Information detection method and laser radar

Abstract

The invention discloses an information detection method and a laser radar, and the method comprises the steps: obtaining a target environment temperature obtained through the collection of the environment temperature of the laser radar in a process of carrying out the information detection through the laser radar; and performing temperature compensation on the laser radar based on the target environment temperature to obtain a target detection result obtained by performing information detection on a target object by the laser radar. According to the information detection method and device, the problem that the information detection accuracy is low due to the fact that an information detection method in the related technology is prone to being influenced by temperature exists.

Description

Technical Field

[0001] This application relates to the technical field of lidar, and in particular, to an information detection method and a lidar. Background Art

[0002] Lidar measurement technology can detect characteristic quantities such as the position and speed of a target by emitting detection signals (in the form of laser beams). Its working principle is to emit a detection signal to the target, and then compare the received reflected signal (target echo) reflected from the target with the emitted detection signal. After appropriate processing, parameters such as the distance of the target can be obtained. Taking the FMCW (Frequency Modulated Continuous Wave) laser measurement technology as an example, its measurement principle is to beat the echo signal containing distance information with the local oscillator signal, and the distance information of the target can be obtained by demodulating the beat signal. Due to its own good characteristics, FMCW lidar is widely used in various fields, such as autonomous driving, roadside detection, digital twin platforms, etc.

[0003] Before emitting the detection signal, it is usually necessary to modulate the detection signal with a modulation signal. However, since some electronic devices are sensitive to temperature, as the temperature changes, the amplitude of the modulation signal generated by the electronic devices will change, causing the modulation bandwidth of the laser to change, resulting in deviations in the detected information.

[0004] It can be seen that in the information detection method in the related art, there is a problem of low accuracy of information detection due to being easily affected by temperature. Summary of the Invention

[0005] Embodiments of this application provide an information detection method and a lidar to at least solve the problem of low accuracy of information detection in the information detection method in the related art due to being easily affected by temperature.

[0006] According to one aspect of the embodiments of this application, an information detection method is provided, including: during the process of detecting information by a lidar, obtaining a target ambient temperature obtained by collecting the ambient temperature of the lidar; performing temperature compensation on the lidar based on the target ambient temperature to obtain a target detection result obtained by the lidar detecting information about a target object.

[0007] According to another aspect of the embodiments of the present application, there is also provided a lidar, including: a laser, a temperature acquisition component, and a data processor, wherein the laser is configured to emit a detection signal for information detection; the temperature acquisition component is configured to acquire the ambient temperature of the lidar; the data processor is configured to, during the process of information detection by the lidar, obtain the target ambient temperature acquired by the temperature acquisition component, and perform temperature compensation on the lidar based on the target ambient temperature, so as to obtain the target detection result of the lidar for information detection of a target object.

[0008] According to yet another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium, in which a computer program is stored, and the computer program is configured to execute the above information detection method when running.

[0009] According to yet another aspect of the embodiments of the present application, there is also provided an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the above processor executes the above information detection method through the computer program.

[0010] In the embodiments of the present application, a method of performing temperature compensation on the information detection process based on the ambient temperature is adopted. During the process of information detection by the lidar, the target ambient temperature obtained by collecting the ambient temperature of the lidar is acquired; temperature compensation is performed on the lidar based on the target ambient temperature, so as to obtain the target detection result of the lidar for information detection of a target object. Since during the process of information detection by the lidar, the ambient temperature of the lidar is acquired, and temperature compensation is performed on the information detection process of the lidar based on the acquired ambient temperature, thereby correcting the detection result of the information detection. Compared with directly performing information detection by the lidar, the influence of temperature change on the information detection accuracy of the lidar can be reduced, achieving the technical effect of improving the accuracy of information detection, and further solving the problem that the information detection method in the related art has low accuracy of information detection due to being easily affected by temperature. Description of the Drawings

[0011] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0013] Figure 1 It is a schematic diagram of the hardware environment of an optional information detection method according to an embodiment of the present application;

[0014] Figure 2 It is a schematic flow chart of an optional information detection method according to an embodiment of the present application;

[0015] Figure 3 It is a schematic diagram of a ranging system of an optional lidar according to an embodiment of the present application;

[0016] Figure 4 It is a schematic diagram of another optional ranging system of a lidar according to an embodiment of the present application;

[0017] Figure 5 It is a schematic diagram of yet another optional ranging system of a lidar according to an embodiment of the present application;

[0018] Figure 6 It is a schematic diagram of yet another optional ranging system of a lidar according to an embodiment of the present application;

[0019] Figure 7 It is a schematic diagram of yet another optional ranging system of a lidar according to an embodiment of the present application;

[0020] Figure 8 It is a structural block diagram of an optional electronic device according to an embodiment of the present application. Detailed implementation manners

[0021] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0022] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily limit to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0023] According to one aspect of the embodiments of the present application, an information detection method based on a laser 102 is provided. Optionally, in this embodiment, the above information detection method can be applied to a Figure 1 hardware environment including a laser 102, a temperature acquisition component 104, a storage component 106, and a data processor 108 as shown. As Figure 1 shown, the data processor 108 can be connected to the laser 102, the temperature acquisition component 104, and the storage component 106. The storage component can be connected to the laser 102 and the temperature acquisition component 104. Among them, the laser 102 can be used for information detection, the temperature acquisition component 104 can be used to collect the ambient temperature of the laser 102, the storage component 104 can be used to store the ambient temperature information collected by the temperature acquisition component 104, and other information related to the information detection process. The data processor 108 can be used to trigger the laser 102 to perform information detection, and trigger the temperature acquisition component 104 to perform temperature acquisition. It can also be used to obtain the target ambient temperature collected by the temperature acquisition component during the process of information detection by the laser 102, and perform temperature compensation on the laser 102 based on the target ambient temperature to obtain the target detection result obtained by the laser 102 for information detection of the target object.

[0024] Optionally, the laser 102 and the temperature acquisition component 104 can be located on the same lidar. The storage component 106 and the data processor 108 can be located on the above lidar, or can be located on a processing device that can communicate with the lidar. The information detection method of the embodiments of the present application can be executed by the data processor 108, or can be jointly executed by the data processor 108 and other components. This is not limited in this embodiment.

[0025] Taking the execution of the information detection method in this embodiment by the data processor 108 as an example, Figure 2 is a schematic flowchart of an optional information detection method according to the embodiments of the present application, asFigure 2 As shown, the process of this method may include the following steps:

[0026] Step S202, during the process of information detection by the lidar, obtain the target ambient temperature obtained by collecting the ambient temperature of the lidar.

[0027] In this embodiment, the information detection method can be applied to the scenario where the lidar measures the information of the detection target. Here, the detection target can be any object, including but not limited to items, buildings, etc. The information detected by the lidar during information detection can be the distance from the detection target (i.e., ranging the detection target), the movement parameters of the detection target (such as movement speed, etc.), or other types of information. In some examples of this application, ranging the detection target is taken as an example for illustration, but it should not cause unnecessary limitations to the information detection process.

[0028] In the related art, lidar measurement technology can detect characteristic quantities such as the position and speed of a target by emitting detection signals. Its working principle is to emit a detection signal to the target, and then compare the received reflected signal reflected from the target with the emitted detection signal (local oscillator signal). After appropriate processing, parameters such as the distance between the lidar and the detection target can be obtained. Taking the FMCW (Frequency Modulated Continuous Wave) lidar measurement technology as an example, its measurement principle is to beat the echo signal containing distance information (i.e., the returned reflected signal) with the local oscillator signal to obtain a beat signal, and the distance information of the target can be obtained by demodulating the beat signal. Due to its own good characteristics, the FMCW lidar measurement technology is widely used in various fields, such as autonomous driving, roadside detection, digital twin platforms, etc. And as the FMCW lidar plays a greater role in various fields, the requirement for the ranging accuracy of the FMCW lidar has also increased accordingly.

[0029] However, since some electronic devices are sensitive to temperature, as the temperature changes, the amplitude of the modulation signal generated by the electronic devices will change, causing the modulation bandwidth of the laser to change, resulting in deviations in the detection results obtained from information detection.

[0030] Taking the ranging based on FMCW laser measurement technology as an example, in an ideal situation, temperature changes do not affect the accuracy of ranging. However, in practical applications, the frequency-modulated signal generated by electronic devices is sensitive to temperature, and the ranging result is easily affected by temperature. As the temperature changes, the amplitude of the frequency-modulated signal also changes, resulting in ranging deviation. If the ranging is not corrected according to the temperature change, the accuracy of ranging will decrease sharply, and inaccurate ranging is likely to lead to safety accidents and other situations, with very serious hazards.

[0031] To at least partially solve the above problems, in this embodiment, during the ranging process using a lidar, the ambient temperature of the lidar is acquired, and temperature compensation is performed on the lidar based on the ambient temperature of the lidar (i.e., temperature compensation is performed on the information detection process of the lidar). The detection result obtained by detecting the information of the target object can be obtained. Compared with the method of directly detecting information using a lidar, by precisely compensating for the temperature drift of electronic devices, the drastic change in the accuracy of lidar information detection when the temperature changes greatly can be eliminated, and the accuracy of information detection can be improved.

[0032] The lidar can generate a driving signal through a digital-to-analog converter (DAC), drive the laser through this driving signal, obtain a detection signal and emit it into the detection space. Then, the received reflected signal is mixed with the local oscillator signal, and the beat frequency signal obtained after mixing is converted into an electrical signal. By processing the electrical signal, the distance between the lidar and the target object can be obtained.

[0033] For example, as Figure 3 shown, in the FMCW lidar system architecture, a modulation signal is generated through a signal generation circuit (Direct Digital Synthesis, DDS for short), a laser drive circuit, and a laser. The specific process is as follows: The main control (an example of the aforementioned data processor) controls the DAC to generate a modulation electrical signal (i.e., Figure 3 the laser drive in Figure 3 modulates the laser (i.e., the tunable laser in Figure 3 ) to generate a modulated optical signal. The modulated optical signal enters the coupler after passing through the isolator and is divided into two optical paths. One is the measurement light (detection signal), and the other is the local oscillator light (local oscillator signal). The measurement light passes through the circulator, carries the ranging information, and returns to the optical path (echo signal). The beat frequency signal obtained after mixing with the local oscillator light is converted into an electrical signal by the balanced detector, and then enters the main control for processing after being collected by the ADC (analog-to-digital converter).

[0034] In the process of ranging by lidar, the ambient temperature of the lidar can be collected by a temperature acquisition component (e.g., a temperature measurement module such as a temperature sensor or a temperature detector) to obtain the target ambient temperature. The temperature acquisition component can be arranged adjacent to the lidar, in the same cavity as the lidar, or at other positions where the ambient temperature of the lidar can be collected. For example, as Figure 4 shown, the main control can obtain the ambient temperature of the lidar through the ambient temperature sensor.

[0035] Step S204: Perform temperature compensation on the lidar based on the target ambient temperature to obtain the target detection result obtained by the lidar for information detection of the target object.

[0036] After obtaining the target ambient temperature, temperature compensation can be performed on the lidar based on the target ambient temperature, so as to obtain the detection result obtained by the lidar for information detection of the target object, that is, the target detection result. Here, the temperature compensation performed on the lidar based on the target ambient temperature can be to compensate the information detection process of the lidar, that is, to compensate for the influence caused by temperature on the information detection process of the lidar (compensating certain parameters in the detection process), or to compensate the detection result of the lidar, that is, to compensate for the influence caused by temperature on the detection result of the lidar (compensating the detection result).

[0037] Here, temperature compensation refers to compensating for the error caused by the ambient temperature (or, the change in the detection result). The target detection result can be the detection result obtained by re-performing information detection after compensating the information detection process of the lidar, or the compensated detection result obtained directly by compensating the initial detection result. The detection result here can be the distance from the target object, the moving speed of the target object, or other types of detection results, which are not limited in this embodiment.

[0038] Through the above steps S202 to S204, in the process of information detection by lidar, the target ambient temperature obtained by collecting the ambient temperature of the lidar is obtained; temperature compensation is performed on the lidar based on the target ambient temperature to obtain the target detection result obtained by the lidar for information detection of the target object, which solves the problem that the information detection method in the related art has low accuracy of information detection due to being easily affected by temperature, and improves the accuracy of information detection.

[0039] In an exemplary embodiment, temperature compensation is performed on the ranging process of the lidar based on the target ambient temperature to obtain the distance between the lidar and the target object, including:

[0040] S11. Determine a target signal amplitude corresponding to a target ambient temperature according to a first correspondence between a preset ambient temperature and a signal amplitude of a driving signal of a laser in a lidar.

[0041] S12. Perform temperature compensation on the lidar by adjusting the signal amplitude of the output signal of a digital-to-analog converter to the target signal amplitude, where the output signal of the digital-to-analog converter is the driving signal of the laser.

[0042] S13. Obtain a detection result obtained by the lidar after temperature compensation detecting information of a target object at the target ambient temperature, and obtain a target detection result.

[0043] In this embodiment, temperature compensation can be performed on the detection process of the lidar: temperature compensation can be achieved by adjusting the magnitude of the driving signal of the laser in the lidar (i.e., the driving signal amplitude), where the driving signal of the laser is the output signal of the digital-to-analog converter, and this output signal can be a modulated current signal. Here, the digital-to-analog converter can be used to convert a digital electrical signal into an analog electrical signal, and use the analog electrical signal as a modulation electrical signal to drive the laser to generate a detection signal. In the case of temperature change, if the output gain of the digital-to-analog converter is not changed, the amplitude of the modulation electrical signal may change, affecting the accuracy of information detection. Therefore, by adjusting the output gain of the digital-to-analog converter, the error of information detection can be reduced. Adjusting the output gain of the digital-to-analog converter essentially adjusts the signal amplitude of the driving signal output to the laser.

[0044] In this embodiment, a first correspondence between a preset ambient temperature and the signal amplitude of the driving signal can be obtained. The preset ambient temperature can include multiple temperatures within the operating temperature range of the lidar. The first correspondence can be used to indicate the signal amplitude of the driving signal of the laser at the preset ambient temperature and the preset ambient temperature, so that the amplitude of the modulation signal generated by the lidar does not change. Here, the first correspondence can be stored in the form of a table, text, etc. For example, the first correspondence can be stored in a preset lookup table, and this embodiment does not limit this.

[0045] According to the first correspondence, the target signal amplitude corresponding to the target ambient temperature can be determined. Here, determining the target signal amplitude corresponding to the target ambient temperature can be to determine the signal amplitude corresponding to the ambient temperature that is the same as or closest to the target ambient temperature in the first correspondence as the target signal amplitude corresponding to the target ambient temperature.

[0046] After determining the target signal amplitude, the signal amplitude of the output signal of the digital-to-analog converter can be adjusted to the target signal amplitude, and the lidar after temperature compensation is used to detect information about the target object. The obtained information detection result is the aforementioned target detection result. Here, there can be various ways to adjust the signal amplitude of the output signal of the digital-to-analog converter, including but not limited to at least one of the following:

[0047] Adjust the output gain of the digital-to-analog converter;

[0048] Adjust the amplitude range of the digital signal driving the digital-to-analog converter. For example, the full-scale output of a 14-bit DAC is 0 - 16383. The range of digital codes can be changed according to actual needs, such as changing it to 0 - 8192, and the amplitude of the output modulation signal will become smaller accordingly;

[0049] Dynamically adjust the gain of the amplifier on the signal path. At this time, an amplifier is connected after the output of the digital-to-analog converter);

[0050] Change the gain of the driving board.

[0051] Through this embodiment, by adjusting the signal amplitude of the driving signal given to the laser according to the ambient temperature of the lidar, temperature compensation can be performed on the ranging process of the lidar, reducing the information detection error caused by temperature changes and improving the accuracy of information detection.

[0052] In an exemplary embodiment, the driving signal of the laser is provided by a data analog converter, and the above method further includes:

[0053] S21, obtaining the first detection result obtained by the lidar detecting information about the first detection target at the first ambient temperature and the reference signal amplitude of the output signal of the digital-to-analog converter;

[0054] S22, obtaining the signal amplitude corresponding to each first preset temperature within a set of first preset temperatures in the operating temperature range of the lidar, where the signal amplitude corresponding to each first preset temperature is the signal amplitude of the output signal of the digital-to-analog converter when the detection result obtained by the lidar detecting information about the first detection target at each first preset temperature is the first detection result;

[0055] S23, saving the correspondence between the first ambient temperature and the reference signal amplitude and the correspondence between each first preset temperature and the signal amplitude corresponding to each first preset temperature as the first correspondence; or,

[0056] S24. Based on the correspondence between the first environmental temperature and the reference signal amplitude, and the correspondence between each first preset temperature and the signal amplitude corresponding to each first preset temperature, perform curve fitting to obtain a first fitting curve, where the first fitting curve is used to represent the first correspondence.

[0057] In this embodiment, the first detection result obtained by the lidar detecting information of the first detection target at the first environmental temperature and the reference signal amplitude of the output signal of the digital-to-analog converter can be obtained. That is, at the first environmental temperature, detect information of the first detection target to obtain the first detection result and the reference signal amplitude of the output signal of the digital-to-analog converter. Here, the first environmental temperature can be any temperature within the operating temperature range of the lidar, and the first detection target can be any object.

[0058] In this embodiment, the signal amplitudes corresponding to each first preset temperature in a set of first preset temperatures within the operating temperature range of the lidar can be obtained. Here, the set of first preset temperatures is a set of temperatures within the operating range of the lidar, and the signal amplitude corresponding to each first preset temperature is the signal amplitude of the output signal of the digital-to-analog converter when detecting information of the first detection target at each first preset temperature and the obtained detection result is the first detection result.

[0059] As an optional implementation manner, the correspondence between the first environmental temperature and the reference signal amplitude, and the correspondence between each first preset temperature and the signal amplitude corresponding to each first preset temperature can be saved as the first correspondence. Optionally, only the correspondence between each first preset temperature and the signal amplitude corresponding to each first preset temperature can also be saved as the first correspondence.

[0060] As another optional implementation manner, based on the correspondence between the first environmental temperature and the reference signal amplitude, and the correspondence between each first preset temperature and the signal amplitude corresponding to each first preset temperature, perform curve fitting to obtain a first fitting curve. The first fitting curve is used to represent the first correspondence. Here, the way of performing curve fitting can be any way of performing curve fitting based on a set of data correspondences, and this embodiment does not limit this.

[0061] Through this embodiment, by detecting information of the same object at different environmental temperatures, determining the signal amplitudes corresponding to different environmental temperatures, thereby determining the correspondence between the environmental temperature and the signal amplitude, and then adjusting the signal amplitude according to the environmental temperature for temperature compensation, the flexibility of information storage can be improved.

[0062] In an exemplary embodiment, obtaining the signal amplitude corresponding to each first preset temperature in a set of first preset temperatures within the operating temperature range of the lidar includes:

[0063] S31, starting from the first ambient temperature within the operating temperature range of the lidar, sequentially changing the ambient temperature according to a preset first temperature change amount to obtain each first preset temperature;

[0064] S32, adjusting the signal intensity of the output signal of the digital-to-analog converter at each first preset temperature until the detection result obtained by the lidar for information detection of the first detection target is the first detection result, to obtain the signal intensity corresponding to each first preset temperature.

[0065] In this embodiment, a set of first preset temperatures can be obtained by starting from the first ambient temperature within the operating range of the lidar and sequentially changing the ambient temperature according to a preset first temperature change amount, that is, sequentially increasing or decreasing the preset first temperature change amount on the first ambient temperature to obtain each first preset temperature. The preset first temperature change amount can be a set of preset temperature change amounts. Optionally, the preset first temperature change amount can be a set of temperature change amounts that satisfy an arithmetic progression.

[0066] At each first preset temperature, information detection is performed on the first detection target. During the process of information detection of the first detection target, the signal amplitude of the output signal of the digital-to-analog converter can be adjusted until the detection result obtained by the lidar for information detection of the first detection target is the first detection result, and the signal amplitude of the output signal of the digital-to-analog converter at this time is determined as the signal amplitude corresponding to each first preset temperature.

[0067] For example, the process of FMCW temperature compensation is as Figure 5 shown. First, collect the ranging distance R of the lidar at the initial temperature t, and within the operating temperature range of the FMCW lidar, change its ambient temperature with a change amount of △t. After each change of △t in temperature, adjust the output gain of the DAC in the system so that the ranging distance of the FMCW lidar at the temperature of n△t + t (n = 0, 1, 2, 3...) is still R. Record the output gain of the DAC at this time and the corresponding temperature n△t + t (n = 0, 1, 2, 3...). Finally, determine the mapping relationship between the output gain of the DAC and the temperature, that is, the first corresponding relationship between the ambient temperature and the output gain of the digital-to-analog converter of the lidar. Specifically, a look-up table regarding the output gain G of the DAC and the temperature T within the operating temperature range of the FMCW lidar can be formed, and the formed look-up table is programmed into the main control. The main control can adjust the output gain of the DAC by collecting the ambient temperature, thereby eliminating the influence of temperature on the ranging accuracy.

[0068] Through this embodiment, by adjusting the signal amplitude of the output signal of the digital-to-analog converter at different ambient temperatures, the signal amplitudes corresponding to different ambient temperatures can be determined, which can be used for temperature compensation in the information detection process at different ambient temperatures, and can improve the flexibility and convenience of information configuration.

[0069] In an exemplary embodiment, determining the target signal amplitude corresponding to the target ambient temperature according to the first correspondence between the preset ambient temperature and the signal amplitude of the driving signal of the laser in the lidar includes:

[0070] S41, determining the ambient temperature with the smallest absolute value of the temperature difference between the first ambient temperature and a set of first preset temperatures and the target ambient temperature to obtain the reference ambient temperature; determining the signal amplitude corresponding to the reference ambient temperature in the first correspondence as the target signal amplitude corresponding to the target ambient temperature; or,

[0071] S42, determining the signal amplitude corresponding to the target ambient temperature in the first fitting curve as the target signal amplitude.

[0072] In this embodiment, for different storage methods of the first correspondence, different methods can be used to determine the target signal amplitude.

[0073] As an alternative implementation, for the method of storing the correspondence between the first ambient temperature and the reference signal amplitude and the correspondence between each first preset temperature and the signal amplitude corresponding to each first preset temperature as the first correspondence, it can be determined that the ambient temperature with the smallest absolute value of the temperature difference between the first ambient temperature and a set of first preset temperatures and the target ambient temperature is obtained as the reference ambient temperature, and the reference ambient temperature can be higher or lower than the target ambient temperature.

[0074] Optionally, for the scenario of storing the first correspondence in the form of a look-up table, it can be searched in the look-up table according to the target ambient temperature, and the target entry with the smallest absolute value of the temperature difference between the included ambient temperature and the target ambient temperature in each entry is determined, and the signal amplitude in the target entry is determined as the target signal amplitude.

[0075] As another alternative implementation, for the scenario of representing the first correspondence with the first fitting curve, the signal amplitude corresponding to the first fitting curve and the target ambient temperature can be directly determined as the target signal amplitude: substituting the target ambient temperature into the curve equation of the first fitting curve, and the obtained output result is the target signal amplitude.

[0076] Through this embodiment, for the representation of the correspondence between different ambient temperatures and signal amplitudes, different methods are used to determine the signal amplitude, which can improve the flexibility of signal amplitude determination.

[0077] In an exemplary embodiment, temperature compensation is performed on the lidar based on the target ambient temperature to obtain a target detection result obtained by the lidar detecting information about a target object, including:

[0078] S51, determining target compensation information corresponding to a target temperature difference based on a second correspondence between a temperature change of a preset ambient temperature and a change in a detection result, where the target temperature difference is the temperature difference between the target ambient temperature and a second ambient temperature;

[0079] S52, compensating the detection result obtained by the lidar detecting information about the target object at the target ambient temperature using the target compensation information to obtain a target detection result.

[0080] In this embodiment, in order to reduce the ranging error caused by the temperature change of the ambient temperature, temperature compensation can be performed on the detection result of the lidar based on the temperature change amount. The target compensation information corresponding to the target temperature difference (i.e., the temperature difference between the target ambient temperature and the second ambient temperature) can be determined based on a preset second correspondence. Here, the second correspondence can be a correspondence between a preset ambient temperature change amount and a change in the detection result. The preset temperature change amount can be the temperature change amount relative to the second ambient temperature, and the second ambient temperature is any temperature within the operating temperature range of the lidar. For different information detection processes, the change in the detection result can be different. For example, for the ranging process, the change in the detection result is the distance change of the detection distance, and for the speed measurement process, the change in the detection result is the speed change of the detection speed.

[0081] According to the target compensation information, the detection result obtained by the lidar detecting information about the target object at the target ambient temperature can be compensated to obtain a target detection result. Here, compensating the detection result can be adding or subtracting the target compensation information based on the detection result obtained by detecting information about the target object.

[0082] Through this embodiment, determining the compensation amount of the detection result according to the temperature change and compensating the detection result can reduce the influence of temperature on the lidar's information detection and improve the accuracy of information detection.

[0083] In an exemplary embodiment, the above method further includes:

[0084] S61, obtaining a second detection result obtained by the lidar detecting information about a second detection target at the second ambient temperature;

[0085] S62. Obtain detection results corresponding to each second preset temperature in a set of second preset temperatures within the operating temperature range of the lidar, where the detection result corresponding to each second preset temperature is the detection result obtained by the lidar detecting information of a second detection target at each second preset temperature;

[0086] S63. Save the corresponding relationship between the temperature difference between each second preset temperature and the second ambient temperature, and the information difference between the detection result corresponding to each second preset temperature and the second detection result, as the second corresponding relationship; or,

[0087] S64. Perform curve fitting based on the corresponding relationship between the temperature difference between each second preset temperature and the second ambient temperature, and the information difference between the detection result corresponding to each second preset temperature and the second detection result, to obtain a second fitting curve, where the second fitting curve is used to represent the second corresponding relationship.

[0088] In this embodiment, the second detection result obtained by the lidar detecting information of the second detection target at the second ambient temperature can be obtained, and the detection results corresponding to each second preset temperature in a set of second preset temperatures within the operating temperature range of the lidar can be obtained. That is, by the lidar detecting information of the second detection target at the second ambient temperature, the second detection result is obtained, and at each second preset temperature in a set of second preset temperatures, the second detection target is detected for information to obtain the detection result corresponding to each second preset temperature. Here, the second detection target can be any object, and the second detection target can be the same as or different from the first detection target. This embodiment does not make any limitations in this regard.

[0089] As an optional implementation manner, the corresponding relationship between the temperature difference between each second preset temperature and the second ambient temperature, and the information difference between the detection result corresponding to each second preset temperature and the second detection result can be saved as the second corresponding relationship. As another optional implementation manner, curve fitting can be performed based on the corresponding relationship between the temperature difference between each second preset temperature and the second ambient temperature, and the information difference between the detection result corresponding to each second preset temperature and the second detection result to obtain a second fitting curve. The obtained second fitting curve can be used to indicate the second corresponding relationship. The manner of saving the second corresponding relationship is similar to the manner of saving the first corresponding relationship, and will not be elaborated here.

[0090] Optionally, the equation corresponding to the second fitting curve (similarly for the first fitting curve) can be a linear equation, a quadratic equation, or an nth-degree equation (n is a positive integer), such as Figure 6As shown, taking a linear equation with one variable as an example, the fitted curve is y = ax + b, where y is the ranging distance corresponding to different temperatures, and the initial temperature is t. If the temperature collected at this time is t1 and the ranging distance is R1, then the distance to be compensated is ΔR = a(t1 - t), and the actual distance is R1 - ΔR.

[0091] In this embodiment, by using different methods to save the corresponding relationship between the temperature differences corresponding to different temperatures and the distance differences corresponding to different temperatures, the flexibility of information storage can be improved.

[0092] In an exemplary embodiment, obtaining the detection results corresponding to each second preset temperature in a set of second preset temperatures within the operating temperature range of the lidar includes:

[0093] S71, starting from the second ambient temperature within the operating temperature range of the lidar, sequentially changing the ambient temperature according to a preset second temperature change amount to obtain each second preset temperature;

[0094] S72, obtaining the detection results obtained by the lidar detecting information on the second detection target at each second preset temperature, to obtain the detection results corresponding to each second preset temperature.

[0095] In this embodiment, within the operating range of the lidar, starting from the second ambient temperature, the ambient temperature can be sequentially changed according to a preset second temperature change amount to obtain each second preset temperature. Here, changing the ambient temperature according to the preset second temperature change amount can be to sequentially add or subtract the preset second temperature change amount on the basis of the second ambient temperature, and the preset second temperature change amount can be a set of preset temperature change amounts. Optionally, the preset second temperature change amount can be a set of temperature change amounts that satisfy an arithmetic progression.

[0096] By obtaining the detection results obtained by the lidar detecting information on the second detection target at each second preset temperature, the detection results corresponding to each second preset temperature can be obtained, that is, by the lidar detecting information on the second detection target at each second preset temperature, the detection results corresponding to each second preset temperature can be obtained.

[0097] For example, as Figure 7 shown, within the operating temperature range of the FMCW lidar, taking Δt as the change amount, change its ambient temperature. After the temperature changes by Δt each time, record the ranging value Rn at this time, so that the FMCW lidar records the corresponding ranging value Rn at the temperature of nΔt + t (within the operating temperature range of the lidar), and perform curve fitting on the recorded Rn and nΔt + t.

[0098] In this embodiment, by measuring the distance to the same target at different ambient temperatures, obtaining the detection results corresponding to different ambient temperatures, and then obtaining the information differences corresponding to different ambient temperatures, the flexibility and convenience of information configuration can be improved.

[0099] In an exemplary embodiment, the information detection performed by the lidar is to measure the distance to a target object. In this case, the distance measurement process of the lidar includes the following steps:

[0100] S81, determining the frequency difference between the reflected signal used by the lidar to measure the distance to the target object and the local oscillator signal corresponding to the reflected signal;

[0101] S82, determining the value obtained by dividing the product of the preset coefficient, the speed of light, the modulation period of the lidar, and the frequency difference by the modulation bandwidth of the lidar as the ranging distance between the lidar and the target object.

[0102] After receiving the reflected signal used to measure the distance to the target object, the lidar can determine the frequency difference between the transmitted signal and the local oscillator signal, and divide the product of the preset coefficient, the speed of light, the modulation period of the lidar, and the frequency difference by the modulation bandwidth of the lidar to obtain the ranging distance between the lidar and the target object, as shown in formula (1):

[0103]

[0104] where D is the ranging distance between the lidar and the target object, f b and f a respectively represent the difference frequency signals of the rising edge and the falling edge within the same modulation period in the interference signal, B is the modulation bandwidth of the frequency modulated continuous wave, C is the speed of light in vacuum, and the preset coefficient is 4.

[0105] In addition, for the scenario of using the lidar to measure the speed of a target object, the speed measurement result of the target object can be determined using formula (2):

[0106]

[0107] where v represents the speed and λ1 represents the center wavelength of the frequency modulated continuous wave.

[0108] Through this embodiment, by determining the ranging distance between the lidar and the target object according to the reflected signal and the local oscillator signal, the reliability of lidar ranging can be improved.

[0109] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0110] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory), RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to enable a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of various embodiments of this application.

[0111] According to another aspect of the embodiments of this application, a lidar is further provided. This lidar can be used to implement the above information detection method. The lidar may include: a laser, a temperature acquisition component, and a data processor, where,

[0112] The laser is used to emit a detection signal for information detection;

[0113] The temperature acquisition component is used to acquire the ambient temperature of the lidar;

[0114] The data processor is used to obtain the target ambient temperature collected by the temperature acquisition component during the process of information detection by the lidar, and perform temperature compensation on the lidar based on the target ambient temperature to obtain the target detection result of the lidar for information detection of the target object.

[0115] Through the above lidar, during the process of information detection by the lidar, the target ambient temperature obtained by collecting the ambient temperature of the lidar is acquired; temperature compensation is performed on the lidar based on the target ambient temperature to obtain the target detection result of the lidar for information detection of the target object, which solves the problem that the information detection method in the related art has low accuracy of information detection due to being easily affected by temperature, and improves the accuracy of information detection.

[0116] In an exemplary embodiment, the lidar further includes: a digital-to-analog converter, and an output signal of the digital-to-analog converter is a driving signal of the laser; a storage component configured to store a first correspondence between an ambient temperature and a signal amplitude of the driving signal of the laser, where

[0117] the data processor is further configured to determine a target signal amplitude corresponding to a target ambient temperature according to a preset first correspondence between the ambient temperature and the signal amplitude of the driving signal of the laser; perform temperature compensation on the lidar by adjusting the signal amplitude of the output signal of the digital-to-analog converter to the target signal amplitude; and obtain a target detection result by acquiring a detection result obtained by the lidar after temperature compensation when detecting information of a target object at the target ambient temperature.

[0118] In an exemplary embodiment, the data processor is further configured to acquire a first detection result obtained by the lidar when detecting information of a first detection target at a first ambient temperature and a reference signal amplitude of the output signal of the digital-to-analog converter; acquire signal amplitudes corresponding to each of a set of first preset temperatures within the operating temperature range of the lidar, where the signal amplitude corresponding to each first preset temperature is the signal amplitude of the output signal of the digital-to-analog converter when the detection result obtained by the lidar when detecting the first detection target at each first preset temperature is the first detection result; save the correspondence between the first ambient temperature and the reference signal amplitude and the correspondence between each first preset temperature and the signal amplitude corresponding to each first preset temperature as the first correspondence; or perform curve fitting based on the correspondence between the first ambient temperature and the reference signal amplitude and the correspondence between each first preset temperature and the signal amplitude corresponding to each first preset temperature to obtain a first fitting curve, where the first fitting curve is used to represent the first correspondence.

[0119] In an exemplary embodiment, the lidar further includes: a temperature adjustment component configured to adjust the ambient temperature of the lidar;

[0120] the data processor is further configured to control the temperature adjustment component to sequentially change the ambient temperature starting from the first ambient temperature according to a preset first temperature change amount within the operating temperature range of the lidar to obtain each first preset temperature; and adjust the signal intensity of the output signal of the digital-to-analog converter at each first preset temperature until the detection result obtained by the lidar when detecting information of the first detection target is the first detection result, so as to obtain the signal intensity corresponding to each first preset temperature.

[0121] In an exemplary embodiment, the data processor is further configured to determine the environmental temperature with the smallest absolute value of the temperature difference between the first environmental temperature and a set of first preset temperatures and the target environmental temperature, so as to obtain a reference environmental temperature; determine the signal amplitude corresponding to the reference environmental temperature in the first correspondence relationship as the target signal amplitude corresponding to the target environmental temperature; or determine the signal amplitude corresponding to the target environmental temperature in the first fitting curve as the target signal amplitude.

[0122] In an exemplary embodiment, the data processor is further configured to determine target compensation information corresponding to a target temperature difference based on a second correspondence relationship between the temperature change of a preset environmental temperature and the change of a detection result, where the target temperature difference is the temperature difference between the target environmental temperature and a second environmental temperature; use the target compensation information to compensate the detection result obtained by the lidar for detecting information of a target object at the target environmental temperature, so as to obtain a target detection result.

[0123] In an exemplary embodiment, the data processor is further configured to obtain a second detection result obtained by the lidar for detecting information of a second detection target at a second environmental temperature; obtain detection results corresponding to each second preset temperature in a set of second preset temperatures within the operating temperature range of the lidar, where the detection result corresponding to each second preset temperature is the detection result obtained by the lidar for detecting information of the second detection target at each second preset temperature; save the correspondence relationship between the temperature difference between each second preset temperature and the second environmental temperature and the information difference between the detection result corresponding to each second preset temperature and the second detection result as a second correspondence relationship; or perform curve fitting based on the correspondence relationship between the temperature difference between each second preset temperature and the second environmental temperature and the information difference between the detection result corresponding to each second preset temperature and the second detection result, so as to obtain a second fitting curve, where the second fitting curve is used to represent the second correspondence relationship.

[0124] In an exemplary embodiment, the lidar further includes: a temperature adjustment component configured to adjust the environmental temperature of the lidar;

[0125] The data processor is further configured to sequentially change the environmental temperature starting from the second environmental temperature within the operating temperature range of the lidar according to a preset second temperature change amount, so as to obtain each second preset temperature; obtain the detection result obtained by the lidar for detecting information of the second detection target at each second preset temperature, so as to obtain the detection result corresponding to each second preset temperature.

[0126] In an exemplary embodiment, the lidar is further configured to measure the distance to a target object; the data processor is further configured to determine the frequency difference between the reflected signal used by the lidar to measure the distance to the target object and the local oscillator signal corresponding to the reflected signal; and determine the distance measurement distance between the lidar and the target object by dividing the product of the preset coefficient, the speed of light, the modulation period of the lidar, and the frequency difference by the modulation bandwidth of the lidar.

[0127] It should be noted here that the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should be noted that the above modules, as part of the device, can run in the hardware environment as shown in Figure 1 and can be implemented by software or by hardware, where the hardware environment includes a network environment.

[0128] According to another aspect of the embodiments of the present application, a storage medium is also provided. Optionally, in this embodiment, the above storage medium can be used to execute the program code of any of the above information detection methods in the embodiments of the present application.

[0129] Optionally, in this embodiment, the above storage medium can be located on at least one of the multiple network devices in the network shown in the above embodiment.

[0130] Optionally, in this embodiment, the storage medium is set to store program code for executing the following steps:

[0131] S1, during the process of information detection by the lidar, obtain the target ambient temperature collected by collecting the ambient temperature of the lidar;

[0132] S2, perform temperature compensation on the lidar based on the target ambient temperature to obtain the target detection result of the lidar for information detection of the target object.

[0133] Optionally, the specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be elaborated herein.

[0134] Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media such as USB flash drives, ROMs, RAMs, mobile hard disks, magnetic disks, or optical discs that can store program code.

[0135] According to another aspect of the embodiments of the present application, an electronic device for implementing the above information detection method is also provided, and the electronic device can be a server, a terminal, or a combination thereof.

[0136] Figure 8 is a structural block diagram of an optional electronic device according to an embodiment of the present application, as shown inFigure 8 As shown in the figure, it includes a processor 802, a communication interface 804, a memory 806, and a communication bus 808. Among them, the processor 802, the communication interface 804, and the memory 806 complete communication with each other through the communication bus 808. Among them,

[0137] The memory 806 is used to store computer programs;

[0138] The processor 802, when executing the computer program stored on the memory 806, realizes the following steps:

[0139] S1, during the process of information detection by the lidar, obtain the target ambient temperature collected from the ambient temperature of the lidar;

[0140] S2, perform temperature compensation on the lidar based on the target ambient temperature to obtain the target detection result obtained by the lidar for information detection of the target object.

[0141] Optionally, the communication bus can be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 8 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the above-mentioned electronic device and other devices.

[0142] The memory can include a RAM, and can also include a non-volatile memory, for example, at least one disk memory. Optionally, the memory can also be at least one storage device located far from the aforementioned processor.

[0143] The above-mentioned processor can be a general-purpose processor, which can include but is not limited to: a CPU (Central Processing Unit), an NP (Network Processor), etc.; it can also be a DSP (Digital Signal Processing), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0144] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and will not be elaborated herein.

[0145] Those of ordinary skill in the art can understand that Figure 8 the structure shown is only schematic, and the device for implementing the above information detection method may be a terminal device, and the terminal device may be a terminal device such as a Mobile Internet Device (MID), a PAD, etc. Figure 8 It does not limit the structure of the above electronic device. For example, the electronic device may further include more or fewer components (such as a network interface, a display device, etc.) than those shown in Figure 8 and have a different configuration from that shown in Figure 8 .

[0146] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the relevant hardware of the terminal device through a program, and the program can be stored in a computer-readable storage medium. The storage medium may include: a flash drive, a ROM, a RAM, a magnetic disk, or an optical disc, etc.

[0147] The serial numbers of the above embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0148] If the integrated unit in the above embodiments is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in the above computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing one or more computer devices (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0149] In the above embodiments of the present application, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0150] In several embodiments provided by the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the units or modules can be in an electrical or other form.

[0151] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0152] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or at least two units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0153] The above is only the preferred embodiment of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. An information detection method, characterized in that, it includes: During the process of information detection by lidar, obtaining the target ambient temperature collected from the ambient temperature of the lidar; Performing temperature compensation on the lidar based on the target ambient temperature to obtain the target detection result of the lidar for information detection of the target object.

2. The method according to claim 1, characterized in that, The performing temperature compensation on the lidar based on the target ambient temperature to obtain the target detection result of the lidar for information detection of the target object includes: Determining the target signal amplitude corresponding to the target ambient temperature according to a preset first correspondence between the ambient temperature and the signal amplitude of the drive signal of the laser in the lidar; Performing temperature compensation on the lidar by adjusting the signal amplitude of the output signal of the digital-to-analog converter to the target signal amplitude, where the output signal of the digital-to-analog converter is the drive signal of the laser; Obtaining the detection result of the lidar after temperature compensation for information detection of the target object at the target ambient temperature to obtain the target detection result.

3. The method according to claim 2, characterized in that, The method further includes: Obtaining the first detection result of the lidar for information detection of the first detection target at the first ambient temperature and the reference signal amplitude of the output signal of the digital-to-analog converter; Obtaining the signal amplitude corresponding to each first preset temperature in a set of first preset temperatures within the operating temperature range of the lidar, where the signal amplitude corresponding to each first preset temperature is the signal amplitude of the output signal of the digital-to-analog converter when the detection result of the lidar for information detection of the first detection target at each first preset temperature is the first detection result; Saving the correspondence between the first ambient temperature and the reference signal amplitude and the correspondence between each first preset temperature and the signal amplitude corresponding to each first preset temperature as the first correspondence; or, Performing curve fitting based on the correspondence between the first ambient temperature and the reference signal amplitude and the correspondence between each first preset temperature and the signal amplitude corresponding to each first preset temperature to obtain a first fitting curve, where the first fitting curve is used to represent the first correspondence.

4. The method according to claim 3, characterized in that, The obtaining the signal amplitude corresponding to each first preset temperature in a set of first preset temperatures within the operating temperature range of the lidar includes: Starting from the first ambient temperature within the operating temperature range of the lidar, sequentially changing the ambient temperature according to a preset first temperature change amount to obtain each first preset temperature; Adjust the signal strength of the output signal of the digital-to-analog converter at each of the first preset temperatures until the detection result obtained by the lidar for information detection of the first detection target is the first detection result, and obtain the signal strength corresponding to each of the first preset temperatures.

5. The method according to claim 3, wherein, the determining the target signal amplitude corresponding to the target ambient temperature according to the first correspondence between the preset ambient temperature and the signal amplitude of the driving signal of the laser in the lidar includes: determining the ambient temperature with the smallest absolute value of the temperature difference between the first ambient temperature and the set of first preset temperatures and the target ambient temperature to obtain a reference ambient temperature; determining the signal amplitude corresponding to the reference ambient temperature in the first correspondence as the target signal amplitude corresponding to the target ambient temperature; or, determining the signal amplitude corresponding to the target ambient temperature in the first fitting curve as the target signal amplitude.

6. The method according to claim 1, wherein, the performing temperature compensation on the lidar based on the target ambient temperature to obtain the target detection result obtained by the lidar for information detection of the target object includes: determining target compensation information corresponding to a target temperature difference based on a second correspondence between the temperature change of the preset ambient temperature and the change of the detection result, where the target temperature difference is the temperature difference between the target ambient temperature and the second ambient temperature; using the target compensation information to compensate the detection result obtained by the lidar for information detection of the target object at the target ambient temperature to obtain the target detection result.

7. The method according to claim 6, wherein, the method further includes: obtaining a second detection result obtained by the lidar for information detection of a second detection target at the second ambient temperature; obtaining the detection result corresponding to each second preset temperature in a set of second preset temperatures within the operating temperature range of the lidar, where the detection result corresponding to each second preset temperature is the detection result obtained by the lidar for information detection of the second detection target at each second preset temperature; saving the correspondence between the temperature difference between each second preset temperature and the second ambient temperature and the information difference between the detection result corresponding to each second preset temperature and the second detection result as the second correspondence; or, performing curve fitting based on the correspondence between the temperature difference between each second preset temperature and the second ambient temperature and the information difference between the detection result corresponding to each second preset temperature and the second detection result to obtain a second fitting curve, where the second fitting curve is used to represent the second correspondence.

8. The method according to claim 7, wherein, Obtaining the detection results corresponding to each second preset temperature in a set of second preset temperatures within the operating temperature range of the lidar includes: Starting from the second ambient temperature within the operating temperature range of the lidar, sequentially changing the ambient temperature according to a preset second temperature change amount to obtain each second preset temperature; Obtaining the detection results obtained by the lidar detecting information of the second detection target at each second preset temperature, to obtain the detection results corresponding to each second preset temperature.

9. The method according to any one of claims 1 to 8, wherein, the information detection performed by the lidar is ranging the target object, wherein the ranging process of the lidar includes the following steps: Determining the frequency difference between the reflected signal used by the lidar to range the target object and the local oscillator signal corresponding to the reflected signal; Determining the ranging distance between the lidar and the target object as the value obtained by dividing the product of a preset coefficient, the speed of light, the modulation period of the lidar, and the frequency difference by the modulation bandwidth of the lidar.

10. A lidar, wherein, it includes: a laser, a temperature acquisition component, and a data processor, wherein, the laser is configured to emit a detection signal for information detection; the temperature acquisition component is configured to acquire the ambient temperature of the lidar; the data processor is configured to, during the process of performing information detection by the lidar, acquire the target ambient temperature collected by the temperature acquisition component, and perform temperature compensation on the lidar based on the target ambient temperature to obtain the target detection result obtained by the lidar detecting information of the target object.

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