Transmitting method, control method and corresponding device

Abstract

A transmitting method, a control method and a corresponding device. The lidar determines a first light spot, the position of the first light spot being determined based on the position of the high reflectivity region (S301); emitting a first light spot (S302); the first light spot comprises a first area and a second area; the first area is a lighting area; the first region is located on a first straight line, the first straight line is overlapped with the high-reflectivity region, and the first region is located outside the high-reflectivity region; the second area is a non-lighting area, the second area is located on the first straight line, and the second area is overlapped with the high-reflectivity area; or, the second area is a lighting area and is located on a second straight line, the second straight line is overlapped with the high-reflectivity area, the second area is overlapped with the high-reflectivity area, the second straight line is not overlapped with the first straight line, and / or the lighting time of the second area is different from the lighting time of the first area. According to the scheme, the crosstalk problem of the laser radar can be improved, and the implementation difficulty and the design cost are reduced.

Description

A transmitting method, a controlling method and a corresponding device Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a transmission method, a control method and a corresponding device. Background Art

[0002] With the development of information technology, detection technology has made rapid progress. A wide variety of detection devices have brought great convenience to people's lives and travel. For example, advanced driving assistance systems (ADAS) play a crucial role in smart cars. They utilize on-board detection devices to monitor the surrounding environment while the vehicle is in motion, collect data, identify stationary and moving objects, and perform systematic calculations and analysis based on navigation map data. This allows the driver to proactively detect potential dangers, effectively improving driving comfort and safety. Detection devices can be thought of as the "eyes" that perceive the environment. They include vision sensors such as cameras and radar sensors such as millimeter-wave radar, lidar, and ultrasonic radar.

[0003] Among them, Lidar (light detection and ranging) is a key detection device in the field of perception, offering advantages such as high resolution, excellent detection performance, and strong concealment. Lidar is a technology that transmits a detection signal and receives the echo reflected from the target to obtain relevant information about the target (such as its position, shape, or speed).

[0004] Currently, LiDAR systems suffer from crosstalk. Existing technologies include filtering out crosstalk by adding additional receiving detectors to measure crosstalk points, improving isolation between LiDAR channels, or using channel coding to identify crosstalk noise. However, these methods are difficult to implement and expensive.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a transmission method, a control method and a corresponding device to improve the crosstalk problem of the laser radar, improve the accuracy of the laser radar in detecting targets in adjacent areas of high reflectivity areas, reduce implementation difficulty and save design costs.

[0007] In a first aspect, a transmission method is provided, which can be applied to a laser radar, or some components in the laser radar, such as a transmission module. Taking the method applied to a laser radar as an example, the method includes: determining a first light spot, wherein the position of the first light spot is determined based on the position of a high reflectivity area; emitting the first light spot; wherein the first light spot includes a first area and a second area; the first area is a lighting area; the first area is located on a first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area; the second area is a non-lighting area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or the second area is a lighting area, the second area is located on a second straight line, the second straight line overlaps with the high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line, and / or the lighting time of the second area is different from the lighting time of the first area.

[0008] In the above solution, the LiDAR determines the first light spot based on the location of the high-reflectivity area, staggering the illumination time of the high-reflectivity area with the illumination time of the adjacent areas of the high-reflectivity area. This can reduce or even avoid crosstalk from the high-reflectivity area to the adjacent areas when the LiDAR detects the adjacent areas, helping to improve the accuracy of the LiDAR in detecting targets in adjacent areas. In addition, this solution only requires changing the illumination strategy of the LiDAR's transmitting module. Compared with methods such as setting up additional receiving detectors to measure crosstalk points, improving the isolation between LiDAR channels, or identifying crosstalk noise points through channel coding, it can reduce implementation difficulty and save design costs.

[0009] In one possible design, the first area is a lighting area, and the M emission channels corresponding to the first area are turned on for lighting; the second area is a non-lighting area, and the N emission channels corresponding to the second area are turned off for lighting; or, the second area is a lighting area, and the lighting time of the N emission channels corresponding to the second area is different from the lighting time of the M emission channels corresponding to the first area.

[0010] This design method realizes the emission of the first light spot to the outside world by controlling the opening or closing state of each channel of the emission module. The implementation method is simple and reliable.

[0011] In one possible design, a reflection signal corresponding to the first light spot may also be received; and the true target may be determined based on the reflection signal corresponding to the first light spot. For example, the laser radar may determine the true target (e.g., determine the true target's location) based on the reflection position of the reflection signal corresponding to the first light spot in the first area.

[0012] This design approach enables the lidar to accurately identify real targets in areas adjacent to high-reflectivity areas.

[0013] In one possible design, a second light spot can also be emitted; wherein, the second light spot includes a third area and a fourth area, the third area and the fourth area are both lighting areas, the third area and the fourth area are both located on a third straight line and / or the lighting time of the third area and the fourth area is the same, the third straight line overlaps with the high reflectivity area, the third area is located outside the high reflectivity area, and the fourth area overlaps with the high reflectivity area.

[0014] This design helps the laser radar to identify false targets by emitting a light spot different from the first light spot.

[0015] In a possible design, a reflection signal corresponding to the second light spot may also be received; and a false target may be determined based on the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot.

[0016] For example, based on the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot, the target that returns the reflection signal synchronously with the second area can be determined from the first area, and the target in the first area that returns the reflection signal synchronously with the second area is a false target.

[0017] This design can distinguish between false targets and real targets in adjacent areas by emitting two different light spots and comparing their reflected signals, further improving the accuracy of target recognition.

[0018] It can be understood that the method is not limited to two types of light spots, and more types of light spots can be emitted.

[0019] In a possible design, a first light spot may be emitted during a first time period, and a second light spot may be emitted during a second time period; wherein the first time period and the second time period are two different flight times.

[0020] In other words, the first light spot and the second light spot may be light spots emitted at different times by the same emission channel of the laser radar.

[0021] This design method can save hardware costs.

[0022] In a possible design, the relative position of the lighting time of the first area in the first time period is the same as the relative position of the lighting time of the third area in the second time period.

[0023] In other words, the lighting strategies for the first light spot and the second light spot outside the high-reflection area are the same.

[0024] In a possible design, the second area is a lighting area; the relative position of the lighting time of the second area in the first time period is different from the relative position of the lighting time of the fourth area in the second time period.

[0025] In this way, different lighting strategies can be implemented for the first light spot and the second light spot within the high-reflection area.

[0026] In one possible design, a third light spot can be emitted, a reflection signal corresponding to the third light spot is received, and the position of the high reflectivity area is determined based on the reflection signal corresponding to the third light spot; or, indication information from a sensor or controller is received, and the position of the high reflectivity area is determined based on the indication information.

[0027] This design approach provides multiple ways to determine the location of high reflectivity areas, improving the flexibility and reliability of the solution.

[0028] In a second aspect, a control method is provided, the method comprising: determining a first light spot, wherein the position of the first light spot is determined based on the position of the high reflectivity area; controlling the emission module to emit the first light spot; wherein the first light spot includes a first area and a second area; the first area is a lighting area; the first area is located on a first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area; the second area is a non-lighting area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a lighting area, the second area is located on a second straight line, the second straight line overlaps with the high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line and / or the lighting time of the second area is different from the lighting time of the first area.

[0029] In one possible design, the first area is a lighting area, and the M emission channels corresponding to the first area are turned on for lighting; the second area is a non-lighting area, and the N emission channels corresponding to the second area are turned off for lighting; or, the second area is a lighting area, and the lighting time of the N emission channels corresponding to the second area is different from the lighting time of the M emission channels corresponding to the first area.

[0030] In one possible design, the receiving module can also be controlled to receive the reflected signal corresponding to the first light spot. It is understood that if the control device and the processing device can be integrated into a single device, the control device can also determine the true target based on the reflected signal corresponding to the first light spot. If the control device and the processing device are not implemented separately, the processing device can determine the true target based on the reflected signal corresponding to the first light spot.

[0031] For ease of description, the following takes the example of integrating the control device and the processing device into one device.

[0032] In a possible design, the control device may also determine the real target according to the reflection position of the reflection signal corresponding to the first light spot on the first area.

[0033] In one possible design, the control device can also control the emission module to emit a second light spot; wherein, the second light spot includes a third area and a fourth area, the third area and the fourth area are both lighting areas, the third area and the fourth area are both located on a third straight line and / or the lighting time of the third area and the fourth area is the same, the third straight line overlaps with the high reflectivity area, the third area is located outside the high reflectivity area, and the fourth area overlaps with the high reflectivity area.

[0034] In one possible design, the control device may further control the receiving module to receive a reflection signal corresponding to the second light spot; and may further determine a false target based on the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot.

[0035] In one possible design, the control device can determine the target in the first area that returns the reflection signal synchronously with the second area based on the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot. The target in the first area that returns the reflection signal synchronously with the second area is a false target.

[0036] In one possible design, the control device can control the emission module to emit a first light spot in a first time period and emit a second light spot in a second time period; wherein the first time period and the second time period are two different time-of-flight ToFs.

[0037] In a possible design, the relative position of the lighting time of the first area in the first time period is the same as the relative position of the lighting time of the third area in the second time period.

[0038] In a possible design, the second area is a lighting area; the relative position of the lighting time of the second area in the first time period is different from the relative position of the lighting time of the fourth area in the second time period.

[0039] In one possible design, the control device may further control the transmitting module to emit a third light spot; the control device may control the receiving module to receive a reflection signal corresponding to the third light spot; and the control device may further determine the location of the high-reflectivity region based on the reflection signal corresponding to the third light spot. Alternatively, the control device may further control the receiving module to receive indication information from a sensor or controller, and the control device may further determine the location of the high-reflectivity region based on the indication information.

[0040] According to a third aspect, an emitting device is provided, which includes a determination module and an emitting module, the determination module is used to determine a first light spot, wherein the position of the first light spot is determined based on the position of the high reflectivity area; the emitting module is used to emit the first light spot; wherein the first light spot includes a first area and a second area; the first area is a lighting area; the first area is located on a first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area; the second area is a non-lighting area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a lighting area, the second area is located on a second straight line, the second straight line overlaps with the high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line and / or the lighting time of the second area is different from the lighting time of the first area.

[0041] In one possible design, the first area is a lighting area, and the M emission channels corresponding to the first area are turned on for lighting; the second area is a non-lighting area, and the N emission channels corresponding to the second area are turned off for lighting; or, the second area is a lighting area, and the lighting time of the N emission channels corresponding to the second area is different from the lighting time of the M emission channels corresponding to the first area.

[0042] In one possible design, the transmitting module is also used to emit a second light spot; wherein, the second light spot includes a third area and a fourth area, the third area and the fourth area are both lighting areas, the third area and the fourth area are both located on a third straight line and / or the lighting time of the third area and the fourth area is the same, the third straight line overlaps with the high reflectivity area, the third area is located outside the high reflectivity area, and the fourth area overlaps with the high reflectivity area.

[0043] In a possible design, the transmitting module is used to: emit a first light spot in a first time period; and emit a second light spot in a second time period; wherein the first time period and the second time period are two different time-of-flight (ToF).

[0044] In a possible design, the relative position of the lighting time of the first area in the first time period is the same as the relative position of the lighting time of the third area in the second time period.

[0045] In a possible design, the second area is a lighting area; the relative position of the lighting time of the second area in the first time period is different from the relative position of the lighting time of the fourth area in the second time period.

[0046] In a possible design, the transmitting module is further used to emit a third light spot, and the third light spot is used to determine the position of the high reflectivity area.

[0047] In a fourth aspect, a receiving device is provided, including: a receiving module for receiving a reflection signal corresponding to a first light spot; a processing module for determining a real target based on the reflection signal corresponding to the first light spot; wherein the first light spot includes a first area and a second area; the first area is a lighting area; the first area is located on a first straight line, the first straight line overlaps with a high reflectivity area, and the first area is located outside the high reflectivity area; the second area is a non-lighting area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a lighting area, the second area is located on a second straight line, the second area overlaps with a high reflectivity area, the second area overlaps with a high reflectivity area, the second straight line does not overlap with the first straight line and / or the lighting time of the second area is different from the lighting time of the first area.

[0048] In one possible design, the processing module is used to determine the real target according to the reflection position of the reflection signal corresponding to the first light spot on the first area.

[0049] In one possible design, the receiving module is also used to receive the reflection signal corresponding to the second light spot; the processing module is further used to determine the false target based on the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot; wherein the second light spot includes a third area and a fourth area, the third area and the fourth area are both illuminated areas, the third area and the fourth area are both located on the third straight line and / or the third area and the fourth area have the same illumination time, the third straight line overlaps with the high reflectivity area, the third area is located outside the high reflectivity area, and the fourth area overlaps with the high reflectivity area.

[0050] In one possible design, the processing device is used to: determine, from the first area, a target that returns a reflection signal synchronously with the second area based on the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot, and the target in the first area that returns a reflection signal synchronously with the second area is a false target.

[0051] In one possible design, the receiving module is also used to receive the reflection signal corresponding to the third light spot, and the processing module is also used to determine the position of the high reflectivity area based on the reflection signal corresponding to the third light spot; or, the processing module is also used to determine the position of the high reflectivity area based on indication information from a sensor or controller.

[0052] In a fifth aspect, a control device is provided, comprising a device, module or technical means for executing the method described in the second aspect or any possible design of the second aspect.

[0053] For example, the apparatus may include:

[0054] a determination module, configured to determine a first light spot, wherein a position of the first light spot is determined based on a position of the high reflectivity area;

[0055] A control module, configured to control the emission module to emit a first light spot;

[0056] Wherein, the first light spot includes a first area and a second area;

[0057] The first area is a lighting area; the first area is located on a first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area;

[0058] The second area is a non-illuminated area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a illuminated area, the second area is located on the second straight line, the second straight line overlaps with the high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line and / or the illumination time of the second area is different from the illumination time of the first area.

[0059] In one possible design, the first area is a lighting area, and the M emission channels corresponding to the first area are turned on for lighting; the second area is a non-lighting area, and the N emission channels corresponding to the second area are turned off for lighting; or, the second area is a lighting area, and the lighting time of the N emission channels corresponding to the second area is different from the lighting time of the M emission channels corresponding to the first area.

[0060] In one possible design, the control module is further configured to control the receiving module to receive the reflected signal corresponding to the first light spot. It is understood that if the control device and the processing device can be integrated into a single device, the control module can also be configured to determine the true target based on the reflected signal corresponding to the first light spot. If the control device and the processing device are not implemented separately, the processing device can determine the true target based on the reflected signal corresponding to the first light spot.

[0061] For ease of description, the following takes as an example that the control device and the processing device can be integrated into one device.

[0062] In one possible design, the control module is further configured to determine the real target based on a reflection position of the reflection signal corresponding to the first light spot on the first area.

[0063] In one possible design, the control module is also used to control the emission module to emit a second light spot; wherein, the second light spot includes a third area and a fourth area, the third area and the fourth area are both lighting areas, the third area and the fourth area are both located on a third straight line and / or the lighting time of the third area and the fourth area is the same, the third straight line overlaps with the high reflectivity area, the third area is located outside the high reflectivity area, and the fourth area overlaps with the high reflectivity area.

[0064] In one possible design, the control module is further used to control the receiving module to receive the reflection signal corresponding to the second light spot; and determine the false target based on the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot.

[0065] In one possible design, the control module is also used to determine, from the first area, a target that returns a reflection signal synchronously with the second area based on the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot. The target in the first area that returns a reflection signal synchronously with the second area is a false target.

[0066] In one possible design, the control module is used to control the emission module to emit a first light spot in a first time period and to emit a second light spot in a second time period; wherein the first time period and the second time period are two different time-of-flight (ToF).

[0067] In a possible design, the relative position of the lighting time of the first area in the first time period is the same as the relative position of the lighting time of the third area in the second time period.

[0068] In a possible design, the second area is a lighting area; the relative position of the lighting time of the second area in the first time period is different from the relative position of the lighting time of the fourth area in the second time period.

[0069] In one possible design, the control module is further configured to control the transmitting module to emit a third light spot; control the receiving module to receive a reflection signal corresponding to the third light spot; and determine the location of the high-reflectivity region based on the reflection signal corresponding to the third light spot. Alternatively, the control device is further configured to control the receiving module to receive indication information from a sensor or controller and determine the location of the high-reflectivity region based on the indication information.

[0070] In a sixth aspect, a terminal is provided, comprising at least one of the transmitting device described in the third aspect or any possible design of the third aspect, the receiving device described in the fourth aspect or any possible design of the fourth aspect, and the control device described in the fifth aspect or any possible design of the fifth aspect. The terminal may be a vehicle, a drone, a helicopter, an airplane, a ship, an intelligent transportation device, or a smart home device.

[0071] In the seventh aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer program or instruction is executed by a communication device, the method described in the first aspect or any possible design of the first aspect is implemented, or the method described in the second aspect or any possible design of the second aspect is implemented.

[0072] An eighth aspect is provided, providing a computer program product, which, when the computer program product runs on a processor, implements the method described in the first aspect or any possible design of the first aspect, or implements the method described in the second aspect or any possible design of the second aspect.

[0073] For the beneficial effects of the second to eighth aspects mentioned above, please refer to the technical effects that can be achieved by the corresponding designs in the first aspect mentioned above, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] FIG1A is a schematic diagram of a laser radar;

[0075] FIG1B is a schematic diagram of an application scenario of a laser radar provided in an embodiment of the present application;

[0076] Figure 2 shows an example of a high reflectivity area, a real target, and a false target;

[0077] FIG3 is a flow chart of a transmission method provided in an embodiment of the present application;

[0078] 4A and 4B are schematic diagrams of a first light spot;

[0079] FIG5 is a schematic diagram of a transmission channel of a laser radar;

[0080] 6A and 6B are schematic diagrams of the emission time of the first light spot and the reception time of the reflected signal;

[0081] 7A to 7C are schematic diagrams of the first light spot and the second light spot;

[0082] 8A and 8B are schematic diagrams of the emission time of the first light spot and the second light spot and the reception time of the reflected signal;

[0083] FIG9 is a flow chart of a transmission method provided in an embodiment of the present application;

[0084] 10A to 10D are schematic diagrams of N groups of light spots;

[0085] FIG11 is a schematic diagram of target recognition based on N groups of light spots;

[0086] FIG12 is a schematic structural diagram of a control device provided in an embodiment of the present application;

[0087] FIG13 is a schematic structural diagram of a transmitting device provided in an embodiment of the present application;

[0088] FIG14 is a schematic structural diagram of a receiving device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0089] The technical solutions provided in the embodiments of the present application can be applied to devices with laser detection capabilities, such as laser radars, or terminal devices with laser detection capabilities. Among them, the terminal devices can be intelligent devices with laser detection capabilities, including but not limited to: smart home devices, such as televisions, sweeping robots, smart desk lamps, audio systems, smart lighting systems, electrical control systems, home background music, home theater systems, intercom systems, video surveillance, etc.; intelligent transportation equipment, such as cars, ships, drones, trains, vans, trucks, etc.; intelligent manufacturing equipment, such as robots, industrial equipment, intelligent logistics, smart 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 PDA, headphones, speakers, wearable devices (such as smart watches), vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.

[0090] The following takes the application of lidar as an example.

[0091] Referring to FIG1A , which is a schematic diagram of a laser radar, the laser radar includes a transmitting module, a receiving module, a processing device, and a control device.

[0092] 1. An emission module, comprising a laser and an emission optical system. The laser is a device that can emit laser light, and its type can be any one of a semiconductor laser, a gas laser, a fiber laser, a solid-state laser, a dye laser, a diode laser or an excimer laser. The laser can emit a detection signal (such as a pulsed laser or a frequency-modulated continuous wave, etc.) under the control of a control device. The emission optical system is a system composed of optical elements, which include but are not limited to one or more of lenses, filters, polarizers, reflectors, beam splitters, prisms, windows or scattering sheets. The emission optical system can transmit the detection signal from the laser. The detection signal emitted by the emission module can also be in the form of a linear spot or a planar spot, which is not limited in this application.

[0093] In a specific implementation, the emission module may include multiple independent emission channels, each of which can be independently turned on or off (i.e., turned on or off to emit a detection signal). The detection signal of each emission channel can be emitted by a laser or multiple lasers separately, or the detection signals of multiple emission channels can be emitted by the same laser, which is not limited in this application.

[0094] Optionally, the laser radar may further include a scanning mechanism. The scanning mechanism is used to control the emission direction of the detection signal so that the detection signal can reach different areas to scan the entire detection area (the target is located in the detection area).

[0095] 2. The receiving module includes a detector and a receiving optical system. The receiving optical system receives the detection signal (i.e., the echo signal or reflected signal) returned from the outside world and converges the received echo signal onto the photosensitive surface of the detector. The detector converts the echo signal from an optical signal to an electrical signal, which is then transmitted to the processing device.

[0096] The receiving optical system may be composed of one or more optical elements, and the types of optical elements include but are not limited to one or more of lenses, filters, polarizers, reflectors, polygonal mirrors, oscillating mirrors, beam splitters, prisms, windows or scattering films.

[0097] The detector can be an array structure composed of multiple rows and columns of pixels. A pixel is the smallest unit in the detector that can receive an echo signal. Based on the different forms of the laser emitted by the transmitting module, the detector array structure can also have different configurations, such as linear or planar array structures. Accordingly, the lidar can scan the detection area using any of the following scanning methods: line scanning and line collection, line scanning and surface collection, or surface scanning and surface collection.

[0098] In a specific implementation, the specific types of detectors include but are not limited to an avalanche photodiode (PAD) array, a single photon avalanche diode (SPAD) array, a charge-coupled device (CCD) array or a complementary metal oxide semiconductor (CMOS) sensor array, etc.

[0099] In a specific implementation, the receiving module may include multiple independent receiving channels, with a one-to-one correspondence between a receiving channel and a transmitting channel, or multiple receiving channels corresponding to one transmitting channel. Each receiving channel is used to receive an echo signal corresponding to a transmitting signal of a corresponding transmitting channel.

[0100] 3. A processing device that receives and analyzes the electrical signals output by the receiving module to generate point cloud data. Optionally, the processing device can also determine target feature information based on the point cloud data. Target feature information includes, but is not limited to, the target's distance, position, altitude, speed, attitude, size, or shape.

[0101] 4. The control device has signal control capabilities. For example, it can connect to other components in the lidar through a controller area network (CAN) bus or other means, and issue control instructions to other components to coordinate their operations. For example, the control device can control the transmitting module to transmit detection signals; control the receiving module to receive echo signals, and control the receiving module to process the received detection signals and output electrical signals; control the processing device to analyze the electrical signals output by each receiving module to generate point cloud data, etc.

[0102] In a specific implementation process, the control device and the processing device can be integrated into one device or implemented separately in multiple devices.

[0103] Exemplarily, it can be integrated into a device, which can be an integrated circuit chip, such as 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 device (PLD), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other integrated chips. The device may include a central processing unit (CPU), a neural-network processing unit (NPU) and a graphics processing unit (GPU), and may 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., without specific limitation.

[0104] Refer to Figure 1B, which is a schematic diagram of an application scenario of a laser radar provided in an embodiment of the present application. In this example, the laser radar is installed on a vehicle, so it is also called a vehicle-mounted laser radar. In addition to vehicle-mounted laser radars, laser radars also include ship-mounted laser radars installed on ships, and airborne laser radars installed on machines, etc. In a possible example, as shown in Figure 1B, the laser radar can be specifically installed at the front of the vehicle. During the driving process of the vehicle, the laser radar can send out a detection signal (specifically a laser signal). After the detection signal is irradiated on the object in front of the vehicle, it will be reflected by the object, and the reflected detection signal (i.e., the echo signal) can be received by the laser radar, and then the laser radar can determine the information of the obstacle in front of the vehicle based on the reflected detection signal, such as the distance, direction, height, speed, posture, size or shape of the obstacle, so as to use the obstacle information to realize the driving function of the vehicle, such as including but not limited to automatic driving or assisted driving.

[0105] It should be pointed out that in the example given in Figure 1B, the laser radar is installed at the front of the vehicle, but the actual application is not limited to this. The laser radar can also be installed in other locations, such as the rear or roof of the vehicle.

[0106] Based on the LiDAR's transceiver architecture, LiDAR can be divided into several types, including point-to-point transmission and reception, line-to-line transmission and reception, surface-to-surface transmission and reception, and line-to-surface transmission and reception. Among them, LiDARs with multi-point transmission and reception architectures, such as line-to-line transmission and reception, surface-to-surface transmission and reception, and line-to-surface transmission and reception, have crosstalk issues. Specifically, when certain LiDAR detection units detect an area of ​​high reflectivity, they cause neighboring units, or even all units of the entire device, to respond in varying degrees. This is reflected in the output point cloud as the point cloud corresponding to the high-reflectivity area "expands," invading adjacent areas and causing distortion of the point cloud in the adjacent areas. The LiDAR in the adjacent areas also measures the same or similar distance to the highly reflective object. The point cloud that expands from the high-reflectivity object to the adjacent area is called a "crosstalk point" or "crosstalk."

[0107] Take the vehicle-mounted scenario as an example: See Figure 2. The road sign is an area of ​​high reflectivity, and the point cloud of the road sign area will invade the adjacent area around the road sign. If the on-board LiDAR fails to filter out the crosstalk points around the road sign, these missed crosstalk points are easily mistakenly identified as low-reflectivity targets (i.e., "false targets"), causing the vehicle to brake suddenly; if the on-board LiDAR excessively filters out the crosstalk points around the road sign, the real low-reflectivity targets around the road sign (referred to as "real targets" or "low-reflectivity targets") may be mistakenly filtered out, resulting in missed targets. For example, black cars and pedestrians near the road sign are mistakenly filtered out, posing a safety risk. It should be understood that the positions, sizes, shapes, etc. of the real targets and false targets shown in Figure 2 are only examples, and other positions, sizes, shapes, etc. may also be used in actual applications.

[0108] It can be seen that accurately identifying crosstalk points and accurately filtering out crosstalk points are of great significance for target recognition.

[0109] Here are some solutions for identifying and filtering crosstalk:

[0110] In one implementation, an additional detector or a second receiving range can be added to the lidar's receiving detector to assess the amount of crosstalk, which can then be used to identify and filter out crosstalk points. However, this approach requires specialized detector design or the loss of some detector channels.

[0111] In another implementation scheme, different channels of the detector use light of different wavelengths or frequencies to isolate the channels, thereby reducing crosstalk between channels. However, this scheme is difficult to implement and has high cost.

[0112] Another implementation scheme uses different multi-pulse codes for different detector channels. The difference in codes is used to identify whether the echo belongs to the corresponding channel and thus identify the crosstalk point. However, this scheme requires increasing the transmit power and the complexity of the transmit modulation, resulting in high implementation costs and complex echo data processing.

[0113] Another implementation approach increases the spacing between simultaneously operating receiving channels to improve channel isolation and reduce crosstalk. This approach is commonly used in receiver architectures such as avalanche photodiodes (APDs) or silicon photomultipliers (SIPMs). However, if used in single-photon avalanche diode (SPAD) receiver architectures, the implementation time cost is high due to timing margin issues, significantly affecting the equivalent line count or resolution of the point cloud.

[0114] To solve one or more of the above technical problems, the present invention provides a technical solution. This application mainly adjusts the laser radar's lighting strategy and target determination strategy based on whether there is a high reflectivity area or the location of the high reflectivity area in the laser radar's detection field of view.

[0115] Refer to Figure 3, which is a flow chart of a transmission method provided in an embodiment of the present application. Taking the method applied to the laser radar shown in Figure 1A as an example, the method includes S301 to S302.

[0116] S301: Determine a first light spot, where the position of the first light spot is determined based on the position of a high reflectivity area.

[0117] Specifically, the laser radar can determine the first light spot based on the position of the high reflectivity area, for example, determine the shape, size, position, etc. of the first light spot.

[0118] The first light spot can be a light spot emitted by the laser radar in a unit time, or a light spot composed of light spots emitted by the laser radar in a period of time (for example, multiple consecutive unit times), which is not limited in this application. The unit time can be the duration of a laser radar scan, such as a time of flight (ToF). Furthermore, the first light spot can be a linear light spot or a planar light spot, etc., which is not limited in this application.

[0119] Before the laser radar determines the first light spot according to the position of the high reflectivity area, it is necessary to first determine the position of the high reflectivity area.

[0120] In one possible implementation, the lidar can determine the location of the high-reflectivity area based on point cloud data previously acquired by the lidar (referred to as "historical point cloud data"). For example, the lidar's transmitting module emits a third light spot, and the lidar's receiving module receives the reflected signal corresponding to the third light spot and converts it into an electrical signal. The processing device then converts the electrical signal into point cloud data and transmits it to the control device, which analyzes the point cloud data to determine the location of the high-reflectivity area.

[0121] In another possible implementation, the LiDAR can determine the location of the high-reflectivity area based on indication information sent by other devices or components. For example, after determining the location of the high-reflectivity area, other sensors (such as cameras, millimeter-wave radars, etc.) or other controllers (such as intelligent driving domain controllers, mobile data centers (MDCs), etc.) send indication information to the LiDAR to indicate the location of the high-reflectivity area.

[0122] Of course, the above two implementation methods are only examples. In actual applications, lidar can also determine the location of high reflectivity areas through other methods.

[0123] The following describes the style of the first light spot:

[0124] As shown in FIG4A or FIG4B , the first light spot includes a first area and a second area, wherein the first area is a lighting area, the first area is located on a first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area.

[0125] In a specific implementation, the first area can be illuminated by turning on or off the transmission channels of the laser radar's transmission module. For example, if the detection signal emitted by the transmission module is also in the form of a linear light spot, the transmission module includes M+N transmission channels arranged in a linear pattern, where M and N are positive integers. By controlling the M transmission channels corresponding to the first area to turn on illumination, illumination of the first area can be achieved.

[0126] A specific example: referring to FIG5 , the number of transmission channels in FIG5 is 6, but is not limited thereto. In combination with the first area shown in FIG4A or FIG4B , the first area may correspond to channels 1, 5, and 6 in FIG5 .

[0127] The second area includes the following two forms:

[0128] Form 1: The second area is a light-emitting area. Referring to FIG4A , the second area is located on a second straight line, the second straight line overlaps with the high-reflectivity area, and the second area overlaps with the high-reflectivity area, but the second straight line does not overlap with the first straight line.

[0129] The second region overlaps with the high-reflectivity region, and may cover the high-reflectivity region in a certain direction. For example, referring to FIG4A , a laser radar emits a linear light spot, and the laser radar scans in the horizontal direction. The second region is slightly larger than the high-reflectivity region in the longitudinal direction (in practice, the second region may also be exactly equal to the high-reflectivity region in the longitudinal direction).

[0130] In a specific implementation, the second area can be illuminated by turning on or off the transmission channels of the laser radar's transmission module. For example, the N transmission channels corresponding to the second area can be turned on and illuminated. Still taking the transmission channels shown in FIG5 as an example, in combination with the second area shown in FIG4A , the N transmission channels corresponding to the second area can be channels 2, 3, and 4 in FIG5 .

[0131] Furthermore, in a specific implementation, when the laser radar's transmitting module emits a light spot, it scans within the detection field of view (i.e., it illuminates different positions within the detection field of view in sequence). Therefore, by controlling the illumination time of the second area to be different from the illumination time of the first area, the second straight line and the first straight line can be positioned at different positions within the field of view, thereby achieving non-overlap between the first and second straight lines. For example, the illumination time of the second area can be later or earlier than the illumination time of the first area, or in other words, the M emission channels corresponding to the first area can be turned on and off earlier or later than the N emission channels corresponding to the second area.

[0132] For example, referring to the light spot emission time diagram in Figure 6A, the lighting time of the second area is delayed by a time period of Δt compared to the lighting time of the first area, so as to realize the first light spot shown in Figure 4A. The dotted line in Figure 6A represents no lighting.

[0133] Form 2: The second area is a non-illuminated area. The second area is located on the first straight line and overlaps with the high reflectivity area.

[0134] The second region overlaps with the high-reflectivity region, and may overlap the high-reflectivity region in a certain direction. For example, referring to FIG4B , a laser radar emits a linear light spot, and the laser radar scans in the horizontal direction. The second region is slightly larger than the high-reflectivity region in the longitudinal direction (in practice, the second region may also be exactly equal to the high-reflectivity region in the longitudinal direction).

[0135] In a specific implementation, the second area can be made non-illuminated by turning on or off the transmit channels of the laser radar's transmit module. For example, the N transmit channels corresponding to the second area can be turned off. Still using the transmit channels shown in Figure 5 as an example, combined with the second area shown in Figure 4B, the N transmit channels corresponding to the second area can be channels 2, 3, and 4 in Figure 5.

[0136] For example, referring to the schematic diagram of light spot emission time in FIG6B , the dotted line in FIG6B indicates no illumination, that is, the second area is not illuminated.

[0137] It should be understood that the sizes and positions of the first and second regions shown in Figures 4A, 4B, 6A, and 6B are for illustrative purposes only and are not intended to be limiting. The different light spot patterns in Figures 4A, 4B, 6A, and 6B are merely for ease of understanding and distinction and do not represent actual light spot patterns.

[0138] S302: Emit a first light spot.

[0139] For example, after the laser radar determines the first light spot, it controls the channels of the emission module to be open or closed according to the first light spot (such as the size, position, shape, etc. of the first light spot) to emit the first light spot to the outside world.

[0140] For example, taking the transmission channels shown in Figure 5 as an example, the laser radar scans horizontally from left to right within the field of view. The laser radar control device can first control channels 1, 5, and 6 to turn on the lighting, and then control channels 2, 3, and 4 to turn on the lighting after channels 1, 5, and 6 turn off the lighting, so as to emit the first light spot shown in Figure 4A. Alternatively, the control device can control channels 1, 5, and 6 to turn on the lighting, and simultaneously control channels 2, 3, and 4 to turn off the lighting, so as to emit the first light spot shown in Figure 4B.

[0141] In the above solution, the LiDAR determines the first light spot based on the location of the high-reflectivity area, staggering the illumination time of the high-reflectivity area with that of adjacent areas. This can reduce or even prevent crosstalk from the high-reflectivity area when the LiDAR detects adjacent areas, helping to improve the accuracy of LiDAR in detecting targets in adjacent areas. Furthermore, this solution only requires modifying the illumination strategy of the LiDAR's transmitting module. Compared to methods such as setting up additional receiving detectors to measure crosstalk points, improving isolation between LiDAR channels, or identifying crosstalk noise points through channel coding, it can reduce implementation difficulty and save design costs.

[0142] Optionally, Form 2 of the second region described above can also be replaced by: the second region is a lighting region, but the energy density of the light spot in the second region is less than the energy density of the light spot in the first region (in specific implementation, the energy density of the light spot can be reduced by reducing the emission power of the laser, for example, the emission power of the laser corresponding to the second region is ≤ 10% of the emission power of the laser corresponding to the first region), the second region is located on the first straight line, and the second region overlaps with the high-reflectivity region. Since the light spot energy density in the second region is lower, the degree of crosstalk from the second region to the first region can also be reduced.

[0143] Optionally, after emitting the first light spot, the laser radar may further perform: S303: receiving a reflection signal corresponding to the first light spot; and determining a real target based on the reflection signal corresponding to the first light spot. For example, the laser radar may determine the real target (e.g., determine the position of the real target) based on the reflection position of the reflection signal corresponding to the first light spot in the first area.

[0144] In specific implementation, the receiving module of the laser radar receives the reflected signal corresponding to the first light spot, converts it into an electrical signal and transmits it to the processing device. The processing device obtains point cloud data based on the electrical signal and transmits the point cloud data to the control device. The control device analyzes the point cloud data to determine whether there is a real target, and when there is a real target, it also determines the characteristic information of the real target (such as one or more of distance, direction, height, speed, posture, size or shape, etc.).

[0145] For example, referring to FIG6A , the upper and lower adjacent areas of the high reflectivity area are illuminated at the same time, and the high reflectivity area is illuminated later. Among the received reflection signals, the reflection signal of the upper adjacent area and the reflection signal of the high reflectivity area are returned synchronously, and the reflection signal of the lower adjacent area is returned earlier than the reflection signals of the upper adjacent area and the high reflectivity area. Therefore, it can be determined that there is no real target in the upper adjacent area, but there is a real target in the lower adjacent area.

[0146] For example, referring to FIG6B , the upper and lower adjacent areas of the high reflectivity area are illuminated at the same time, and the high reflectivity area is not illuminated. Among the received reflection signals, only the lower adjacent area has a reflection signal, while neither the upper adjacent area nor the high reflectivity area has a reflection signal returned. Therefore, it can be determined that there is no real target in the upper adjacent area, but there is a real target in the lower adjacent area.

[0147] In this way, the lidar can accurately identify real targets in the vicinity of high reflectivity areas.

[0148] It should be understood that the above only describes the process of the LiDAR emitting a single light spot. In actual applications, the LiDAR can emit light spots multiple times and make target judgments based on the reflected signals of the multiple emitted light spots to further improve the accuracy of target recognition. Furthermore, in different emission processes, when using the first light spot shown in Figure 4A, the delay or advance time (i.e., Δt) of the high-reflectivity area relative to the adjacent area can be the same or different.

[0149] In one possible design, the LiDAR also emits a second light spot, receives a reflection signal from the second light spot, and identifies a false target based on the reflection signal from the first and second light spots. The second light spot can be sent before or after the first light spot, without limitation.

[0150] Referring to Figure 7A or Figure 7B, the second light spot includes a third area and a fourth area, both of which are illuminated areas, both of which are located on the third straight line and / or the third area and the fourth area have the same illumination time, the third straight line overlaps with the high reflectivity area, the third area is located outside the high reflectivity area, and the fourth area overlaps with the high reflectivity area. In a specific implementation, the laser radar can control the opening or closing of the emission channel of the emission module to achieve that the third area and the fourth area are both illuminated areas. For example, the M emission channels corresponding to the third area and the N emission channels corresponding to the second area are all turned on for illumination.

[0151] In a specific implementation, the laser radar can control the lighting time of the third area to be the same as the lighting time of the fourth area, so that the third area and the fourth area are both located on the third straight line. Taking the transmission channels shown in Figure 5 as an example, combined with the third area and the fourth area shown in Figure 7A or Figure 7B, the M transmission channels corresponding to the third area can be channels 1, 5, and 6 in Figure 5, and the N transmission channels corresponding to the fourth area can be channels 2, 3, and 4 in Figure 5. Channels 1, 2, 3, 4, 5, and 6 can be turned on and off at the same time to achieve simultaneous lighting of the third area and the fourth area on the third straight line.

[0152] Optionally, the first light spot and the second light spot can be light spots emitted at different times by the same emission channel of the laser radar. For example, the laser radar emits the first light spot in a first time period and the second light spot in a second time period. The first time period and the second time period are two different ToFs.

[0153] For example, the scanning direction of the laser radar in the field of view is horizontally from left to right. In the first time period, the control device of the laser radar can first control channels 1, 5, and 6 to turn on the lighting, and then control channels 2, 3, and 4 to turn on the lighting after channels 1, 5, and 6 are turned off. In the second time period, the control device of the laser radar can control channels 1, 2, 3, 4, 5, and 6 to turn on, so that the first light spot and the second light spot shown in Figure 7A can be emitted.

[0154] For example, the scanning direction of the laser radar in the field of view is horizontally from left to right. In the first time period, the control device of the laser radar can first control channels 1, 5, and 6 to turn on and illuminate. In the second time period, the control device of the laser radar can control channels 1, 2, 3, 4, 5, and 6 to turn on. In this way, the first light spot and the second light spot shown in Figure 7B can be emitted.

[0155] Optionally, the relative position of the lighting time of the first area in the first time period is the same as the relative position of the lighting time of the third area in the second time period. In other words, the lighting strategy for the first and second light spots outside the high-reflection area is the same. For example, if the first and second time periods are both 1 second in length, the lighting time of the first area is from 0.1 to 0.3 seconds within the first second, and the lighting time of the third area is from 0.1 to 0.3 seconds within the second second. In this way, the complexity of the lighting can be reduced.

[0156] Optionally, the second area is a lighting area, and the relative position of the lighting time of the second area in the first time period is different from the relative position of the lighting time of the fourth area in the second time period. In this way, different lighting strategies can be implemented for the first light spot and the second light spot within the high-reflection area. For example, the first time period and the second time period are both 1 second in length, the lighting time of the second area is 0.6 to 0.8 seconds within the first second, and the lighting time of the fourth area is 0.1 to 0.3 seconds within the second second. In this way, it can be ensured that the laser radar can determine false targets based on the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot.

[0157] Optionally, a false target is determined based on the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot. The specific implementation may include: based on the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot, determining the target that returns the reflection signal synchronously with the second area from the first area, and the target in the first area that returns the reflection signal synchronously with the second area is a false target.

[0158] Since the point cloud in the high reflectivity area and the crosstalk points in the adjacent area appear and disappear synchronously, by comparing the first light spot and the second light spot, the targets that return reflected signals synchronously with the second area can be determined from the first area. These targets are false targets.

[0159] For example, as shown in Figure 8A, the lighting strategy of ToF1 is: the high reflectivity area (i.e., the second area) and the upper and lower adjacent areas (i.e., the first area) are illuminated at the same time, that is, the laser radar in ToF1 emits the second light spot; the lighting strategy of ToF2 is: the upper and lower adjacent areas are illuminated at the same time, and the high reflectivity area is illuminated later, that is, the laser radar in ToF2 emits the first light spot. The reflected signal reception situation of ToF1 is: the reflected signals of the upper and lower adjacent areas and the reflected signals of the high reflectivity area are returned synchronously; the reflected signal reception situation of ToF2 is: the reflected signals of the upper adjacent area and the reflected signals of the high reflectivity area are returned synchronously, and the reflected signals of the lower adjacent area are returned earlier than the reflected signals of the upper adjacent area and the high reflectivity area. By comparing the reception conditions of ToF1 and ToF2, real targets and false targets can be determined: when the high-reflectivity area and the adjacent area are illuminated at the same time (ToF1), there are reflected signals in the high-reflectivity area and the upper and lower adjacent areas, and it can be preliminarily determined that there may be targets in the upper and lower adjacent areas; when the high-reflectivity area and the adjacent area are illuminated at staggered times (ToF2), when there is a reflected signal returned from the lower adjacent area, there is no reflected signal returned from the upper adjacent area and the high-reflectivity area, and the return time of the reflected signal from the upper adjacent area is synchronized with the return time of the reflected signal from the high-reflectivity area, so it can be determined that the target in the lower adjacent area is the real target, and the target in the upper adjacent area is a false target caused by crosstalk from the high-reflectivity area.

[0160] For example, as shown in Figure 8B, the lighting strategy for ToF1 is: the high-reflectivity area and the upper and lower adjacent areas are illuminated simultaneously, that is, the lidar in ToF1 emits the second light spot; the lighting strategy for ToF2 is: the upper and lower adjacent areas of the high-reflectivity area are illuminated, and the high-reflectivity area is not illuminated, that is, the lidar in ToF2 emits the first light spot. The reflected signal received by ToF1 is: the reflected signals from the upper and lower adjacent areas and the reflected signals from the high-reflectivity area are returned synchronously; the reflected signal received by ToF2 is: the reflected signals from the upper adjacent area and the high-reflectivity area are not reflected, and the reflected signals from the lower adjacent area are reflected. By comparing the reception conditions of ToF1 and ToF2, real targets and false targets can be determined: when both the high-reflectivity area and the adjacent areas are illuminated (ToF1), there are reflected signals in the high-reflectivity area and the upper and lower adjacent areas, and it can be preliminarily determined that there may be targets in the upper and lower adjacent areas; when the high-reflectivity area is not illuminated and the adjacent areas are illuminated (ToF2), only the lower adjacent area has a reflected signal returned, so the target in the lower adjacent area is the real target, and the target in the upper adjacent area is a false target caused by crosstalk from the high-reflectivity area.

[0161] The above design, by emitting two different light spots by the lidar and comparing the reflected signals of the two different light spots, can distinguish between false targets and real targets in the adjacent area, further improving the accuracy of target recognition.

[0162] Optionally, when there is no high-reflectivity area within the detection field of view of the laser radar, the laser radar can control the transmitting module to scan the detection field of view with the first light spot to ensure comprehensive detection of the detection field of view; when there is a high-reflectivity area within the detection field of view of the laser radar, the laser radar can control the transmitting module to switch the lighting strategy, and use the first light spot and the second light spot to alternately scan the high-reflectivity area and its adjacent areas in the detection field of view, so as to achieve accurate identification of real targets and false targets (i.e., crosstalk).

[0163] For example, referring to FIG7C , the laser radar first scans the detection field of view with the second light spot shown in FIG7A . When scanning to the high reflectivity area, the laser radar detects at least one target but cannot distinguish whether these targets are real targets or false targets. Therefore, the first light spot and the second light spot shown in FIG7A are alternately scanned on the high reflectivity area. By comparing the reflection signals of the first light spot and the second light spot, the real target and the false target can be distinguished (the distinction method is described in the relevant description of FIG8A above and will not be repeated here).

[0164] It can be understood that Figure 7C takes the alternation of a first light spot and a second light spot as an example. In actual applications, it can also be multiple first light spots and one second light spot alternating, or one first light spot and multiple second light spots alternating, or multiple first light spots and multiple second light spots alternating, etc. This application does not limit this.

[0165] In addition, the types of light spots on the high reflectivity area are not limited to alternating between two types of light spots, and more types of light spots may also alternate.

[0166] Further optionally, after the laser radar identifies a false target, it can filter out the false target and output the real target.

[0167] It can be understood that in the example given above, the laser radar is scanned along the horizontal field of view (scanning from left to right in any horizontal direction), so the light spot is arranged along the longitudinal field of view (i.e., the up and down direction). In actual applications, the laser radar scans along other field of view directions, and the light spot can also be arranged along other field of view directions. This application does not impose any restrictions.

[0168] The above describes adjusting the LiDAR's lighting strategy and target determination strategy based on whether or not there are high-reflectivity areas within the LiDAR's detection field of view, or the location of such areas. This embodiment of the present application also provides a solution that, compared to the above solution, eliminates the need to predict whether or not there are high-reflectivity areas within the detection field of view. Instead, the LiDAR directly uses a strategy of alternating different light spots to identify real targets, false targets, and high-reflectivity areas.

[0169] Refer to Figure 9, which is a flow chart of a transmission method provided in an embodiment of the present application. Taking the method applied to the laser radar shown in Figure 1A as an example, the method includes S901 to S902.

[0170] S901. Alternately emit N groups of light spots, where N is a positive integer greater than 1.

[0171] Specifically, the transmitting module of the laser radar alternately emits N groups of light spots.

[0172] The illuminated areas of different light spots in the N groups of light spots are staggered in a first direction, and the first direction and the second direction are not co-linear. The second direction is the scanning direction of the laser radar. For example, the first direction and the second direction are perpendicular. Specifically, for example, the first direction is the longitudinal field of view direction and the second direction is the transverse field of view direction, or the second direction is the longitudinal field of view direction and the first direction is the transverse field of view direction.

[0173] It is understandable that the lighting areas of different light spots are staggered in the first direction, but all lighting areas of different light spots are staggered in the first direction, or part of the lighting areas of different light spots are staggered in the first direction, without limitation.

[0174] The following example takes the case where two groups of light spots (the fourth light spot and the fifth light spot) are emitted alternately, with the first direction being the longitudinal field of view direction and the second direction being the transverse field of view direction:

[0175] As shown in FIG10A , the fourth light spot includes a fifth area and a sixth area, the fifth area is a lighted area, the sixth area is a non-lighted area, and the fifth area and the sixth area are located on a fourth straight line.

[0176] The fifth light spot includes a seventh area and an eighth area, the seventh area is a non-illuminated area, the eighth area is a illuminated area, the seventh area and the eighth area are located on the fifth straight line, and the fourth straight line does not overlap with the fifth straight line.

[0177] The fifth and seventh areas are located on the sixth straight line, the sixth and eighth areas are located on the seventh straight line, the fifth straight line and the seventh straight line do not overlap, the sixth straight line intersects with the fourth and fifth straight lines, and the seventh straight line intersects with the fourth and fifth straight lines.

[0178] The fourth straight line and the fifth straight line are located in the longitudinal viewing direction, and the sixth straight line and the seventh straight line are located in the transverse viewing direction.

[0179] In one specific implementation, the fifth and seventh areas correspond to the same transmission channel, the sixth and eighth areas correspond to the same transmission channel, the fifth and sixth areas correspond to different transmission channels, and the seventh and eighth areas correspond to different transmission channels. In other words, the fifth and sixth light spots are the light spots produced by the lidar using the same transmission channel but turning on and / or off different transmission channels.

[0180] For example, in conjunction with the emission channels shown in Figure 5, the fifth and seventh areas may correspond to channels 1, 3, and 5, and the sixth and eighth areas may correspond to channels 2, 4, and 6. The control device of the laser radar may first control channels 1, 3, and 5 to turn on the lighting and channels 2, 4, and 6 to turn off the lighting to emit the fourth light spot, and then control channels 1, 3, and 5 to turn off the lighting and channels 2, 4, and 6 to turn on the lighting to emit the fourth light spot.

[0181] It will be understood that the example shown in FIG10A uses two groups of light spots alternately illuminated and the two groups of light spots are distributed in equal proportions. This is not limited to this example in actual applications. For example, multiple groups of light spots can also be illuminated alternately, as shown in FIG10B, which is a schematic diagram of three groups of light spots alternating. For example, the illuminated areas can also be distributed in equal proportions to three, four, or eight areas, as shown in FIG10C, which is a schematic diagram of three areas distributed in equal proportions. For example, the illuminated areas can also be distributed in non-uniform proportions, as shown in FIG10D, which is a schematic diagram of random alternating illumination.

[0182] 10A to 10D are based on an example of scanning from left to right in the horizontal direction, but the present invention is not limited thereto.

[0183] S902: Receive reflection signals corresponding to N groups of light spots.

[0184] Specifically, the receiving module of the laser radar receives the reflection signal corresponding to the fifth light spot and the reflection signal corresponding to the sixth light spot.

[0185] S903 : Determine at least one of a high reflectivity area, a real target, and a false target according to the reflection signals corresponding to the N groups of light spots.

[0186] Specifically, the receiving module of the laser radar converts the reflection signal corresponding to the fourth light spot and the reflection signal corresponding to the fifth light spot into electrical signals, and then the processing device converts the electrical signals into point cloud data and transmits it to the control device. The control device analyzes the point cloud data to identify and determine at least one of the real target, the high reflectivity area, and the false target.

[0187] In a specific implementation, the processing device can determine at least one of a real target, a high reflectivity area, and a false target based on the change in the strength of the reflected signal.

[0188] Taking the illumination strategy shown in Figure 10A as an example, see Figure 11: Within ToF1, area A is unilluminated, area B is illuminated, and area C is unilluminated. Areas A, B, and C all reflect signals, making area B likely a high-reflectivity area. Within ToF2, areas A, B, and C are all illuminated, and the illumination of area B in ToF2 is enhanced compared to that in ToF1. However, the received signal strength in area A remains unchanged (or changes slightly). This indicates the presence of a false target in area A (this is because the false target does not reflect a signal (or has a very low signal reflectivity) regardless of illumination. The signal received by the lidar in this area is caused by crosstalk from other areas, resulting in little change in received signal strength). The received signal strengths in areas B and C both increase, and the received signal strength (or intensity increase) in area B is significantly higher than that in area C. This indicates that area B is a high-reflectivity area and area C is a true target (this is because high-reflectivity areas have higher reflectivity, so the received signal strength increase is more significant in high-reflectivity areas). Of course, this is just an example, and the lighting method and target identification method are not limited to this.

[0189] In the above solution, the laser radar directly adopts the strategy of alternating illumination with different light spots to realize the identification of real targets, false targets and high reflectivity areas. There is no need to predict whether there is a high reflectivity area or the location of the high reflectivity area in the detection field of view, which can reduce the complexity of implementation.

[0190] In one possible design, the lidar can adjust the lighting strategy of the transmitting module based on external input information (such as weather, the location of high-reflectivity areas, etc.), such as adjusting the value of N or the number of areas distributed proportionally.

[0191] In an alternative design, the laser radar can also use each of the N groups of light spots to scan the entire detection field in sequence, and determine at least one of the high reflectivity area, the real target, and the false target based on the reflection signals corresponding to the N groups of light spots.

[0192] Taking the light spot shown in Figure 10A as an example, the control device of the laser radar first controls the transmitting module to emit the fourth light spot, traverses and scans the entire scanning field of view through the fourth light spot, and controls the receiving module to receive the reflection signal of the fourth light spot; then controls the transmitting module to emit the fifth light spot, traverses and scans the entire scanning field of view again through the fifth light spot, and controls the receiving module to receive the reflection signal of the fifth light spot; finally, the processing device determines at least one of the high reflectivity area, the real target, and the false target based on the reflection signals received from the two scans.

[0193] In this way, the frequency of switching lighting strategies of the lidar can be reduced, the implementation complexity can be reduced, and energy consumption can be saved.

[0194] The above embodiments can be implemented independently or in combination without limitation. For example, in combination with the schemes shown in Figures 3 and 9 , when outside the high reflectivity area, the spot scanning shown in Figure 10A is used, and when the high reflectivity area is detected, the spot scanning shown in Figures 7A or 7B is used. Of course, the above is only one possible combination example and is not limited to this.

[0195] Based on the same technical concept, referring to FIG12 , an embodiment of the present application further provides a control device, including the method steps for executing the control device in the above method embodiment. The device includes:

[0196] A determination module 1201 is configured to determine a first light spot, wherein a position of the first light spot is determined based on a position of a high reflectivity area;

[0197] The control module 1202 is used to control the emission module to emit a first light spot;

[0198] Among them, the first light spot includes a first area and a second area; the first area is a lighting area; the first area is located on the first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area; the second area is a non-lighting area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a lighting area, the second area is located on the second straight line, the second straight line overlaps with the high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line and / or the lighting time of the second area is different from the lighting time of the first area.

[0199] 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.

[0200] Based on the same technical concept, referring to FIG13 , an embodiment of the present application further provides a transmitting device, comprising:

[0201] A determination module 1301 is configured to determine a first light spot, wherein a position of the first light spot is determined based on a position of a high reflectivity area;

[0202] The emission module 1302 is used to emit a first light spot; wherein the first light spot includes a first area and a second area; the first area is a lighting area; the first area is located on a first straight line, the first straight line overlaps with a high reflectivity area, and the first area is located outside the high reflectivity area; the second area is a non-lighting area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a lighting area, the second area is located on a second straight line, the second straight line overlaps with a high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line and / or the lighting time of the second area is different from the lighting time of the first area.

[0203] 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.

[0204] Based on the same technical concept, referring to FIG14 , an embodiment of the present application further provides a receiving device, comprising:

[0205] A receiving module 1401 is configured to receive a reflection signal corresponding to the first light spot;

[0206] A processing module 1402 is configured to determine a real target based on a reflection signal corresponding to the first light spot;

[0207] Among them, the first light spot includes a first area and a second area; the first area is a lighting area; the first area is located on the first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area; the second area is a non-lighting area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a lighting area, the second area is located on the second straight line, the second area overlaps with the high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line and / or the lighting time of the second area is different from the lighting time of the first area.

[0208] 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.

[0209] Based on the same technical concept, an embodiment of the present application further provides a terminal including at least one of the control device, transmitting device, or receiving device described above. The terminal can be a vehicle, drone, helicopter, airplane, ship, intelligent transportation equipment, or smart home device.

[0210] Based on the same technical concept, an embodiment of the present application also provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed by a communication device, the above method steps are implemented.

[0211] Based on the same technical concept, an embodiment of the present application also provides a computer program product, which implements the above method steps when the computer program product runs on a processor.

[0212] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0213] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each flow and / or box in the flow chart and / or block diagram, as well as the combination of the flow chart and / or box in the flow chart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more flow charts and / or one or more boxes in the block diagram.

[0214] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0215] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0216] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the scope of protection of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A transmission method, characterized in that: include: determining a first light spot, wherein a position of the first light spot is determined based on a position of the high reflectivity area; emitting the first light spot; Wherein, the first light spot includes a first area and a second area; The first area is a light-emitting area; the first area is located on a first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area; The second area is a non-illuminated area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a illuminated area, the second area is located on a second straight line, the second straight line overlaps with the high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line and / or the illumination time of the second area is different from the illumination time of the first area.

2. The method according to claim 1, wherein The first area is a lighting area, and the M emission channels corresponding to the first area are turned on for lighting; The second area is a non-illuminated area, and the N emission channels corresponding to the second area are turned off; or, the second area is a illuminated area, and the lighting time of the N emission channels corresponding to the second area is different from the lighting time of the M emission channels corresponding to the first area.

3. The method according to claim 1 or 2, wherein: Also includes: receiving a reflection signal corresponding to the first light spot; The real target is determined according to the reflection signal corresponding to the first light spot.

4. The method according to claim 3, wherein The determining the real target according to the reflection signal corresponding to the first light spot includes: The real target is determined according to a reflection position of the reflection signal corresponding to the first light spot on the first area.

5. The method according to any one of claims 1 to 4, characterized in that Also includes: emitting a second light spot; Among them, the second light spot includes a third area and a fourth area, the third area and the fourth area are both lighting areas, the third area and the fourth area are both located on a third straight line and / or the lighting time of the third area and the fourth area is the same, the third straight line overlaps with the high reflectivity area, the third area is located outside the high reflectivity area, and the fourth area overlaps with the high reflectivity area.

6. The method according to claim 5, wherein Also includes: receiving a reflection signal corresponding to the second light spot; A false target is determined according to a reflection signal corresponding to the first light spot and a reflection signal corresponding to the second light spot.

7. The method according to claim 6, wherein Determining a false target according to a reflection signal corresponding to the first light spot and a reflection signal corresponding to the second light spot includes: According to the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot, a target that returns a reflection signal synchronously with the second area is determined from the first area, and the target that returns a reflection signal synchronously with the second area in the first area is a false target.

8. The method according to any one of claims 5 to 7, wherein: The emitting the first light spot includes: emitting the first light spot within a first time period; The emitting the second light spot comprises: emitting the second light spot within a second time period; The first time period and the second time period are two different time of flight (ToF).

9. The method according to claim 5, wherein The relative position of the lighting time of the first area in the first time period is the same as the relative position of the lighting time of the third area in the second time period.

10. The method according to claim 9, wherein The second area is a lighting area; the relative position of the lighting time of the second area in the first time period is different from the relative position of the lighting time of the fourth area in the second time period.

11. The method according to any one of claims 1 to 10, wherein: Also includes: emitting a third light spot, receiving a reflection signal corresponding to the third light spot, and determining a position of the high reflectivity area according to the reflection signal corresponding to the third light spot; or, Receive indication information from a sensor or a controller, and determine the position of the high reflectivity area according to the indication information.

12. A control method, characterized in that: include: determining a first light spot, wherein a position of the first light spot is determined based on a position of the high reflectivity area; Controlling the emission module to emit the first light spot; Wherein, the first light spot includes a first area and a second area; The first area is a light-emitting area; the first area is located on a first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area; The second area is a non-illuminated area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a illuminated area, the second area is located on a second straight line, the second area overlaps with the high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line and / or the illumination time of the second area is different from the illumination time of the first area.

13. A launching device, characterized in that: The transmitting device includes a determining module and a transmitting module, wherein the determining module is used to determine a first light spot, wherein the position of the first light spot is determined based on the position of the high reflectivity area; The transmitting module is used to transmit the first light spot; Wherein, the first light spot includes a first area and a second area; The first area is a light-emitting area; the first area is located on a first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area; The second area is a non-illuminated area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a illuminated area, the second area is located on a second straight line, the second straight line overlaps with the high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line and / or the illumination time of the second area is different from the illumination time of the first area.

14. The launch device according to claim 13, characterized in that The first area is a lighting area, and the M emission channels corresponding to the first area are turned on for lighting; The second area is a non-illuminated area, and the N emission channels corresponding to the second area are turned off; or, the second area is a illuminated area, and the lighting time of the N emission channels corresponding to the second area is different from the lighting time of the M emission channels corresponding to the first area.

15. The launching device according to claim 13 or 14, characterized in that The emission module is further configured to emit a second light spot; Among them, the second light spot includes a third area and a fourth area, the third area and the fourth area are both lighting areas, the third area and the fourth area are both located on a third straight line and / or the lighting time of the third area and the fourth area is the same, the third straight line overlaps with the high reflectivity area, the third area is located outside the high reflectivity area, and the fourth area overlaps with the high reflectivity area.

16. The launch device according to claim 15, characterized in that The transmitting module is used for: emitting the first light spot within a first time period; emitting the second light spot within a second time period; The first time period and the second time period are two different time of flight (ToF).

17. The launch device according to claim 15, characterized in that The relative position of the lighting time of the first area in the first time period is the same as the relative position of the lighting time of the third area in the second time period.

18. The launch device according to claim 17, characterized in that The second area is a lighting area; the relative position of the lighting time of the second area in the first time period is different from the relative position of the lighting time of the fourth area in the second time period.

19. The transmitting device according to any one of claims 13 to 18, characterized in that: The transmitting module is further configured to transmit a third light spot, and the third light spot is configured to determine the position of the high reflectivity area.

20. A receiving device, characterized in that: include: A receiving module, configured to receive a reflection signal corresponding to the first light spot; a processing module, configured to determine a real target based on a reflection signal corresponding to the first light spot; Wherein, the first light spot includes a first area and a second area; The first area is a light-emitting area; the first area is located on a first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area; The second area is a non-illuminated area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a illuminated area, the second area is located on a second straight line, the second area overlaps with the high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line and / or the illumination time of the second area is different from the illumination time of the first area.

21. The receiving device according to claim 20, wherein The processing module is used for: The real target is determined according to a reflection position of the reflection signal corresponding to the first light spot on the first area.

22. The receiving device according to claim 20 or 21, wherein: The receiving module is further configured to receive a reflection signal corresponding to the second light spot; The processing module is further configured to determine a false target based on a reflection signal corresponding to the first light spot and a reflection signal corresponding to the second light spot; Among them, the second light spot includes a third area and a fourth area, the third area and the fourth area are both lighting areas, the third area and the fourth area are both located on a third straight line and / or the lighting time of the third area and the fourth area is the same, the third straight line overlaps with the high reflectivity area, the third area is located outside the high reflectivity area, and the fourth area overlaps with the high reflectivity area.

23. The receiving device according to claim 22, wherein The processing device is used for: According to the reflection signal corresponding to the first light spot and the reflection signal corresponding to the second light spot, a target that returns a reflection signal synchronously with the second area is determined from the first area. The target that returns the reflected signal is a false target.

24. The receiving device according to any one of claims 20 to 23, wherein: The receiving module is further configured to receive a reflection signal corresponding to the third light spot, and the processing module is further configured to determine the position of the high reflectivity area according to the reflection signal corresponding to the third light spot; or The processing module is further configured to determine the position of the high reflectivity area according to indication information from a sensor or a controller.

25. A control device, characterized in that: include: a determining module, configured to determine a first light spot, wherein a position of the first light spot is determined based on a position of a high reflectivity area; A control module, configured to control the emission module to emit the first light spot; Wherein, the first light spot includes a first area and a second area; The first area is a light-emitting area; the first area is located on a first straight line, the first straight line overlaps with the high reflectivity area, and the first area is located outside the high reflectivity area; The second area is a non-illuminated area, the second area is located on the first straight line, and the second area overlaps with the high reflectivity area; or, the second area is a illuminated area, the second area is located on a second straight line, the second straight line overlaps with the high reflectivity area, the second area overlaps with the high reflectivity area, the second straight line does not overlap with the first straight line and / or the illumination time of the second area is different from the illumination time of the first area.

26. A terminal, characterized in that: The device comprises at least one of the transmitting device according to any one of claims 13 to 19, the receiving device according to any one of claims 20 to 24, or the control device according to claim 25.

27. A computer-readable storage medium, characterized in that The storage medium stores a computer program or instruction. When the computer program or instruction is executed by the communication device, the method according to any one of claims 1 to 11 or the method according to claim 12 is implemented.

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