Detection method for laser radar, laser radar, detection device, readable storage medium and vehicle

Abstract

The invention relates to a detection method for a laser radar, the laser radar, a detection device, a readable storage medium and a vehicle. The laser radar comprises a transmitting end, a receiving end and a detector, the transmitting end comprises one or more light emitters, the light emitters are configured to emit detection light beams, and the detection light beams generate echo light beams after being reflected on an object; the receiving end comprises one or more detectors, and the detectors are configured to receive the echo light beams and output echo signals; the detector generates a detection signal according to the echo signal output by the detector; the detection method comprises the following steps: acquiring an echo signal output by a detector, and extracting a waveform characteristic quantity of the echo signal; detecting a deviation condition of an irradiation area of the echo light beam on the detector based on the waveform characteristic quantity; and generating a detection signal according to the offset condition.

Description

Technical Field

[0001] The present disclosure relates to the field of lidar, and more particularly, to a detection method for lidar, a lidar, a detection device, a readable storage medium, and a vehicle. Background Art

[0002] Lidar (light detection and ranging) is a commonly used ranging technology, which has the characteristics of long detection distance, high resolution, and small environmental interference, and is widely used in fields such as intelligent robots, unmanned aerial vehicles, and autonomous driving. In recent years, with the rise of autonomous driving technology, lidar, as an important detection component, has received increasing attention. Lidar is a radar system that emits detection beams to detect the position, speed, and other characteristic quantities of an object. Its working principle is to emit a detection beam (laser beam) to an object, receive the echo beam reflected from the object to generate an echo signal, and after appropriately processing the echo signal, relevant information of the object, such as parameters like distance, azimuth, height, speed, attitude, and even shape, can be obtained, so as to detect, track, and identify objects such as cars, pedestrians, and buildings.

[0003] Before the lidar is put into use after leaving the factory, it is usually necessary to adjust and install the lidar so that each component of the lidar is in its initial design position, thereby ensuring that the lidar can work according to expectations.

[0004] During the use of the lidar, due to one or more possible reasons such as mechanical vibration, fatigue, or aging of adhesive parts, one or more components of the lidar may shift compared to their respective initial design positions. This shift will affect the performance of the lidar. For example, it will affect one or more performances of the lidar, such as reflectivity, ranging accuracy, far - ranging ability, or near - ranging ability. This will affect the user experience and even pose a safety hazard. Summary of the Invention

[0005] To solve at least the above technical problems and possibly other technical problems, a first aspect of the present disclosure provides a detection method for a lidar, where the lidar includes a transmitting end, a receiving end, and a detector. Among them, the transmitting end includes one or more light emitters configured to emit detection beams, and the detection beams generate echo beams after being reflected by an object; the receiving end includes one or more detectors configured to receive the echo beams and output echo signals; the detector generates a detection signal according to the echo signals output by the detectors; the detection method includes: obtaining the echo signals output by the detectors and extracting waveform feature quantities of the echo signals; detecting an offset condition of an illumination area of the echo beam on the detector based on the waveform feature quantities; and generating the detection signal according to the offset condition.

[0006] Optionally, the offset condition includes an offset condition of an illumination area of the echo beam on the detector relative to a preset area.

[0007] Optionally, the method further includes: detecting an offset condition of an illumination area of the echo beam on the detector based on a comparison between the waveform feature quantities and preset values of the waveform feature quantities.

[0008] Optionally, the waveform feature quantities include a leading edge time, a pulse width, a slope, and / or a peak value of the echo signal.

[0009] Optionally, the waveform feature quantities include a combination of any two waveform feature quantities among the leading edge time, the pulse width, the slope, or the peak value of the echo signal.

[0010] Optionally, the method further includes: detecting an offset condition of an illumination area of the echo beam on the detector based on comparisons between at least two of the waveform feature quantities and corresponding preset values.

[0011] Optionally, the method further includes determining whether the following conditions are satisfied: determining whether a difference between a first waveform feature quantity among the at least two waveform feature quantities and a corresponding first preset value is less than a first threshold; determining whether a difference between a second waveform feature quantity among the at least two waveform feature quantities and a corresponding second preset value is greater than a second threshold; detecting that the illumination area of the echo beam on the detector is not offset in response to determining that at least one of the above conditions is not satisfied; and detecting that the illumination area of the echo beam on the detector is offset in response to determining that both of the above conditions are satisfied.

[0012] Optionally, the method further includes: generating a first detection signal in response to detecting that the irradiation area of the echo beam on the detector does not shift; and generating a second detection signal in response to detecting that the irradiation area of the echo beam on the detector shifts.

[0013] Optionally, the method further includes: obtaining a plurality of echo signals output by the detector, extracting waveform feature quantities of each echo signal; calculating an average value of the plurality of waveform feature quantities; detecting the shift condition of the irradiation area of the echo beam on the detector based on the average value of the waveform feature quantities, and generating the detection signal according to the shift condition.

[0014] Optionally, the method further includes: further obtaining a second echo signal output by a second detector different from the detector, and extracting waveform feature quantities of the second echo signal; further detecting a second shift condition of the irradiation area of the echo beam on the second detector based on the waveform feature quantities extracted from the second echo signal.

[0015] Optionally, the method further includes: confirming the shift condition in response to the shift conditions detected based on different detectors being consistent; in response to the shift conditions detected based on different detectors being inconsistent: further obtaining a third echo signal output by a third detector different from the detector and the second detector, and extracting waveform feature quantities of the third echo signal; further detecting a third shift condition of the irradiation area of the echo beam on the third detector based on the waveform feature quantities extracted from the third echo signal; determining a final shift condition based on the third shift condition; and generating the detection signal based on the final shift condition.

[0016] Optionally, the shift condition further includes a shift degree, and the method further includes: generating a graded second detection signal based on the shift degree.

[0017] Optionally, the method further includes: performing a graded response based on the graded second detection signal.

[0018] Optionally, the method further includes: adjusting the detector enabled at the receiving end in response to detecting that the irradiation area of the echo beam on the detector shifts.

[0019] Optionally, the method further includes: determining the position and / or quantity of the detector to be enabled based on the direction and distance of the shift of the irradiation area of the echo beam on the detector.

[0020] Optionally, detection is performed based on the echo signal of the detector corresponding to the edge region of the field of view of the lidar, or based on the echo signal of the detector corresponding to the field of view region below the horizontal line.

[0021] The present disclosure also provides a lidar, which includes: a transmitting end, the transmitting end includes one or more light emitters configured to emit detection beams, and echo beams are generated after the detection beams are reflected by an object; a receiving end, the receiving end includes one or more detectors configured to receive the echo beams and output echo signals; and a detector, the detector includes a processor configured to: obtain the echo signals output by the detectors, extract waveform feature quantities of the echo signals; detect an offset condition of an illumination region of the echo beams on the detectors based on the waveform feature quantities; generate a detection signal according to the offset condition; and control the detection module to output the detection signal.

[0022] The present disclosure also provides a detection device, which includes a memory and a processor. Among them, computer instructions capable of running on the processor are stored on the memory, and when the processor runs the computer instructions, any method in the methods of the present disclosure is executed.

[0023] The present disclosure also provides a readable storage medium, on which computer instructions are stored, and when the computer instructions run, any method in the methods of the present disclosure is executed.

[0024] The present disclosure also provides a vehicle, which is provided with any one of the lidars of the present disclosure, and the detector of the lidar is further configured to: based on the detected offset condition, send the detection signal indicating an offset or indicating the degree of offset to the vehicle.

[0025] Optionally, the vehicle is configured to, in response to receiving the detection signal from the lidar: based on the detection signal indicating an offset, control one or more devices of the vehicle to issue a warning to the user; based on the detection signal indicating the degree of offset, control one or more devices of the vehicle to issue a graded warning to the user. Description of the Drawings

[0026] To further clarify the embodiments of the present disclosure, the embodiments of the present disclosure will be presented with reference to the drawings. It should be understood that these drawings may only depict some exemplary embodiments of the present disclosure, and thus will not be considered as limiting the scope of protection required by the present disclosure.

[0027] Figure 1Shows a schematic optical path diagram of some components of a lidar in an initial design position and at an exemplary offset position according to an embodiment of the present disclosure;

[0028] Figures 2a - 2c Shows a schematic diagram of a situation where an exemplary offset occurs in the irradiation area of an echo beam on a detector according to an embodiment of the present disclosure;

[0029] Figure 3 Shows a schematic diagram of a detection method for a lidar according to an embodiment of the present disclosure;

[0030] Figures 4a - 4b Shows a curve graph of waveform feature quantities extracted from an echo beam detected on a detector according to an embodiment of the present disclosure;

[0031] Figure 5 Shows a functional block diagram of a lidar according to an embodiment of the present disclosure. Detailed implementation manners

[0032] The following detailed description is made with reference to the accompanying drawings. The accompanying drawings illustrate optional embodiments in which the claimed subject matter can be practiced by way of example. It should be understood that the following optional embodiments are intended to provide a detailed description of exemplary embodiments for purposes of illustration, but should not be construed as a limitation on the present disclosure; those skilled in the art can make appropriate modifications and adjustments to the disclosed embodiments without departing from the spirit and scope of the subject matter claimed in the present disclosure on the premise of fully understanding the spirit and gist of the present disclosure.

[0033] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of each of the described embodiments. However, those of ordinary skill in the art can practice the described various embodiments without these specific details. In other instances, well-known structures have not been described in detail so as not to unnecessarily obscure aspects of the various embodiments. Unless otherwise defined, the terms used herein shall have the same meaning as commonly understood by those of ordinary skill in the art to which the present disclosure pertains.

[0034] The terms "first", "second", etc. in the specification and claims of this application do not mean any order, quantity, or importance, but are only used to distinguish different components or features.

[0035] Embodiments of the present application are exemplary implementations or examples. References in the specification to "an embodiment", "one embodiment", "some embodiments", "alternative embodiments", or "other embodiments" mean that the specific features, structures described in connection with the embodiments are included in at least some embodiments of the present technology, but not necessarily all embodiments. The various occurrences of "an embodiment", "one embodiment", or "some embodiments" do not necessarily refer to the same embodiment. Elements or aspects from one embodiment may be combined with elements or aspects of another embodiment.

[0036] One or more components in a lidar may shift during subsequent use for various reasons relative to their initial design positions. Such shifts in lidar components are undesirable because they may affect the performance of the lidar, ultimately affecting the user experience and even posing a safety hazard.

[0037] The present disclosure proposes a detection method for a lidar that can detect such shifts. A lidar according to an embodiment of the present disclosure may include a transmitting end, a receiving end, and a detector. The transmitting end may include one or more light emitters configured to emit a detection beam, and the detection beam generates an echo beam after being reflected by an object. The receiving end may include one or more detectors configured to receive the echo beam and output an echo signal. The detector may be configured to generate a detection signal based on the echo signal output by the detector. The detection method for a lidar according to an embodiment of the present disclosure may include: obtaining the echo signal output by the detector and extracting waveform feature quantities of the echo signal; detecting the shift of the illumination area of the echo beam on the detector based on the waveform feature quantities; and generating a detection signal according to the shift situation.

[0038] Figure 1 Schematic optical path diagrams of some components of a lidar 100 according to an embodiment of the present disclosure are shown in an initial design position and an exemplary offset position. In some embodiments of the present disclosure, the optical path structure of the lidar may include any one of a coaxial optical path, a paraxial optical path, a mechanical rotary scanning optical path, a scanner (e.g., a rotating mirror, a swinging mirror, a galvanometer mirror, etc.) scanning optical path, and a solid-state scanning optical path. Figure 1The figure shows a schematic diagram of the optical path structure of an exemplary lidar 100. The lidar 100 may include a transmitting end and a receiving end. The transmitting end may include one or more optical transmitters 101, a transmitting end mirror 102, and a transmitting end lens group 103. The receiving end may include one or more detectors 107, a receiving end lens group 105, and a receiving end mirror 106. The optical transmitter 101 may emit a detection beam 108. After being reflected by the transmitting end mirror 102 and passing through the transmitting end lens group 103, the detection beam 108 may reach an object 104. After the detection beam 108 is reflected by the object 104, an echo beam 109 may be generated. After passing through the receiving end lens group 105, the echo beam 109 may be reflected by the receiving end mirror 106 and reach one or more detectors 107 included in the receiving end. The detector 107 may receive the echo beam 109. The lidar 100 may obtain information related to the object 104 based on the detection beam 108 and the echo beam 109, so as to detect, track, and / or identify the object 104, etc.

[0039] In some embodiments, the optical transmitter 101 may include a laser emission circuit, a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), a distributed feedback laser (DFB), a fiber laser, or similar devices.

[0040] In some embodiments, the detector 107 may include an optical detection circuit, a single photon avalanche diode (SPAD), an avalanche photodiode (APD), a silicon photomultiplier (SiPM), or similar devices.

[0041] As Figure 1 shown, the solid line part shows the initial design positions of one or more components in the lidar 100 and the corresponding optical paths. The initial design positions of one or more components of the lidar 100 may be, for example, the initial installation positions of the one or more components designed to enable the lidar 100 to achieve the expected detection performance (e.g., reflectivity, detection distance, and / or ranging accuracy). When each component is in its initial installation position, the lidar 100 may achieve the performance required by the design. In Figure 1 it, the dashed line part shows the receiving end lens group 105 in the lidar 100 in an exemplary offset position and the corresponding optical path.

[0042] It should be noted that in Figure 1 , the offset of the receiving end lens group 105 of the lidar 100 may be caused by the offset of one or more elements in the receiving end lens group 105, or may be the offset of the entire receiving end lens group 105. As an example, Figure 1 illustrates the situation where the receiving end lens group 105 is offset. However, it should be understood that the present disclosure is not limited thereto. One or more components shown in the lidar 100 or other additional components not shown may also be offset. For example, in some embodiments, the components of the lidar 100 may further include one or more of a transmitting circuit board, a receiving circuit board, a lens, a mirror, a scanning mirror, and a lens barrel, an opto-mechanical structure, etc., and one or more of these components may be offset relative to the initial design position. It should be noted that in the present disclosure, the offset may be the movement, rotation of the angle, breakage, etc. of the components of the lidar 100 (for example, one or more elements in the receiving end lens group 105), or may be the position offset, angle rotation, etc. of the transmitter 101 or the detector 107. The technology of the present disclosure can be applied to the situation where different types / quantities of components of the lidar 100 are offset.

[0043] In some exemplary embodiments, when one or more components within the lidar change, it may cause at least one of the optical path of the transmitted beam and the optical path of the received beam to change, causing the illumination area of the echo beam on the detector to change or shift. The calibration parameters of the lidar regarding distance, reflectivity, etc. are usually determined based on the initial design illumination area of the echo beam on the detector. When the illumination area of the echo beam on the detector changes or shifts, the distance and reflectivity obtained based on the calibration parameters and the changed or shifted illumination area may deviate from the true distance and reflectivity of the object, affecting the accuracy of the lidar's detection of objects in the environment, which is an undesirable situation.

[0044] As an example, Figure 1 shows an exemplary offset of the receiving end lens group 105 of the lidar 100 compared to the initial design position represented by the solid line in dashed lines. As Figure 1 shown, when the receiving end lens group 105 is offset in position, at least a part of the path of the echo beam 109 changes, as shown by the echo beam 109'. Correspondingly, compared with the illumination area of the echo beam 109 on the detector 107, the illumination area of the echo beam 109' on the detector 107 changes or shifts.

[0045] Figures 2a - 2c shows a schematic diagram of an exemplary offset of the illumination area 202 of the echo beam on the detector 107 according to an embodiment of the present disclosure. Figure 2bShows the situation of the irradiation area 202 preset on the detector 107 by the echo beam 109 of the lidar 100 for a certain exemplary object. At this time, it can be considered that the irradiation area 202 of the echo beam 109 on the detector 107 is not offset. Figure 2a Shows a schematic diagram in which the irradiation area 202 of the echo beam 109 on the detector 107 is offset by a certain distance (for example, 50 micrometers) in the first direction due to the offset of one or more components of the lidar 100 (for example, the receiving end lens group 105). Figure 2c Shows a schematic diagram in which the irradiation area 202 of the echo beam 109 on the detector 107 is offset by a certain distance (for example, 50 micrometers) in the second direction due to the offset of one or more components of the lidar 100 (for example, the receiving end lens group 105).

[0046] From Figure 2a 、 Figure 2b And Figure 2c The comparison between them shows that when the components of the lidar 100 are offset, the irradiation area 202 of the echo beam 109 on the detector 107 is also offset accordingly. It can be understood that Figures 2a - 2c The offset direction, offset degree, size and shape of the irradiation area shown, and the relative size of the irradiation area to the detector are only an exemplary illustration to make it easy for those skilled in the art to understand the offset of the irradiation area, and do not constitute a limitation to the solution of the present disclosure.

[0047] When the irradiation area of the echo beam on the detector is offset, it may affect the performance of the lidar 100, and in severe cases, it may even pose a safety hazard.

[0048] In some embodiments of the present disclosure, after the detector 107 receives the echo beam, an echo signal is generated. The offset situation of the irradiation area 202 of the echo beam 109 on the detector 107 can be detected by analyzing the echo signal. The offset situation of the irradiation area 202 of the echo beam 109 on the detector 107 can include that the irradiation area 202 is not offset, offset, and / or the offset degree when offset occurs.

[0049] In some embodiments of the present disclosure, the offset situation of the irradiation area 202 of the echo beam 109 on the detector 107 can include the offset situation of the irradiation area 202 of the echo beam 109 on the detector 107 relative to the preset area.

[0050] When all components of the lidar are in their initial designed positions, the illumination area of the echo beam on the detector can be a preset area. Based on the echo information obtained from this preset position, accurate information such as the position and reflectivity of the object can be obtained. It can be understood that for objects at different distances and positions, the illumination differences of the echo beams reflected from the object surfaces in the detection area do not necessarily fix at the same position. The lidar can pre-determine the preset area illuminated by the echo beam reflected from the detection beam on the object according to information such as the specific position, distance of different objects, and the emitted detection beam.

[0051] When the components of the lidar 100 are in their initial designed positions, the lidar 100 can accurately detect the object 104 to meet the design requirements. When the components of the lidar 100 are offset, the illumination area 202 of the echo beam 109 on the detector 107 will be offset. Therefore, the intensity of the echo beam 109 received and detected by the detector 107 will change, which may, to a certain extent, affect the accuracy of distance and reflectivity detection.

[0052] For example, as an example, the preset area can be, as Figure 2b shown, the illumination area 202 of the echo beam 109 on the detector 107 when the components of the lidar 100 are in their initial designed positions. As an example, Figure 2a and Figure 2c show the offsets of the illumination area 202 of the echo beam 109 on the detector 107 in the first direction and the second direction. The illumination area 202 of the echo beam 109 on the detector 107 may also be offset in one or more other directions. In addition, Figure 2a and Figure 2c the shown offsets of the illumination area 202 are also exemplary, and the illumination area 202 can have other offsets. The technology of the present disclosure can be applied to the cases where the illumination area 202 is offset in one or more other directions and has different offsets.

[0053] In some embodiments, the offset situation of the illumination area 202 of the echo beam 109 on the detector 107 can be detected based on the echo signal output by the detector 107. Figure 3 shows a detection method 300 for the lidar 100 according to some embodiments of the present disclosure. As Figure 3As shown, method 300 may include, at step 302, obtaining the echo signal output by detector 107 and extracting the waveform feature quantity of the echo signal. Method 300 may further include, at step 304, detecting the offset of the illumination area of echo beam 109 on detector 107 based on the waveform feature quantity extracted at step 302. Method 300 may further include, at step 306, generating a detection signal according to the offset detected at step 304.

[0054] In the present disclosure, it is advantageous to detect the offset of the illumination area 202 of echo beam 109 on detector 107 based on the waveform feature quantity extracted from the echo signal output by detector 107, because the echo signal can be obtained from detector 107 of lidar 100 without adding additional detection components for detecting the offset. The waveform feature quantity of the echo signal can be extracted by a processor or a processing circuit or a controller. Therefore, the method of the present disclosure can efficiently and quickly detect the offset of the illumination area 202 of echo beam 109 on detector 107 in a simple manner.

[0055] In some embodiments, detecting the offset of the illumination area 202 of echo beam 109 on detector 107 based on the waveform feature quantity of the echo signal may include: detecting the offset of the illumination area 202 of echo beam 109 on detector 107 based on the comparison between the waveform feature quantity and a preset value of the waveform feature quantity. For example, the preset value of the waveform feature quantity may be the value of the waveform feature quantity of the echo signal output by detector 107 when the illumination area 202 of echo beam 109 on detector 107 is not offset.

[0056] The waveform of the echo signal can be used to represent the variation of the echo signal amplitude (such as voltage) with time. Detector 107 responds to the received echo beam and outputs an echo signal. As the strength of the echo beam changes, the waveform of the echo signal also changes accordingly. In addition, when echo beams with the same characteristics illuminate different positions of detector 107, the waveforms of the echo signals generated by detector 107 will also be different.

[0057] The echo signal has a certain waveform, and this waveform has waveform characteristic quantities that can be used to characterize itself. For example, one or more of the leading edge time, pulse width, slope, or peak value of the echo signal. The present disclosure proposes that the offset of the irradiation area 202 of the echo beam 109 on the detector 107 can be detected based on these waveform characteristic quantities. The leading edge time of the echo signal can, for example, represent the time when the rising edge of the echo signal waveform exceeds a threshold. The pulse width of the echo signal can represent the difference between the moment when the rising edge of the echo signal waveform exceeds the threshold and the moment when the falling edge is equal to the threshold, and can, for example, be the full width at half maximum of the echo signal waveform. The slope of the echo signal can represent the slope at a certain amplitude of the echo signal waveform, and can, for example, be the slope at the full width at half maximum of the echo signal waveform. The peak value can represent the signal amplitude corresponding to the time point at which the maximum value is obtained in the echo signal waveform, such as a voltage value or a count value. However, it should be understood that this is only an example and not a limitation. Other waveform characteristic quantities of the echo signal and the specific characterization of each waveform characteristic quantity can vary.

[0058] In some alternative embodiments, the offset of the irradiation area 202 of the echo beam 109 on the detector 107 can be detected based on the comparison of at least two waveform characteristic quantities with corresponding preset values respectively.

[0059] Optionally, the offset of the irradiation area 202 of the echo beam 109 on the detector 107 can be detected by combining any two waveform characteristic quantities of the echo signal.

[0060] Optionally, the offset of the irradiation area 202 of the echo beam 109 on the detector 107 can be detected by comparing three waveform characteristic quantities or four waveform characteristic quantities with corresponding preset values respectively.

[0061] In some alternative embodiments, detecting the offset of the irradiation area of the echo beam on the detector based on the comparison of at least two waveform characteristic quantities with corresponding preset values respectively includes: determining whether the difference between the first waveform characteristic quantity among at least two waveform characteristic quantities and the corresponding first preset value is less than the first threshold; determining whether the difference between the second waveform characteristic quantity among at least two waveform characteristic quantities and the corresponding second preset value is greater than the second threshold; detecting that the irradiation area of the echo beam on the detector has not offset in response to determining that at least one of the above conditions is not satisfied; detecting that the irradiation area of the echo beam on the detector has offset in response to determining that the above two conditions are satisfied.

[0062] To facilitate understanding and implementation by those skilled in the art, some exemplary detection methods are provided.

[0063] For example, the offset situation can be detected based on these two waveform characteristic quantities of slope and pulse width. Figure 4aShows a graph of waveform characteristic quantities extracted from the echo signals detected on the detector 107 according to an embodiment of the present disclosure. Figure 4a Shows three slope-pulse width curves, corresponding respectively to Figure 2a , Figure 2b and Figure 2c different offset situations of the irradiation area 202 of the echo beam 109 on the detector 107 shown. For Figure 2a , Figure 2b and Figure 2c any one of the irradiation area 202 offset situations, the waveforms of the echo signals generated by different photon amounts of the echo beam incident on the detector 107 are different. Extract the slope and pulse width parameters of these different echo signal waveforms. For example, with the slope as the abscissa and the pulse width as the ordinate, a slope-pulse width curve can be plotted. For Figure 2a , Figure 2b and Figure 2c each of the irradiation area 202 offset situations, a corresponding slope-pulse width curve is plotted. In Figure 4a , the curve a2 (which can be called the reference curve a2) corresponds to Figure 2b the situation where the irradiation area 202 of the echo beam 109 on the detector 107 is not offset. The curve a1 corresponds to Figure 2a the situation where the irradiation area 202 of the echo beam 109 on the detector 107 is offset in the first direction. The curve a3 corresponds to Figure 2c the situation where the irradiation area 202 of the echo beam 109 on the detector 107 is offset in the second direction.

[0064] For ease of understanding, the dimension of the waveform characteristic quantity can be ignored, and the relative change of the waveform characteristic quantity is mainly concerned. It can be seen from Figure 4a that for the three curves corresponding respectively to Figures 2a - 2c the different offset situations of the irradiation area 202, in a certain area (for example, Figure 4a shown by the dashed box in), the three curves show a "separation" phenomenon: that is, at the same abscissa slope, the ordinate pulse widths of different curves are different; or at the same ordinate pulse width, the abscissa slopes of different curves are different. When the irradiation area is offset relative to the preset area, the waveform characteristic quantity curve deviates from the reference curve, and in the slope-pulse width distribution curve, it is manifested as a "separation" phenomenon. In some embodiments, this "separation" phenomenon can be used to detect the offset situation of the irradiation area 202 of the echo beam 109 on the detector 107.

[0065] For the sake of convenience of expression, the abscissa of the points on the reference curve a2, i.e., the slope of the echo signal, can be defined as the reference slope S_ref, and the ordinate of the points on the reference curve a2, i.e., the pulse width of the echo signal, can be defined as the reference pulse width W_ref. Each point on other slope-pulse width curves a1 or a3 can also be represented as having a corresponding abscissa slope S and ordinate pulse width W.

[0066] In some embodiments, the slope S and the pulse width W can be compared with the reference slope S_ref and the reference pulse width W_ref respectively to determine the offset of the illumination area 202 of the echo beam 109 on the detector 107. In an alternative example, when the difference between S and S_ref is less than the first threshold and the difference between W and W_ref is greater than the second threshold, it can be detected that the illumination area 202 of the echo beam 109 on the detector 107 is offset. When the above two conditions are not satisfied simultaneously, it is detected that the illumination area 202 of the echo beam 109 on the detector 107 is not offset. In another alternative example, when the difference between W and W_ref is less than the first threshold and the difference between S and S_ref is greater than the second threshold, it can be detected that the illumination area 202 of the echo beam 109 on the detector 107 is offset. When the above two conditions are not satisfied simultaneously, it is detected that the illumination area 202 of the echo beam 109 on the detector 107 is not offset.

[0067] For another example, the offset situation can be detected based on two waveform characteristic quantities, namely the peak value and the pulse width. Figure 4b Three peak-pulse width curves are shown, corresponding respectively to Figure 2a 、 Figure 2b and Figure 2c the different offset situations of the illumination area 202 of the echo beam 109 on the detector 107 shown. For any one of the offset situations of the illumination area 202 in Figure 2a 、 Figure 2b and Figure 2c , the waveforms of the echo signals generated by different photon amounts of the echo beam incident on the detector 107 are different. The peak value and pulse width parameters of these different echo signal waveforms are extracted. For example, with the peak value as the abscissa and the pulse width as the ordinate, a slope-pulse width curve can be plotted. For each of the offset situations of the illumination area 202 in Figure 2a 、 Figure 2b and Figure 2c , a corresponding peak-pulse width curve is plotted. In Figure 4b , the curve b2 (which can be called the reference curve b2) corresponds to the situation where the illumination area 202 of the echo beam 109 on the detector 107 is not offset as shown in Figure 2b . The curve b1 corresponds to the situation where the illumination area 202 of the echo beam 109 on the detector 107 is offset in the first direction as shown in Figure 2a . The curve b3 corresponds toFigure 2c The case where the irradiation area 202 of the echo beam 109 shown on the detector 107 is offset in the second direction.

[0068] For ease of understanding, the dimension of the waveform characteristic quantity can be ignored, and the relative change of the waveform characteristic quantity can be mainly focused on. From Figure 4b It can be seen that for the three curves corresponding to different offset cases of the irradiation area 202 in Figures 2a - 2c , in a certain area (for example, Figure 4b shown by the dashed box in ), a "separation" phenomenon occurs in the curves: that is, at the same abscissa peak, the ordinate pulse widths of different curves are different; or at the same ordinate pulse width, the abscissa peaks of different curves are different. When the irradiation area is offset relative to the preset area, the waveform characteristic quantity curve deviates from the reference curve, which is manifested as a "separation" phenomenon in the peak-pulse width distribution curve. In some embodiments, this "separation" phenomenon can be used to detect the offset of the irradiation area 202 of the echo beam 109 on the detector 107.

[0069] For ease of expression, the abscissa of the points on the reference curve b2, that is, the peak of the echo signal, can be defined as the reference peak P_ref, and the ordinate of the points on the reference curve b2, that is, the pulse width of the echo signal, can be defined as the reference pulse width W_ref. Each point on other peak-pulse width curves b1 or b3 can also be represented as having the corresponding abscissa peak P and ordinate pulse width W.

[0070] In some embodiments, the peak P and the pulse width W can be compared with the reference peak P_ref and the reference pulse width W_ref respectively to determine the offset of the irradiation area 202 of the echo beam 109 on the detector 107. In an alternative example, when the difference between P and P_ref is less than the first threshold and the difference between W and W_ref is greater than the second threshold, the offset of the irradiation area 202 of the echo beam 109 on the detector 107 can be detected. When the above two conditions are not satisfied simultaneously, it is detected that the irradiation area 202 of the echo beam 109 on the detector 107 is not offset. In another alternative example, when the difference between W and W_ref is less than the first threshold and the difference between P and P_ref is greater than the second threshold, the offset of the irradiation area 202 can be detected. When the above two conditions are not satisfied simultaneously, it is detected that the irradiation area 202 is not offset.

[0071] In an embodiment of the present disclosure, the first threshold and the second threshold can be set, for example, based on a certain percentage of the reference value of the corresponding waveform characteristic quantity. For example, in Figure 4aIn the embodiment, the first threshold may be set to a percentage within the range of 3% - 8% of S_ref, such as 3%, 5%, 8%, etc.; the second threshold may be set to a percentage within the range of 15% - 20% of W_ref, such as 15%, 20%, 25%, etc. Similarly, in Figure 4b In the embodiment, the first threshold may be set to a percentage within the range of 3% - 8% of P_ref, such as 3%, 5%, 8%, etc.; the second threshold may be set to a percentage within the range of 15% - 20% of W_ref, such as 15%, 20%, 25%, etc. The applicable first threshold and second threshold may be set according to each lidar 100. The first threshold and the second threshold may be values preset before the lidar leaves the factory, values written later through software, or values adjusted according to actual situations.

[0072] As an example, the above two embodiments describe the technology of the present disclosure using two sets of waveform characteristic quantities, namely slope and pulse width, and peak and pulse width. However, in other embodiments of the present disclosure, the offset of the irradiation area 202 of the echo beam 109 on the detector 107 may be determined based on other different waveform characteristic quantities or combinations thereof. For example, based on leading edge time, pulse width combination, or based on leading edge time, slope combination, or based on leading edge time, peak combination, or based on slope, peak combination, etc., to detect the offset of the irradiation area of the echo beam on the detector. Optionally, the offset of the irradiation area of the echo beam on the detector may also be comprehensively detected based on three, four, or even more waveform characteristic quantities.

[0073] Any of the detection methods according to the detection method of the present disclosure may further include generating a corresponding detection signal based on the offset of the irradiation area 202 of the echo beam 109 on the detector 107 to indicate different offset situations. For example, a first detection signal may be generated in response to detecting that the irradiation area 202 of the echo beam 109 on the detector 107 does not shift; a second detection signal may be generated in response to detecting that the irradiation area 202 of the echo beam 109 on the detector 107 shifts.

[0074] In some embodiments, multiple echo signals output by the same detector 107 may be utilized to improve the accuracy of detection results. For example, the detection method of the present disclosure may further include obtaining multiple echo signals output by the detector 107, extracting waveform feature quantities of each of the multiple echo signals, calculating the average value of the multiple waveform feature quantities, and detecting the offset of the illumination area 202 of the echo beam 109 on the detector 107 based on the average value of the waveform feature quantities, and generating a detection signal according to the offset. For example, five echo signals of the same detector are obtained, and a certain waveform feature quantity (such as slope, pulse width, peak value, or leading edge time, etc.) of these five echo signals is extracted respectively. The five waveform feature quantities obtained by extraction are averaged to obtain the average value of the waveform feature quantities, and the offset of the illumination area 202 of the echo beam 109 on the detector 107 is detected based on the average value of the waveform feature quantities. Optionally, the offset of the illumination area 202 of the echo beam 109 on the detector 107 may be detected based on the average value of at least two waveform feature quantities. For example, the offset is detected based on the average value of the slope and the average value of the pulse width.

[0075] In other embodiments, multiple echo signals respectively output by different detectors 107 may be utilized to improve the accuracy of detection results. For example, the detection method of the present disclosure may include: judging the first offset of the illumination area of the first echo beam on the first detector based on the waveform feature quantity of the first echo signal of the first detector; further obtaining a second echo signal output by a second detector different from the first detector, and extracting the waveform feature quantity of the second echo signal; further detecting the second offset of the illumination area of the second echo beam on the second detector based on the waveform feature quantity extracted from the second echo signal.

[0076] In some embodiments, the detection method may further include: confirming the offset in response to the offsets detected based on different detectors being consistent; in response to the offsets detected based on different detectors being inconsistent: further obtaining a third echo signal output by a third detector different from the first detector and the second detector, and extracting the waveform feature quantity of the third echo signal; further detecting the third offset of the illumination area of the third echo beam on the third detector based on the waveform feature quantity extracted from the third echo signal; determining the final offset based on the third offset; and generating a detection signal based on the final offset. If the third offset indicates that the illumination area 202 of the echo beam 109 on the third detector 107 is offset, a detection signal indicating an offset is generated. If the third offset indicates that the illumination area 202 of the echo beam 109 on the third detector 107 is not offset, a detection signal indicating no offset is generated.

[0077] The technical solution of the present disclosure can generate a final detection result based on the detection results (shifted or unshifted) indicating consistency of a preset amount of echo signals among multiple echo signals from multiple detectors respectively. The multiple echo signals are not limited to the three echo signals in the above method, and can also be more echo signals from more detectors. Additionally, the preset amount here can be set according to the actual situation. For example, at least two of the three echo signals from three detectors respectively indicate consistent detection results, at least three of the five echo signals from five detectors respectively indicate consistent detection results, and so on.

[0078] In some alternative embodiments, shift detection can also be performed simultaneously or non - simultaneously based on multiple echo signals from multiple detectors, rather than being limited to further obtaining echo signals from more detectors only when the shift situations detected based on the first detector and the second detector are inconsistent. For example, five echo signals from five detectors can be obtained to respectively detect the shift situations corresponding to the five detectors, and the overall shift situation can be determined based on the consistency of the five shift situations. Optionally, shift detection can also be performed on the multiple echo signals of these multiple detectors respectively. For example, the waveform feature quantities of the multiple echo signals of the first detector are averaged, and the first shift situation of the first detector is detected based on this average value; the waveform feature quantities of the multiple echo signals of the second detector are averaged, and the second shift situation of the second detector is detected based on this average value; the waveform feature quantities of the multiple echo signals of the third detector are averaged, and the third shift situation of the third detector is detected based on this average value; the overall shift situation is determined based on the first shift amount, the second shift amount, and the third shift amount.

[0079] In some embodiments, the detection method may further include: in response to the shift situations detected based on different detectors being consistent, confirming the shift situation; in response to the shift situations detected based on different detectors being inconsistent: further respectively obtaining more echo signals of the first detector and the second detector, and extracting the waveform feature quantity of each echo signal; calculating the first average value of the multiple waveform feature quantities of the multiple echo signals of the first detector, and calculating the second average value of the multiple waveform feature quantities of the multiple echo signals of the second detector; detecting the shift situations of the irradiation areas of the echo beam on the first detector and the second detector respectively based on the first average value and the second average value, and further determining the final shift situation.

[0080] In some embodiments, the offset of the illumination area 202 of the echo beam 109 on the detector 107 may further include the degree of offset. Accordingly, the method of the present disclosure may further include determining the degree of offset of the illumination area 202 of the echo beam 109 on the detector 107. Different degrees of offset may be determined based on different degrees of offset of the illumination area 202 of the echo beam 109 on the detector 107 relative to a preset area. In one example, different degrees of offset may be determined based on different degrees of difference in the comparison of the waveform feature quantity with a preset value of the waveform feature quantity.

[0081] As an example and not a limitation, in an embodiment where the slope - pulse width of the selected echo signal is used as the waveform feature quantity to detect the offset of the illumination area 202 of the echo beam 109 on the detector 107 as shown in Figure 4a When the difference between S and S_ref is less than the first threshold and the difference between W and W_ref is greater than the first value of the second threshold, the first - level offset of the illumination area 202 can be detected. When the difference between S and S_ref is less than the first threshold and the difference between W and W_ref is greater than the second value of the second threshold, the second - level offset of the illumination area 202 can be detected. When the difference between S and S_ref is less than the first threshold and the difference between W and W_ref is greater than the third value of the second threshold, the third - level offset of the illumination area 202 can be detected. In one example, the first value of the second threshold may be 20% of W_ref, the second value of the second threshold may be 40% of W_ref, and the third value of the second threshold may be 60% of W_ref. The first - level offset may indicate a slight offset of the illumination area 202, the second - level offset may indicate a moderate offset of the illumination area 202, and the third - level offset may indicate a severe offset of the illumination area 202. The above are only examples, and the degree of offset may be classified into two levels or more than three levels. In addition, other percentages of the second threshold for classifying the degree of offset may be set.

[0082] In some embodiments, the method of the present disclosure may further include generating a classified second detection signal in response to detecting different degrees of offset. Based on the classified second detection signal, the user can know the degree of offset of the illumination area 202 of the echo beam 109 on the detector 107, and thus can know the degree of offset of the components of the lidar 100.

[0083] In some embodiments of the present disclosure, the method of the present disclosure may further include performing a hierarchical response based on a hierarchical second detection signal. As an example, the hierarchical response may include providing a hierarchical reminder to the user or taking an action for a second detection signal at a certain level. For example, in response to the second detection signal indicating that a slight deviation has occurred in the irradiation area 202, the user may be reminded that a slight deviation has occurred in the components of the lidar 100, which may affect the user experience. In response to the second detection signal indicating that a moderate deviation has occurred in the irradiation area 202, the user may be reminded that a moderate deviation has occurred in the components of the lidar 100, and the use of the lidar 100 may affect safety. In response to the second detection signal indicating that a severe deviation has occurred in the irradiation area 202, the operation of the lidar 100 may be directly forced to stop to ensure the safety of the user.

[0084] Optionally, the second detection signal may be sent to the controller of the lidar, the carrier carrying the lidar, the user terminal using the lidar, the cloud, etc. Optionally, the hierarchical response may be executed by the processor or controller performing the detection method, or the main controller or control circuit of the lidar. Optionally, the hierarchical response may also be executed by other terminals connected to the lidar in a wired or wireless manner, such as a vehicle domain controller, a computer, a cloud server, etc.

[0085] In some embodiments, the method of the present disclosure may further include adjusting the enabled detector 107 at the receiving end in response to detecting that the irradiation area 202 of the echo beam 109 on the detector 107 has deviated. In some embodiments, in addition to the detector currently enabled to detect the echo signal, the receiving end may further include one or more detectors that are not currently enabled. In response to detecting that the irradiation area 202 of the echo beam 109 on the detector 107 has deviated, the method of the present disclosure may adjust the enabled detector at the receiving end. The method of the present disclosure may determine the position and / or number of the detectors to be enabled based on the direction and distance of the deviation of the irradiation area of the echo beam 109 on the detector 107. This can compensate for the impact on the detection of the lidar 100 caused by the deviation of the irradiation area 202 of the echo beam 109 on the detector 107 to ensure the user experience and safety.

[0086] In some embodiments of the present disclosure, detection may be performed based on the echo signal 109 of the detector 107 corresponding to the edge region of the field of view of the lidar 100. In some other embodiments of the present disclosure, detection may be performed based on the echo signal 109 of the detector 107 corresponding to the field of view area below the horizontal line. The detector 107 corresponding to the edge region of the field of view of the lidar 100 or the detector 107 corresponding to the field of view area below the horizontal line is more sensitive to deviations and has relatively more stable and definite echo signals for detection and analysis, so that the detection can be more timely and accurate.

[0087] In some embodiments, any of the methods of the present disclosure described above may be performed by the lidar 100. Figure 5 A functional block diagram of a lidar 100 according to an embodiment of the present disclosure is shown. Figure 5 Only a part of the functional modules of the lidar 100 is shown. The lidar 100 according to the present disclosure may include one or more light emitters 101. The light emitter 101 may be configured to emit a detection beam 108, and an echo beam 109 is generated after the detection beam 108 is reflected by the object 104. The lidar 100 may further include one or more detectors 107, and the detectors 107 may be configured to receive the echo beam 109 and output an echo signal. The lidar 100 may further include a detector 110. The detector 110 may communicate directly or indirectly with the detector 107 in any suitable manner, for example. The detector 110 may be configured to perform any of the methods of the present disclosure.

[0088] In some embodiments, any of the methods of the present disclosure described above may be performed by a device that communicates with the lidar 100 in a wired or wireless manner. For example, a vehicle domain controller, a computer, a mobile phone, a cloud server, etc. The detector may be disposed in the above device, and the detector is configured to perform any of the methods of the present disclosure.

[0089] In some embodiments, the detector may perform any of the methods of the present disclosure in a software, hardware, or software-hardware combination manner. For example, the detector may include a processor, a controller, a processing circuit, etc.

[0090] In some embodiments of the present disclosure, a detection device is further provided. The detection device includes a memory and a processor. A computer instruction capable of running on the processor is stored on the memory, and when the processor runs the computer instruction, any of the methods of the present disclosure is performed.

[0091] In some embodiments, the processor may be implemented by a central processing unit (CPU), a microprocessor, a micro programmed control unit (MCU), a field programmable gate array (FPGA), etc., or may be implemented by an application specific integrated circuit (ASIC) or one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0092] In some embodiments, the memory may include memory within the system or outside the system. In some embodiments, the memory may include random access memory (RAM), and may also include non-volatile memory. In some embodiments, the memory may include at least one of phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), read-only memory (ROM), and electrically erasable programmable read-only memory (EEPROM).

[0093] In some embodiments of the present disclosure, a readable storage medium is further provided. Computer instructions are stored on the readable storage medium, and when the computer instructions run, they execute any of the methods in the methods of the present disclosure.

[0094] The readable storage medium may include, but is not limited to, a non-transitory tangible arrangement of articles manufactured or formed by a machine or device, which includes a storage medium, such as: a hard disk; any other type of disk, including a floppy disk, an optical disk, a compact disc read-only memory (CD-ROM), a rewritable compact disc (CD-RW), and a magneto-optical disk; semiconductor devices, such as read-only memory (ROM), random access memory (RAM) such as dynamic random access memory (DRAM) and static random access memory (SRAM), erasable programmable read-only memory (EPROM), flash memory, electrically erasable programmable read-only memory (EEPROM); phase-change memory (PCM); magnetic cards or optical cards; or any other type of storage medium suitable for storing electronic instructions.

[0095] The lidar 100 as described above in the present disclosure can be applied to a vehicle. The vehicle can respond based on the detection signals output by the detector 110 of the lidar 100 (e.g., the first detection signal, the second detection signal, or the graded second detection signal) to alert a user (e.g., a driver). The detector 110 of the lidar 100 can send a detection signal indicating an offset or the degree of the offset to the vehicle based on the detected offset situation. The vehicle can be configured to make corresponding response actions in response to receiving the detection signal from the lidar 100. For example, the vehicle can control one or more devices of the vehicle to issue a warning to the user based on the detection signal received from the lidar 100 indicating an offset (e.g., the second detection signal). The vehicle can also control one or more devices of the vehicle to issue a graded warning to the user based on the detection signal received from the lidar 100 indicating the degree of the offset (the graded second detection signal). The devices for issuing warnings can be, for example, the audio device, the video device, etc. of the vehicle. The form and content of the warnings or graded warnings issued by the vehicle devices can be reasonably set based on the detection signals to achieve the reminder and warning of the user.

[0096] In some embodiments, the vehicle can include an automobile, a truck, a motorcycle, a golf cart, an off-road vehicle, an agricultural vehicle, or any other vehicle described elsewhere herein (e.g., a bus, a boat, an airplane, a helicopter, a drone, a lawn mower, a bulldozer, a submarine, an all-terrain vehicle, a snowmobile, an airplane, a recreational vehicle, an amusement park vehicle, an agricultural device, a construction device or vehicle, a warehouse device or vehicle, a factory device or vehicle, a tram, a train, a trolley, a sidewalk delivery vehicle, a robotic device, etc.).

[0097] The detection method for the lidar in the present disclosure can timely alert the user of the offset and / or the degree of the offset of the components of the lidar, so that the user can timely and dynamically understand the working state of the lidar and take necessary measures (e.g., recalibrate the lidar, etc.) when needed. Therefore, the technology of the present disclosure can improve the user experience and enhance user safety.

[0098] The present disclosure describes a detection method for a lidar, a lidar, a detection device, a readable storage medium, and a vehicle. Without departing from the spirit and gist of the present disclosure, those skilled in the art can make appropriate modifications and adjustments to the above-described exemplary embodiments. Therefore, it is intended that the claimed subject matter is not limited only to the disclosed exemplary embodiments, and these claimed subject matters can also include all implementations falling within the scope of the appended claims and their equivalents.

Claims

1. A detection method for a lidar, wherein the lidar includes a transmitting end, a receiving end, and a detector, wherein, the transmitting end includes one or more light emitters configured to emit detection beams, and the detection beams generate echo beams after being reflected by an object; the receiving end includes one or more detectors configured to receive the echo beams and output echo signals; the detector generates a detection signal according to the echo signal output by the detector; the detection method includes: acquiring the echo signal output by the detector and extracting waveform feature quantities of the echo signal; detecting an offset condition of an irradiation area of the echo beam on the detector based on the waveform feature quantities; generating the detection signal according to the offset condition.

2. The method according to claim 1, wherein the offset condition includes an offset condition of the irradiation area of the echo beam on the detector relative to a preset area.

3. The method according to claim 2, the method further includes: detecting an offset condition of the irradiation area of the echo beam on the detector based on a comparison between the waveform feature quantities and preset values of the waveform feature quantities.

4. The method according to claim 3, wherein the waveform feature quantities include a leading edge time, a pulse width, a slope, and / or a peak value of the echo signal.

5. The method according to claim 4, wherein the waveform feature quantities include a combination of any two waveform feature quantities among the leading edge time, the pulse width, the slope, or the peak value of the echo signal.

6. The method according to claim 4, the method further includes: detecting an offset condition of the irradiation area of the echo beam on the detector based on comparisons of at least two of the waveform feature quantities with corresponding preset values respectively.

7. The method according to claim 6, the method further includes determining whether the following conditions are satisfied: determining whether a difference between a first waveform feature quantity among the at least two waveform feature quantities and a corresponding first preset value is less than a first threshold; determining whether a difference between a second waveform feature quantity among the at least two waveform feature quantities and a corresponding second preset value is greater than a second threshold; detecting that the irradiation area of the echo beam on the detector is not offset in response to determining that at least one of the above conditions is not satisfied; detecting that the irradiation area of the echo beam on the detector is offset in response to determining that both of the above conditions are satisfied.

8. The method according to any one of claims 2-7, the method further includes: generating a first detection signal in response to detecting that the irradiation area of the echo beam on the detector is not offset; generating a second detection signal in response to detecting that the irradiation area of the echo beam on the detector is offset.

9. The method according to claim 1, the method further includes: acquiring a plurality of echo signals output by the detector and extracting waveform feature quantities of each echo signal; calculating an average value of the plurality of waveform feature quantities; detecting an offset condition of the irradiation area of the echo beam on the detector based on the average value of the waveform feature quantities, generating the detection signal according to the offset condition.

10. The method according to claim 1, wherein the method further comprises: further obtaining a second echo signal output by a second detector different from the detector, and extracting waveform feature quantities of the second echo signal; further detecting a second offset condition of an illumination area of the echo beam on the second detector based on the waveform feature quantities extracted from the second echo signal.

11. The method according to claim 10, wherein the method further comprises: confirming the offset condition in response to the offset conditions detected based on different detectors being consistent; in response to the offset conditions detected based on different detectors being inconsistent: further obtaining a third echo signal output by a third detector different from the detector and the second detector, and extracting waveform feature quantities of the third echo signal; further detecting a third offset condition of an illumination area of the echo beam on the third detector based on the waveform feature quantities extracted from the third echo signal; determining a final offset condition based on the third offset condition; and generating the detection signal based on the final offset condition.

12. The method according to claim 8, wherein the offset condition further comprises an offset degree, and the method further comprises: generating a graded second detection signal based on the offset degree.

13. The method according to claim 12, wherein the method further comprises: performing a graded response based on the graded second detection signal.

14. The method according to claim 7, wherein the method further comprises: adjusting the detector enabled at the receiving end in response to detecting an offset of an illumination area of the echo beam on the detector.

15. The method according to claim 14, wherein the method further comprises: determining a position and / or a quantity of the detector to be enabled based on a direction and a distance of an offset of an illumination area of the echo beam on the detector.

16. The method according to any one of claims 1-7, performing detection based on an echo signal of a detector corresponding to an edge area of a field of view of the lidar, or performing detection based on an echo signal of a detector corresponding to a field of view area below a horizontal line.

17. A lidar, the lidar comprises: a transmitting end, the transmitting end comprising one or more optical transmitters configured to transmit a detection beam, and the detection beam generates an echo beam after being reflected by an object; a receiving end, the receiving end comprising one or more detectors configured to receive the echo beam and output an echo signal; and a detector configured to: obtain the echo signal output by the detector, and extract waveform feature quantities of the echo signal; detect an offset condition of an illumination area of the echo beam on the detector based on the waveform feature quantities; generate a detection signal according to the offset condition; and control the detection module to output the detection signal.

18. A detection device, the detection device comprises a memory and a processor, wherein, Computer instructions capable of running on the processor are stored on the memory, and when the processor runs the computer instructions, the method according to any one of claims 1-16 is executed.

19. A readable storage medium, on which computer instructions are stored, and when the computer instructions run, the method according to any one of claims 1-16 is executed.

20. A vehicle, on which the lidar according to claim 17 is provided, and the detector of the lidar is further configured to: Based on the detected offset situation, send the detection signal indicating the occurrence of the offset or the degree of the offset to the vehicle.

21. The vehicle according to claim 20, wherein, the vehicle is configured to, in response to receiving the detection signal from the lidar: Based on the detection signal indicating the occurrence of the offset, control one or more devices of the vehicle to issue a warning to the user; Based on the detection signal indicating the degree of the offset, control one or more devices of the vehicle to issue a graded warning to the user.

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