Detection method, detection device and terminal equipment

Abstract

The invention provides a detection method, a detection device and terminal equipment. The method comprises the steps that the detection device emits a first pulse sequence, the first pulse sequence comprises a first pulse signal, the first pulse signal comprises a main pulse signal and a sub-pulse signal, and the amplitude of the sub-pulse signal is smaller than that of the main pulse signal. According to the invention, the detection device can adaptively select the appropriate first pulse signal to be included in the first pulse sequence in different use scenes, so that the emitted pulse sequence can fit the use scene where the detection device is located, a better detection effect can be obtained, and the detection performance of the detection device can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of lidar detection, and in particular, to a detection method, a detection device, and a terminal device. Background Art

[0002] A lidar (light detection and ranging) is a radar system that detects the position, speed, and other characteristic quantities of a target by emitting a laser beam. Its working principle is to emit a detection signal (such as a laser pulse) to a target (such as a vehicle, an airplane, or a pedestrian), and then compare and process the received signal (echo signal) reflected from the target with the emitted detection signal, so as to obtain information about the target, such as parameters of the target distance, azimuth, altitude, speed, attitude, and even shape, thereby enabling the detection, tracking, and identification of the target. With the development of lidar technology, more and more lidars are applied to applications such as advanced driving assistant system (ADAS), gesture recognition, and three-dimensional (3D) mapping. Especially in the field of intelligent driving, with the trend of sensor fusion, lidar combined with imaging, ultrasonic, and millimeter-wave radar provides all-round perception for vehicles, helping to quickly identify the environmental information around the vehicles.

[0003] At present, there are many lidar coverage scenarios. For example, the coverage scenarios include low-reflectivity targets (such as black cars or tires) and high-reflectivity targets (such as corner reflectors like license plates, road signs, or reflective strips), resulting in a relatively large dynamic change in the accurate measurement requirements of lidar (such as the reflectivity of the detection target dynamically changing between 2% and 100,000%). However, for different targets, the detector in the lidar has different response capabilities to echo signals (such as laser pulse echoes) with different powers (or different waveforms). For example, a larger transmission power can ensure the detection performance of the lidar for distant targets, but for close-range targets, since the echo signals received by the lidar are extremely easy to saturate, it cannot meet the dynamic requirements of the lidar; a smaller transmission power can ensure the detection performance of the lidar for close-range targets and helps to reduce the blind area, but due to the small transmission power, the lidar cannot detect distant targets. Therefore, the current design solutions for lidar still need to be further studied. Summary of the Invention

[0004] The present application provides a detection method, a detection device, and a terminal device to improve the detection performance of the detection device.

[0005] In a first aspect, the present application provides a detection method, which is applicable to a detection device. The method includes: the detection device emits a first pulse sequence, where the first pulse sequence includes a first pulse signal, the first pulse signal includes a main pulse signal and a sub-pulse signal, and the amplitude of the sub-pulse signal is smaller than that of the main pulse signal.

[0006] In this method, in different usage scenarios (or environments), the detection device can adaptively select a suitable first pulse signal to be included in the first pulse sequence, so that the emitted pulse sequence can conform to the usage scenario where the detection device is located, and a relatively good detection effect can be obtained, thereby improving the detection performance of the detection device.

[0007] In a possible design, the shapes of the main pulse signal and the sub-pulse signal can be different.

[0008] In the above design, by making the main pulse signal and the sub-pulse signal present different shapes, the detection device can utilize the characteristics of the first pulse signal to obtain a relatively good detection effect.

[0009] In a possible design, the main pulse signal and the sub-pulse signal are adjacent, or the main pulse signal and the sub-pulse signal partially overlap.

[0010] It can be understood that the main pulse signal and the sub-pulse signal being adjacent can mean that the main pulse signal and the sub-pulse signal are adjacent with a certain interval, or it can also mean that the main pulse signal and the sub-pulse signal are adjacent with a connection relationship.

[0011] In the above design, different connection relationships (such as adjacent or partially overlapping) between the main pulse signal and the sub-pulse signal can form different first pulse signals, which can facilitate the detection device to flexibly select a first pulse signal that matches the phase in different usage scenarios for detection (or emission), so as to obtain a better detection effect.

[0012] In a possible design, there is a minimum point at the connection between the main pulse signal and the sub-pulse signal.

[0013] In the above design, there is a minimum point at the connection between the main pulse signal and the sub-pulse signal, so that this characteristic can be used to identify whether a certain pulse signal included in the first pulse sequence includes the main pulse signal and the sub-pulse signal, which can help the detection device to timely and accurately select the echo signal corresponding to the pulse signal including the main pulse signal and the sub-pulse signal to perform corresponding operations.

[0014] In a possible design, when there is only one peak in the first pulse signal, taking the half-height position point of the peak (i.e., the position point where the peak is halved) as the division boundary (or can be understood as the discrimination boundary), the first pulse signal is divided into three pulse signals. Among them, the pulse signal with a peak in the three pulse signals is the main pulse signal, and the remaining pulse signals are used as sub-pulse signals.

[0015] In a possible design, the first pulse sequence further includes a second pulse signal, and the second pulse signal is different from the first pulse signal in at least one of the following parameters: transmission power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge region ratio, or falling edge region ratio.

[0016] In the above design, by including different pulse signals in the first pulse sequence for detection, the performance advantages of different pulse signals in different scenarios can be integrated to improve the overall performance and scenario coverage ability of the detection device.

[0017] In a possible design, the pulse width of the first pulse signal is greater than the pulse width of the main pulse signal, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

[0018] For example, the amplitude of the main pulse signal can be used as the amplitude of the first pulse signal, and the sum of the width of the main pulse signal, the width of the sub-pulse signal, and the interval (or can be called the spacing) between the main pulse signal and the sub-pulse signal can be used as the width of the first pulse signal.

[0019] In a possible design, the main pulse signal can be before the sub-pulse signal, or the main pulse signal can also be after the sub-pulse signal.

[0020] In the above design, different positional relationships between the main pulse signal and the sub-pulse signal can form different first pulse signals, which can facilitate the detection device to flexibly select a first pulse signal that matches the phase in different usage scenarios for detection, so as to obtain a better detection effect.

[0021] In a possible design, the time interval between the main pulse signal and the sub-pulse signal is less than the dead time of the detector, and the width of the first pulse signal is slightly greater than the dead time of the detector.

[0022] In the above design, by using the relatively small energy of the sub-pulse, a larger dynamic range can be provided in the stage when the detector recovers its detection ability, and the echo intensity of high-reflectivity targets can be further distinguished.

[0023] In a possible design, the pulse width and amplitude of the sub-pulse signal can be adjusted.

[0024] In the above design, by adjusting one or more of the pulse width or amplitude of the sub-pulse signal, different first pulse signals can be formed, which facilitates the detection device to flexibly select a first pulse signal that matches the phase in different usage scenarios for detection, so as to obtain a better detection effect.

[0025] In a possible design, there are several possible driving methods for the main pulse signal and the sub-pulse signal:

[0026] Method 1: The main pulse signal and the sub-pulse signal can be generated by one or more driving sources driving the same laser.

[0027] Method 2: The main pulse signal can be generated by one driving source driving one laser, and the sub-pulse signal can be generated by one or more driving sources driving one laser.

[0028] Method 3: The main pulse signal can be generated by one driving source driving one laser, and the sub-pulse signal can be generated by multiple driving sources respectively driving one laser.

[0029] In the above design, the driving methods of the main pulse signal and the sub-pulse signal are flexible and diverse, which can meet the usage requirements of different users or the application requirements of different scenarios.

[0030] In a possible design, the method further includes: the detection device can receive a first echo sequence, where the first echo sequence includes multiple echo signals. After that, the detection device can select a target echo signal that matches the measurement index to be measured from the multiple echo signals. Then, the detection device can process the target echo signal to obtain the measurement result of the first target.

[0031] For example, the multiple echo signals may contain the reflection signals corresponding to all the detection signals, or may only contain the reflection signals corresponding to some of the detection signals, or may also contain some interference signals, which are not specifically limited.

[0032] In the above design, the detection device can adaptively select a suitable (or matching) target echo signal according to the measurement index to be measured (or functional requirements or scenario requirements) to further determine whether the measurement result of the measurement index to be measured meets the performance requirements of the detection device, which can help accurately determine whether it is necessary to adjust the pulse sequence to be transmitted next time, so as to achieve the performance coverage of the detection device in different scenarios.

[0033] In a possible design, when the measurement index to be measured is intensity, the target echo signal can be the echo signal corresponding to the first pulse signal.

[0034] In the above design, when the measurement index to be measured is intensity, the echo signal corresponding to the first pulse signal is preferably selected from multiple echo signals to achieve the measurement of intensity. This helps to more accurately determine whether the measured value of intensity meets the performance requirements of the detection device, so as to accurately determine whether it is necessary to adjust the pulse sequence for the next transmission.

[0035] In a possible design, when the measurement index to be measured is distance, the target echo signal can be the echo signal corresponding to the third pulse signal, where the transmission power of the third pulse signal is within the transmission power range.

[0036] In the above design, when the measurement index to be measured is distance, the echo signal corresponding to the third pulse signal is preferably selected from multiple echo signals to achieve the measurement of distance. This helps to more accurately determine whether the measured value of distance meets the performance requirements of the detection device, so as to accurately determine whether it is necessary to adjust the pulse sequence for the next transmission.

[0037] In a possible design, when the measurement index to be measured is the degree of interference, if there is an overlap of echo signals between the first target and the second target, the target echo signal can be the echo signal corresponding to the fourth pulse signal, where the pulse width of the fourth pulse signal is less than or equal to the width threshold.

[0038] In the above design, when the measurement index to be measured is the degree of interference and there is an overlap of echo signals between the first target and the second target, the echo signal corresponding to the fourth pulse signal is preferably selected from multiple echo signals to achieve the measurement of the degree of interference, which helps to more accurately determine whether the measured value of the degree of interference meets the performance requirements of the detection device, so as to accurately determine whether it is necessary to adjust the pulse sequence for the next transmission.

[0039] In a possible design, the method further includes: when the measurement result does not meet the measurement requirements, the detection device can transmit a second pulse sequence, where the second pulse sequence is different from the first pulse sequence.

[0040] For example, the pulse signals (or other forms of signals) included in the second pulse sequence are different from the pulse signals (or other forms of signals) included in the first pulse sequence in at least one of the following parameters: transmission power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge region ratio, or falling edge region ratio.

[0041] For example, taking the parameter as the sub-pulse width or the sub-pulse amplitude, if the sub-pulse width of the pulse signal included in the second pulse sequence is greater than the sub-pulse width of the pulse signal included in the first pulse sequence, and / or the sub-pulse amplitude of the pulse signal included in the second pulse sequence is greater than the sub-pulse amplitude of the pulse signal included in the first pulse sequence, this can enable the dynamic range obtained by the detector in the detection device, so that the detection device can dynamically adjust the dynamic range of the detector according to the actual scenario requirements.

[0042] Alternatively, taking the parameter as the rising edge slope, if the rising edge slope of the pulse signal included in the second pulse sequence is less than the rising edge slope of the pulse signal included in the first pulse sequence, this can reduce the influence of insufficient sampling accuracy and help improve the measurement accuracy of the detection device under the configuration of low sampling accuracy.

[0043] In the above design, when the measurement result does not meet the measurement requirements, the detection device can adaptively adjust the corresponding parameters of the pulse signal, so that the next transmitted pulse sequence (such as the second pulse sequence) is different from the first pulse sequence (such as some pulse signals are different or all pulse signals are different), so that the detection device can adaptively select a suitable pulse signal for detection according to the scenario, so as to meet the performance requirements of the detection device in different scenarios.

[0044] In a second aspect, the present application provides a detection device, which is used to implement the method in the above first aspect or any possible design of the above first aspect, and is respectively used to implement the steps in the above method. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0045] In a possible implementation manner, the detection device can be an independent detection device or a module in a detection device, such as a chip or a chip system or a circuit. The beneficial effects can be seen in the description of the above first aspect and will not be elaborated here. The detection device may include: an interface circuit and at least one processor. The processor can be configured to support the detection device to execute the method in the above first aspect or any possible design of the above first aspect, and the interface circuit is used to support the communication between the detection device and other detection devices and other devices, etc. Among them, the interface circuit can be an independent receiver, an independent transmitter, an input / output port integrating transceiver functions, etc. Optionally, the detection device may further include a memory, which can be coupled to the processor and stores the necessary program instructions and data of the detection device.

[0046] In a third aspect, the present application provides a detection device, which is used to implement the method in the above first aspect or any possible design of the above first aspect, and includes corresponding functional modules, respectively used to implement the steps in the above method. The functions can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0047] In a possible implementation manner, the detection device may include a transmitting module, a receiving module, and a processing module. Optionally, the detection device may further include a control module. Among them, the transmitting module is used to perform operations related to transmission in the above first aspect or any possible design of the above first aspect, the receiving module is used to perform operations related to reception in the above first aspect or any design of the first aspect, and the processing module is used to perform operations related to processing in the above first aspect or any design of the first aspect, such as processing the first echo sequence. Optionally, the control module may be used to perform operations related to control in the above first aspect or any design of the first aspect, such as controlling the transmitting module to perform corresponding transmission operations, or controlling the receiving module to perform corresponding reception operations, or controlling the processing module to perform corresponding processing operations.

[0048] In another possible implementation manner, the detection device may include a processor and a transceiver, and the processor and the transceiver may execute the method in the above first aspect or any possible design of the above first aspect. For specific details, refer to the detailed description in the method examples, which will not be elaborated here.

[0049] In a fourth aspect, the present application provides a terminal device, including the detection device described in any one of the above second aspect to the third aspect. Exemplarily, some examples of terminal devices include but are not limited to: smart home devices (such as televisions, floor sweeping robots, smart table lamps, audio systems, smart lighting systems, electrical control systems, home background music, home theater systems, intercom systems, video surveillance, etc.), intelligent transportation devices (such as cars, ships, drones, trains, trucks, etc.), intelligent manufacturing devices (such as robots, industrial equipment, intelligent logistics, intelligent factories, etc.), and intelligent terminals (mobile phones, computers, tablets, handheld computers, desktop computers, headphones, speakers, wearable devices, vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.).

[0050] In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program that, when run, executes the method in the above first aspect or any possible design of the above first aspect.

[0051] In a sixth aspect, the present application provides a computer program product, which when running on a processor, implements the method in the first aspect or any possible design of the first aspect as described above.

[0052] Based on the implementation manners provided in the above aspects of the present application, further combinations can be made to provide more implementation manners. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 Exemplarily shown is a schematic diagram of a possible application scenario provided by an embodiment of the present application;

[0054] Figure 2 Exemplarily shown is a schematic diagram of the architecture of a detection device provided by an embodiment of the present application;

[0055] Figure 3 Exemplarily shown is a schematic flowchart of a detection method provided by an embodiment of the present application;

[0056] Figure 4a Exemplarily shown is a schematic diagram of a first pulse signal provided by an embodiment of the present application;

[0057] Figure 4b Exemplarily shown is another schematic diagram of a first pulse signal provided by an embodiment of the present application;

[0058] Figure 4c Exemplarily shown is still another schematic diagram of a first pulse signal provided by an embodiment of the present application;

[0059] Figure 4d Exemplarily shown is still another schematic diagram of a first pulse signal provided by an embodiment of the present application;

[0060] Figure 4e Exemplarily shown is still another schematic diagram of a first pulse signal provided by an embodiment of the present application;

[0061] Figure 4f Exemplarily shown is still another schematic diagram of a first pulse signal provided by an embodiment of the present application;

[0062] Figure 5a Exemplarily shown is a schematic diagram of the driving manner of a main pulse signal and a sub-pulse signal provided by an embodiment of the present application;

[0063] Figure 5b Exemplarily shown is another schematic diagram of the driving manner of a main pulse signal and a sub-pulse signal provided by an embodiment of the present application;

[0064] Figure 5c Exemplarily shown is still another schematic diagram of the driving manner of a main pulse signal and a sub-pulse signal provided by an embodiment of the present application;

[0065] Figure 5d Exemplarily shown is a schematic diagram of another driving method for the main pulse signal and the sub-pulse signal provided by the embodiment of the present application;

[0066] Figure 5e Exemplarily shown is a schematic diagram of another driving method for the main pulse signal and the sub-pulse signal provided by the embodiment of the present application;

[0067] Figure 5f Exemplarily shown is a schematic diagram of another driving method for the main pulse signal and the sub-pulse signal provided by the embodiment of the present application;

[0068] Figure 6 Exemplarily shown is a schematic diagram of the structure of a detection device provided by the embodiment of the present application. Detailed implementation manners

[0069] Before introducing the technical solutions provided by the present application, some terms involved in the present application are first explained to facilitate the understanding of those skilled in the art.

[0070] (1) Pulse signal: It is a discrete signal with various shapes. Compared with ordinary analog signals (such as sine waves), the waveforms are discontinuous on the time axis (there are obvious intervals between waveforms) but have a certain periodicity.

[0071] (2) Dead time: It refers to the time period during which the system cannot record the subsequent events after each event occurs. For example, for a detector, an event refers to a photon response. During this dead time, the detector cannot detect new photons again.

[0072] (3) Dynamic range: The ability of a detection device to recognize the range of the strongest signal and the weakest signal, generally expressed in dB.

[0073] (4) Adhesion: The "blurring" phenomenon that appears in the point cloud obtained by a detection device (such as a lidar) between adjacent targets, which will cause the targets to be indistinguishable.

[0074] Next, the embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0075] Hereinafter, possible application scenarios applicable to the detection method provided by the present application are introduced. It should be noted that these introductions are for the convenience of those skilled in the art to understand and will not limit the scope of protection required by the present application.

[0076] In one possible implementation, the detection method can be applied to a detection device, and the detection device can be installed on a vehicle. For example, the detection device can be a lidar (such as a time of flight (TOF) lidar).

[0077] Figure 1 An exemplary schematic diagram of a possible application scenario provided by an embodiment of the present application is shown. In this application scenario, taking the detection device installed at the front bumper of the vehicle as an example, the detection device can sense a fan-shaped area as shown by the dashed box, and this fan-shaped area can be called the detection area of the detection device. It should be understood that the detection device can also be installed in any one or multiple directions among the six directions of the front, rear, left, right, up, and down of the vehicle, such as around the headlights, around the rearview mirrors, near the doors, at the rear bumper of the vehicle, behind the windshield, or on the roof, etc., to achieve the capture of the surrounding environment information of the vehicle. When the detection device is installed behind the windshield, it has lower requirements for the risk of gravel collision, and can achieve the centering of the field of view (FOV), and does not affect the appearance of the vehicle. Moreover, the front windshield itself has functions such as window heating and defogging and wiper cleaning.

[0078] The working principle of the detection device is as follows: The detection device emits detection signals (such as laser pulses) to the detection area. If there is a target in the detection area, the target can reflect the received detection signals back to the detection device (the reflected detection signals can be called echo signals), and the detection device determines the associated information of the target after processing the echo signals. For example, the detection device can obtain the physical environment information around the vehicle body in real time or periodically, such as the relative distance (range), relative speed (velocity), relative angle (such as the horizontal angle (azimuth angle)) and elevation angle (elevation) and other multi-dimensional information between the vehicle and other objects, and then perform target tracking and recognition classification based on the detected physical environment information, and then perform data fusion in combination with the vehicle body dynamic information. After reasonable decision-making, it notifies or warns the driver in various ways such as sound, light, and touch, or actively intervenes in the vehicle in a timely manner, so as to ensure the safety and comfort of the driving process and reduce the probability of accidents. At present, vehicles can use millimeter-wave radars to achieve functions of advanced driving assistance systems (ADAS) such as adaptive cruise control, forward collision warning, blind spot detection, parking aid, lane change assistant, etc., and then can achieve assisted driving or autonomous driving of the vehicle.

[0079] It should be understood that the above application scenarios are only examples. The detection device provided in the embodiments of the present application can also be applied to other possible scenarios, and is not limited to the scenarios exemplified above. For example, the detection device can also be installed in a vehicle to dynamically detect living targets in the vehicle. Or, the detection device can also be installed on a roadside traffic radar to detect violations of vehicles passing by on the surrounding roads, or monitor the congestion degree of the current traffic environment for timely evacuation, or communicate with vehicles to achieve intelligent vehicle-road collaborative communication, etc. Or, the detection device can also be installed on an aircraft, such as a drone, a passenger plane, a forest protection aircraft or an aerial survey aircraft, etc., to monitor obstacles in the flight environment for timely avoidance and reduce accidents. For another example, the detection device can also be installed on a ship as a shipborne detection device to assist the ship in safe driving. For another example, the detection device can also be applied to a terminal device or set in a component of the terminal device. The terminal device can be, for example, a smart home device (such as for privacy detection), a smart manufacturing device (such as for monitoring the operation status), a robot, or a smart transportation device. The smart transportation device can be, for example, an automated guided vehicle (AGV) or an unmanned transport vehicle, etc. They are not listed one by one here. Among them, AGV refers to a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, capable of traveling along a specified navigation path, and having safety protection and various transfer functions.

[0080] It should be noted that the application scenarios described in the present application are for more clearly explaining the technical solutions of the present application, and do not constitute a limitation on the technical solutions provided by the present application. The above application scenarios can be applied to fields such as driverless, autonomous driving, assisted driving, intelligent driving, connected vehicles, security monitoring, biological medicine or surveying and mapping (such as 3D mapping), etc. With the evolution of application scenarios, the detection method provided in the embodiments of the present application is equally applicable to similar technical problems, and the present application does not make specific limitations on this.

[0081] At present, during the working process of a lidar, the waveform (or can be understood as the form) of the emitted pulse signal is relatively single (or can be understood as fixed). For example, the waveform of the pulse signal emitted by the lidar with a relatively small emission power can ensure the detection performance of the lidar for short-distance targets, but it cannot detect long-distance targets. Therefore, it is difficult to meet the detection performance requirements of the lidar by emitting a pulse signal with a single waveform. In view of this, the present application provides a detection method to achieve adjustable emission of pulse signals, thereby improving the detection performance of the detection device.

[0082] First, the architecture of the detection device to which the detection method provided in the embodiments of the present application can be applied will be introduced below.

[0083] Figure 2An exemplary schematic structural diagram of a detection device provided by an embodiment of the present application is shown. As Figure 2 shown, the detection device 200 may include a transmitting module 210, a receiving module 220, and a processing module 230. Optionally, the detection device 200 further includes a control module 240.

[0084] Among them, the transmitting module 210 is configured to transmit a pulse sequence (including one or more pulse signals), the receiving module 220 is configured to receive an echo sequence corresponding to the pulse sequence (including echo signals corresponding to one or more pulse signals), and the processing module 230 is configured to process the echo sequence.

[0085] For example, the transmitting module 210 may include a laser 211 and a transmitting optical system 212. The receiving module 220 may include a receiving optical system 221 and a detector 222. In the detection device 200, the control module 240 may have the ability to control signals and may be connected to other components in the detection device 200 through a controller area network (CAN) bus or other means, such as including but not limited to the transmitting module 210, the receiving module 220, and the processing module 230. The laser 211 is a device capable of emitting laser light, and its type may be any one of a semiconductor laser, a gas laser, a fiber laser, a solid-state laser, a dye laser, a diode laser, or an excimer laser. The transmitting optical system 212 and the receiving optical system 221 refer to systems composed of optical elements, and the optical elements include but are not limited to: lenses, filters, polarizers, mirrors, beam splitters, prisms, window plates, and diffusers, etc. Exemplarily, the lens may be a simple spherical lens or an aspherical lens. For example, a concave lens or a convex lens. A single lens may be a convex lens; a lens group may be a combination of a convex lens and a concave lens, or a combination of concave lenses, or a combination of convex lenses. Since convex lenses and concave lenses have various different shapes, for example, convex lenses have biconvex lenses, plano-convex lenses, and meniscus convex lenses, and concave lenses have biconcave lenses, plano-concave lenses, and meniscus concave lenses. The specific shapes of the convex lens and the concave lens are not limited herein, and any single lens or combination of lenses that can satisfy the transmission of the laser beam from the laser to the detection area as much as possible is applicable to this application. The detector 222 may include but is not limited to an avalanche photo diode (APD), a single-photon avalanche diode (SPAD), a positive intrinsic-negative (PIN) photodiode, and a silicon photo multiplier (SiPM), etc. The processing module 230 may have the ability to process signals and may be connected to the detector 222 through a CAN bus or other means.

[0086] It should be noted that the above control module 240 and processing module 230 can be implemented integrated in one device, or separately implemented in multiple devices. Exemplarily, they can be implemented integrated in one device, which can specifically be an integrated circuit chip. For example, it can be a general-purpose processor, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a network processor (NP), a digital signal processing circuit (DSP), a micro controller unit (MCU), a programmable logic device (PLD), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and other integrated chips. Among them, the device can include a central processor unit (CPU), a neural-network processing unit (NPU), and a graphics processing unit (GPU), and can also include an application processor (AP), a modulation and demodulation processor, an image signal processor (ISP), a video codec, a digital signal processor (DSP), and / or a baseband processor, etc., without specific limitation.

[0087] In one example, take the detection device including a transmitting module 210, a receiving module 220, and a processing module 230 as an example. The detection signal (such as a pulse signal) generated by the laser 211 in the transmitting module 210 is transmitted through the transmitting optical system 212 in the transmitting module 210. After the detection signal scans an object in the detection area, it is reflected by the object, and the reflected echo signal is received by the receiving optical system 221 in the receiving module 220 and transmitted to the detector 222 in the receiving module 220. Then, the detector 222 can convert the echo signal into an electrical signal and send (or transmit) it to the processing module 230. Then, the processing module 230 can analyze the electrical signal to generate point cloud data. The point cloud data can be used to obtain information such as the distance, relative angle, azimuth, height, speed, attitude, shape, intensity, and interference degree of the object, and can also be used later in combination with other sensor information of the vehicle to plan the autonomous driving or assisted driving of the vehicle.

[0088] In another example, take the detection device including a transmitting module 210, a receiving module 220, a processing module 230, and a control module 240 as an example. The control module 240 can control the laser 211 in the transmitting module 210 to emit a detection signal (such as a pulse signal), and control the transmitting optical system 212 in the transmitting module 210 to transmit the detection signal from the laser 211. After the detection signal scans an object in the detection area, it is reflected by the object, and the reflected echo signal is received by the receiving optical system 221 in the receiving module 220 under the control of the control module 240 and transmitted to the detector 222 in the receiving module 220. Then, the detector 222 converts the echo signal into an electrical signal under the control of the control module 240 and sends it to the processing module 230. Then, the processing module 230 analyzes the electrical signal under the control of the control module 240 to generate point cloud data. The point cloud data can be used to obtain information such as the distance, relative angle, azimuth, height, speed, attitude, shape, intensity, and interference degree of the object.

[0089] Next, based on Figure 2 the detection device shown, the specific implementation of the detection method in the embodiments of the present application will be introduced in combination with specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0090] Figure 3 The flowchart of a detection method provided by an embodiment of the present application is exemplarily shown. This detection method can be applied to a detection device, such as Figure 2 the detection device 200 shown. As Figure 3 shown, the method includes:

[0091] Step 301: The detection device emits a first pulse sequence.

[0092] Optionally, the detection device may emit the first pulse sequence in a specific time sequence. For example, the detection device emits the first pulse sequence according to at least one first sequence (for example, one first sequence may include one or more non-zero values) and at least one first time interval, or may also emit the first pulse sequence in other ways.

[0093] For example, the first pulse sequence may include different pulse signals, or may also include some identical pulse signals and some different pulse signals.

[0094] For example, taking the first pulse sequence including the first pulse signal as an example. Among them, the first pulse signal includes a main pulse signal and a sub-pulse signal, and the amplitude (or can be called energy) of the sub-pulse signal is less than the amplitude of the main pulse signal. Optionally, the pulse width of the sub-pulse signal can be adjusted before emission according to requirements, and the amplitude of the sub-pulse signal can also be adjusted before emission according to requirements. The sub-pulse signal can also be called a trailing signal. The main pulse signal and the sub-pulse signal are connected end to end and can actually be presented as a whole during emission.

[0095] Optionally, in the case where some detectors are provided with a dead time, the time interval between the main pulse signal and the sub-pulse signal included in the first pulse signal is less than the dead time of the detector, and the width of the first pulse signal is slightly greater than the dead time of the detector. In the case where some other detectors are not provided with a dead time, the time interval between the main pulse signal and the sub-pulse signal included in the first pulse signal is not limited.

[0096] For example, the number of first pulse signals included in the first pulse sequence can be one or more, and the number of sub-pulse signals included in the first pulse signal can be one or more.

[0097] Optionally, the first pulse sequence may further include a second pulse signal, or may also include other forms of signals. Exemplarily, the second pulse signal may be different from the first pulse signal in at least one of the following parameters: transmission power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge region ratio, or falling edge region ratio. Exemplarily, the second pulse signal may include a main pulse signal and a sub-pulse signal, or may only include a main pulse signal, or may be other forms of pulse signals.

[0098] Exemplarily, taking the first pulse signal as an example below, the relevant characteristics of the pulse signal including the main pulse signal and the sub-pulse signal are introduced.

[0099] Example 1: The shape of the main pulse signal in the first pulse signal may be different from the shape of the sub-pulse signal.

[0100] For ease of understanding, specific examples are given below to illustrate Example 1.

[0101] In one example, see Figure 4a the first pulse signal shown. In Figure 4a the case where the first pulse signal shown (or can be understood as the TX (transmission) waveform) has multiple peaks, the first pulse signal is divided into two pulse signals with the minimum point as the dividing boundary. Among them, the pulse signal with the largest peak is the main pulse signal, and the remaining one pulse signal is the sub-pulse signal. From Figure 4a the first pulse signal shown, it can be seen that the main pulse signal is in a "tall and thin" shape, and the sub-pulse signal is in a "short and narrow" shape.

[0102] In another example, see Figure 4b the first pulse signal shown. In Figure 4b the case where the first pulse signal shown has multiple peaks, the first pulse signal is divided into two pulse signals with the minimum point as the dividing boundary. Among them, the pulse signal with the largest peak is the main pulse signal, and the remaining one pulse signal is the sub-pulse signal. From Figure 4b the first pulse signal shown, it can be seen that the main pulse signal is in a "shoe" shape, and the sub-pulse signal is in a "short and fat" shape.

[0103] In yet another example, see Figure 4c the first pulse signal shown. In Figure 4c the case where the first pulse signal shown has multiple peaks, the first pulse signal is divided into two pulse signals with the interval between peaks as the dividing boundary. Among them, the pulse signal with the largest peak is the main pulse signal, and the remaining one pulse signal is the sub-pulse signal. From Figure 4c the first pulse signal shown, it can be seen that the main pulse signal is in a "tall and thin" shape, and the sub-pulse signal is in a "short and narrow" shape.

[0104] In yet another example, see Figure 4d the first pulse signal shown. In Figure 4d the case where the first pulse signal shown has multiple peaks, the first pulse signal is divided into three pulse signals with the interval between peaks as the dividing boundary. Among them, the pulse signal with the largest peak is the main pulse signal, and the remaining two pulse signals are both sub-pulse signals, such as sub-pulse signal d1 and sub-pulse signal d2. From Figure 4d the first pulse signal shown, it can be seen that the main pulse signal is in a "tall and thin" shape, and sub-pulse signal 1 and sub-pulse signal 2 are in a "short and narrow" shape.

[0105] In yet another example, see Figure 4e the first pulse signal shown. In Figure 4eWhen the first pulse signal shown has only one peak, the first pulse signal is divided into three pulse signals with the half-height position point of the peak (i.e., the position point where the peak is half) as the dividing boundary. Among them, the pulse signal containing the peak is the main pulse signal, and the remaining two pulse signals are sub-pulse signals, such as sub-pulse signal e1 and sub-pulse signal e2. By Figure 4e As can be seen from the first pulse signal shown, the main pulse signal is in the shape of a "pencil tip", the sub-pulse signal e1 is in the shape of a "right angle", and the sub-pulse signal e2 is in the shape of a "ramp triangle".

[0106] In another example, please refer to Figure 4f the first pulse signal shown. In Figure 4f When the first pulse signal shown has only one peak, the first pulse signal is divided into three pulse signals with the half-height position point of the peak as the dividing boundary. Among them, the pulse signal containing the peak is the main pulse signal, and the remaining two pulse signals are sub-pulse signals, such as sub-pulse signal f1 and sub-pulse signal f2. By Figure 4f As can be seen from the first pulse signal shown, the main pulse signal is in the shape of a "pencil tip", the sub-pulse signal f1 is in the shape of a "ramp triangle", and the sub-pulse signal f2 is in the shape of a "right angle".

[0107] Example 2: The main pulse signal in the first pulse signal can be adjacent to the sub-pulse signal, or the main pulse signal in the first pulse signal can partially overlap with the sub-pulse signal.

[0108] It can be understood that the main pulse signal being adjacent to the sub-pulse signal can mean that the main pulse signal and the sub-pulse signal are adjacent with a certain interval, or it can also mean that the main pulse signal and the sub-pulse signal are connected (or can be understood as adjacent with a connection relationship).

[0109] For easy understanding, specific examples are given below to illustrate Example 2.

[0110] In one example, please continue to refer to Figure 4a the first pulse signal shown. By Figure 4a As can be seen from the first pulse signal shown, the tail of the main pulse signal in the first pulse signal is connected to the head of the sub-pulse signal.

[0111] In another example, please continue to refer to Figure 4b the first pulse signal shown. By Figure 4b As can be seen from the first pulse signal shown, there is an overlap (or can be called partial overlap) between the main pulse signal and the sub-pulse signal in the first pulse signal.

[0112] In another example, please continue to refer to Figure 4c the first pulse signal shown. ByFigure 4c As can be seen from the first pulse signal shown, there is a certain interval between the main pulse signal and the sub-pulse signal in the first pulse signal.

[0113] In another example, please continue to refer to Figure 4d the first pulse signal shown. Through Figure 4d the first pulse signal shown, it can be seen that there is a certain interval between the main pulse signal and the sub-pulse signals d1 and d2 in the first pulse signal.

[0114] In another example, please continue to refer to Figure 4e the first pulse signal shown. Through Figure 4e the first pulse signal shown, it can be seen that there is an overlap between the main pulse signal and the sub-pulse signals e1 and e2 in the first pulse signal.

[0115] In another example, please continue to refer to Figure 4f the first pulse signal shown. Through Figure 4f the first pulse signal shown, it can be seen that there is an overlap between the main pulse signal and the sub-pulse signals f1 and f2 in the first pulse signal.

[0116] Example 3: The pulse width of the first pulse signal is greater than the pulse width of the main pulse signal, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

[0117] For easy understanding, specific examples are given below to illustrate Example 3.

[0118] In one example, please continue to refer to Figure 4a or Figure 4b the first pulse signal shown. Through Figure 4a or Figure 4b the first pulse signal shown, it can be seen that the pulse width of the first pulse signal is equal to the sum of the pulse width of the main pulse signal and the pulse width of the sub-pulse signal. Therefore, the pulse width of the first pulse signal is greater than the pulse width of the main pulse signal. In addition, since the amplitude of the first pulse signal is the same as the amplitude of the main pulse signal, the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal. It can be understood that through Figure 4a or Figure 4b the first pulse signal shown, it can also be seen that the pulse width of the main pulse signal is greater than the pulse width of the sub-pulse signal, and the amplitude of the main pulse signal is greater than the amplitude of the sub-pulse signal.

[0119] In another example, please continue to refer to Figure 4c the first pulse signal shown. Through Figure 4cAs can be seen from the first pulse signal shown, the sum of the pulse width of the main pulse signal, the pulse width of the sub-pulse signal, and the spacing between the main pulse signal and the sub-pulse signal is used as the pulse width of the first pulse signal. Therefore, the pulse width of the first pulse signal is greater than the pulse width of the main pulse signal. In addition, since the amplitude of the first pulse signal is the same as the amplitude of the main pulse signal, the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal. It can be understood that through Figure 4c As can also be seen from the first pulse signal shown, the pulse width of the main pulse signal is greater than the pulse width of the sub-pulse signal, and the amplitude of the main pulse signal is greater than the amplitude of the sub-pulse signal.

[0120] In another example, please continue to refer to Figure 4d the first pulse signal shown. Through Figure 4d As can be seen from the first pulse signal shown, the sum of the pulse width of the main pulse signal, the pulse width of sub-pulse signal d1, the pulse width of sub-pulse signal d2, the spacing between the main pulse signal and sub-pulse signal d1, and the spacing between the main pulse signal and sub-pulse signal d2 is used as the pulse width of the first pulse signal. Therefore, the pulse width of the first pulse signal is greater than the pulse width of the main pulse signal. In addition, since the amplitude of the first pulse signal is the same as the amplitude of the main pulse signal, the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal. It can be understood that through Figure 4d As can also be seen from the first pulse signal shown, the pulse width of the main pulse signal is greater than the pulse widths of sub-pulse signal d1 and sub-pulse signal d2 respectively, and the amplitude of the main pulse signal is greater than the amplitudes of sub-pulse signal d1 and sub-pulse signal d2 respectively.

[0121] In another example, please continue to refer to Figure 4e the first pulse signal shown. Through Figure 4e As can be seen from the first pulse signal shown, the pulse width of the main pulse signal is greater than the pulse width of sub-pulse signal e1, the amplitude of the main pulse signal is greater than the amplitude of sub-pulse signal e1, the pulse width of the main pulse signal is less than the pulse width of sub-pulse signal e2, the amplitude of the main pulse signal is greater than the amplitude of sub-pulse signal e2, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

[0122] In another example, please continue to refer to Figure 4f the first pulse signal shown. Through Figure 4f As can be seen from the first pulse signal shown, the pulse width of the main pulse signal is less than the pulse width of sub-pulse signal f1, the amplitude of the main pulse signal is greater than the amplitude of sub-pulse signal f1, the pulse width of the main pulse signal is greater than the pulse width of sub-pulse signal f2, the amplitude of the main pulse signal is greater than the amplitude of sub-pulse signal f2, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

[0123] Example 4: There is a minimum point at the connection between the main pulse signal and the sub-pulse signal in the first pulse signal.

[0124] For ease of understanding, specific examples are given below to illustrate Example 4.

[0125] For example, please continue to refer to Figure 4a or Figure 4b the first pulse signal shown. It can be seen from Figure 4a or Figure 4b the first pulse signal shown that there is a minimum point at the connection between the main pulse signal and the sub-pulse signal in the first pulse signal.

[0126] Example 5: There is a gap between the main pulse signal and the sub-pulse signal in the first pulse signal.

[0127] In one example, please continue to refer to Figure 4c the first pulse signal shown. It can be seen from Figure 4c the first pulse signal shown that there is a gap between the main pulse signal and the sub-pulse signal.

[0128] In another example, please continue to refer to Figure 4d the first pulse signal shown. It can be seen from Figure 4d the first pulse signal shown that there is a gap between the main pulse signal and sub-pulse signal d1, and there is also a gap between the main pulse signal and sub-pulse signal d2.

[0129] Example 6: The main pulse signal in the first pulse signal can be before the sub-pulse signal, or the main pulse signal can also be after the sub-pulse signal.

[0130] For ease of understanding, specific examples are given below to illustrate Example 6.

[0131] In one example, please continue to refer to Figure 4a or Figure 4b or Figure 4c the first pulse signal shown. It can be seen from Figure 4a or Figure 4b or Figure 4c the first pulse signal shown that the sub-pulse signal in the first pulse signal is after the main pulse signal.

[0132] In another example, please continue to refer to Figure 4d the first pulse signal shown. It can be seen from Figure 4d the first pulse signal shown that sub-pulse signal d1 is before the main pulse signal and sub-pulse signal d2 is after the main pulse signal. In other words, the main pulse signal is located between sub-pulse signal d1 and sub-pulse signal d2.

[0133] In yet another example, continue to refer to Figure 4e the first pulse signal shown. By Figure 4e observing the first pulse signal shown, it can be seen that sub-pulse signal e1 is before the main pulse signal, and sub-pulse signal e2 is after the main pulse signal. In other words, the main pulse signal is located between sub-pulse signal e1 and sub-pulse signal e2.

[0134] In yet another example, continue to refer to Figure 4f the first pulse signal shown. By Figure 4f observing the first pulse signal shown, it can be seen that sub-pulse signal f1 is before the main pulse signal, and sub-pulse signal f2 is after the main pulse signal. In other words, the main pulse signal is located between sub-pulse signal f1 and sub-pulse signal f2.

[0135] It can be understood that any combination of the above Examples 1 to 6 can be used as different embodiments.

[0136] After introducing the related characteristics of the first pulse signal, the driving method of the first pulse signal will be introduced below.

[0137] Method 1: The main pulse signal and sub-pulse signal included in the first pulse signal are generated by driving the same laser by one or more driving sources.

[0138] For ease of understanding, a specific example will be given below to illustrate Method 1.

[0139] In one example, refer to Figure 5a the driving method of the main pulse signal and sub-pulse signal shown. As Figure 5a shown, the driving signal generated by the driving source (or can be called the driving circuit) is transmitted to the laser, and the main pulse signal and sub-pulse signal are generated by the laser. Then, the laser transmits the main pulse signal and sub-pulse signal to the emission optical system (or can be called the optical module), and the emission optical system processes (or combines or generates or forms) them into the first pulse signal for emission. For example, the driving source can be a resistor capacitance (RC) circuit (or called an RC delay circuit) or can also be other forms of circuits, and the embodiments of the present application do not limit this.

[0140] In another example, refer to Figure 5b the driving method of the main pulse signal and sub-pulse signal shown. As Figure 5b shown, the driving signal 1 generated by driving source 1 and the driving signal 2 generated by the driving source are transmitted to the laser, and the main pulse signal and sub-pulse signal are generated by the laser. Then, the laser transmits the main pulse signal and sub-pulse signal to the emission optical system, and the emission optical system processes them into the first pulse signal for emission.

[0141] In yet another example, see Figure 5c the driving methods of the main pulse signal and the sub-pulse signal shown. As Figure 5c shown, the driving signals (such as driving signal 1, driving signal 2, …, driving signal n) respectively generated by n driving sources (such as driving source 1, driving source 2, …, driving source n) are transmitted to a laser, and the main pulse signal and the sub-pulse signal are generated by the laser. Then, the laser transmits the main pulse signal and the sub-pulse signal to an emission optical system, and the emission optical system processes them into a first pulse signal for emission.

[0142] Method 2: The main pulse signal included in the first pulse signal is generated by driving a laser with one driving source, and the sub-pulse signal included in the first pulse signal is generated by driving a laser with one or more driving sources.

[0143] For ease of understanding, a specific example is given below to illustrate Method 2.

[0144] In one example, see Figure 5d the driving methods of the main pulse signal and the sub-pulse signal shown. As Figure 5d shown, the driving signal 1 generated by driving source 1 is transmitted to laser 1, and the main pulse signal is generated by laser 1. Then, laser 1 transmits the main pulse signal to the emission optical system. The driving signal 2 generated by driving source 2 is transmitted to laser 2, and the sub-pulse signal is generated by laser 2. Then, laser 2 transmits the sub-pulse signal to the emission optical system. Then, after obtaining the main pulse signal and the sub-pulse signal, the emission optical system can process the main pulse signal and the sub-pulse signal into a first pulse signal for emission.

[0145] In another example, see Figure 5e the driving methods of the main pulse signal and the sub-pulse signal shown. As Figure 5e shown, the driving signal 1 generated by driving source 1 is transmitted to laser 1, and the main pulse signal is generated by laser 1. Then, laser 1 transmits the main pulse signal to the emission optical system. The driving signals (such as driving signal 2, driving signal 3, …, driving signal n) respectively generated by n - 1 driving sources (such as driving source 2, driving source 3, …, driving source n) are transmitted to laser 2, and the sub-pulse signal is generated by laser 2. Then, laser 2 transmits the sub-pulse signal to the emission optical system. Then, after obtaining the main pulse signal and the sub-pulse signal, the emission optical system can process the main pulse signal and the sub-pulse signal into a first pulse signal for emission.

[0146] Method 3: The main pulse signal included in the first pulse signal is generated by driving a laser with one driving source, and the sub-pulse signal included in the first pulse signal is generated by driving a laser respectively with multiple driving sources.

[0147] For ease of understanding, a specific example is given below to illustrate Method 3.

[0148] For example, please refer to Figure 5f the driving methods of the main pulse signal and the sub-pulse signal shown. As Figure 5f shown, the driving signal 1 generated by the driving source 1 is transmitted to the laser 1, and the main pulse signal is generated by the laser 1. Then, the laser 1 transmits the main pulse signal to the emission optical system. In addition, the other n - 1 driving sources respectively generate driving signals to drive the corresponding lasers to generate sub-pulse signals. For example, the driving signal 2 generated by the driving source 2 is transmitted to the laser 2, and the sub-pulse signal 1 is generated by the laser 2. Then, the laser 2 transmits the sub-pulse signal 1 to the emission optical system; the driving signal 3 generated by the driving source 3 is transmitted to the laser 3, and the sub-pulse signal 2 is generated by the laser 3. Then, the laser 3 transmits the sub-pulse signal 2 to the emission optical system;...; the driving signal n generated by the driving source n is transmitted to the laser n, and the sub-pulse signal n - 1 is generated by the laser n. Then, the laser n transmits the sub-pulse signal to the emission optical system. Then, after obtaining the main pulse signal and the n - 1 sub-pulse signals, the emission optical system can process the main pulse signal and the n - 1 sub-pulse signals into a first pulse signal for emission.

[0149] Step 302: The detection device receives the first echo sequence. The first echo sequence is the echo sequence of the first pulse sequence.

[0150] The above step 302 is an optional step.

[0151] For example, the first echo sequence may include multiple echo signals. Exemplarily, the multiple echo signals may include the signals of one or more first pulse signals reflected and / or scattered by the target, or may also include the signals of one or more second pulse signals reflected and / or scattered by the target, or may also include the signals of other forms reflected and / or scattered by the target. Optionally, the multiple echo signals may also include interference signals. Exemplarily, the interference signals may be the detection signals emitted by other radars, the echo signals corresponding to the detection signals emitted by other radars, the interference signals formed by the detection signals of this radar transmitted to the receiving optical system after being reflected or scattered inside the radar, etc.

[0152] Optionally, the detection device may perform target measurement based on the received first echo sequence. For example, the detection device may select target echo signals that match the measurement indicators to be measured from among multiple received echo signals. Subsequently, the detection device may process the target echo signals to obtain the measurement results of the first target present in the current scene. Then, the detection device may determine whether the pulse sequence (such as the second pulse sequence) to be transmitted next is different from the first pulse sequence based on whether the measurement results of the first target meet the corresponding measurement requirements. For example, the measurement indicators to be measured may include, but are not limited to, the speed, distance, azimuth, relative angle, attitude, shape, intensity, interference level, etc. of the first target.

[0153] When the measurement results of the first target meet the corresponding measurement requirements, the second pulse sequence transmitted by the detection device may be the same as the first pulse sequence. When the measurement results of the first target do not meet the corresponding measurement requirements, the second pulse sequence transmitted by the detection device is different from the first pulse sequence. For example, the pulse signals (or other forms of signals) included in the second pulse sequence differ from the pulse signals (or other forms of signals) included in the first pulse sequence in at least one of the following parameters: transmit power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge region ratio, or falling edge region ratio.

[0154] For example, taking the parameter as transmit power, with the first pulse sequence including pulse signal 1 and the second pulse sequence including pulse signal 2. In the case where the transmit power of pulse signal 2 included in the second pulse sequence to be transmitted next is less than the transmit power of pulse signal 1 included in the first pulse sequence transmitted last time, this can achieve the detection of nearby targets by the detection device, help weaken (or avoid) window stray effects, thereby improving the ranging performance and reflectivity performance of the detection device, and can weaken echo overlap effects, alleviate point cloud adhesion and multipath problems, so that the detection device can dynamically adjust the detection performance according to the actual scene requirements. In the case where the transmit power of pulse signal 2 included in the second pulse sequence to be transmitted next is greater than the transmit power of pulse signal 1 included in the first pulse sequence transmitted last time, this can achieve the detection of distant targets by the detection device, help improve the far-distance measurement ability of the detection device, so that the detection device can dynamically adjust the detection performance according to the actual scene requirements.

[0155] For another example, taking the parameters as the sub-pulse width or sub-pulse amplitude, where the first pulse sequence includes pulse signal 1 and the second pulse sequence includes pulse signal 2. In the case that the width of the sub-pulse signal included in pulse signal 2 included in the second pulse sequence to be emitted next time is greater than the width of the sub-pulse signal included in pulse signal 1 included in the first pulse sequence emitted last time, or the amplitude of the sub-pulse signal included in pulse signal 2 is greater than the amplitude of the sub-pulse signal included in pulse signal 1, this can enable the dynamic range obtained by the detector in the detection device, so that the detection device can dynamically adjust the dynamic range of the detector according to the actual scenario requirements.

[0156] For another example, taking the parameter as the rising edge slope, where the first pulse sequence includes pulse signal 1 and the second pulse sequence includes pulse signal 2. In the case that the rising edge slope of pulse signal 2 included in the second pulse sequence to be emitted next time is less than the rising edge slope of pulse signal 1 included in the first pulse sequence emitted last time, this can weaken the influence of insufficient sampling accuracy and help improve the measurement accuracy of the detection device under the configuration of low sampling accuracy.

[0157] For another example, taking the parameter as the pulse width, where the first pulse sequence includes pulse signal 1 and the second pulse sequence includes pulse signal 2. In the case that the pulse width of pulse signal 2 included in the second pulse sequence to be emitted next time is less than the pulse width of pulse signal 1 included in the first pulse sequence emitted last time, this can weaken the influence of the adhesion scenario.

[0158] In one example, taking the measurement index to be intensity. The detection device can select the echo signal corresponding to the pulse signal (such as the first pulse signal) that includes the main pulse signal and the sub-pulse signal from multiple echo signals. Then, the detection device can process the echo signal corresponding to the first pulse signal to obtain the intensity corresponding to the first target (or can be understood as the intensity index value). Then, the detection device can determine whether the pulse sequence to be emitted next time (such as the second pulse sequence) is different from the first pulse sequence according to whether the intensity corresponding to the first target meets the corresponding measurement requirements.

[0159] If the intensity corresponding to the first target meets the measurement requirements, for example, the measurement error of the intensity corresponding to the first target is within the allowable error range, the detection device can continue to transmit according to the pulse sequence transmitted last time (such as the first pulse sequence). If the intensity corresponding to the first target does not meet the measurement requirements, for example, the measurement error of the intensity corresponding to the first target exceeds the allowable error range, the detection device can, when determining that the intensity corresponding to the first target is greater than the intensity threshold, select one or more signals with smaller transmission powers (such as the first pulse signal or other forms of pulse signals or other forms of signals) to be included in the pulse sequence transmitted next time, which can improve the intensity estimation ability. Optionally, the detection device can also, when determining that the intensity corresponding to the first target is less than the intensity threshold, select one or more signals with larger transmission powers (such as the first pulse signal or other forms of pulse signals or other forms of signals) to be included in the pulse sequence transmitted next time.

[0160] In another example, taking the measurement index as distance. The detection device can select the echo signal corresponding to the third pulse signal from multiple echo signals. Among them, the transmission power of the third pulse signal is within the transmission power range (such as a relatively large transmission power range [a, b] or a relatively small transmission power range [c, d], where d is less than a). Then, the detection device can process the echo signal corresponding to the third pulse signal to obtain the distance of the first target (or it can be understood as the distance index value). Then, the detection device can determine whether the pulse sequence transmitted next time (such as the second pulse sequence) is different from the first pulse sequence according to whether the distance of the first target meets the corresponding measurement requirements.

[0161] If the distance of the first target meets the measurement requirements, for example, the measurement error of the distance of the first target is within the allowable error range, the detection device can continue to transmit according to the pulse sequence transmitted last time (such as the first pulse sequence). If the distance of the first target does not meet the measurement requirements, for example, the measurement error of the distance of the first target exceeds the allowable error range, the detection device can, when determining that the distance of the first target is less than the distance threshold, select one or more signals with smaller transmission powers (such as the first pulse signal or other forms of pulse signals or other forms of signals) to be included in the pulse sequence transmitted next time, which can reduce the influence of window spurs, thereby improving the ranging performance and reflectivity performance of the detection device, and can reduce the influence of echo overlap, alleviating the problems of point cloud adhesion and multipath. Optionally, the detection device can also, when determining that the distance of the first target is greater than the distance threshold, select one or more signals with larger transmission powers (such as the first pulse signal or other forms of pulse signals or other forms of signals) to be included in the pulse sequence transmitted next time, which can improve the long-distance measurement ability of the detection device.

[0162] In yet another example, take the interference level as the metric to be measured. When there is an overlap of echo signals between a first target and a second target (such as window spurious echo, rain-fog-dust echo, or adjacent target echo, etc.) existing in the current scenario, the detection device can select the echo signal corresponding to the fourth pulse signal from among multiple echo signals. Herein, the pulse width of the fourth pulse signal is less than or equal to the width threshold. For example, the fourth pulse signal can be a pulse signal with a narrow pulse width. Subsequently, the detection device can process the echo signal corresponding to the fourth pulse signal to obtain the interference level corresponding to the first target (or it can be understood as the interference level index value). Then, the detection device can determine whether the pulse sequence (such as the second pulse sequence) to be transmitted next is different from the first pulse sequence based on whether the interference level corresponding to the first target meets the corresponding measurement requirements.

[0163] If the interference level corresponding to the first target meets the measurement requirements, for example, the interference level corresponding to the first target is less than or equal to the set threshold, then the detection device can continue to transmit according to the pulse sequence transmitted last time (such as the first pulse sequence). If the interference level corresponding to the first target does not meet the measurement requirements, for example, the interference level corresponding to the first target is greater than the set threshold, then the detection device can select one or more signals with lower transmission power (such as the first pulse signal or other forms of pulse signals or other forms of signals) to be included in the pulse sequence to be transmitted next, which can reduce the impact of echo overlap.

[0164] Optionally, in some cases, if the detection device needs to be in a low-power mode, at this time, the detection device can reduce the number of pulse signals in the transmitted pulse sequence. For example, the detection device can select one or several different pulse signals for transmission.

[0165] It should be noted that the term "at least one" in the embodiments of the present application refers to one or more, and "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. "One (or) more of the following items" or its similar expressions refer to any combination of these items, including any combination of a single item (or) or multiple items (or). For example, one (or) more of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0166] Also, unless otherwise specified, the ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the priority or importance of the multiple objects. For example, the first pulse signal and the second pulse signal are only used to distinguish different pulse signals, rather than indicating differences in the priority or importance of these pulse signals, etc.

[0167] Based on the foregoing detection method, an embodiment of the present application further provides a possible detection device. Figure 6 Exemplarily shown is a schematic structural diagram of a possible detection device provided by an embodiment of the present application. The detection device 600 can be used to implement the functions of the detection device in the above method embodiment, and thus can also achieve the beneficial effects possessed by the above method embodiment.

[0168] See Figure 6 , the detection device 600 includes a processor 601 and a transceiver 602. The control device 600 is used to implement the functions of the detection device in the above Figure 3 shown method embodiment. Optionally, the detection device 600 may further include a memory 603, and the memory 603 can be coupled to the processor 601 to store necessary program instructions and data of the detection device.

[0169] When the detection device 600 is used to implement Figure 3 the functions of the detection device in the shown method embodiment: The processor 601 is used to transmit a first pulse sequence through the transceiver 602. Among them, the first pulse sequence includes a first pulse signal, and the first pulse signal includes a main pulse signal and a sub-pulse signal, and the amplitude of the sub-pulse signal is less than the amplitude of the main pulse signal. Optionally, the processor 601 is used to receive a first echo sequence through the transceiver 602. Among them, the first echo sequence may include multiple echo signals. After that, the processor 601 can be used to select a target echo signal that matches the measurement index from the multiple echo signals, and can be used to process the target echo signal to obtain the measurement result of the first target.

[0170] Among them, when the detection device 600 is used to implement Figure 3 the functions of the detection device in the shown method embodiment, a more detailed description of the above processor 601 and transceiver 602 can refer to Figure 3 the relevant description of the detection device in the shown method embodiment, which will not be elaborated here.

[0171] It should be understood that the processor 601 in the embodiments of the present application can be implemented by a processor or a processor-related circuit module, and the transceiver 602 can be implemented by an interface circuit or an interface circuit-related circuit module.

[0172] According to the detection solution provided by the embodiments of the present application, the embodiments of the present application can also provide a terminal device. The terminal device may include the detection device in any of the above embodiments. Further, optionally, the terminal device may further include a memory for storing programs or instructions. Of course, the terminal device may also include other components, such as a wireless control device, etc.

[0173] Exemplarily, the terminal device may be, for example, a vehicle (such as a driverless vehicle, a smart vehicle, an electric vehicle, or a digital car, etc.), a robot, a surveying and mapping device, a drone, a smart home device (such as a TV, a floor cleaning robot, a smart table lamp, a sound system, a smart lighting system, an electrical control system, a home background music, a home theater system, an intercom system, or a video surveillance, etc.), a smart manufacturing device (such as an industrial device), a smart transportation device (such as an AGV, a driverless transport vehicle, or a truck, etc.), or a smart terminal (a mobile phone, a computer, a tablet computer, a handheld computer, a desktop computer, headphones, a sound, a wearable device, a vehicle-mounted device, a virtual reality device, an augmented reality device, etc.).

[0174] According to the detection solution provided by the embodiments of the present application, the embodiments of the present application also provide a computer-readable storage medium storing a computer program, and when the computer program is run, it executes the method performed by the detection device as described above.

[0175] According to the detection solution provided by the embodiments of the present application, the embodiments of the present application also provide a computer program product, and when the computer program product runs on a processor, it implements the method performed by the detection device as described above.

[0176] The terms "component", "module", "system", etc. used in this specification are used to represent computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component may be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. By way of illustration, an application running on a computing device and the computing device can both be components. One or more components may reside in a process and / or an execution thread, and the components may be located on one computer and / or distributed between two or more computers. In addition, these components may execute from various computer-readable media storing various data structures. The components may communicate, for example, according to a signal having one or more data packets (such as data from two components interacting with each other in a local system, a distributed system, and / or a network, such as data interacting with other systems through a signal via the Internet) through local and / or remote processes.

[0177] Those of ordinary skill in the art can realize that the various illustrative logical blocks and steps described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0178] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0179] In several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. 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 couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0180] The units described as separate components may or may not be physically separated, and 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 of this embodiment.

[0181] In addition, in each embodiment of this application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0182] When the above-mentioned functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (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 various embodiments of this application. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0183] Although the present application has been described in conjunction with specific features and their embodiments, it is obvious that various modifications and combinations can be made without departing from the spirit and scope of the present application. Accordingly, the present specification and the drawings are only illustrative of the solutions defined by the appended claims and are considered to have covered any and all modifications, variations, combinations, or equivalents within the scope of the present application.

[0184] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these changes and modifications.

Claims

1. A detection method, characterized in that, Including: Emitting a first pulse sequence, the first pulse sequence includes a first pulse signal, the first pulse signal includes a main pulse signal and a sub-pulse signal, and the amplitude of the sub-pulse signal is less than the amplitude of the main pulse signal.

2. The method according to claim 1, wherein The shape of the main pulse signal is different from that of the sub-pulse signal.

3. The method according to claim 1 or 2, characterized in that, The main pulse signal is adjacent to the sub-pulse signal, or the main pulse signal partially overlaps with the sub-pulse signal.

4. The method according to any one of claims 1 to 3, characterized in that There is a minimum point at the connection between the main pulse signal and the sub-pulse signal.

5. The method according to any one of claims 1-4, characterized in that, The first pulse sequence further includes a second pulse signal, and the second pulse signal is different from the first pulse signal in at least one of the following parameters: transmission power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge region ratio or falling edge region ratio.

6. The method according to any one of claims 1-5, characterized in that, The pulse width of the first pulse signal is greater than the pulse width of the main pulse signal, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

7. The method according to any one of claims 1-6, characterized in that, The main pulse signal is before the sub-pulse signal, or the main pulse signal is after the sub-pulse signal.

8. The method according to any one of claims 1 to 7, characterized in that, The time interval between the main pulse signal and the sub-pulse signal is less than the dead time of the detector.

9. The method according to any one of claims 1-8, characterized in that, The pulse width and amplitude of the sub-pulse signal are adjustable.

10. The method according to any one of claims 1-9, characterized in that, The main pulse signal and the sub-pulse signal are generated by one or more drive sources driving the same laser; or, The main pulse signal is generated by one drive source driving one laser, and the sub-pulse signal is generated by one or more drive sources driving one laser; or, The main pulse signal is generated by one drive source driving one laser, and the sub-pulse signal is generated by multiple drive sources respectively driving one laser.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: Receiving a first echo sequence, the first echo sequence includes a plurality of echo signals; Selecting a target echo signal that matches the measurement index from the plurality of echo signals; Processing the target echo signal to obtain a measurement result of the first target.

12. The method according to claim 11, wherein The measurement index to be measured is intensity, and the target echo signal is the echo signal corresponding to the first pulse signal.

13. The method according to claim 11 or 12, characterized in that, The measurement index to be measured is distance, the target echo signal is the echo signal corresponding to the third pulse signal, and the transmission power of the third pulse signal is within the transmission power range.

14. The method according to any one of claims 11 to 13, characterized in that, The measurement index to be measured is the degree of interference. If there is an overlap of echo signals between the first target and the second target, the target echo signal is the echo signal corresponding to the fourth pulse signal, and the pulse width of the fourth pulse signal is less than or equal to the width threshold.

15. The method according to any one of claims 11-14, characterized in that, The method further includes: When the measurement result does not meet the measurement requirements, emitting a second pulse sequence, and the second pulse sequence is different from the first pulse sequence.

16. A detection device, characterized in that, Including a transmitting module; The transmitting module is configured to emit a first pulse sequence, the first pulse sequence includes a first pulse signal, the first pulse signal includes a main pulse signal and a sub-pulse signal, and the amplitude of the sub-pulse signal is less than the amplitude of the main pulse signal.

17. The detection device according to claim 16, characterized in that, The shape of the main pulse signal is different from that of the sub-pulse signal.

18. The detection device according to claim 16 or 17, characterized in that, The main pulse signal is adjacent to the sub-pulse signal, or the main pulse signal partially overlaps with the sub-pulse signal.

19. The detection device according to any one of claims 16-18, characterized in that, There is a minimum point at the connection between the main pulse signal and the sub-pulse signal.

20. The detection device according to any one of claims 16-19, characterized in that, The first pulse sequence further includes a second pulse signal, and at least one of the following parameters of the second pulse signal is different from that of the first pulse signal: transmission power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge region ratio, or falling edge region ratio.

21. The detection device according to any one of claims 16-20, characterized in that, The pulse width of the first pulse signal is greater than the pulse width of the main pulse signal, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

22. The detection device according to any one of claims 16-21, characterized in that, The main pulse signal is before the sub-pulse signal, or the main pulse signal is after the sub-pulse signal.

23. The detection device according to any one of claims 16-22, characterized in that The time interval between the main pulse signal and the sub-pulse signal is less than the dead time of the detector.

24. The detection device according to any one of claims 16-23, characterized in that The pulse width and amplitude of the sub-pulse signal are adjustable.

25. The detection device according to any one of claims 16-24, characterized in that, The main pulse signal and the sub-pulse signal are generated by driving the same laser with one or more driving sources; or, The main pulse signal is generated by driving one laser with one driving source, and the sub-pulse signal is generated by driving one laser with one or more driving sources; or, The main pulse signal is generated by driving one laser with one driving source, and the sub-pulse signal is generated by driving one laser respectively with multiple driving sources.

26. The detection device according to any one of claims 16-25, characterized in that, The detection device further includes a receiving module and a processing module; The receiving module is configured to receive a first echo sequence, and the first echo sequence includes a plurality of echo signals; The processing module is configured to select a target echo signal matching the measurement index from the plurality of echo signals; The processing module is further configured to process the target echo signal to obtain a measurement result of the first target.

27. The detection device according to claim 26, characterized in that, The measurement index to be measured is intensity, and the target echo signal is the echo signal corresponding to the first pulse signal.

28. The detection device according to claim 26 or 27, characterized in that, The measurement index to be measured is distance, the target echo signal is the echo signal corresponding to the third pulse signal, and the transmission power of the third pulse signal is within the transmission power range.

29. The detection device according to any one of claims 26-28, characterized in that, The measurement index to be measured is the degree of interference. If there is an overlap of echo signals between the first target and the second target, the target echo signal is the echo signal corresponding to the fourth pulse signal, and the pulse width of the fourth pulse signal is less than or equal to the width threshold.

30. The detection device according to any one of claims 26-29, wherein The transmitting module is further configured to transmit a second pulse sequence different from the first pulse sequence when the measurement result does not meet the measurement requirements.

31. A terminal device, characterized in that, It includes the detection device according to any one of claims 16-30.

32. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instruction, and when the computer program or instruction is executed by a computer, the computer is caused to execute the method according to any one of claims 1-15.

33. A computer program product, characterized in that, The computer program product includes a computer program or instruction, and when the computer program or instruction runs on a computer, the computer is caused to execute the method according to any one of claims 1-15.

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