Laser radar control method and device, electronic equipment and laser radar

Abstract

The invention relates to a laser radar control method and device, electronic equipment and a laser radar, and the method comprises the steps: controlling a target transmitting region to transmit a laser pulse in an integration period, and enabling the target transmitting region to be a transmitting region corresponding to a target receiving region in a plurality of transmitting regions, the target receiving area comprises at least two receiving areas in the plurality of receiving areas; controlling a detector unit in the target receiving area to carry out echo integration in an integration period in the integration period and not to carry out echo integration in a non-integration period in the integration period, and obtaining echo data of the target receiving area in the integration period; in the target receiving area, the echo crosstalk of the laser pulse in the integration period in the integration period is smaller than the echo crosstalk of the laser pulse in the non-integration period in the integration period. According to the method, the accuracy of the echo data obtained by the receiving unit can be improved.

Description

Technical Field

[0001] This application belongs to the technical field of lidar, and particularly relates to a lidar control method, device, electronic device, and lidar. Background Art

[0002] With the development of lidar technology, the volume of lidar is getting smaller and the degree of internal integration is getting higher. Currently, many lidars, including vehicle-mounted short-range blind spot filling lidars and vehicle-mounted main radars, have started to use SPAD (Single photon avalanche diodes) linear arrays or area arrays as receiving units. The main reason is that using a SPAD linear array or area array as the receiving unit is simpler and more stable in structure compared to SIPM (Silicon photomultipliers) or APD (Avalanche photodiodes), and thus the cost is lower.

[0003] In a SPAD linear array or SPAD area array, the number of SPAD detector units corresponding to a single channel is small. Therefore, it is necessary to perform echo integration dozens or even hundreds of times to output an effective timing histogram. To ensure the number of integrations, the SPAD detector units in multiple channels within the currently scanned slot generally start integrating simultaneously. This will cause mutual optical crosstalk between the channels within the currently illuminated slot in the SPAD linear array or SPAD area array, resulting in relatively complex echo information received by each channel, excessive echo multiplicities, a short scanning time for each slot, and insufficient data transmission and processing speeds of the main control board of the lidar. Therefore, a lot of echo data will be filtered out by the SPAD detector units, and the real echo data may not necessarily be in the received echo information. It is very difficult for the main control board of the lidar to find the real echo information of each channel in the multiple echo data, resulting in relatively low accuracy of the echo data obtained by the receiving unit, which is manifested as missing points or forming ghost point clouds in the detection results.

[0004] Therefore, in a lidar using a SPAD linear array or SPAD area array as the receiving unit, how to improve the accuracy of the echo data obtained by the receiving unit has become an urgent technical problem to be solved. Summary of the Invention

[0005] Embodiments of this application provide a lidar control method, device, electronic device, and lidar, which can improve the accuracy of the echo data obtained by the receiving unit.

[0006] In a first aspect, an embodiment of the present application provides a lidar control method. The lidar includes a transmitting unit and a receiving unit. The receiving unit includes multiple receiving areas, and each receiving area contains at least one detector unit. The transmitting unit includes multiple transmitting areas, and each receiving area corresponds to one transmitting area. The method includes: controlling a target transmitting area to emit laser pulses within an integration period, where the target transmitting area is the transmitting area corresponding to a target receiving area among the multiple transmitting areas, and the target receiving area includes at least two receiving areas among the multiple receiving areas; controlling the detector units in the target receiving area to perform echo integration during the integration period of the integration period and not perform echo integration during the non-integration period of the integration period, so as to obtain echo data of the target receiving area during the integration period; in the target receiving area, the echo crosstalk of the laser pulses during the integration period of the integration period is less than the echo crosstalk of the laser pulses during the non-integration period of the integration period.

[0007] In the above method, by controlling the target receiving area to perform integration during the integration period with small echo crosstalk and not perform integration during the non-integration period with large echo crosstalk, the data with large echo crosstalk in the echo data is reduced, and the accuracy of the echo data is improved.

[0008] In one embodiment, the laser pulses include at least two different types of laser pulses. The ranging ranges corresponding to different types of laser pulses are different, and different types of laser pulses emit light and perform ranging at different times during the integration period. The ranging ranges of at least two different types of laser pulses cover the ranging range of the lidar. In this implementation, by emitting two different types of laser pulses in one integration period, the ranging ranges of different types of laser pulses can cover the ranging range of the lidar, so that echo integration can be performed within the ranging range of the lidar, avoiding missing ranging areas.

[0009] In one embodiment, when the target object is any object whose distance from the lidar is greater than or equal to a first distance value, the crosstalk of the echo generated by the first laser pulse on the target object in the target receiving area is less than a first threshold. The minimum value of the ranging range corresponding to the first laser pulse is the first distance value, and the first distance values corresponding to different types of laser pulses are different. The first laser pulse is any one of at least two different types of laser pulses. In this implementation, the first distance value corresponding to the first laser is used as the minimum value of the ranging range corresponding to the first laser, ensuring that the echo crosstalk of the first laser within the corresponding ranging range is small, and further ensuring the accuracy of the data obtained by echo integration.

[0010] In one embodiment, the light-emitting ranging period of the first laser pulse in the integration period includes a first integration period and a first non-integration period. The integration period in the integration cycle includes the first integration period, and the non-integration period in the integration cycle includes the first non-integration period. In this implementation manner, by dividing the light-emitting ranging period corresponding to each type of laser pulse into an integration period and a non-integration period respectively, it can be ensured that the integration of the echo for each type of laser pulse is performed within a period with less crosstalk.

[0011] In one embodiment, the method further includes: determining the start time of the first light-emitting ranging period as the start time of the first non-integration period, where the first light-emitting ranging period is the period when the first laser pulse emits light in the integration period; determining the length of the first non-integration period according to the speed of light and the first distance value corresponding to the first laser pulse; determining the end time of the first non-integration period according to the start time of the first light-emitting ranging period and the length of the first non-integration period; determining the end time of the first non-integration period as the start time of the first integration period; and determining the end time of the first light-emitting ranging period as the end time of the first integration period.

[0012] In one embodiment, during the integration period in the integration cycle, the bias voltage of each detector unit in the target receiving area is greater than or equal to a preset voltage value; during the non-integration period in the integration cycle, the bias voltage of each detector unit in the target receiving area is less than the preset voltage value.

[0013] In one embodiment, each detector unit includes a register. By pre-configuring the program in the register of each detector unit in the target receiving area, each detector unit in the target receiving area can perform integration during the integration period in the integration cycle and not perform integration during the non-integration period in the integration cycle.

[0014] In one embodiment, the lidar scans slot by slot, each slot corresponds to at least two receiving areas, and the scan data corresponding to each slot includes the echo data of all receiving areas corresponding to each slot; the maximum value of the ranging range of the laser pulses in the laser pulses corresponding to the first slot is determined according to the scan data corresponding to one or more slots scanned before the first slot, and the first slot is any slot scanned by the lidar.

[0015] In one embodiment, the lidar performs scanning slot by slot. Each slot corresponds to at least two receiving regions, each receiving region corresponds to at least two channels, and the types of laser pulses corresponding to all channels in each receiving region are the same; the difference in the starting emission times of the laser pulses of two adjacent channels in the scanning direction is a preset difference; the method further includes: obtaining echo data of each channel corresponding to the target slot; filtering the echo data of the first channel of the target slot according to the preset difference and the echo data of the first channel of the previous slot of the target slot, to obtain the filtered echo data of the first channel of the target slot, where the first channel of the target slot is any one of the channels corresponding to the target slot, and the first channel of the target slot and the first channel of the previous slot of the target slot are two adjacent channels in the scanning direction.

[0016] In a second aspect, an embodiment of the present application provides a lidar control device, and the device includes units for performing each step of the method described in any one of the above first aspects.

[0017] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where when the processor executes the computer program, the method described in any one of the above first aspects is implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a lidar, the lidar includes a transmitting unit, a receiving unit, and a processor, the receiving unit includes a plurality of receiving regions, each receiving region includes at least one detector unit, the transmitting unit includes a plurality of transmitting regions, each receiving region corresponds to one transmitting region, and the processor is used to execute the method described in any one of the above first aspects.

[0019] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the above first aspects is implemented.

[0020] In a sixth aspect, an embodiment of the present application provides a chip, including: a processor, configured to call and run a computer program from a memory, so that an electronic device installed with the chip executes the method described in any one of the above first aspects.

[0021] It can be understood that the beneficial effects of the above second aspect to sixth aspect can refer to the relevant descriptions in the above first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0023] Figure 1 is a schematic structural diagram of a SPAD area array;

[0024] Figure 2 is a schematic flowchart of a lidar control method provided by an embodiment of the present application;

[0025] Figure 3 is a schematic diagram of three laser pulses emitted in a target emission area within an integration period in the lidar control method provided by an embodiment of the present application;

[0026] Figure 4 is Figure 3 a partial enlarged view at the D part, that is, an enlarged schematic diagram of the third laser pulse 303;

[0027] Figure 5 is a schematic structural diagram of a SPAD area array provided by an embodiment of the present application;

[0028] Figure 6 is a schematic diagram of echo data of two adjacent channels in the scanning direction in the lidar control method provided by an embodiment of the present application;

[0029] Figure 7 is a structural block diagram of a lidar control device provided by an embodiment of the present application;

[0030] Figure 8 is an internal structural diagram of an electronic device provided by an embodiment of the present application. Specific Embodiments

[0031] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are presented to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0032] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0033] It should also be understood that the term "and / or" used in the specification and appended claims of this application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0034] As used in the specification and appended claims of this application, the term "if" may be interpreted as "when", "once", "in response to determining", or "in response to detecting" depending on the context. Similarly, the phrases "if determined" or "if [the described condition or event] is detected" may be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" depending on the context.

[0035] In addition, in the description of the specification and appended claims of this application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0036] Reference to "one embodiment" or "some embodiments" or the like described in the specification of this application means that a specific feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0037] In an embodiment of this application, the lidar includes a transmitting unit and a receiving unit. The receiving unit includes a plurality of receiving areas, each receiving area includes at least one detector unit, the transmitting unit includes a plurality of transmitting areas, and each receiving area corresponds to one transmitting area.

[0038] Next, taking the receiving unit as an SPAD linear array or an SPAD area array and the detector unit as an SPAD detector unit as an example, the lidar control method in the embodiment of this application will be described.

[0039] It can be understood that the lidar control method in the embodiment of this application is also applicable to lidars including other types of receiving units, which will not be elaborated here.

[0040] For the sake of easy understanding, first, an exemplary description of the SPAD area array and the SPAD linear array in the lidar will be given in conjunction with the accompanying drawings.

[0041] Figure 1 The following is a schematic structural diagram of a SPAD area array in an embodiment. The SPAD area array serves as the receiving unit of a lidar. The receiving unit includes multiple receiving regions, and each receiving region includes at least one SPAD detector unit. As shown in Figure 1 the figure, receiving region 101 and receiving region 102 are two adjacent receiving regions, and receiving region 101 and receiving region 102 each include four SPAD detector units.

[0042] In the embodiment of the present application, a column or a row of receiving regions in the SPAD area array is referred to as a slot (SLOT). When the SPAD area array is used as the receiving unit of a lidar, scanning can be performed slot by slot, that is, laser pulses are emitted and echo integration is performed slot by slot.

[0043] It can be understood that a SPAD linear array is equivalent to a slot in the SPAD area array, that is, a SPAD linear array includes a column or a row of receiving regions. The number of SPAD detector units in each receiving region of the SPAD linear array is set as required, and the present application will not elaborate on this.

[0044] Exemplarily, the entire SPAD area array can be used as the receiving unit of a solid-state lidar, or a row or a column of receiving regions corresponding to a slot in the SPAD area array can be used as the receiving unit of a mechanical lidar, or a SPAD linear array can also be used as the receiving unit of a mechanical lidar.

[0045] Next, taking Figure 1 all the receiving regions corresponding to slot C in the shown SPAD area array as the receiving unit of a mechanical lidar as an example, the working process of the mechanical lidar will be exemplarily described.

[0046] Taking Figure 1 all the receiving regions corresponding to slot C in the shown SPAD area array as the receiving unit of a mechanical lidar, then the emission region corresponding to all the receiving regions in slot C is the emission unit of the mechanical lidar. The mechanical lidar further includes a scanning unit and a main controller. The scanning unit drives the receiving unit and the emission unit to rotate. During the rotation, the emission unit emits laser pulses, the receiving unit receives echo data, and the main controller processes the echo data received by the receiving unit to obtain the scanned point cloud data.

[0047] Assume that the horizontal resolution of the lidar (or an azimuth angle in the horizontal direction) is 0.2°. Then the lidar will scan 1800 times in the horizontal direction (i.e., 360° / 0.2° = 1800). If the scanning frequency of the lidar is 10 Hz (i.e., the lidar rotates 10 revolutions per second), then the time required for the lidar to scan one week is 0.1 s. Therefore, the scanning time t for each azimuth angle of the lidar in the horizontal direction is t = 0.1 ÷ 1800 = 0.000056 s, that is, t = 56 μs.

[0048] Assume that the number of integrations N required for the slot C at each azimuth angle is 28, and the emission regions in all channels corresponding to the slot C emit laser pulses simultaneously. Then the time T for the receiving region in the slot C to perform one integration is T = t ÷ N = 2 μs, that is, the integration period corresponding to each receiving region in the slot C is 2 μs. In one integration period: the emission regions corresponding to the slot C emit laser pulses simultaneously, and the receiving regions corresponding to the slot C integrate the echoes generated by the laser pulses simultaneously.

[0049] In some embodiments, each receiving region corresponds to an emission region, and each receiving region and the corresponding emission region form a channel. When performing laser scanning, the echo of the laser pulse emitted by the emission region is the target echo of the receiving region in the same channel.

[0050] Assume that the receiving region 101 in the slot C and the corresponding emission region form channel A, and the receiving region 102 in the slot C and the corresponding emission region form channel B. The echo formed by the laser pulse emitted by the emission region in channel A is the normal echo of the receiving region 101; while the echo formed by the laser pulse emitted by the emission region in channel B, if it enters the receiving region 101, then this part of the echo belongs to clutter. At this time, the echo of channel B in the slot C causes crosstalk to channel A, that is, there is optical crosstalk between the channels in the slot C. The optical crosstalk problem between the channels results in a relatively low accuracy of the echo data obtained by the receiving unit.

[0051] It should be understood that, except for special instructions, the echo crosstalk mentioned in the embodiments of the present application refers to the optical crosstalk between channels, that is, the present application will not elaborate and explain this.

[0052] To solve the problem of low accuracy of echo data caused by optical crosstalk, the present application provides a lidar control method, which includes: controlling a target emission area to emit laser pulses within an integration period, where the target emission area is the emission area corresponding to a target reception area among multiple emission areas, and the target reception area includes at least two reception areas among multiple reception areas; controlling detector units in the target reception area to perform echo integration during an integration period of the integration period and not perform echo integration during a non-integration period of the integration period, so as to obtain echo data of the target reception area during the integration period; in the target reception area: the echo crosstalk of laser pulses during the integration period of the integration period is less than the echo crosstalk of laser pulses during the non-integration period of the integration period.

[0053] In an embodiment of the present application, each reception area may correspond to one channel. Since the target reception area includes at least two reception areas, the target reception area corresponds to at least two channels, so there is optical crosstalk between the channels. During the integration period of the integration period, the echo crosstalk of laser pulses in at least two channels corresponding to the target reception area is small; during the non-integration period of the integration period, the echo crosstalk of laser pulses in at least two channels corresponding to the target reception area is large.

[0054] It can be understood that the integration period and the non-integration period of the integration period are divided according to the magnitude of the echo crosstalk of laser pulses in the target reception area. The time period with smaller echo crosstalk is determined as the integration period, and the time period with larger echo crosstalk is determined as the non-integration period. Therefore, by integrating during the integration period with smaller echo crosstalk and not performing echo integration during the non-integration period with larger echo crosstalk, the crosstalk clutter in the obtained echo data can be reduced, the accuracy of the echo data can be improved, and further the accuracy of the final detection result can be improved.

[0055] The lidar control method in the present application will be described exemplarily below with reference to the accompanying drawings.

[0056] In an embodiment of the present application, there is provided a lidar control method as shown in Figure 2 It can be understood that the following description is only an example and does not constitute a limitation on the protection scope of the present application. As shown in Figure 2 Taking the lidar in which the slot C in the SPAD array plane shown in Figure 2 is used as the receiving unit as an example for description, the lidar includes a transmitting unit and a receiving unit. This method may include S201 to S202. Each step will be described below.

[0057] S201, controlling a target emission area to emit laser pulses within an integration period, where the target emission area is the emission area corresponding to a target reception area among multiple emission areas, and the target reception area is at least two reception areas among multiple reception areas.

[0058] It should be understood that the number of laser pulses can be one or multiple, and the present application does not limit this.

[0059] Exemplarily, each receiving area in multiple receiving areas corresponds to one channel, and the receiving areas included in the target receiving area are the receiving areas that receive echoes in the same integration period.

[0060] For example, when all the emission areas corresponding to one slot simultaneously emit laser pulses, then all the receiving areas corresponding to that slot belong to the target receiving area, that is, all the receiving areas in the target receiving area work simultaneously. Of course, in one slot, it is also possible that some emission areas simultaneously emit laser pulses, then the target receiving area includes the receiving areas corresponding to the some emission areas.

[0061] Generally speaking, there are generally emission areas corresponding to at least two receiving areas (i.e., two channels) in one slot that simultaneously emit laser pulses. Therefore, the target area in the embodiment of the present application can include at least two receiving areas.

[0062] For the convenience of understanding, the laser pulses emitted by the target emission area within the integration period will be described exemplarily below with reference to the accompanying drawings.

[0063] As Figure 3 shown, it is a schematic diagram of three laser pulses emitted by the target emission area in one integration period. As Figure 3 shown, where t0 to t3 is an integration period, and three laser pulses are emitted within the integration period, namely the first laser pulse 301, the second laser pulse 302, and the third laser pulse 303. Among them, the first laser pulse 301 starts to be emitted at the moment t0, the second laser pulse 302 starts to be emitted at the moment t1, and the third laser pulse 303 starts to be emitted at the moment t2. Figure 4 It is Figure 3 a partial enlarged view of part D, that is, an enlarged schematic diagram of the third laser pulse 303.

[0064] It can be understood that the actual time length occupied by a laser pulse is very short. Therefore, the moment when the laser pulse starts to be emitted can be used as the emission moment of the entire laser pulse.

[0065] S202, control the detector units in the target receiving area to perform echo integration during the integration period in the integration cycle, and not perform echo integration during the non-integration period in the integration cycle, so as to obtain the echo data of the target receiving area in the integration cycle; in the target receiving area: the echo crosstalk of the laser pulses during the integration period in the integration cycle is less than the echo crosstalk of the laser pulses during the non-integration period in the integration cycle.

[0066] It can be understood that the magnitude of crosstalk generated by the echo of a laser pulse is generally related to the distance between the position where the echo is generated and the lidar (or the receiving area). The crosstalk of the echo generated at a farther distance is smaller, and the crosstalk of the echo generated at a closer distance is larger. Different distances correspond to different flight times of different laser pulses. In the embodiments of the present application, the distance is converted into time, and then the integration period is divided into an integration time period and a non-integration time period; the echo in the non-integration time period is the echo generated by the laser pulse at a position closer to the lidar, and the echo in the integration time period is the echo generated by the laser pulse at a position farther from the lidar.

[0067] In the embodiments of the present application, the detector unit can be an SPAD detector unit. By controlling the SPAD detector unit in the target receiving area to perform echo integration during the integration time period in the integration period and not perform echo integration during the non-integration time period in the integration period, the integration of echoes with larger crosstalk can be reduced, so that the crosstalk influence on the obtained echo data is smaller, and the accuracy of the echo data corresponding to the target receiving area is improved.

[0068] In some embodiments, the laser pulse includes at least two different types of laser pulses. The ranging ranges corresponding to different types of laser pulses are different. Different types of laser pulses emit light and perform ranging at different time periods in the integration period. The ranging ranges of at least two different types of laser pulses cover the ranging range of the lidar. In this embodiment, the ranging range of the laser pulse is the ranging range that the laser pulse can cover when it is integrated during the integration time period and not integrated during the non-integration time period. By making the laser pulse include at least two different types of laser pulses, it is possible to ensure coverage of the ranging range of the lidar and avoid missing the ranging area. Specifically, in order to ensure coverage of the ranging range of the lidar, a laser pulse with a maximum range that can cover the maximum value of the ranging range of the lidar needs to be selected for scanning. However, since the crosstalk of this laser pulse is larger at close range, the echo of this laser pulse at close range will not be integrated when using time-division integration. Therefore, at least one relatively weak laser pulse needs to be added to cover the ranging range at close range.

[0069] As Figure 3 In the illustrated embodiment, the laser pulse includes three different types of laser pulses, namely, the first laser pulse 301, the second laser pulse 302, and the third laser pulse 303 are three different types of laser pulses. Exemplarily, the first laser pulse 301, the second laser pulse 302, and the third laser pulse 303 can be laser pulses with different peak powers, or laser pulses with different pulse widths. The present application does not limit this.

[0070] As Figure 3As shown, t0 to t3 is an integration period. The light emission ranging period of the first laser pulse 301 is from t0 to t1, the light emission ranging period of the second laser pulse 302 is from t1 to t2, and the light emission ranging period of the third laser pulse 303 is from t2 to t3.

[0071] Exemplarily, the peak powers of the first laser pulse 301, the second laser pulse 302, and the third laser pulse 303 gradually increase. Therefore, the greater the peak power of the laser pulse, the stronger its ranging ability, and the smaller the peak power of the laser pulse, the weaker its ranging ability. The ranging range of the lidar is divided among the three laser pulses for processing. In this embodiment, the first laser pulse 301 is responsible for the near ranging range, the second laser pulse 302 is responsible for the middle ranging range, and the third laser pulse 303 is responsible for the far ranging range.

[0072] For example, assume the ranging range of the lidar is from 1 meter to 200 meters, where: the ranging range of the first laser pulse 301 is from 1 meter to 40 meters, the ranging range of the second laser pulse 302 is from 40 meters to 100 meters, and the ranging range of the third laser pulse 303 is from 100 meters to 200 meters.

[0073] Exemplarily, in terms of the intensity of the laser pulse, the first laser pulse 301 is a weak light, the second laser pulse 302 is a strong light, and the third laser pulse 303 is an ultra-strong light. That is, from the first laser pulse 301, the second laser pulse 302 to the third laser pulse 303, the intensity of the laser pulse becomes stronger and stronger. Therefore, the maximum ranging distance of the laser pulse also becomes larger and larger.

[0074] It can be understood that the emission and ranging order of different types of laser pulses can be variable. For example, the third laser pulse 303 can be emitted first, then the second laser pulse 302, and finally the first laser pulse 301. The emission order of different types of laser pulses does not affect the effect of the lidar control method in the embodiments of the present application.

[0075] In some embodiments, the ranging ranges of different types of laser pulses can partially overlap, which will not be elaborated in this application.

[0076] In some embodiments, the maximum value of the ranging range of a laser pulse in an integration period can be determined according to the length of the light emission ranging period corresponding to the laser pulse in this integration period.

[0077] Exemplarily, taking the first laser pulse as an example, the relationship between the maximum value of the ranging range and the length of the light emission ranging period is shown in Equation (1):

[0078]

[0079] In Equation (1), T represents the length of the light emission ranging period corresponding to the first laser pulse, and R max represents the maximum value of the ranging range of the first laser pulse, and c represents the speed of light.

[0080] In some embodiments, when the target object is any object whose distance from the lidar is greater than or equal to the first distance value, the crosstalk of the echo generated by the first laser pulse on the target object in the target receiving area is less than the first threshold. The minimum value of the ranging range corresponding to the first laser pulse is the first distance value. The first distance values corresponding to different types of laser pulses are different, and the first laser pulse is any one of at least two different types of laser pulses.

[0081] It can be understood that the first distance value is a characteristic value of the laser pulse. Each type of laser pulse corresponds to a first distance value. The first distance value can be regarded as the minimum distance value at which the corresponding laser pulse can obtain an accurate echo. Therefore, the minimum value of the ranging range corresponding to the first laser pulse is set as the first distance value corresponding to the first laser pulse, so as to ensure that the first laser pulse can obtain an accurate echo within the corresponding ranging range.

[0082] It should be understood that for a laser pulse, the intensity of the echo generated on an object closer to the lidar is greater, so the crosstalk generated in the adjacent receiving areas will be greater; the intensity of the echo generated on an object farther from the lidar is smaller, so the crosstalk generated in the adjacent receiving areas will be smaller. Therefore, for each laser pulse, there will be a first distance value such that the crosstalk of the echo generated on an object whose distance from the lidar is greater than or equal to the first distance value in the target receiving area is less than the first threshold (or there is basically no crosstalk echo influence between at least two receiving areas in the target receiving area).

[0083] Exemplarily, the magnitude of crosstalk can be characterized by the signal-to-noise ratio (SNR) of the lidar. SNR refers to the ratio of the received target reflection signal to the background noise. The first threshold can be a certain SNR threshold, and the magnitude of the first threshold can be set as needed without limitation.

[0084] It can be understood that the first distance value of each type of laser pulse can be obtained through experiments.

[0085] Exemplarily, a reflecting surface with a specific reflectivity can be used to conduct an experiment on the influence of crosstalk. The reflecting surface is placed at different distances from the lidar, the lidar emits different types of laser pulses, point cloud data is obtained, and the first distance value corresponding to each type of laser pulse is determined according to the crosstalk situation in the point cloud data.

[0086] It can be understood that since the first distance value is positively correlated with the reflectivity of the reflecting surface, it is preferable to use a reflecting surface with a larger reflectivity for experiments. This can ensure a larger first distance value and thus improve the application range of the first distance value. For example, a reflecting surface with a reflectivity of 90% can be used for experiments.

[0087] In some embodiments, the periods of emitting light and measuring distance of the first laser pulse in the integration period include a first integration period and a first non-integration period. The integration period in the integration cycle includes the first integration period, and the non-integration period in the integration cycle includes the first non-integration period. That is, each laser pulse in the laser pulses emitted by the target emission area within the integration period will respectively correspond to an integration period and a non-integration period.

[0088] Exemplarily, as Figure 3 shown, the non-integration period corresponding to the first laser pulse 301 is from t0 to t0', and the integration period corresponding to the first laser pulse 301 is from t0' to t1; the non-integration period corresponding to the second laser pulse 302 is from t1 to t1', and the integration period corresponding to the second laser pulse 302 is from t1' to t2; the non-integration period corresponding to the third laser pulse 303 is from t2 to t2', and the integration period corresponding to the third laser pulse 303 is from t2' to t3. That is, the non-integration periods in the integration cycle include: t0 to t0', t1 to t1', t2 to t2', and the integration periods in the integration cycle include: t0' to t1, t1' to t2, t2' to t3.

[0089] In some embodiments, the lidar control method includes a process of dividing the integration period and the non-integration period. Taking the first laser pulse as an example, the period of emitting light and measuring distance of the first laser pulse in the integration period is the first light-emitting and distance-measuring period. Obtain the first integration period and the first non-integration period corresponding to the first laser pulse. Specifically, it is to obtain the start time and end time of the first integration period and the first non-integration period, which specifically includes the following steps (a) to step (e):

[0090] Step (a): Determine the start time of the first light-emitting and distance-measuring period as the start time of the first non-integration period.

[0091] Step (b): Determine the length of the first non-integration period according to the speed of light and the first distance value corresponding to the first laser pulse.

[0092] Exemplarily, the length of the first non-integration period can be obtained according to Equation (2):

[0093]

[0094] In Equation (2), T n1represents the length of the first non-integration period, L represents the first distance value corresponding to the first laser pulse, and c represents the speed of light.

[0095] Step (c) determines the end time of the first non-integration period according to the start time of the first light-emitting ranging period and the length of the first non-integration period.

[0096] It can be understood that the length of the first non-integration period is the difference between the end time and the start time of the first non-integration period. Since the start time of the first light-emitting ranging period is the start time of the first non-integration period, the end time of the first non-integration period can be obtained by adding the length of the first non-integration period to the start time of the first light-emitting ranging period.

[0097] Step (d) determines the start time of the first integration period as the end time of the first non-integration period.

[0098] It can be understood that the first light-emitting ranging period is divided into a first non-integration period and a first integration period. The first non-integration period is before the first integration period. Therefore, the end time of the first non-integration period is the start time of the first integration period.

[0099] Step (e) determines the end time of the first integration period as the end time of the first light-emitting ranging period.

[0100] It should be understood that different methods can be used to control each SPAD detector unit in the target receiving area to integrate or not integrate.

[0101] In some embodiments, the integration or non-integration of each SPAD detector unit in the target receiving area is controlled by controlling the magnitude of the bias voltage of each SPAD detector unit.

[0102] Exemplarily, during the integration period in the integration cycle, the bias voltage of each SPAD detector unit in the target receiving area is greater than or equal to a preset voltage value; during the non-integration period in the integration cycle, the bias voltage of each SPAD detector unit in the target receiving area is less than the preset voltage value.

[0103] It can be understood that the bias voltage of the SPAD detector unit is a reverse voltage, the cathode of the SPAD detector unit is connected to the positive power supply, and the anode of the SPAD detector unit is connected to the negative power supply or grounded. The preset voltage value is the minimum voltage value at which the SPAD detector unit can operate normally. When the bias voltage of the SPAD detector unit is greater than or equal to the preset voltage value, the SPAD detector unit can operate normally and thus integration can be performed; when the bias voltage of the SPAD detector unit is less than the preset voltage value, the SPAD detector unit will not be able to operate normally and thus integration cannot be performed. This implementation method switches between integration and non-integration by changing the bias voltage of the SPAD detector unit, and the method is simple and easy to implement.

[0104] In some other embodiments, it is also possible to pre-configure the register program for the SPAD detector unit to control the integration or non-integration of the SPAD detector unit.

[0105] Exemplarily, each SPAD detector unit includes a register. By pre-configuring the program in the register of each SPAD detector unit in the target receiving area, each SPAD detector unit in the target receiving area performs integration during the integration period and does not perform integration during the non-integration period of the integration cycle. In this implementation method, the switching control between integration and non-integration is achieved through register program pre-configuration, and the method is simple and easy to implement.

[0106] In some embodiments, the lidar scans slot by slot. Each slot corresponds to at least two receiving areas. The scan data corresponding to each slot includes the echo data of all receiving areas corresponding to each slot. The maximum value of the ranging range of the laser pulses in the laser pulse corresponding to the first slot is determined according to the scan data corresponding to one or more slots scanned before the first slot. The first slot is any slot scanned by the lidar. In this embodiment, the laser pulse of a certain receiving area refers to the laser pulse emitted by the emission area corresponding to this receiving area, and the laser pulse corresponding to the first slot refers to the laser pulses emitted by all receiving areas included in the first slot.

[0107] It should be understood that after obtaining the scan data of a slot, the ranging value and reflectivity corresponding to each receiving area (or each channel) in this slot can be determined. Then, it can be determined whether the maximum value of the ranging range of the laser pulse used in this slot is appropriate. If the maximum value of the laser pulse ranging range is inappropriate, then when scanning the next slot of this slot, the maximum value of the ranging range of the laser pulse of the next slot of this slot can be adjusted.

[0108] When the lidar is a mechanical lidar, the receiving unit can be a column of receiving areas (or can also be called a column of channels) in the SPAD array. When this column of receiving areas scans at a certain azimuth angle, it is regarded as the first slot. When this column of receiving areas scans at the azimuth angle immediately above the azimuth angle corresponding to the first slot, it is regarded as the slot immediately above the first slot. When this column of receiving areas rotates to the next azimuth angle for scanning, it is regarded as the slot immediately below the first slot.

[0109] When the lidar is a solid-state lidar, the receiving unit is the SPAD array. A column of receiving areas in the SPAD array is regarded as the first slot, and the next column of receiving areas for scanning in the SPAD array is regarded as the slot immediately below the first slot.

[0110] In some embodiments, adjusting the maximum value of the ranging range of the laser pulse of the first slot includes: (1) According to the scan data of the slot immediately above the first slot, it is determined that there is a reflecting surface with crosstalk greater than a preset threshold at the first position. The distance between the first position and the lidar is x meters, where x is within the ranging range of the second laser pulse. At least two different types of laser pulses corresponding to the slot immediately above the first slot include the first laser pulse and the second laser pulse. The minimum value of the ranging range of the first laser pulse is less than the minimum value of the ranging range of the second laser pulse, and the maximum value of the ranging range of the first laser pulse is less than x; (2) Adjust the maximum value of the first laser pulse in the laser pulses of the first slot to y, where y is greater than x.

[0111] For example, when scanning the slot immediately above the first slot, the ranging range of the first laser pulse is from x1 to y1, and the ranging range of the second laser pulse is from x2 to y2, x1 is less than x2, y1 is less than y2, and x2 is less than or equal to y1; the distance x between the first position and the lidar is within the range of x2 to y2 and x is greater than y1 and x is less than y2; when scanning the first slot, adjust the ranging range of the first laser pulse to x1 to y, where y is greater than x and y is less than y2.

[0112] It can be understood that when adjusting the maximum value of the ranging range of the first laser pulse, the ranging range of the second laser pulse can remain unchanged. Since there is relatively large crosstalk in the echo data of the second laser pulse at x meters, the echo of the second laser pulse in the range from x2 to y can be filtered out in the subsequent processing.

[0113] In this embodiment, since the minimum value of the ranging range of the first laser pulse is less than the minimum value of the ranging range of the second laser pulse, it can be known that the intensity of the first laser pulse is less than the intensity of the second laser pulse, and the echo crosstalk of the first laser pulse at the same position is smaller than that of the second laser pulse. When it is determined from the scan data of the previous slot of the first slot that there is a strong reflecting surface at the first position x meters away from the lidar, and x meters is within the ranging range of the second laser pulse, therefore, when scanning the first slot, the maximum value of the ranging range of the first laser pulse is adjusted so that x meters is within the ranging range of the first laser pulse, thereby reducing the crosstalk of the first scan data at the first position.

[0114] In the above embodiment, the maximum value of the ranging range of the laser pulse corresponding to the first slot is determined according to the scan data of a slot scanned before the first slot (i.e., the previous slot of the first slot). Of course, the maximum value of the ranging range of the laser pulse corresponding to the first slot can also be determined according to the scan data of multiple slots scanned before the first slot. The principle is similar to the above embodiment, and the present application will not elaborate on this.

[0115] For ease of understanding, the process of adjusting the maximum value of the ranging range of the laser pulse will be described exemplarily below with reference to the accompanying drawings. Taking a mechanical lidar as an example, assume that the laser pulses corresponding to the 16th, 17th, 18th, and 19th channels of the first slot include Figure 3 the first laser pulse 301, the second laser pulse 302, and the third laser pulse 303 as shown. Assume that the ranging range of the first laser pulse 301 is from 1 meter to 30 meters, the ranging range of the second laser pulse 302 is from 30 meters to 100 meters, and the ranging range of the third laser pulse 303 is from 100 meters to 200 meters.

[0116] In some embodiments, a strong reflecting surface with a reflectivity of 200% is detected at the position 35 meters away from the lidar by the 16th, 17th, 18th, and 19th channels of the first slot. Since the distance between the scanning positions of adjacent two slots is usually very close, it is highly probable that the 16th, 17th, 18th, and 19th channels of the next slot of the first slot will also detect this strong reflecting surface with a reflectivity of 200% at the position 35 meters away from the lidar. Therefore, the maximum value of the ranging range of the laser pulse corresponding to the 16th, 17th, 18th, and 19th channels of the next slot of the first slot can be adjusted, thereby reducing the crosstalk generated by the echo at 35 meters of the next slot of the first slot.

[0117] For the first slot, 35 meters is within the ranging range of the second laser pulse 302. Since the stronger the laser pulse intensity, the stronger the crosstalk generated by the echo at the position of the strong reflection surface, in order to reduce the crosstalk, it can be solved by adjusting the maximum value of the ranging range of the laser pulse. For example, the maximum ranging range of the first laser pulse 301 corresponding to the 16th, 17th, 18th, and 19th channels of the next slot of the first slot can be adjusted, so that the ranging ranges of the three adjusted laser pulses are respectively: 1 meter to 40 meters, 30 meters to 100 meters, and 100 meters to 200 meters. After adjusting the maximum value within the ranging range of the first laser pulse 301, when the next slot of the first slot is scanned, the strong reflection surface at 35 meters will fall within the adjusted ranging range of the first laser pulse 301. Since the intensity of the first laser pulse 301 is lower than that of the second laser pulse 302, the crosstalk at 35 meters in the 16th, 17th, 18th, and 19th channels of the next slot of the first slot can be reduced, improving the accuracy of the scanned data.

[0118] It can be understood that when the lidar scans the next slot of the first slot, the maximum value of the ranging range of the first laser pulse 301 is adjusted. For the first laser pulse 301, echo integration will be performed within the range of 1 meter to 40 meters; for the second laser pulse 302, echo integration will be performed within the range of 30 meters to 100 meters; since there will be strong crosstalk in the echo data of the second laser pulse 302 at 35 meters, the echo of the second laser pulse 302 within the range of 30 meters to 40 meters can be filtered out in subsequent processing. Thus, on the basis of ensuring that there is echo data within the ranging range of the lidar, the influence of the strong reflection surface at 35 meters on the echo data can be reduced, ensuring the accuracy of the scanned data of the next slot of the first slot.

[0119] In some other embodiments, the 16th, 17th, 18th, and 19th channels of the first slot detect a strong reflection surface with a reflectivity of 200% at a position 120 meters away from the lidar. At this time, 120 meters is within the ranging range of the third laser pulse 303. At this time, the maximum value of the ranging range of the second laser pulse 302 corresponding to the 16th, 17th, 18th, and 19th channels of the next slot of the first slot can be adjusted, so that the ranging ranges of the three adjusted laser pulses are respectively: 1 meter to 30 meters, 30 meters to 130 meters, and 100 meters to 200 meters. After adjustment, the strong reflection surface at 120 meters will fall within the ranging range of the second laser pulse 302 after adjusting the maximum value of the ranging range. Since the intensity of the second laser pulse 302 is lower than that of the third laser pulse 303, the crosstalk at 120 meters in the 16th, 17th, 18th, and 19th channels of the next slot of the first slot can be reduced, improving the accuracy of the scanned data.

[0120] It can be understood that when the lidar scans the next slot after the first slot, the maximum value of the ranging range of the second laser pulse 302 is adjusted. For the second laser pulse 302, echo integration is performed within the range of 30 meters to 130 meters; for the third laser pulse 303, echo integration is performed within the range of 100 meters to 200 meters; since there will be strong crosstalk in the echo data of the third laser pulse 303 at 120 meters, the echoes of the third laser pulse 303 within the range of 100 meters to 130 meters can be filtered out in subsequent processing. Thus, on the basis of ensuring that there are echo data within the ranging range of the lidar, the influence of the strong reflecting surface at 35 meters on the echo data is reduced, and the accuracy of the scan data of the next slot after the first slot is ensured.

[0121] In some embodiments, the lidar scans slot by slot, each slot corresponds to at least two receiving regions, each receiving region corresponds to at least two channels, and the types of laser pulses corresponding to all channels in each receiving region are the same; the difference in the starting emission time of the laser pulses of two adjacent channels in the scanning direction is a preset difference; the lidar control method further includes: obtaining the echo data of each channel corresponding to the target slot; filtering the echo data of the first channel of the target slot according to the preset difference and the echo data of the first channel of the previous slot of the target slot, to obtain the filtered echo data of the first channel of the target slot, the first channel of the target slot is any one of the channels corresponding to the target slot, and the first channel of the target slot and the first channel of the previous slot of the target slot are two adjacent channels in the scanning direction.

[0122] For the convenience of understanding, the concept of adjacent channels in the scanning direction is described below.

[0123] Figure 5 The structural schematic diagram of the SPAD array provided in an embodiment of the present application is shown as Figure 5 As shown, the lidar uses the SPAD array as the receiving unit, and the lidar scans slot by slot from left to right, where the first slot 510 and the second slot 520 are two adjacent slots, and the first slot 510 is the previous slot of the second slot; that is, after the lidar scans the first slot 510, it starts to scan the second slot 520.

[0124] It can be understood that the number of channels included in each slot is the same, and the corresponding channels in two adjacent slots are two adjacent channels in the scanning direction. As Figure 5 shown, the channel 511 in the first slot 510 and the channel 521 in the second slot 520 are two adjacent channels in the scanning direction, and the channel 512 in the first slot 510 and the channel 522 in the second slot 520 are two adjacent channels in the scanning direction.

[0125] Generally speaking, the time length for scanning each slot is the same. The starting time for scanning each slot is regarded as the 0 moment of that slot. Each slot starts scanning from its 0 moment. Each channel corresponds to the starting emission time of a laser pulse (the starting emission time is the time with the 0 moment of the slot where the channel is located as the starting time point). Therefore, generally speaking, the starting emission times of the laser pulses of two adjacent channels in the scanning direction are the same.

[0126] In the embodiment of the present application, the difference between the starting emission times of the laser pulses of two adjacent channels in the scanning direction is set as a preset difference, and the preset difference is not 0. Since the difference between the starting emission times of the laser pulses is the preset difference, there will also be an echo with the preset difference in the echo data of two adjacent channels in the scanning direction. Therefore, the echo data in this channel can be screened by the preset difference.

[0127] It can be understood that after the echo integration is completed, the echo data corresponding to each channel is processed separately. In the embodiment of the present application, since the difference between the starting emission times of the laser pulses of two adjacent channels in the scanning direction is the preset difference, assuming the preset difference is △t.

[0128] In some embodiments, the echo data in channel 511 in the first slot 510 is as Figure 6 shown in figure a in Figure 6 Figure a in shows the echo data in channel 511 during the scanning period of the first slot 510 (i.e., from 0 to tc), as Figure 6 shown in figure a in, where there are three echoes, and the times corresponding to the three echoes are t1, t2, and t3 respectively. The echo data in channel 521 in the second slot 520 is as Figure 6 shown in figure b in Figure 6 Figure b in shows the echo data in channel 521 during the scanning period of the second slot 520 (i.e., from 0 to tc), as Figure 6 shown in figure b in, where there are four echoes, and the times corresponding to the four echoes are t1', t2', t3', and t4' respectively.

[0129] When processing the echo data in channel 521 in the second slot 520, the echo data in channel 521 in the second slot 520 can be filtered according to the echo data in the adjacent channel 511 and the preset difference △t.

[0130] For example, as Figure 6As shown in the figure, where t1' = t1 + Δt, t2' = t2 + Δt, t4' = t3 + Δt, so the echoes corresponding to t1', t2' and t4' in the echo data of the channel 521 in the second slot 520 are determined as the actual echoes of the channel 521. However, the echo corresponding to t3' does not satisfy the difference of Δt with any of the waves in the echo data of the channel 511, so the echo corresponding to t3' is determined as clutter and filtered out.

[0131] It should be understood that the difference in the starting emission time of the laser pulses will be reflected in the difference in the echo time, that is, if the difference in the emission time of two laser pulses is a preset difference, then the time difference between the echoes of the two laser pulses is also the preset difference. Therefore, the echo data can be filtered according to the difference in the emission time of the laser pulses, and a certain amount of clutter can be filtered out, thereby improving the accuracy of the scanning data.

[0132] In some embodiments, other methods can also be used to optically encode the laser pulses, so as to realize the filtering and screening of the echo data, which will not be elaborated here.

[0133] In some other embodiments, a row or a column of receiving regions in the SPAD array is used as the receiving unit of the mechanical lidar, and a SPAD linear array is used as the receiving unit of the mechanical lidar. In this case, each rotation of the azimuth angle of the lidar corresponds to a slot, so the adjacent two slots refer to the slots at adjacent azimuth angles, and the two adjacent channels in the scanning direction are the channels corresponding to the same SPAD detector unit in the adjacent two slots. The scheme of filtering the echo data in the channel by using the preset difference in this case is the same as the embodiment with the SPAD array as the receiving unit above, which will not be elaborated here.

[0134] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0135] Corresponding to a lidar control method in the above embodiments, Figure 7 The structural block diagram of a lidar control device provided by an embodiment of the present application is shown. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown.

[0136] Refer to Figure 7 , the lidar control device 700 includes: a first control unit 710, a second control unit 720, where:

[0137] The first control unit 710 is configured to control the target emission area to emit laser pulses within an integration period, where the target emission area is the emission area corresponding to the target reception area among the multiple emission areas, and the target reception area includes at least two reception areas among the multiple reception areas;

[0138] The second control unit 720 is configured to control the SPAD detector unit in the target reception area to perform echo integration during the integration period and not perform echo integration during the non-integration period within the integration period, so as to obtain the echo data of the target reception area within the integration period; in the target reception area: the echo crosstalk of the laser pulses during the integration period is less than the echo crosstalk of the laser pulses during the non-integration period within the integration period.

[0139] In one embodiment, the laser pulses include at least two different types of laser pulses, the ranging ranges corresponding to different types of laser pulses are different, different types of laser pulses emit light and perform ranging at different times within the integration period, and the ranging ranges of at least two different types of laser pulses cover the ranging range of the lidar.

[0140] In one embodiment, when the target object is any object whose distance from the lidar is greater than or equal to the first distance value, the crosstalk of the echo generated by the first laser pulse on the target object in the target reception area is less than the first threshold, the minimum value of the ranging range corresponding to the first laser pulse is the first distance value, the first distance values corresponding to different types of laser pulses are different, and the first laser pulse is any one of at least two different types of laser pulses.

[0141] In one embodiment, the light emission and ranging period of the first laser pulse within the integration period includes a first integration period and a first non-integration period, the integration period within the integration period includes the first integration period, and the non-integration period within the integration period includes the first non-integration period.

[0142] In one embodiment, the lidar control device 700 further includes: a time period division unit, and the time period division unit is configured to: determine the start time of the first non-integration period as the start time of the first light emission and ranging period, where the first light emission and ranging period is the period when the first laser pulse emits light and performs ranging within the integration period; determine the length of the first non-integration period according to the speed of light and the first distance value corresponding to the first laser pulse; determine the end time of the first non-integration period according to the start time of the first light emission and ranging period and the length of the first non-integration period; determine the start time of the first integration period as the end time of the first non-integration period; and determine the end time of the first integration period as the end time of the first light emission and ranging period.

[0143] In one embodiment, during the integration period within the integration time slot, the bias voltage of each SPAD detector unit in the target reception area is greater than or equal to a preset voltage value; during the non-integration period within the integration period, the bias voltage of each SPAD detector unit in the target reception area is less than the preset voltage value.

[0144] In one embodiment, each SPAD detector unit includes a register. By pre-configuring the program in the register of each SPAD detector unit in the target reception area, each SPAD detector unit in the target reception area performs integration during the integration period within the integration period and does not perform integration during the non-integration period within the integration period.

[0145] In one embodiment, the lidar performs scanning slot by slot. Each slot corresponds to at least two reception areas. The scanning data corresponding to each slot includes the echo data of all reception areas corresponding to each slot; the maximum value of the ranging range of the laser pulses in the laser pulse corresponding to the first slot is determined according to the scanning data corresponding to one or more slots scanned before the first slot, and the first slot is any slot scanned by the lidar.

[0146] In one embodiment, the lidar performs scanning slot by slot. Each slot corresponds to at least two reception areas. Each reception area corresponds to at least two channels. The types of laser pulses corresponding to all channels in each reception area are the same; the difference in the starting emission time of the laser pulses of two adjacent channels in the scanning direction is a preset difference; the lidar control device 700 further includes: an acquisition unit and a filtering unit, where: the acquisition unit is used to acquire the echo data of each channel corresponding to the target slot; the filtering unit is used to filter the echo data of the first channel of the target slot according to the preset difference and the echo data of the first channel of the previous slot of the target slot, and obtain the filtered echo data of the first channel of the target slot. The first channel of the target slot is any one of the channels corresponding to the target slot, and the first channel of the target slot and the first channel of the previous slot of the target slot are two adjacent channels in the scanning direction.

[0147] Figure 8 The internal structure diagram of the electronic device provided by an embodiment of the present application is as Figure 8 shown. The electronic device 80 in this embodiment includes: at least one processor 800 ( Figure 8 only one processor is shown in the figure), a memory 801, and a computer program 802 stored in the memory 801 and executable on at least one processor 800. When the processor 800 executes the computer program 802, it is used to execute the methods in the above method embodiments.

[0148] The electronic device 80 may include, but is not limited to, a processor 800 and a memory 801. Those skilled in the art can understand,Figure 8 This is only an example of the electronic device 80, and does not constitute a limitation on the electronic device 80. It may include more or fewer components than those shown in the figure, or combine some components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0149] The so-called processor 800 may be a central processing unit (CPU), and this processor 800 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or this processor may also be any conventional processor, etc.

[0150] In some embodiments, the memory 801 may be an internal storage unit, such as a hard disk or memory. In other embodiments, the memory 801 may also be an external storage device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 801 may also include both an internal storage unit and an external storage device. The memory 801 is used to store an operating system, application programs, a boot loader, data, and other programs, such as program codes of computer programs, etc. The memory 801 may also be used to temporarily store data that has been output or will be output.

[0151] Those skilled in the art can understand that Figure 8 The structure shown in

[0152] In one embodiment, a lidar is provided. The lidar includes a transmitting unit, a receiving unit, and a processor. The receiving unit is a SPAD linear array or a SPAD planar array. The receiving unit includes a plurality of receiving regions, and each receiving region includes at least one SPAD detector unit. The transmitting unit includes a plurality of transmitting regions, and each receiving region corresponds to one transmitting region. The processor is used to execute the method in the above method embodiments.

[0153] The embodiments of the present application further provide a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0154] The embodiments of the present application provide a computer program product, and when the computer program product runs on a controller, the controller is caused to implement the steps in the above-mentioned method embodiments when executed.

[0155] The embodiments of the present application further provide a chip, including: a processor for calling and running a computer program from a memory, so that an electronic device installed with the chip executes the steps in the above-mentioned method embodiments.

[0156] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0157] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or 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. A professional technician 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 the present application.

[0158] In the embodiments provided by the present application, it should be understood that the disclosed device / equipment and method can be implemented in other ways. For example, the device / equipment embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division, and there may 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 coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0159] The unit described as a separated component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be 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.

[0160] In addition, in each embodiment of the present application, each functional unit can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0161] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-mentioned embodiment methods of the present application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0162] The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling a lidar, characterized in that, The lidar includes a transmitting unit and a receiving unit. The receiving unit includes a plurality of receiving areas, and each receiving area includes at least one detector unit. The transmitting unit includes a plurality of transmitting areas, and each receiving area corresponds to one transmitting area. The method includes: Controlling a target transmitting area to emit laser pulses within an integration period, where the target transmitting area is the transmitting area corresponding to a target receiving area among the plurality of transmitting areas, and the target receiving area includes at least two receiving areas among the plurality of receiving areas; Controlling the detector units in the target receiving area to perform echo integration during the integration period of the integration period and not perform echo integration during the non-integration period of the integration period, and obtaining echo data of the target receiving area during the integration period; in the target receiving area: the echo crosstalk of the laser pulses during the integration period of the integration period is less than the echo crosstalk of the laser pulses during the non-integration period of the integration period.

2. The method according to claim 1, wherein The laser pulses include at least two different types of laser pulses, and the ranging ranges corresponding to different types of laser pulses are different. Different types of laser pulses emit light and perform ranging at different times during the integration period, and the ranging ranges of the at least two different types of laser pulses cover the ranging range of the lidar.

3. The method according to claim 2, wherein When the target object is any object whose distance from the lidar is greater than or equal to a first distance value, the crosstalk of the echo generated by the first laser pulse on the target object in the target receiving area is less than a first threshold value. The minimum value of the ranging range corresponding to the first laser pulse is the first distance value, and the first distance values corresponding to different types of laser pulses are different. The first laser pulse is any one of the at least two different types of laser pulses.

4. The method according to claim 3, wherein The light emission and ranging period of the first laser pulse during the integration period includes a first integration period and a first non-integration period. The integration period of the integration period includes the first integration period, and the non-integration period of the integration period includes the first non-integration period.

5. The method according to claim 4, wherein The method further includes: Determining the start time of the first non-integration period as the start time of the first light emission and ranging period, where the first light emission and ranging period is the period when the first laser pulse emits light and performs ranging during the integration period; Determining the length of the first non-integration period according to the speed of light and the first distance value corresponding to the first laser pulse; Determining the end time of the first non-integration period according to the start time of the first light emission and ranging period and the length of the first non-integration period; Determining the start time of the first integration period as the end time of the first non-integration period; Determining the end time of the first integration period as the end time of the first light emission and ranging period.

6. The method according to claim 1, wherein During the integration period of the integration period, the bias voltage of each detector unit in the target receiving area is greater than or equal to a preset voltage value; During the non-integration period of the integration period, the bias voltage of each detector unit in the target receiving area is less than the preset voltage value.

7. The method according to claim 1, wherein Each detector unit includes a register. By pre-configuring the programs in the registers of each detector unit in the target receiving area, each detector unit in the target receiving area performs integration during the integration period and does not perform integration during the non-integration period in the integration period.

8. The method according to any one of claims 2 to 7, characterized in that The lidar scans slot by slot, each slot corresponding to at least two receiving areas, and the scan data corresponding to each slot includes the echo data of all receiving areas corresponding to each slot; the maximum value of the ranging range of the laser pulses in the laser pulse corresponding to the first slot is determined according to the scan data corresponding to one or more slots scanned before the first slot, and the first slot is any slot scanned by the lidar.

9. The method according to any one of claims 2 to 7, characterized in that The lidar scans slot by slot, each slot corresponding to at least two receiving areas, each receiving area corresponding to at least two channels, and the types of laser pulses corresponding to all channels in each receiving area are the same; The difference in the starting emission time of the laser pulses of two adjacent channels in the scanning direction is a preset difference; the method further includes: Obtaining the echo data of each channel corresponding to the target slot; Filtering the echo data of the first channel of the target slot according to the preset difference and the echo data of the first channel of the previous slot of the target slot to obtain the filtered echo data of the first channel of the target slot, where the first channel of the target slot is any one of the channels corresponding to the target slot, and the first channel of the target slot and the first channel of the previous slot of the target slot are two adjacent channels in the scanning direction.

10. A lidar control device, characterized in that, The device includes units for performing each step of the method according to any one of claims 1 to 9.

11. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the method according to any one of claims 1 to 9 is implemented.

12. A lidar, characterized in that, The lidar includes a transmitting unit, a receiving unit and a processor. The receiving unit includes a plurality of receiving areas, each receiving area containing at least one detector unit. The transmitting unit includes a plurality of transmitting areas, each receiving area corresponding to one transmitting area, and the processor is used to execute the method according to any one of claims 1 to 9.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1 to 9 is implemented.

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