

[0050] Figure 3 A schematic diagram of the structure of a control device of a laser radar architecture provided in an embodiment of the present application is shown;

[0051] Figure 4 A schematic diagram of the device structure of a computer device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0052] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0053] The present application embodiment provides a laser radar architecture for realizing ROI, such as Figure 1A As shown, the laser radar architecture includes a transmitting module 101, a first receiving module 102, a second receiving module 103 and a rotating mirror 104:

[0054] Transmitter Module 101

[0055] The transmitting module 101 is placed on the target side of the rotating mirror and is used to transmit the measuring beam. The target side can be any side of the rotating mirror. Figure 1A Middle, it is the left side of the rotating mirror.

[0056] In actual application, the transmitting module 101 transmits a measuring light beam, which forms a line spot after being reflected by the rotating mirror. The angle of the line spot can be the product of 0.1° (vertical direction) and 25° (horizontal direction), ensuring good spatial coverage and resolution.

[0057] When the mirror rotates at a preset speed, the line spot will also scan in the horizontal field of view. This scanning method is not only fast, but also can cover a large area, providing rich data support for subsequent measurement and analysis.

[0058] In the embodiment of the present application, the transmitting module needs to emit a measuring light beam according to a preset light emission sequence to scan the area.

[0059] The first receiving module 102

[0060] The first receiving module 102 is placed on the target side of the rotating mirror, which can be any side of the rotating mirror, preferably the left side of the rotating mirror. The first receiving module 102 and the transmitting module 101 form a coaxial optical path, that is, the optical axes of the first receiving module 102 and the transmitting module 101 coincide.

[0061] Rotating mirror 103

[0062] The rotating mirror 103 includes at least two reflecting surfaces. In practical applications, the number of reflecting surfaces can be increased according to specific application scenarios and requirements to further improve the measurement range and accuracy. The rotating mirror 103 is rotated by a motor or other driving device to realize the scanning of the measuring beam. In an embodiment of the present application, based on at least two reflecting surfaces, the rotating mirror 103 reflects the measuring beam emitted by the transmitting module 101 to the environment. When the measuring beam is irradiated to the target object in the environment, diffuse reflection occurs. The first reflected beam generated by the diffuse reflection of the target object will be reflected by the rotating mirror 103 to the first receiving module 101; since two receiving modules are provided in the embodiment of the present application, the second reflected beam generated by the diffuse reflection of the target object will also be reflected to the second receiving module 104. The first reflected beam and the second reflected beam pass through the adjacent reflecting surfaces of the rotating mirror and reach the first receiving module and the second receiving module respectively. In this way, the laser radar architecture can simultaneously receive two reflected beams at different angles, thereby realizing scanning at different viewing angles and obtaining more target information.

[0063] The second receiving module 104

[0064] From the above introduction to the transmitting module 101 and the first receiving module 102, it can be seen that the transmitting module 101 and the first receiving module 102 are coaxially placed on the target side of the rotating mirror. In the embodiment of the present application, a new laser radar architecture is proposed, that is, the second receiving module 104 is placed on the opposite side of the target side of the rotating mirror to achieve a facing layout, and the second receiving module 104 receives the second reflected light beam reflected back by the rotating mirror 103.

[0065] Among them, it can be known from the above description that the transmitting module 101 and the first receiving module 102 are preferably placed on the left side of the rotating mirror 103, ensuring that the measuring light beam emitted by the transmitting module 101 can be directly irradiated to the target object in the environment after being accurately reflected by the rotating mirror 103, and the first reflected light beam reflected back can directly return to the first receiving module 102. Therefore, the second receiving module 104 is preferably placed on the right side of the rotating mirror 103, and the second receiving module 104 is responsible for receiving the second reflected light beam diffusely reflected by the target object in the environment. Since the angle and intensity of the second reflected light beam may be different from those of the first reflected light beam, the second receiving module 104 is designed to be arranged opposite to the first receiving module 102 to better receive these reflected light beams.

[0066] It should be noted that the first receiving module 102 and the second receiving module 104 use different receiving lenses and field of view designs. Specifically, the field of view of the first receiving module 102 partially overlaps with the field of view of the second receiving module 104 and is smaller than the field of view of the second receiving module 104. Figure 1BAs shown, the field of view of the first receiving module 102 and the second receiving module 104 partially overlap, wherein the field of view of the first receiving module 102 is smaller, focusing on receiving the ROI area in the full field of view, and can accurately capture the information of the object under test in the ROI area. The second receiving module 104 has a larger field of view and is responsible for receiving the reflected light beam in the entire field of view to provide more comprehensive target information. The setting of the first receiving module and the second receiving module can ensure the detection effect of the ROI area while ensuring the detection capability of the full field of view. Figure 2D As shown, the boxed area is the ROI area, and each column of data corresponds to a position of the rotating mirror. In the ROI area, each column of data is formed by the first receiving module and the second receiving module receiving the data together, so the number of point clouds in each column of data is greater than that in the non-ROI area.

[0067] In an optional embodiment, the laser radar architecture is also configured with a reflector, which has a reflection area and a transmission area. The reflection area is located in the central area of ​​the reflector, and the transmission area is located in the edge area of ​​the reflector, so that the reflector has reflection and transmission properties. Among them, the main function of the reflection area is to reflect the measurement beam emitted by the transmitting module to the rotating mirror, which not only improves the utilization rate of the measurement beam, but also helps to form a uniform and stable line spot. The edge area is used to transmit the first reflected beam that is diffusely reflected by the object to be measured and reflected back by the reflective surface of the rotating mirror. The design of the edge area needs to take into account multiple factors such as transmittance, scattering and stray light. First, by optimizing the transmittance, the transmission efficiency of the first reflected beam can be maximized and the energy loss can be reduced. Secondly, by reducing the influence of scattering and stray light, the signal-to-noise ratio of the first reflected beam can be improved, thereby improving the detection performance of the laser radar architecture. In addition, in order to further improve the detection performance of the laser radar architecture, the edge area can also adopt a special coating or structural design. For example, an anti-reflection coating can be added to the edge area to reduce the interference of reflected light; or a special microstructure design can be adopted to increase the transmission area and improve the beam quality. In actual application, the measuring light beam emitted by the transmitting module 101 passes through the reflection area of ​​the reflector and is reflected to the rotating mirror 103. Then, when the rotating mirror 103 rotates at a preset angle and speed, the first reflected light beam is reflected to the transmission area through the rotating mirror 103, and is received by the first receiving module 102 through the transmission area.

[0068] In another optional implementation, the first receiving module 102 and the second receiving module 104 include a preset number of SPADs, and the same type of SPADs are used. For example, the first receiving module 102 and the second receiving module 104 may each include 100 SPADs.

[0069] In the process of practical application, angular resolution is an important performance indicator of the laser radar architecture, which determines the minimum angular difference that the laser radar architecture can distinguish between adjacent targets. However, angular resolution is not the only consideration, and the signal-to-noise ratio is also a crucial parameter, which reflects the ability of the laser radar architecture to distinguish useful signals from noise. Therefore, in the embodiment of the present application, SPAD receives and processes signals in units of Pixel, and the number of SPADs contained in each Pixel in the first receiving module 102 and the second receiving module 104 can be configured. By configuring the number of SPADs in each Pixel, the angular resolution of different regions can be adjusted, and a trade-off between angular resolution and signal-to-noise ratio can be made. Specifically, in the ROI area, due to the need for higher measurement accuracy, each Pixel can be configured to contain fewer SPADs to achieve finer angular division. For example, if each Pixel consists of 3×3 SPADs, a resolution of 100 points can be achieved, and the corresponding vertical angular resolution is 0.08°. In the entire field of view, due to the need to cover a wider area, each pixel can be configured to contain more SPADs to reduce the angular resolution but improve the signal-to-noise ratio. In this way, through the laser radar architecture proposed in the embodiment of the present application, the ROI area can be flexibly configured without increasing the height of the entire machine.

[0070] The embodiment of the present application provides a laser radar architecture for implementing ROI. The laser radar architecture includes a transmitting module, a first receiving module, a rotating mirror, and a second receiving module. A design of one transmitting module and two receiving modules is adopted. One receiving module is responsible for receiving the entire field of view, and the other receiving module is responsible for receiving the ROI area. This significantly improves the ranging capability of the ROI area, and greatly improves the practicality and flexibility of the laser radar while improving the sensitivity and accuracy of signal reception.

[0071] Further, as a refinement and expansion of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, the embodiment of the present application provides a control method of a laser radar architecture, such as Figure 2A As shown, the method includes:

[0072] 201. Obtain first point cloud information scanned by a first receiving module in a laser radar architecture.

[0073] In the embodiment of the present application, both the first receiving module and the second receiving module will obtain scanning data. Since the two receiving modules have different parameters such as field of view angle and sensitivity, the point cloud information generated by the two receiving modules in the same ROI area will also be different. Among them, in the ROI area, the first receiving module can often obtain higher ranging accuracy due to its smaller field of view angle, which means that the point cloud information of the first receiving module in the area will be more accurate and reliable. Therefore, it is necessary to select the pixels of the first receiving module corresponding to the target area for data processing to obtain the first point cloud information.

[0074] Specifically, the first point cloud information may be 3D point cloud information, which is obtained by converting the captured reflected light signal by the receiving module. The 3D point cloud information contains a large amount of spatial information, such as the shape, position, and distance of an object.

[0075] Among them, the ROI area is a specific area in the LiDAR architecture that needs to be focused on and detected. In applications such as autonomous driving and drones, the ROI area usually includes key targets or obstacles such as roads, pedestrians, and vehicles. By accurately determining the ROI area, the LiDAR architecture can process and analyze laser data more efficiently, improving the accuracy and real-time performance of target detection and ranging. At the same time, the dynamic optimization and adjustment of the ROI area can also ensure that the LiDAR architecture can adapt to different environmental changes and changes in demand.

[0076] When determining the ROI area to be detected, first, it is necessary to initialize the scanning area and determine the overall environmental information of the scanning area. Specifically, it is necessary to clarify the three-dimensional spatial range of the scanning area, including the horizontal scanning angle, the vertical scanning angle and the maximum scanning distance, according to the actual application scenario. Subsequently, the preset scanning requirements are obtained, and according to the preset scanning requirements and the overall environmental information, an area to be detected is determined in the scanning area through intelligent algorithms (such as machine learning, computer vision, etc.) as the ROI area, and then the position and size of the ROI area are set. Among them, the ROI area can be fixed or dynamically changing, depending on the needs of the actual application scenario. In addition, the ROI area can be dynamically optimized and adjusted based on the real-time collected laser data and environmental information to ensure that it is always consistent with the actual application scenario.

[0077] From the above description, it can be seen that the laser radar architecture proposed in this application includes two receiving modules, namely the first receiving module and the second receiving module. Among them, SPAD is a key component in the laser radar receiving module, which is responsible for converting photons into electrical signals. Its number directly affects the sensitivity and signal processing capability of the pixel. The total number of SPADs in a receiving module (sensor) is fixed, such as Figure 2BAs shown. If a pixel is composed of 3×3 SPADs, 100 points can be achieved, and the vertical angular resolution is relatively high, 0.08°, but some signal-to-noise ratio may be sacrificed; on the contrary, if a pixel is composed of 6×6 SPADs, 50 points can be achieved, and the vertical angular resolution is relatively low, 0.16°, but the signal-to-noise ratio will be significantly improved, and the ranging capability of the ROI area will be improved. Therefore, in the embodiment of the present application, by adjusting the number of SPADs in each Pixel, the sensitivity and signal processing performance of the Pixel can be changed, thereby changing the angular resolution in the ROI area.

[0078] During the operation of the laser radar architecture, the receiving timing of the first receiving module and the second receiving module is pre-set to ensure that they can capture the reflected light signal within the correct time window. Therefore, in an embodiment of the present application, it is necessary to first set the receiving timing of the first receiving module and the second receiving module and perform testing.

[0079] Furthermore, in the laser radar architecture, the control of the receiving module and the signal detection are key steps to ensure the measurement accuracy and stability, especially in the configuration of multiple receiving modules. By accurately controlling the receiving timing and detecting the optical signals received by each receiving module at different times, the working state of the laser radar architecture can be effectively judged, thereby guiding the behavior of the transmitting module. Therefore, in order to unify the timing of the first receiving module and the second receiving module, it is necessary to detect whether the first receiving module receives the control signal for the SPAD to start timing at the first preset moment corresponding to the starting position of the detection area, and the second receiving module receives the control signal for the SPAD to start timing at the second preset moment corresponding to the starting position of the ROI area. If so, it means that the timing matching of the receiving module is normal, and the transmitting module can be controlled to start emitting a measuring light beam. Among them, in the embodiment of the present application, an arbitrary SPAD is determined as the first SPAD in the first receiving module, and an arbitrary SPAD is also determined as the second SPAD in the second receiving module, and the first SPAD and the second SPAD are used as detection objects.

[0080] In the actual application process, each SPAD will form a histogram based on the accumulation of the optical signals detected by it. A histogram is a statistical tool used to represent counts or frequencies under different optical signal intensities or time delays; a histogram is formed based on the accumulation of optical signals detected by the SPAD, and is used to record the distribution and characteristics of optical signals. For the first SPAD and the second SPAD, they correspond to the first histogram and the second histogram, respectively. These histograms contain information about all optical signals detected by each SPAD over a period of time. By analyzing these histograms, key parameters such as the intensity and time distribution of the optical signal can be extracted for subsequent system state judgment and decision-making. Therefore, the embodiment of the present application will obtain the first histogram of the first SPAD and the second histogram of the second SPAD. Next, it is necessary to detect the control signals received at the first preset moment and the second preset moment (that is, the respective timing start moments) in the first histogram and the second histogram. Among them, the first preset moment and the second preset moment are pre-set according to factors such as the scanning cycle, target distance and angle of the laser radar architecture to ensure that the optical signal reflected from the target is captured within the correct time window.

[0081] When it is detected that the timing of the first receiving module and the second receiving module has been matched normally, it means that the two receiving modules can work normally and synchronously. Therefore, the transmitting module can be controlled to emit the measurement light beam according to the preset light emission timing, and the rotation of the rotating mirror can be controlled. Specifically, when controlling the rotation of the rotating mirror, the angle and speed at which the rotating mirror needs to rotate can be calculated according to the current scanning mode and the position information of the ROI area, and then the driving mechanism of the rotating mirror is controlled to rotate the rotating mirror according to the calculated angle and speed. Furthermore, by continuously adjusting the angle and speed of the rotating mirror, efficient scanning and measurement of target objects in different directions and at different distances can also be achieved. The present application does not specifically limit the strategy for controlling the rotation of the rotating mirror.

[0082] In practical applications, the size and position of the ROI area in the horizontal direction often need to be adjusted according to specific needs. This can be achieved by adjusting the scanning timing. Taking a 120° horizontal field of view as an example, Figure 2D As shown in the figure, the LiDAR architecture usually scans a line every 0.2°. However, after setting the ROI area, the scanning timing can be adjusted so that the LiDAR architecture scans a line every 0.1° in the ROI area, thereby achieving horizontal encryption.

[0083] Therefore, in the embodiment of the present application, when it is detected that the rotating mirror rotates to the starting position of the ROI area, the emission module is controlled to increase the light emission timing, so that the horizontal resolution can be improved. Specifically, the light emission timing of the emission module will increase, that is, each time the rotating mirror rotates to a new scanning position, the emission module will emit more measurement pulses, thereby increasing the number of horizontal scans, thereby significantly improving the data density and resolution in the ROI area.

[0084] As the rotating mirror continues to rotate, the position of the rotating mirror needs to be continuously monitored. When the rotating mirror rotates to the end position of the ROI area, the emission timing of the transmitting module needs to be adjusted in time to restore it to the preset normal emission timing, that is, until the rotating mirror is detected to rotate to the end position of the ROI area, the transmitting module is controlled to re-emit the measurement beam according to the preset emission timing. In this way, while ensuring the data quality in the ROI area, the data redundancy in the non-ROI area can be reduced, thereby improving the overall scanning efficiency.

[0085] In actual application, the encryption scheme described in the above process can be implemented by increasing the number of pulses. That is, in the ROI area, the transmitter module will send more measurement pulses at each scanning position to increase the data density and resolution of the area. In the non-ROI area, the transmitter module scans according to the preset normal light timing to balance the relationship between data quality and scanning efficiency.

[0086] In an optional implementation, in addition to changing the angular resolution and viewing angle of the receiving module by adjusting the number of SPADs, the performance can be further optimized within the ROI. The ROI area is the focus of the scanning process and usually contains the target or area of ​​interest. In the LiDAR architecture, different scanning requirements can be met by further selecting the target area in the ROI area.

[0087] Specifically, the ROI area includes the target area, which is a part of the ROI area. The target area can be selected by selecting different pixel points. By finely dividing and selecting the area of ​​interest, the back-end data processing and transmission volume can be reduced, and the processing rate and efficiency can be improved. At the same time, this also helps to further focus on the detailed information of the target or key area and improve the effective utilization of information.

[0088] In addition, the field of view can be moved by moving the ROI area. Specifically, Figure 2C As shown, the ROI area can be moved within a range of 8°. For example, when the ROI field of view is 1°, by selecting different pixels, a small range of ROI field of view movement can be achieved in the vertical direction, so as to more accurately locate and track the target and improve scanning efficiency and accuracy.

[0089] 202. Obtain second point cloud information scanned by a second receiving module in the laser radar architecture in the ROI area.

[0090] In the embodiment of the present application, compared with the first receiving module, the second receiving module has a larger field of view. Although it can cover a wider area, due to the larger field of view, the energy is not concentrated enough, and the ranging capability may be slightly inferior to the first receiving module. Therefore, in order to make full use of the high-precision ranging capability of the first receiving module and improve the data quality of the second receiving module in the ROI area, it is necessary to effectively utilize the high-precision ranging capability of the first receiving module to assist the second receiving module in algorithm optimization. Specifically, it is necessary to obtain the second point cloud information scanned by the second receiving module in the ROI area in the laser radar architecture. Among them, the second point cloud information can also be 3D point cloud information. For a specific description, please refer to the description of the first point cloud information in step 202 above, which will not be repeated here.

[0091] 203. Perform feature extraction and fusion calculation on the first point cloud information and the second point cloud information to generate a scanned image.

[0092] In the embodiment of the present application, after obtaining the first point cloud information and the second point cloud information, the first point cloud information and the second point cloud information can be feature extracted and fused to generate a scanned image. In this embodiment, since two receiving modules are provided in the embodiment of the present application, in order to ensure the accuracy and consistency of the data, the first point cloud information and the second point cloud information need to be matched and calibrated. Specifically, when matching the first point cloud information and the second point cloud information, the relative transformation relationship (such as rotation and translation) between the two point clouds can be calculated so that they can be aligned in the same coordinate system. Commonly used point cloud matching algorithms include the Iterative Closest Point (ICP) algorithm and the method based on feature matching. Through matching, the point cloud information scanned by the first receiving module and the second receiving module can be aligned to the same coordinate system. On the basis of matching the point cloud information, the point cloud information needs to be calibrated. The purpose of calibration is to eliminate the deviation of the point cloud data caused by differences in scanning parameters and performance. This can be achieved by comparing the point cloud data of the two receiving modules on the same target. Specifically, some common target points (such as obvious landmarks or feature points) can be selected, and then the position differences of these target points in the point cloud data of the two receiving modules can be compared. By calculating these differences, the systematic errors between the two receiving modules can be obtained. Then, these systematic errors can be used to correct the point cloud data of the second receiving module to eliminate the deviation.

[0093] After processing the point cloud information of the two receiving modules through the above process, the processed first point cloud information and the second point cloud information can be subjected to feature extraction and fusion calculation to generate a scanned image. Among them, in the actual operation of the laser radar architecture, due to the high energy of the first receiving module, a blooming phenomenon may occur, resulting in a blooming distortion effect, which will affect the accuracy of the data and subsequent target recognition. To address this issue, the embodiment of the present application adopts an intelligent point cloud fusion and processing strategy to ensure that high-quality data output can be provided in various scenarios. Specifically, it is necessary to detect whether the first point cloud information produces a blooming distortion effect, which is usually manifested as excessive brightening and blurring of the point cloud data.

[0094] On the one hand, when it is detected that the first point cloud information produces a high-reflection distortion effect, it is necessary to identify the high-reflection area based on the first point cloud information. The high-reflection area usually exhibits characteristics such as abnormal brightness and blurred texture. Through comparative analysis, the high-reflection area can be accurately distinguished from other normal areas, and then the first point cloud information in the high-reflection area is filtered out, and the filtered first point cloud information is fused with the second point cloud information to obtain a scanned image of the high-reflection area. This can eliminate the impact of the high-reflection phenomenon on target recognition and improve the accuracy and reliability of the data.

[0095] On the other hand, when it is detected that the first point cloud information does not produce high-reflection distortion effect, it will be considered that the current scene is not high-reflection. The preset algorithm can be directly used to perform feature extraction and fusion calculation on the first point cloud information and the second point cloud information, and the obtained image is used as the scanned image, thereby increasing the number of point cloud points in the scanned area and further reducing the angular resolution.

[0096] After the LiDAR architecture successfully processes a high-reflection scene or a non-high-reflection scene and generates a scan result image, the LiDAR architecture will start the preset target recognition algorithm, perform object recognition on the scan result image based on the preset target recognition algorithm, and determine at least one object under test in the ROI area. This algorithm is usually based on deep learning, machine learning, or computer vision technology and is optimized for specific types of objects or environments.

[0097] The control method of the laser radar architecture provided in the embodiment of the present application adopts a design of one transmitting module and two receiving modules. One receiving module is responsible for receiving the entire field of view, and the other receiving module is responsible for receiving the ROI area, so that the ranging capability of the ROI area is significantly improved. While improving the sensitivity and accuracy of signal reception, the practicality and flexibility of the laser radar are greatly improved.

[0098] Further, as Figure 2A In a specific implementation of the method, the present application provides a control device for a laser radar architecture, such as Figure 3 As shown, the device includes: a first acquisition module 301, a second acquisition module 302 and a fusion module 303.

[0099] The first acquisition module 301 is used to acquire first point cloud information scanned by the first receiving module in the laser radar architecture;

[0100] The second acquisition module 302 is used to acquire second point cloud information scanned by the second receiving module in the laser radar architecture in the ROI area;

[0101] The fusion module 303 is used to perform feature extraction and fusion calculation on the first point cloud information and the second point cloud information to generate a scanned image.

[0102] In a specific application scenario, the control device also includes:

[0103] The control module is used to control the transmitting module to increase the light emission timing when it is detected that the rotating mirror rotates to the starting position of the ROI area, until it is detected that the rotating mirror rotates to the end position of the ROI area, and control the transmitting module to re-emit the measuring light beam according to the preset light emission timing.

[0104] In a specific application scenario, the ROI area includes a target area, and the target area is a part of the ROI area. The control device further includes:

[0105] A selection module is used to select pixels of the first receiving module corresponding to the target area for data processing to obtain the first point cloud information.

[0106] In a specific application scenario, the fusion module 303 is used to detect whether the first point cloud information produces a high-reflection distortion effect; when it is detected that the first point cloud information produces a high-reflection distortion effect, the high-reflection area is identified according to the first point cloud information, and the first point cloud information in the high-reflection area is filtered out, and the filtered first point cloud information is fused with the second point cloud information to obtain a scanned image of the high-reflection area.

[0107] In a specific application scenario, the fusion module 303 is also used to use a preset algorithm to perform feature extraction and fusion calculation on the first point cloud information and the second point cloud information when it is detected that the first point cloud information does not produce a high-reverse distortion effect, and use the obtained image as the scanned image.

[0108] The control device of the laser radar architecture provided in the embodiment of the present application adopts a design of one transmitting module and two receiving modules. One receiving module is responsible for receiving the entire field of view, and the other receiving module is responsible for receiving the ROI area, so that the ranging capability of the ROI area is significantly improved, while improving the sensitivity and accuracy of signal reception, and greatly improving the practicality and flexibility of the laser radar.

[0109] It should be noted that for other corresponding descriptions of the functional units involved in the control device of a laser radar architecture provided in the embodiment of the present application, reference can be made to Figure 1A to Figure 1B and FIG. 2A to FIG. 2D The corresponding description in will not be repeated here.

[0110] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

[0112] In an exemplary embodiment, see Figure 4 , and also provides a computer device, which includes a bus, a processor, a memory and a communication interface, and may also include an input and output interface and a display device, wherein each functional unit can communicate with each other through the bus. The memory stores a computer program, and the processor is used to execute the program stored in the memory and execute the control method of the laser radar architecture in the above embodiment.

[0113] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the control method of the laser radar architecture.

[0114] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by hardware, or by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0115] Those skilled in the art will appreciate that the accompanying drawings are merely schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present application.

[0116] Those skilled in the art will appreciate that the modules in the device in the implementation scenario can be distributed in the device in the implementation scenario according to the implementation scenario description, or can be changed accordingly and located in one or more devices different from the implementation scenario. The modules in the above implementation scenario can be combined into one module, or can be further split into multiple sub-modules.

[0117] The above application serial numbers are for description only and do not represent the advantages or disadvantages of the implementation scenarios.

[0118] The above disclosure only discloses several specific implementation scenarios of the present application. However, the present application is not limited thereto, and any changes that can be conceived by technicians in this field should fall within the scope of protection of the present application.

Claims

1. A lidar architecture that achieves ROI, It is characterized in that The laser radar architecture includes a transmitting module, a first receiving module, a rotating mirror and a second receiving module, wherein: The transmitting module is placed on the target side of the rotating mirror and is used to transmit the measuring light beam, wherein the transmitting module transmits the measuring light beam according to a preset light emission timing sequence; The first receiving module is placed on the target side of the rotating mirror and forms a coaxial optical path with the transmitting module; The rotating mirror comprises at least two reflecting surfaces. Based on the at least two reflecting surfaces, the rotating mirror reflects the measuring light beam emitted by the transmitting module to the environment, reflects a first reflected light beam corresponding to the measuring light beam to the first receiving module, and reflects a second reflected light beam corresponding to the measuring light beam to the second receiving module; The second receiving module is placed on the opposite side of the target side of the rotating mirror, and is used to receive the second reflected light beam reflected back by the rotating mirror; The field of view angle of the first receiving module partially overlaps with the field of view angle of the second receiving module and is smaller than the field of view angle of the second receiving module.

2. The laser radar architecture according to claim 1, It is characterized in that Also included is a reflector having a reflective region and a transmissive region: The measuring light beam emitted by the transmitting module is reflected to the rotating mirror through the reflecting area; the first reflected light beam is reflected to the transmitting area through the rotating mirror, and passes through the transmitting area to be received by the first receiving module; The reflective area is located in the central area of ​​the reflector, and the transmissive area is located in the edge area of ​​the reflector.

3. A control method for a laser radar architecture, It is characterized in that The control method is applied to the laser radar architecture in claims 1 to 2, and the control method comprises: Acquire first point cloud information scanned by a first receiving module in the laser radar architecture; Acquire second point cloud information scanned by a second receiving module in the laser radar architecture in the ROI area; Feature extraction and fusion calculation are performed on the first point cloud information and the second point cloud information to generate a scanned image.

4. The control method according to claim 1, It is characterized in that The method further comprises: When it is detected that the rotating mirror rotates to the starting position of the ROI area, the transmitting module is controlled to increase the light emission timing until it is detected that the rotating mirror rotates to the ending position of the ROI area, and the transmitting module is controlled to re-emit the measuring beam according to the preset light emission timing.

5. The control method according to claim 3, It is characterized in that The ROI region includes a target region, and the target region is a part of the ROI region. The method further includes: The pixels of the first receiving module corresponding to the target area are selected for data processing to obtain the first point cloud information.

6. The control method according to claim 3, It is characterized in that The step of performing feature extraction and fusion calculation on the first point cloud information and the second point cloud information to generate a scanned image includes: Detecting whether the first point cloud information produces a high-reflection distortion effect; When it is detected that the first point cloud information produces a high-reflection distortion effect, the high-reflection area is identified according to the first point cloud information, and the first point cloud information in the high-reflection area is filtered out, and the filtered first point cloud information is fused with the second point cloud information to obtain the scanned image.

7. The control method according to claim 6, It is characterized in that The method further comprises: When it is detected that the first point cloud information does not produce a high anti-distortion effect, a preset algorithm is used to perform feature extraction and fusion calculation on the first point cloud information and the second point cloud information, and the obtained image is used as the scanned image.

8. A control device for a laser radar architecture, It is characterized in that The control device comprises: A first acquisition module, used to acquire first point cloud information scanned by a first receiving module in the laser radar architecture; A second acquisition module is used to acquire second point cloud information scanned by a second receiving module in the laser radar architecture in the ROI area; A fusion module is used to perform feature extraction and fusion calculation on the first point cloud information and the second point cloud information to generate a scanned image.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program. It is characterized in that When the processor executes the computer program, the steps of the control method according to any one of claims 3 to 7 are implemented.

10. A readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the control method according to any one of claims 3 to 7 are implemented.

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