Method for correcting laser radar, control device and laser radar

Abstract

The invention discloses a method for correcting a laser radar, a control device and the laser radar. Acquiring light spot energy data generated by a detector when a reflected light beam irradiates a detection surface of the detector of the laser radar, wherein the reflected light beam is formed by reflecting an emission light beam emitted by an emitter of the laser radar through the inner wall of the laser radar; and correcting the receiving position of the detector and / or the transmitting parameter of the transmitter according to the light spot energy data. According to the embodiment of the invention, the optical loop formed by the reflection of the inner wall of the laser radar is utilized to realize the correction of the receiving position of the detector and / or the transmitting parameter of the transmitter. The scheme does not depend on an external environment and is wide in application scene; normal work of the laser radar is not affected, and a user can be non-inductive. And the transmitting performance and the receiving performance of the laser radar can be corrected, so that the detection precision of the laser radar is integrally improved.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and in particular, to a method for calibrating a lidar, a control device, and a lidar. Background Art

[0002] The emitter, detector, etc. of a lidar will deform under conditions such as temperature changes and aging, resulting in changes in the spot emission position of the emitter, the spot imaging position on the detector, etc. When the spot emission position of the emitter changes, it will cause errors in the reported point cloud angles. When the spot imaging position on the detector changes, it will cause errors in the reflectivity of the detected object.

[0003] How to calibrate the errors caused by deformation of the emitter, detector, etc. of a lidar is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This application provides a method for calibrating a lidar, a control device, and a lidar, which can calibrate the receiving position of the detector and / or the emission parameters of the emitter, and improve the detection accuracy of the lidar.

[0005] In a first aspect, a method for calibrating a lidar is provided. This method can be applied to a lidar or a control device of a lidar (the control device can be arranged inside the lidar or outside the lidar, without limitation). The method includes: obtaining the spot energy data generated by the detector when the reflected beam irradiates the detection surface of the detector of the lidar, where the reflected beam is formed after the emission beam emitted by the emitter of the lidar is reflected by the inner wall of the lidar; and calibrating the receiving position of the detector and / or the emission parameters of the emitter according to the spot energy data.

[0006] In an embodiment of this application, an optical loop is formed by reflecting the emission beam by the inner wall of the lidar to calibrate the receiving position of the detector and / or the emission parameters of the emitter. This solution does not depend on the external environment and has a wide range of application scenarios; calibration is performed during the period when the beam scans the inner wall (without exiting into the object space), which does not affect the detection work of the lidar on the object space; moreover, in addition to calibrating the receiving position, this solution can also calibrate the emission parameters of the emitter, which can calibrate both the emission performance and the receiving performance of the lidar, thereby improving the detection accuracy of the lidar as a whole.

[0007] In a possible design, the emission beam is scanned within a scanning period; where the scanning period includes a first period and a second period; within the first period, the emission beam irradiates the object space, and within the second period, the emission beam irradiates the inner wall of the lidar.

[0008] In this design method, calibration is performed during the time period when the light beam scans the inner wall within a scanning cycle (i.e., the first time period), which has no impact on the time period when the light beam scans the object space (i.e., the first time period), does not affect the normal operation of the lidar, and can achieve a user-friendly experience.

[0009] In a possible design, the emission parameters include the emission angle and / or the light-emitting time of the emitter, or the angle information reported by the point cloud data.

[0010] In this design method, the emission parameters of the emitter can be calibrated by hardware or software, which improves the flexibility of the solution.

[0011] In a possible design, the reflected light beam is formed after the emission light beam is reflected by the first region of the inner wall. The reflectivity of the first region is uniformly distributed in the first direction. The detection surface includes multiple detection regions distributed in the second direction, and the second direction corresponds to the first direction; obtaining the spot energy data generated by the detector when the reflected light beam irradiates the detection surface of the detector of the lidar, including: obtaining the spot energy data generated by each detection region among the multiple detection regions when the emission light beam irradiates the first region; calibrating the receiving position of the detector according to the spot energy data, including: determining the maximum spot energy data from the spot energy data generated by each detection region among the multiple detection regions; correcting the receiving position of the detector in the second direction according to the position deviation between the detection region corresponding to the maximum spot energy data and the preset detection region.

[0012] Through the above design, it is possible to realize the calibration of the receiving position of the detector by using the optical loop formed by the reflection of the inner wall with uniform reflectivity on the lidar. There are few hardware modifications (if the reflectivity of the inner wall of the lidar is already uniform, no hardware modification is required), the implementation is simple, and the cost is low.

[0013] In a possible design, the spot corresponding to the reflected light beam is located within the detection surface in the second direction; and / or the spot corresponding to the emission light beam is located within the first region in the first direction.

[0014] In this way, it is possible to avoid the problem that the spot size of the reflected light beam is large, resulting in the spot position still covering the detection surface of the detector after deviation, and the receiving position deviation cannot be detected and corrected.

[0015] In a possible design, obtaining the spot energy data generated by each detection region among the multiple detection regions when the emission light beam irradiates the first region includes: successively activating different detection regions among the multiple detection regions, and obtaining the spot energy data generated by each detection region during the activation of each detection region among the multiple detection regions; or, simultaneously activating the multiple detection regions and obtaining the spot energy data generated by each detection region among the multiple detection regions.

[0016] This design method provides multiple ways to activate the detection area, further improving the flexibility of the solution.

[0017] In a possible design, the reflected light beam is formed after the transmitted light beam is reflected by the second area of the inner wall. The second area includes multiple sub-areas with different reflectivities distributed along the third direction; the detection surface includes multiple detection areas distributed along the fourth direction, and the fourth direction corresponds to the third direction; obtaining the spot energy data generated by the detector when the reflected light beam irradiates the detection surface of the detector of the lidar includes: obtaining the spot energy data generated by each detection area among the multiple detection areas when the transmitted light beam irradiates the second area; correcting the receiving position of the detector according to the spot energy data includes: correcting the receiving position of the detector in the fourth direction according to the spot energy data generated by the multiple detection areas and the corresponding relationship between the multiple detection areas, and the preset corresponding relationship between the spot energy data and the detection areas.

[0018] Through the above design, it is possible to realize the correction of the receiving position of the detector by using the optical loop formed by the reflection of the non-uniform reflectivity inner wall on the lidar, with few hardware modifications, low cost, and a wide range of usage scenarios.

[0019] In a possible design, the spot corresponding to the reflected light beam extends beyond the detection surface in the fourth direction; and / or, the spot corresponding to the transmitted light beam extends beyond the second area in the third direction.

[0020] In other words, even if the spot size of the reflected light beam is large and the spot position shifts but still covers the detection surface of the detector, based on the optical loop formed by the reflection of the non-uniform reflectivity inner wall, the receiving position deviation can also be detected and corrected.

[0021] In a possible design, the reflected light beam is formed after the transmitted light beam is reflected by the third area of the inner wall. The third area includes multiple sub-areas with different reflectivities distributed along the fifth direction; obtaining the spot energy data generated by the detector when the reflected light beam irradiates the detection surface of the detector of the lidar includes: obtaining the spot energy data generated by the detector at each of multiple different emission angles during the process of the transmitted light beam scanning the third area along the fifth direction at multiple different emission angles; correcting the emission parameters of the emitter according to the spot energy data includes: correcting the emission angle of the emitter in the fifth direction according to the spot energy data generated by the detector and the corresponding relationship between the multiple different emission angles, and the preset corresponding relationship between the spot energy data and the emission angles.

[0022] Through the above design, it is possible to realize the correction of the emission parameters of the emitter by using the optical loop formed by the reflection of the non-uniform reflectivity inner wall on the lidar, with few hardware modifications, low cost, and a wide range of usage scenarios.

[0023] In a second aspect, a control device is provided, including modules, units or technical means for executing the method described in the first aspect or any possible design of the first aspect.

[0024] Exemplarily, the control device may include:

[0025] An acquisition module, configured to acquire spot energy data generated by a detector when a reflected light beam irradiates on a detection surface of the detector of the lidar, where the reflected light beam is formed after an emission light beam emitted by a transmitter of the lidar is reflected by an inner wall of the lidar;

[0026] A processing module, configured to correct a reception position of the detector and / or emission parameters of the transmitter according to the spot energy data.

[0027] In a possible design, the emission light beam is scanned within a scanning period; wherein, the scanning period includes a first time period and a second time period; within the first time period, the emission light beam irradiates into the object space, and within the second time period, the emission light beam irradiates on the inner wall of the lidar.

[0028] In a possible design, the emission parameters include an emission angle of the transmitter and / or a lighting time, or angle information reported by point cloud data.

[0029] In a possible design, the reflected light beam is formed after the emission light beam is reflected by a first region of the inner wall, the reflectivity of the first region is uniformly distributed in a first direction, the detection surface includes a plurality of detection regions distributed along a second direction, and the second direction corresponds to the first direction; the acquisition module is configured to: acquire spot energy data generated by each detection region among the plurality of detection regions when the emission light beam irradiates on the first region; the processing module is configured to: determine maximum spot energy data from the spot energy data generated by each detection region among the plurality of detection regions; and correct the reception position of the detector in the second direction according to a position deviation between the detection region corresponding to the maximum spot energy data and a preset detection region.

[0030] In a possible design, the spot corresponding to the reflected light beam is located within the detection surface in the second direction; and / or, the spot corresponding to the emission light beam is located within the first region in the first direction.

[0031] In a possible design, the acquisition module is configured to: sequentially activate different detection regions among the plurality of detection regions, and acquire spot energy data generated by each detection region during the activation of each detection region among the plurality of detection regions; or, simultaneously activate the plurality of detection regions, and acquire spot energy data generated by each detection region among the plurality of detection regions.

[0032] In a possible design, the reflected light beam is formed after the emitted light beam is reflected by the second region of the inner wall. The second region includes a plurality of sub-regions with different reflectivities distributed in the third direction; the detection surface includes a plurality of detection regions distributed in the fourth direction, and the fourth direction corresponds to the third direction; the acquisition module is configured to: acquire the spot energy data generated by each detection region among the plurality of detection regions when the emitted light beam irradiates the second region; the processing module is configured to: correct the reception position of the detector in the fourth direction according to the spot energy data generated by the plurality of detection regions, the corresponding relationship between the plurality of detection regions, and the preset corresponding relationship between the spot energy data and the detection regions.

[0033] In a possible design, the spot corresponding to the reflected light beam extends beyond the detection surface in the fourth direction; and / or, the spot corresponding to the emitted light beam extends beyond the second region in the third direction.

[0034] In a possible design, the reflected light beam is formed after the emitted light beam is reflected by the third region of the inner wall. The third region includes a plurality of sub-regions with different reflectivities distributed in the fifth direction; the acquisition module is configured to: acquire the spot energy data generated by the detector at each of a plurality of different emission angles during the process that the emitted light beam scans the third region in the fifth direction at the plurality of different emission angles; the processing module is configured to: correct the emission angle of the emitter in the fifth direction according to the spot energy data generated by the detector, the corresponding relationship between the plurality of different emission angles, and the preset corresponding relationship between the spot energy data and the emission angles.

[0035] In a third aspect, a lidar is provided, including: a transmitter, a detector, and a control device; the transmitter is configured to emit an emitted light beam; the detector is configured to receive the reflected light beam; the control device is configured to execute the method described in the first aspect or any possible design of the first aspect.

[0036] In a fourth aspect, a control device is provided. The device includes a processor and an interface circuit. The interface circuit is configured to receive signals from other devices outside the device and transmit them to the processor or send signals from the processor to other communication devices outside the device. The processor is configured to implement the method described in the first aspect or any possible design of the first aspect through logic circuits or by executing code instructions.

[0037] In a fifth aspect, a computer-readable storage medium is provided, including a program or instructions. When the program or instructions are run on a computer, the method described in the first aspect or any possible design of the first aspect is executed.

[0038] In a sixth aspect, a program product is provided, including instructions. When the instructions are run on a computer, the method described in the first aspect or any possible design of the first aspect is executed.

[0039] In a seventh aspect, there is provided a terminal, including the control device described in the second aspect or any possible implementation manner of the second aspect, or the lidar described in the third aspect, or the control device described in the fourth aspect, or the computer-readable storage medium described in the fifth aspect, or the program product described in the sixth aspect.

[0040] Optionally, the terminal is a vehicle.

[0041] For the beneficial effects of the above second aspect to seventh aspect, reference may be made to the description of the beneficial effects of the first aspect, and details are not repeated here. Description of the Drawings

[0042] Figure 1A It is a schematic structural diagram of a lidar;

[0043] Figure 1B It is a schematic diagram of an application scenario of a lidar;

[0044] Figure 2A It is a schematic diagram of the angular deviation of the emission beam of the transmitter;

[0045] Figure 2B It is a schematic diagram of the deviation of the spot imaging position of the receiver;

[0046] Figure 3 It is a flowchart of a method for calibrating a lidar provided by an embodiment of the present application;

[0047] Figure 4A It is a schematic diagram of a possible scanning mode of a lidar;

[0048] Figure 4B It is a schematic diagram of a possible scanning mode of a lidar;

[0049] Figures 5A to 5C It is a schematic diagram of several specific schemes for calibrating a lidar provided by an embodiment of the present application; [[ID= forty-two]]

[0050] Figure 5D It is a size comparison diagram of the first region and the spot;

[0051] Figure 6 It is a schematic structural diagram of a control device provided by an embodiment of the present application;

[0052] Figure 7 It is a schematic structural diagram of another control device provided by an embodiment of the present application. Detailed Embodiments

[0053] The technical solutions provided by the embodiments of the present application can be applied to devices with laser detection capabilities, such as lidar, or terminal devices with laser detection capabilities. Among them, the terminal device can be an intelligent device with laser detection capabilities, including but not limited to: smart home devices, such as televisions, floor cleaning robots, smart table lamps, audio systems, intelligent 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. Alternatively, the terminal device can also be a computer device with laser detection capabilities, such as a desktop computer, a personal computer, a server, etc. It should also be understood that the terminal device can also be a portable electronic device with laser detection capabilities, such as a mobile phone, a tablet computer, a handheld computer, headphones, speakers, wearable devices (such as smart watches), in-vehicle devices, virtual reality devices, augmented reality devices, etc.

[0054] The following takes the application to lidar as an example.

[0055] See Figure 1A , which is a schematic diagram of a lidar. The lidar includes a transmitter, a receiver, a processing device, a control device, and a housing.

[0056] 1. The transmitter, also known as the transmitting module, may include a laser. Optionally, it may also include a transmitting optical system. A laser is a device that can emit laser light, and its type can be any one of semiconductor lasers, gas lasers, fiber lasers, solid-state lasers, dye lasers, diode lasers, or excimer lasers, etc. The laser can emit a light beam (referred to as an emission beam or an emission signal or a detection signal or a detection beam, etc., specifically, for example, pulsed laser or frequency-modulated continuous wave, etc.) under the control of the control device. The transmitting optical system is a system composed of optical elements, and the optical elements include but are not limited to one or more of lenses, filters, polarizers, mirrors, beam splitters, prisms, window plates, or diffuser plates, etc. The transmitting optical system can transmit the emission beam from the laser. The form of the emission beam emitted by the transmitter can also be a linear light spot or a planar light spot, which is not limited in the present application.

[0057] In one possible implementation, the transmitter may include multiple independent emission channels, and each emission channel can be individually turned on or off to emit light (i.e., turn on or off the emission beam). Among them, the emission beam of each emission channel can be emitted individually by one laser or multiple lasers, or the emission beams of multiple emission channels can be emitted by the same laser, which is not limited in this application. The angles of the emission beams emitted by different emission channels can be different. By sequentially controlling the lasers in different emission channels to emit light, the emission beams can reach different areas to scan and traverse the entire detection area (the target is located in the detection area).

[0058] In one possible implementation, the transmitter may further include a scanning device (or called a scanning module). The scanning device is used to control the outgoing direction of the emission beam. For example, by rotating and scanning a mirror to change the angle of the emission beam, so that the emission beam can reach different areas to scan and traverse the entire detection area (the target is located in the detection area).

[0059] 2. The receiver, or called the receiving module, may include a detector. Optionally, it may further include a receiving optical system. The receiving optical system is used to receive the beam returned from the outside (which can be called the echo signal or reflection signal or reflection beam, etc.) and converge the received reflection beam onto the photosensitive surface (i.e., the detection surface) of the detector. The detector is used to convert the reflection beam from an optical signal into an electrical signal and then transmit it to the processing device.

[0060] The receiving optical system can be composed of one or more optical elements. The types of optical elements include but are not limited to one or more of a lens, a filter, a polarizer, a mirror, a multi-faceted rotating mirror, a galvanometer mirror, a beam splitter, a prism, a window plate, or a diffuser plate, etc. In some possible embodiments, the receiver and the transmitter may also share some devices. For example, they share the scanning device. The emission beam emitted by the transmitter is reflected by the surface of the scanning device and then emitted into the field of view. The reflection beam reflected from the field of view is reflected by the surface of the scanning device and then received by the detector.

[0061] The detector can be an array structure composed of multiple rows and columns of pixels. Among them, a pixel refers to the smallest unit in the detector that can receive the reflection beam. Based on the different forms of the laser of the transmitter, the array structure of the detector can also have different forms, such as linear, planar and other array structures. Correspondingly, the lidar can adopt any one of the scanning methods such as line scanning and line receiving, line scanning and plane receiving, or plane scanning and plane receiving to scan the detection area. The surface of the detector that receives the reflection beam can be called the "detection surface".

[0062] In specific implementation, the specific types of the detectors include, but are not limited to, avalanche photodiode (APD) arrays, single photon avalanche diode (SPAD) arrays, charge-coupled device (CCD) arrays, or complementary metal oxide semiconductor (CMOS) sensor arrays, etc.

[0063] In specific implementation, the receiver may include a plurality of independent receiving channels. The receiving channels may correspond one-to-one with the transmitting channels, or multiple receiving channels may correspond to one transmitting channel. Each receiving channel is used to receive the reflected light beam corresponding to the transmitted signal of the corresponding transmitting channel.

[0064] 3. A processing device, which can receive and analyze the electrical signals output by the receiver to generate point cloud data. Optionally, the processing device can also determine the feature information of the target according to the point cloud data. Among them, the feature information of the target includes, but is not limited to, the distance, azimuth, height, speed, attitude, size, or shape of the target, etc.

[0065] 4. A control device, which has the ability to control signals. For example, it can be connected to other components in the lidar through a controller area network (CAN) bus or other means and send control instructions to other components to coordinate the work of other components. For example, the control device can control the transmitter to emit the transmitted light beam; control the receiver to receive the reflected light beam, and control the receiver to process the received reflected light beam and output an electrical signal; control the processing device to analyze the electrical signals output by each receiver to generate point cloud data, etc.

[0066] In the specific implementation process, the control device and the processing device can be integrated in one device, or can be separately implemented in multiple devices.

[0067] Exemplarily, it can be implemented by integration in a 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 microcontroller unit (MCU), a programmable logic controller (PLC), 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 modem processor, an image signal processor (ISP), a video codec, a digital signal processor (DSP), and / or a baseband processor, etc., which are not specifically limited.

[0068] 5. Housing, the outermost structure of the lidar. The above-mentioned transmitter, receiver, processing device, control device, etc. are integrated in the inner cavity of the housing.

[0069] The housing has a window. The light emitted by the emitting device can reach the object space through the window. The light emitted into the object space is reflected by the target and then returns to the inside of the lidar through the window and is received by the receiving device.

[0070] In some embodiments, some devices of the lidar (such as the control device and / or the processing device, etc.) can also be arranged outside the housing of the lidar and communicate with the lidar.

[0071] It can be understood that Figure 1A only shows the devices related to the embodiments of the present application in the lidar. The lidar may actually include more or fewer devices, which are not limited in the embodiments of the present application. And,Figure 1A The sizes, shapes, relative positions, etc. of the various devices shown are only for illustration and do not reflect the true proportions and positional relationships.

[0072] See Figure 1B , which is a schematic diagram of an application scenario of a lidar. In this example, the lidar is installed on a vehicle, so it is also called an automotive lidar. In addition to the automotive lidar, the lidar also includes a marine lidar installed on a ship, and an airborne lidar installed on a machine, etc. In one possible example, as Figure 1B shown, the lidar can be specifically installed at the front of the vehicle. During the driving process of the vehicle, the lidar can emit a light beam (i.e., the emitted light beam). After the emitted light beam irradiates an object in front of the vehicle, it will be reflected by the object, and the reflected light beam (i.e., the reflected light beam) can be received by the lidar. Furthermore, the lidar can determine information about obstacles in front of the vehicle based on the reflected emitted light beam, such as the distance, azimuth, height, speed, attitude, size, or shape of the obstacles, so as to utilize the obstacle information to implement the driving function of the vehicle, such as including but not limited to autonomous driving or assisted driving, etc.

[0073] It should be noted that in the Figure 1B given example, the lidar is taken as an example of being installed at the front of the vehicle, but in actual applications, it is not limited to this. The lidar can also be installed in other positions, such as the rear or the roof of the vehicle, etc.

[0074] The transmitter, receiver, etc. of the lidar will deform under conditions such as temperature change and aging, resulting in changes in the spot emission position of the transmitter, the spot imaging position on the receiver, etc. As Figure 2A shown, the higher the temperature, the greater the deformation of the transmitter and the greater the angular deviation of the emitted light beam. As Figure 2B shown, after the receiver deforms, the imaging position of the spot on the detection surface of the detector shifts relative to the receiving area of the detector, resulting in a decrease in the receiving efficiency. When the spot emission position of the transmitter changes, it will cause an error in the angle of the reported point cloud. When the spot imaging position on the receiver changes, it will cause an error in the reflectivity of the detected object.

[0075] To solve the above one or more technical problems, the technical solutions of the embodiments of the present application are provided.

[0076] See Figure 3 , which is a method for calibrating a lidar provided by an embodiment of the present application. This method can be applied to the lidar or to a chip in the lidar (such as the control device described above), without limitation. Hereinafter, taking the method as an example of being applied to the control device of the lidar, the method includes S301 - S302:

[0077] S301. Obtain the spot energy data generated by the detector when the reflected light beam irradiates the detection surface of the detector of the lidar.

[0078] Among them, the reflected light beam is formed after the transmitted light beam emitted by the transmitter of the lidar is reflected by the inner wall of the lidar. The position where the transmitted light beam is projected can be the top, bottom, side, etc. of the lidar, and the embodiments of the present application do not limit this.

[0079] The area where the transmitted light beam is projected on the inner wall can be an area with uniform reflectivity. For example, Figure 5A the first area shown, or it can be an area with non-uniform reflectivity. For example, Figure 5B the second area shown or Figure 5C the third area shown, and the embodiments of the present application do not limit this.

[0080] It can be understood that an area with uniform reflectivity means that the difference in reflectivity at different positions within the area is within a preset range, or in other words, the reflectivity at different positions within the area is the same or similar; an area with non-uniform reflectivity means that the difference in reflectivity at different positions within the area exceeds the preset range, or in other words, the reflectivity at different positions within the area is different or differs greatly.

[0081] In a possible design, the transmitted light beam of the lidar is scanned within a scanning cycle, and the scanning cycle includes a first time period and a second time period; within the first time period, the transmitted light beam irradiates the object space, and within the second time period, the transmitted light beam irradiates the inner wall of the lidar. For example, Figure 4A as shown, the transmitted light beam scans along the scanning direction shown in the figure. Within the time period t1, the transmitted light beam is projected onto the object space through the window, and within the time period t2, the transmitted light beam is projected onto the inner wall of the lidar. It can be understood that Figure 4A this is only an example. In actual situations, the scanning direction can also be other directions, and the position where the transmitted light beam is projected on the inner wall can also be other positions, and the embodiments of the present application do not limit this. It can be understood that the scanning cycle can be only once, or it can be repeated multiple times (that is, the lidar can scan periodically multiple times), and there is no limitation.

[0082] In a specific implementation manner, the transmitter includes a scanning device, and the transmitted light beam can be scanned within the scanning cycle via the scanning device, and the light beam is emitted and returned via the scanning device. As Figure 4BAs shown, a possible optical path diagram is illustrated. After the emitted light beam exits the laser, it passes through the emission optical system and reaches the surface of the scanning device. After being reflected by the scanning device, it irradiates the inner wall of the lidar. The inner wall of the lidar reflects the emitted light beam to form a reflected light beam, and the reflected light beam is received by the detector via the reflection of the scanning device and the receiving optical system. The scanning device can switch different postures (such as different angles) within the scanning cycle, so that in the first time period, the emitted light beam irradiates the object space, and in the second time period, the emitted light beam irradiates the inner wall of the lidar. It can be understood that Figure 4B only some components in the lidar are illustrated, and actually other components may also be included. Additionally, Figure 4B the relative positional relationships among components such as the laser, the scanning device, and the detector shown in

[0083] In another specific implementation manner, the emitter may include multiple independent emission channels, and the angles of the emitted light beams emitted by different emission channels may be different. The lasers in different emission channels are controlled to emit light successively, so that in the first time period, the emitted light beam irradiates the object space, and in the second time period, the emitted light beam irradiates the inner wall of the lidar. In this case, the emitter may or may not include a scanning device.

[0084] S302. Correct the receiving position of the detector and / or the emission parameters of the emitter according to the spot energy data.

[0085] Exemplarily, by comparing the obtained spot energy data with the preset spot energy data, the deviation between the current receiving position of the detector and the preset receiving position can be obtained, and the receiving position of the detector can be corrected according to this deviation; or, by comparing the obtained spot energy data with the preset spot energy data, the deviation between the current emission parameters of the emitter and the preset emission parameters can be obtained, and the emission parameters of the emitter can be corrected according to this deviation. Among them, the preset spot energy data may be factory data, for example, the spot energy data obtained in the same manner as S301 when the lidar leaves the factory (that is, when the lidar leaves the factory, when the reflected light beam formed by the emitted light beam emitted by the emitter after being reflected by the inner wall of the lidar irradiates the detection surface of the detector, the spot energy data generated by the detector).

[0086] In one possible implementation, the emission parameters may include the hardware parameters of the emitter, such as the emission angle. For example, the emitter includes a plurality of emission channels that can be individually turned on or off for emitting light, where different channels correspond to different emission angles, and the emission angle of the emitter can be controlled by controlling the channels that are turned on or off or the time when each channel turns on or off for emitting light. For example, the emitter includes a scanning device, and the emission angle of the emitter can be controlled by controlling the scanning angle or scanning time of the scanning device, etc.

[0087] In one possible implementation, the emission parameters may include the software parameters of the emitter, such as the angle information reported by the point cloud data. Wherein, the angle information reported by the point cloud data refers to the emission angle of the emission beam that generates the point cloud data.

[0088] Wherein, the reception position refers to the position on the detection surface that can receive light, that is, the activated (or powered on or enabled) area. In some embodiments, the reception position can also be described by other names such as reception area, detection position, detection area, etc.

[0089] In one possible implementation, correcting the reception position of the detector can be correcting the hardware parameters of the receiver. For example, the detector has a plurality of detection units (such as SPAD detection units), and the reception position of the detector can be controlled by controlling the activated (or powered on or enabled) detection units.

[0090] In some embodiments, the software parameters of the detector can also be corrected, such as adjusting the reception position information corresponding to the point cloud data on the detector.

[0091] In the embodiments of the present application, an optical loop formed by the internal wall reflection of the lidar is utilized to correct the reception position of the detector and / or the emission parameters of the emitter. This solution does not depend on the external environment and has a wide range of application scenarios; this solution performs correction during the time period when the light beam scans the internal wall (without being emitted into the object space), and has no impact on the time period when the light beam scans the object space, so it will not affect the normal operation of the lidar and can achieve user imperceptibility; moreover, in addition to correcting the reception position, this solution can also correct the emission parameters of the emitter, which can correct both the emission performance and reception performance of the lidar, thereby overall improving the detection accuracy of the lidar.

[0092] In one possible design, it is possible to control the emission beam to project onto a region with uniform reflectivity on the internal wall to form an optical loop, so as to correct the reception position of the detector. <~

[0093] Wherein, the uniform reflection can be uniform reflectivity in one direction or uniform reflectivity in multiple directions, without limitation. Figure 5ATaking the first region shown as an example, the reflectivity of the first region is uniformly distributed in the x-direction, or the reflectivity of the first region is uniformly distributed in the y-direction, or the reflectivity of the first region is uniformly distributed in both the x-direction and the y-direction.

[0094] As an example, see Figure 5A , The reflected light beam is formed after the emitted light beam is reflected by the first region of the inner wall. The reflectivity of the first region is uniformly distributed in the first direction. The detection surface includes a plurality of detection regions distributed along the second direction, and the second direction corresponds to the first direction.

[0095] Among them, the second direction corresponding to the first direction means that the position where the first region receives the emitted light beam in the first direction corresponds to the position where the detection surface receives the reflected light beam in the second direction. For example, when the emitted light beam moves along the first direction on the first region, the reflected light beam moves along the second direction on the detection surface. In practical applications, the first direction and the second direction can be the same or different, depending on the settings of the optical elements in the receiver. Figure 5A In, the first direction and the second direction are both Figure 5A the x-direction shown as an example.

[0096] Correspondingly, S301 may specifically include : Obtain the spot energy data generated by each detection region among the plurality of detection regions when the emitted light beam irradiates the first region. It can be understood that the emitted light beam can irradiate all positions on the first region at one time, or the emitted light beam can irradiate different positions on the first region successively (such as scanning the first region along the first direction), specifically depending on the spot pattern of the emitted light beam and the pattern of the first region (the pattern includes shape, size, etc.).

[0097] In a possible implementation, different detection regions among the plurality of detection regions can be activated successively, and the spot energy data generated by each detection region is obtained during the activation of each detection region among the plurality of detection regions. For example, different SPAD detection units are activated successively, and the spot energy data of all pixels (cells) in each SPAD detection unit is statistically calculated during the activation of each SPAD detection unit, and the statistical value of the spot energy data of each SPAD detection unit (such as the accumulated value of the spot energy data of all pixels in the SPAD detection unit) is output.

[0098] In another possible implementation, a plurality of detection regions can be activated simultaneously, and the spot energy data generated by each detection region among the plurality of detection regions is obtained. For example, all SPAD detection units of the detector are activated simultaneously, and the spot energy data of each pixel in each SPAD detection unit is output.

[0099] Correspondingly, S302 may specifically include:Determine the maximum spot energy data from the spot energy data generated by each detection area among multiple detection areas; correct the receiving position of the detector in the second direction according to the position deviation between the detection area corresponding to the maximum spot energy data and the preset detection area.

[0100] Optionally, the preset detection area can be the detection area with the largest spot energy data generated on the detector when the emitted light beam is projected onto the first area when the lidar leaves the factory.

[0101] For example, refer to Figure 5A the function relationship diagram of the position and spot energy data therein, where the solid line represents the distribution of the spot energy data obtained in S301, and the dashed line represents the distribution of the spot energy data obtained when leaving the factory. By comparing the peak positions (the positions with the strongest spot energy), the receiving position deviation in the second direction can be obtained, and then the receiving position of the detector in the second direction can be corrected according to this deviation, so that the receiving position of the corrected detector can be aligned with the reflected light beam in the second direction, improving the receiving efficiency of the reflected light beam and thus improving the detection accuracy of the lidar.

[0102] Optionally, the spot corresponding to the reflected light beam is located within the detection surface of the detector in the second direction, or in other words, the size of the spot corresponding to the reflected light beam in the second direction is less than or equal to the size of the detection surface of the detector in the second direction. In this way, it is possible to avoid the problem that the spot size of the reflected light beam is too large, resulting in the spot position still covering the detection surface of the detector after the spot position shifts, and thus it is impossible to detect and correct the receiving position deviation.

[0103] Optionally, the spot corresponding to the emitted light beam is located within the first area in the first direction (or in other words, the size of the spot corresponding to the emitted light beam in the first direction is less than or equal to the size of the first area in the first direction (that is, the size of the first area in the first direction is greater than or equal to the size of the spot corresponding to the emitted light beam in the first direction)). In this way, it is possible to avoid the problem that due to the too small size of the first area, the spot energy data is too small, resulting in the inability to accurately detect and correct the receiving position deviation. For example, Figure 5D as shown in (A) in Figure 5D when the size of the inner wall reflection area (i.e., the first area) is too small, it will cause the size of the reflected spot to be too small, and the spot energy data that can be obtained is small, making it difficult to accurately detect the position with the strongest spot energy on the receiving surface, resulting in inaccurate detection and correction of the receiving position deviation. For example,

[0104] It can be understood that the above takes the case where the reflectivity of the first region is uniformly distributed in the first direction and the receiving position of the calibration receiver in the second direction as an example. In practical applications, the receiving position of the detector in other directions can also be calibrated with reference to the above method, which is not limited in the embodiments of the present application.

[0105] Through the above design, it is possible to realize the calibration of the receiving position of the detector by using the optical loop formed by the reflection of the laser radar's inner wall with uniform reflectivity. There are few hardware modifications (if the reflectivity of the laser radar's inner wall is already uniform, no hardware modification is required), and the implementation is simple and the cost is low.

[0106] In a possible design, the emitted light beam can be controlled to be projected onto a region with non-uniform reflectivity on the inner wall to form an optical loop, so as to realize the calibration of the receiving position of the detector.

[0107] Among them, the non-uniform reflection can be non-uniform reflectivity in one direction or non-uniform reflectivity in multiple directions, which is not limited. Taking Figure 5B the second region shown as an example, the reflectivity of the second region is non-uniformly distributed in the x direction, or the reflectivity of the first region is non-uniformly distributed in the y direction, or the reflectivity of the first region is non-uniformly distributed in both the x direction and the y direction. Figure 5B In [reference figure] it is an example where the reflectivity of the second region is non-uniformly distributed in the y direction, and different filling patterns represent sub-regions with different reflectivities.

[0108] As an example, referring to Figure 5B , the reflected light beam is formed after the emitted light beam is reflected by the second region of the inner wall. The second region includes multiple sub-regions with different reflectivities distributed along the third direction; the detection surface includes multiple detection regions distributed along the fourth direction, and the fourth direction corresponds to the third direction. In a possible implementation, the second region including multiple sub-regions with different reflectivities distributed along the third direction can be realized by spraying or smearing materials with different reflectivities on different sub-regions in the second region. The present application does not limit the specific manner of realizing the change of reflectivity in different regions of the inner wall.

[0109] Among them, the fourth direction corresponding to the third direction means that the position where the second region receives the emitted light beam in the third direction corresponds to the position where the detection surface receives the reflected light beam in the fourth direction. For example, when the emitted light beam moves along the third direction on the second region, the reflected light beam moves along the fourth direction on the detection surface. In practical applications, the third direction and the fourth direction can be the same or different, depending on the settings of the optical elements in the receiver. Figure 5B In [reference figure], it takes the y direction shown in Figure 5B as an example for both the third direction and the fourth direction.

[0110] Correspondingly, S301 may specifically include: Obtain the spot energy data generated in each detection area among multiple detection areas when the emission beam irradiates on the second area.

[0111] Similarly, the emission beam can irradiate all positions on the second area at one time, or the emission beam can irradiate different positions on the second area successively (such as scanning the second area along the third direction), which specifically depends on the spot pattern of the emission beam and the pattern of the second area (the pattern includes shape, size, etc.).

[0112] Similarly, to obtain the spot energy data generated in each detection area among multiple detection areas when the emission beam irradiates on the second area, specifically, it can be: successively activate different detection areas among the multiple detection areas, and obtain the spot energy data generated in each detection area during the activation of each detection area among the multiple detection areas; or, simultaneously activate the multiple detection areas and obtain the spot energy data generated in each detection area among the multiple detection areas.

[0113] Correspondingly, S302 may specifically include: According to the spot energy data generated in the multiple detection areas, the corresponding relationship between the multiple detection areas, the preset corresponding relationship between the spot energy data and the detection areas, correct the receiving position of the detector in the fourth direction.

[0114] Optionally, the preset corresponding relationship between the spot energy data and the detection areas can be the corresponding relationship between the spot energy data generated in the multiple detection areas and the multiple detection areas when the emission beam projects on the second area when the lidar leaves the factory.

[0115] For example, refer to Figure 5B the function relationship diagram of the position and the spot energy data therein, where the solid line represents the distribution of the spot energy data obtained in S301, and the dashed line represents the distribution of the spot energy data obtained when leaving the factory. By comparing the characteristic positions (such as peaks or valleys, etc.) of the function curves, the receiving position deviation of the detector in the fourth direction can be obtained, and then the receiving position of the detector in the fourth direction can be adjusted according to this deviation, so that the receiving position of the corrected detector can be aligned with the reflected beam in the fourth direction, improving the receiving efficiency of the reflected beam, and further improving the detection accuracy of the lidar.

[0116] It can be understood that this solution corrects the receiving position of the detector in the fourth direction according to the corresponding relationship between the spot energy data and the detection area. Whether the spot corresponding to the reflected light beam exceeds the detection surface of the detector in the fourth direction (or rather, the size of the spot corresponding to the reflected light beam in the fourth direction is larger than the size of the detection surface of the detector in the fourth direction), or the spot corresponding to the reflected light beam is within the detection surface of the detector in the fourth direction (or rather, the size of the spot corresponding to the reflected light beam in the fourth direction is smaller than or equal to the size of the detection surface of the detector in the fourth direction), the above design method is applicable.

[0117] Similarly, whether the spot corresponding to the transmitted light beam is within the second area in the third direction (or rather, the size of the spot corresponding to the transmitted light beam in the third direction is smaller than or equal to the size of the second area in the third direction), or the spot corresponding to the transmitted light beam exceeds the second area in the third direction (or rather, the size of the spot corresponding to the transmitted light beam in the third direction is larger than the size of the second area in the third direction), the above design method is applicable.

[0118] It can be understood that the above takes the non-uniform distribution of the reflectivity in the third direction of the second area and the correction of the receiving position of the detector in the fourth direction as an example. In practical applications, the receiving position of the detector in other directions can also be corrected with reference to the above method, which is not limited in the embodiments of this application.

[0119] Through the above design, it is possible to use the optical loop formed by the reflection of the non-uniform inner wall of the lidar to correct the receiving position of the detector, with few hardware modifications, low cost, and a wide range of usage scenarios.

[0120] In a possible design, the transmitted light beam can be controlled to project onto the area with non-uniform reflectivity on the inner wall to form an optical loop, so as to correct the transmission parameters of the transmitter.

[0121] Among them, the non-uniform reflectivity can be non-uniform in one direction or non-uniform in multiple directions, without limitation. Taking Figure 5C the shown third area as an example, the reflectivity of the third area is non-uniformly distributed in the x direction, or the reflectivity of the third area is non-uniformly distributed in the y direction, or the reflectivity of the third area is non-uniformly distributed in both the x direction and the y direction.

[0122] As an example, referring to Figure 5C , the reflected light beam is formed after the transmitted light beam is reflected by the third area of the inner wall. The third area includes a plurality of sub-areas with different reflectivities distributed along the fifth direction. Figure 5C In [reference] is taken as an example that the reflectivity of the third area is non-uniformly distributed in the x direction, that is, the fifth direction is the x direction, where different filling patterns represent sub-areas with different reflectivities.

[0123] In a possible implementation, the third region may include a plurality of sub-regions with different reflectivities distributed along the fifth direction by applying materials with different reflectivities to different sub-regions in the third region, or by polishing different sub-regions in the third region to different degrees to make the third region include a plurality of sub-regions with different reflectivities distributed along the fifth direction, and so on. The present application does not limit this.

[0124] Correspondingly, S301 may specifically include : During the process of the emitted light beam scanning the third region at a plurality of different emission angles along the fifth direction, obtain the spot energy data generated by the detector at each of the plurality of different emission angles.

[0125] Correspondingly, S302 may specifically include: According to the correspondence between the spot energy data generated by the detector and the plurality of different emission angles, and the preset correspondence between the spot energy data and the emission angles, correct the emission angle of the emitter in the fifth direction.

[0126] Optionally, the preset correspondence between the spot energy data and the emission angles may be the correspondence between the spot energy data generated by the detector and the plurality of different emission angles when the emitted light beam is projected onto the third region when the lidar leaves the factory.

[0127] For example, referring to Figure 5C the function relationship diagram of the emission angle and the spot energy data, where the solid line represents the correspondence between the spot energy data obtained in S301 and the emission angle, and the dashed line represents the correspondence between the spot energy data obtained when leaving the factory and the emission angle. By comparing the characteristic positions (such as the peak or valley, etc.) of the function curves, the emission angle deviation of the emitter in the fifth direction can be obtained, and then the emission angle of the emitter in the fifth direction can be adjusted according to this deviation (for example, adjusting the scanning angle of the scanning device, or adjusting the lighting time of the emission channel in the emitter, etc.), or the angle information reported by the point cloud data can be adjusted according to this deviation. After calibration, the angle information finally reported by the point cloud data is consistent with the real angle information, thereby improving the detection accuracy of the lidar.

[0128] It can be understood that the above takes the non-uniform distribution of the reflectivity of the third region in the fifth direction and correcting the emission angle of the emitter in the fifth direction as an example. In practical applications, the emission angle of the emitter in other directions can also be corrected with reference to the above method, and the embodiments of the present application do not limit this.

[0129] Through the above design, it is possible to use the optical loop formed by the reflection of the non-uniformly reflective inner wall of the lidar to correct the emission parameters of the emitter, with few hardware modifications, low cost, and wide application scenarios.

[0130] In some embodiments, the control device may execute the above-mentioned methods of S301 to S302 upon receiving a preset instruction. For example, a touch key may be provided on the laser radar to start the correction function. When the touch key is touched (such as a technician pressing the touch key), a first instruction is sent to the control device, so that the control device responds to the first instruction and corrects the laser radar (i.e., executes the methods described in S301 to S302). Optionally, the laser radar may also set different touch keys for the calibration of the transmitter and the calibration of the receiver respectively. Optionally, the laser radar may also respond to other instructions such as voice instructions and network instructions, which are not limited in the embodiments of the present application.

[0131] In other embodiments, the control device may trigger the execution of the above methods S301-S302 according to a set rule. For example, the lidar executes the above methods S301-S302 once each time it is powered on. For example, the control device may periodically execute the above methods S301-S302 at a set time interval (e.g., one day, one month, one year, etc., without limitation).

[0132] It can be understood that the above-mentioned implementation methods can be implemented separately or combined with each other without limitation.

[0133] Based on the same technical concept, embodiments of the present application provide a control device that includes modules / units / means for executing the methods described in the above method embodiments. The modules / units / means may be implemented in software or hardware, or the corresponding software implementation may be executed by hardware.

[0134] See also Figure 6 , the control device may include:

[0135] An acquisition module 601 is configured to acquire light spot energy data generated by a detector of a laser radar when a reflected light beam is irradiated on a detection surface of the detector, wherein the reflected light beam is generated by a transmitting light beam emitted by a transmitter of the laser radar and reflected by an inner wall of the laser radar;

[0136] The processing module 602 is configured to correct the receiving position of the detector and / or the transmitting parameters of the transmitter according to the light spot energy data.

[0137] It should be understood that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0138] In specific implementation, the above-mentioned control device can have various product forms. Several possible product forms are introduced below.

[0139] See also Figure 7, an embodiment of the present application further provides a control device, which includes at least one processor 701 and an interface circuit 702; the interface circuit 702 is configured to receive signals from other devices outside the device and transmit them to the processor 701 or send signals from the processor 701 to other communication devices outside the device, and the processor 701 is configured to implement the method steps in the above method embodiment through logic circuits or by executing code instructions.

[0140] It should be understood that the processor mentioned in the embodiment of the present application can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor that implements by reading software code stored in a memory.

[0141] Exemplarily, the processor can be a Central Processing Unit (CPU), or can 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 can be a microprocessor or the processor can also be any conventional processor, etc.

[0142] It should be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DR RAM).

[0143] It should be noted that when the processor is a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, the memory (storage module) may be integrated in the processor.

[0144] It should be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0145] Based on the same inventive concept, an embodiment of the present application further provides a lidar, including: a transmitter, a detector, and a control device; wherein, the transmitter is used to emit an emission beam; the detector is used to receive a reflected beam; the control device is used to execute the method steps in the above method embodiments.

[0146] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, including a program or an instruction, when the program or the instruction runs on a computer, the method in the above method embodiments is caused to be executed step by step.

[0147] Based on the same inventive concept, an embodiment of the present application further provides a computer program product including instructions. When the instructions are run on a computer, the method steps in the above method embodiments are executed.

[0148] Based on the same inventive concept, an embodiment of the present application further provides a terminal including any one of the above-mentioned devices.

[0149] Optionally, the terminal may be deployed on any device such as a vehicle, a ship, an aircraft, a drone, a smart home device, etc., or may be deployed on the roadside, or may be deployed on a building, and the present application does not make any restrictions.

[0150] Optionally, the terminal is a vehicle.

[0151] Those skilled in the art should understand that the embodiments of the present application may be provided as a method, a system, or a computer program product. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0152] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in one or more flows in the flowchart and / or one or more blocks in the block diagram.

[0153] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device realizes the functions specified in one or more flows in the flowchart and / or one or more blocks in the block diagram.

[0154] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to produce a computer-implemented process, thereby the instructions executed on the computer or other programmable apparatus provide steps for realizing the functions specified in one process or a plurality of processes in the flow chart and / or one block or a plurality of blocks in the block diagram.

[0155] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of protection of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A method for calibrating a lidar, characterized in that, Including: Obtaining spot energy data generated by a detector when a reflected light beam irradiates a detection surface of the detector of a lidar, where the reflected light beam is formed after a transmitted light beam emitted by a transmitter of the lidar is reflected by an inner wall of the lidar; Correcting a reception position of the detector and / or a transmission parameter of the transmitter according to the spot energy data.

2. The method according to claim 1, wherein The transmitted light beam is scanned within a scanning period; Wherein, the scanning period includes a first time period and a second time period; within the first time period, the transmitted light beam irradiates into object space, and within the second time period, the transmitted light beam irradiates onto the inner wall of the lidar.

3. The method according to claim 1 or 2, characterized in that The transmission parameter includes a transmission angle and / or a lighting time of the transmitter, or angle information reported in point cloud data.

4. The method according to any one of claims 1 to 3, characterized in that, The reflected light beam is formed after the transmitted light beam is reflected by a first region of the inner wall, a reflectivity of the first region is uniformly distributed in a first direction, and the detection surface includes a plurality of detection regions distributed in a second direction, and the second direction corresponds to the first direction; The obtaining spot energy data generated by the detector when the reflected light beam irradiates the detection surface of the detector of the lidar includes: Obtaining spot energy data generated by each of the plurality of detection regions when the transmitted light beam irradiates the first region; The correcting the reception position of the detector according to the spot energy data includes: Determining maximum spot energy data from the spot energy data generated by each of the plurality of detection regions; Correcting the reception position of the detector in the second direction according to a position deviation between a detection region corresponding to the maximum spot energy data and a preset detection region.

5. The method according to claim 4, characterized in that, A spot corresponding to the reflected light beam is located within the detection surface in the second direction; and / or, A spot corresponding to the transmitted light beam is located within the first region in the first direction.

6. The method according to claim 4 or 5, characterized in that, The obtaining spot energy data generated by each of the plurality of detection regions when the transmitted light beam irradiates the first region includes: Successively activating different detection regions among the plurality of detection regions, and obtaining spot energy data generated by each of the plurality of detection regions during a period when each of the plurality of detection regions is activated; Or, Simultaneously activating the plurality of detection regions, and obtaining spot energy data generated by each of the plurality of detection regions.

7. The method according to any one of claims 1 to 3, characterized in that The reflected light beam is formed after the transmitted light beam is reflected by a second region of the inner wall, the second region includes a plurality of sub-regions with different reflectivities distributed in a third direction; the detection surface includes a plurality of detection regions distributed in a fourth direction, and the fourth direction corresponds to the third direction; The obtaining spot energy data generated by the detector when the reflected light beam irradiates the detection surface of the detector of the lidar includes: Obtaining spot energy data generated by each of the plurality of detection regions when the emitted light beam irradiates the second region; The correcting the reception position of the detector according to the spot energy data includes: Based on the spot energy data generated from the multiple detection areas and the corresponding relationship between the multiple detection areas, as well as the preset corresponding relationship between the spot energy data and the detection areas, correct the receiving position of the detector in the fourth direction.

8. The method according to claim 7, wherein The spot corresponding to the reflected beam extends beyond the detection surface in the fourth direction; and / or, The spot corresponding to the emitted beam extends beyond the second area in the third direction.

9. The method according to any one of claims 1-3, characterized in that, The reflected beam is formed after the emitted beam is reflected by the third area of the inner wall, and the third area includes multiple sub-areas with different reflectivities distributed along the fifth direction; The obtaining of the spot energy data generated by the detector when the reflected beam irradiates on the detection surface of the detector of the lidar includes: During the process that the emitted beam scans the third area along the fifth direction at multiple different emission angles, obtain the spot energy data generated by the detector at each of the multiple different emission angles; Correcting the emission parameters of the emitter according to the spot energy data includes: Based on the corresponding relationship between the spot energy data generated by the detector and the multiple different emission angles, as well as the preset corresponding relationship between the spot energy data and the emission angles, correct the emission angle of the emitter in the fifth direction.

10. A lidar, characterized in that, Comprising: An emitter, a detector, and a control device; The emitter is used to emit an emitted beam; The detector is used to receive the reflected beam; The control device is used to execute the method according to any one of claims 1-9.

11. A control device, characterized in that, Comprising a module for executing the method according to any one of claims 1-9.

12. A control device, characterized in that, The device includes a processor and an interface circuit. The interface circuit is used to receive signals from other devices outside the device and transmit them to the processor, or send signals from the processor to other communication devices outside the device. The processor is used to implement the method according to any one of claims 1-9 through logic circuits or by executing code instructions.

13. A computer-readable storage medium, characterized in that, Comprising a program or instructions, when the program or instructions run on a computer, the method according to any one of claims 1-9 is executed.

14. A terminal, characterized in that, Comprising the lidar according to claim 10, or the control device according to claim 11, or the control device according to claim 12, or the computer-readable storage medium according to claim 13.

15. The terminal according to claim 14, wherein The terminal is a vehicle.

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