Laser radar control method and laser radar

Abstract

The invention provides a laser radar control method and a laser radar. The laser radar comprises a laser array and a detector array to form a plurality of detection channels, the plurality of detection channels comprise a first detection channel and a second detection channel, the first detection channel comprises at least one first laser and at least one first detector, and the second detection channel comprises at least one second laser and at least one second detector. The second detection channel comprises at least one second laser and at least one second detector, and the control method comprises the following steps: determining at least one of an output signal of the first detector or an output signal of the second detector at least based on at least one exposure of the first detection channel; and determining at least one of an exposure parameter of the first detection channel or an exposure parameter of the second detection channel according to at least one of an output signal of the first detector or an output signal of the second detector. According to the invention, feedback control of the exposure parameters of the detection channel or other detection channels can be realized according to the output signals of the detection channel or other detection channels, the method is suitable for local exposure or global exposure, crosstalk, high-reflection ghosting and high-reflection broadening phenomena between the detection channels can be effectively inhibited, and the detection accuracy is improved. The signal-to-noise ratio and the frame rate of the laser radar can be improved, and the accuracy of the detection result of the laser radar is improved.

Description

Technical Field

[0001] The present disclosure generally relates to the field of laser radar, and more particularly to a control method of a laser radar and a laser radar. Background Art

[0002] LiDAR (LiDAR) is a radar system that uses laser beams to detect target characteristics such as position and velocity. It is an advanced detection method that combines laser technology with photoelectric detection technology. Due to its advantages such as high resolution, good concealment, strong resistance to active interference, excellent low-altitude detection performance, small size, and light weight, LiDAR is widely used in autonomous driving, transportation communications, drones, intelligent robots, resource exploration, and other fields.

[0003] LiDAR can include a laser array and a detector array, forming multiple detection channels. Improving LiDAR's detection performance, for example, by reducing crosstalk between different detection channels, controlling the exposure of detection channels, and suppressing high-reflection broadening, are technical challenges that need to be addressed in this field.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the existing technologies in this field. Summary of the Invention

[0005] In response to one or more problems existing in the prior art, the present disclosure provides a control method for a laser radar.

[0006] The laser radar includes a laser array and a detector array, forming multiple detection channels, wherein the multiple detection channels include a first detection channel and a second detection channel. The first detection channel includes at least one first laser and at least one first detector, and the second detection channel includes at least one second laser and at least one second detector.

[0007] The control method includes: determining at least one of the output signal of the first detector or the output signal of the second detector based on at least one exposure of the first detection channel; and determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel based on the at least one output signal of the first detector or the output signal of the second detector.

[0008] Optionally, the exposure parameters include the luminous intensity of the laser, and determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining the exposure parameters of the first detection channel based on the output signal of the first detector, wherein when the output signal of the first detector exceeds a first threshold, reducing the luminous intensity of the first laser.

[0009] Optionally, the exposure parameters include the luminous intensity of the laser, and determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining the exposure parameters of the first detection channel based on the output signal of the first detector, wherein when the output signal of the first detector is lower than a second threshold, increasing the luminous intensity of the first laser.

[0010] Optionally, the control method further includes: repeatedly determining at least one of the output signal of the first detector or the output signal of the second detector, and determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel based on the at least one of the output signal of the first detector or the output signal of the second detector, until the determined at least one of the output signal of the first detector or the output signal of the second detector meets a preset condition.

[0011] Optionally, the output signal of the first detector exceeding the first threshold comprises: at least one of an amplitude of the output signal of the first detector exceeding a first amplitude threshold or a width exceeding a first width threshold.

[0012] Optionally, the exposure parameters include the luminous intensity of the laser, and determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining the exposure parameters of the first detection channel based on the output signal of the second detector, wherein when the output signal of the second detector exceeds a third threshold, reducing the luminous intensity of the first laser.

[0013] Optionally, the output signal of the second detector exceeding the third threshold comprises: at least one of an amplitude of the output signal of the second detector exceeding a third amplitude threshold or a width exceeding a third width threshold.

[0014] Optionally, the exposure parameters include the luminous intensity of the laser, and determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining the exposure parameters of the second detection channel based on the output signal of the first detector, wherein when the output signal of the first detector exceeds a fourth threshold, reducing the luminous intensity of the second laser.

[0015] Optionally, the first detection channel is adjacent to the second detection channel; the first detection channel includes multiple first lasers, and the second detection channel includes multiple second lasers; the multiple first lasers are arranged in one or more rows; and the multiple second lasers are arranged in one or more rows.

[0016] Optionally, the control method includes: controlling one or more rows of lasers of at least one of the first detection channel or the second detection channel to perform exposure sequentially or synchronously.

[0017] Optionally, the multiple detection channels include a third detection channel, and the third detection channel includes at least one third laser and at least one third detector; the control method includes: controlling the third detection channel and at least one of the first detection channel or the second detection channel to be simultaneously selected.

[0018] Optionally, the exposure parameters include at least one of the light-emitting moment of the laser or the opening time window of the detector.

[0019] Optionally, determining at least one of the output signal of the first detector or the output signal of the second detector includes: determining the output signal of the first detector.

[0020] Optionally, determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining the object distance based on the output signal of the first detector; and determining at least one of the emission moment of the first laser or the opening time window of the first detector based on the object distance.

[0021] Optionally, determining at least one of the emission moment of the first laser or the opening time window of the first detector includes: adjusting at least one of the emission moment of the first laser or the opening time window of the first detector.

[0022] Optionally, determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining at least one of the exposure parameters of subsequent rounds or the current round of the first detection channel; or determining at least one of the exposure parameters of subsequent rounds or the current round of the second detection channel.

[0023] Optionally, the control method further includes: determining a current detection result of the first detection channel according to an output signal of the first detector determined by multiple exposures performed by the first detection channel.

[0024] The present disclosure also provides a laser radar, which includes a transmitter, a detector and a controller. The transmitter includes a laser array, and the transmitter is configured to emit a light beam. The detector includes a detector array, and the detector is configured to receive the echo of the light beam reflected on an object and convert the echo into an electrical signal. The controller is coupled to the transmitter and the detector. The laser array and the detector array constitute a plurality of detection channels, and the plurality of detection channels include a first detection channel and a second detection channel, the first detection channel includes at least one first laser and at least one first detector, and the second detection channel includes at least one second laser and at least one second detector. The controller is configured to perform the following operations: determine at least one of the output signal of the first detector and the output signal of the second detector based on at least one exposure of the first detection channel; and determine at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel based on the at least one output signal of the first detector or the output signal of the second detector.

[0025] Optionally, the exposure parameters include the luminous intensity of the laser, and the operation of determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining the exposure parameters of the first detection channel based on the output signal of the first detector, wherein when the output signal of the first detector exceeds a first threshold, reducing the luminous intensity of the first laser.

[0026] Optionally, the exposure parameters include the luminous intensity of the laser, and the operation of determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining the exposure parameters of the first detection channel based on the output signal of the first detector, and when the output signal of the first detector is lower than a second threshold, increasing the luminous intensity of the first laser.

[0027] Optionally, the controller is further configured to perform the following operations: repeatedly determine at least one of the output signals of the first detector or the output signals of the second detector, and determine at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel based on the at least one of the output signals of the first detector or the output signals of the second detector, until the determined at least one of the output signals of the first detector or the output signals of the second detector meets a preset condition.

[0028] Optionally, the output signal of the first detector exceeding the first threshold comprises: at least one of an amplitude of the output signal of the first detector exceeding a first amplitude threshold or a width exceeding a first width threshold.

[0029] Optionally, the exposure parameters include the luminous intensity of the laser, and the operation of determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining the exposure parameters of the first detection channel based on the output signal of the second detector, wherein when the output signal of the second detector exceeds a third threshold, reducing the luminous intensity of the first laser.

[0030] Optionally, the output signal of the second detector exceeding the third threshold comprises: at least one of an amplitude of the output signal of the second detector exceeding a third amplitude threshold or a width exceeding a third width threshold.

[0031] Optionally, the exposure parameters include the luminous intensity of the laser, and the operation of determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining the exposure parameters of the second detection channel based on the output signal of the first detector, wherein when the output signal of the first detector exceeds a fourth threshold, reducing the luminous intensity of the second laser.

[0032] Optionally, the first detection channel is adjacent to the second detection channel; the first detection channel includes multiple first lasers, and the second detection channel includes multiple second lasers; the multiple first lasers are arranged in one or more rows; and the multiple second lasers are arranged in one or more rows.

[0033] Optionally, the controller is further configured to perform the following operations: controlling one or more rows of lasers of at least one of the first detection channel or the second detection channel to perform exposure sequentially or synchronously.

[0034] Optionally, the multiple detection channels include a third detection channel, and the third detection channel includes at least one third laser and at least one third detector; the controller is also configured to perform the following operations: control the third detection channel and at least one of the first detection channel or the second detection channel to be simultaneously selected.

[0035] Optionally, the exposure parameters include at least one of the light-emitting moment of the laser or the opening time window of the detector.

[0036] Optionally, the operation of determining at least one of the output signal of the first detector or the output signal of the second detector includes: determining the output signal of the first detector.

[0037] Optionally, the operation of determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining the object distance based on the output signal of the first detector; and determining at least one of the emission moment of the first laser or the opening time window of the first detector based on the object distance.

[0038] Optionally, the operation of determining at least one of the emission moment of the first laser or the opening time window of the first detector includes: adjusting at least one of the emission moment of the first laser or the opening time window of the first detector.

[0039] Optionally, the operation of determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel includes: determining at least one of the exposure parameters of subsequent rounds or the current round of the first detection channel; or determining at least one of the exposure parameters of subsequent rounds or the current round of the second detection channel.

[0040] Optionally, the controller is configured to perform the following operations: determine the current detection result of the first detection channel according to the output signal of the first detector determined by multiple exposures performed by the first detection channel.

[0041] Optionally, the laser includes at least one of a vertical cavity surface emitting laser or an edge emitting laser, and the detector includes at least one of a single photon avalanche diode, an avalanche photodiode or a silicon photomultiplier tube.

[0042] Optionally, the laser radar further includes a transmitting optical component and a receiving optical component, the light beam is emitted to the outside of the laser radar through the transmitting optical component, and the echo is incident on the detector through the receiving optical component.

[0043] The control method of the laser radar disclosed in the present invention determines at least one of the output signals of the first detector or the output signals of the second detector based on at least one exposure of the first detection channel, and determines at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel according to at least one of the output signals of the first detector or the output signals of the second detector. It can determine the exposure parameters of the present detection channel or other detection channels according to the detection results of the present detection channel or other detection channels, and realize feedback control of the exposure parameters of the present detection channel or other detection channels. It is suitable for local exposure or global exposure, can effectively suppress crosstalk, high-reflection ghosting and high-reflection broadening phenomena between detection channels, can improve the signal-to-noise ratio and frame rate of the laser radar, and improve the accuracy of the laser radar detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] To clearly illustrate the technical solutions in the embodiments of the present disclosure, the following provides an illustrative introduction to the drawings required for describing the embodiments. The drawings described below are merely examples of the present disclosure. A person skilled in the art can, without inventive effort, identify other drawings based on the provided drawings. The drawings are intended to provide a further understanding of the present disclosure and constitute part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not limit the present disclosure.

[0045] Figure 1a A schematic diagram showing the principle of ghosting in point clouds.

[0046] Figure 1b A schematic diagram of the point cloud that produces ghosting is shown.

[0047] Figure 1c A schematic diagram illustrating an example of lidar global exposure according to some embodiments of the present disclosure is shown.

[0048] Figure 1d A schematic diagram showing an example of lidar global exposure according to some other embodiments of the present disclosure is shown.

[0049] Figure 2 A schematic diagram of an example of a lidar according to some embodiments of the present disclosure is shown.

[0050] Figure 3 A flowchart illustrating an example of a method for controlling a lidar according to some embodiments of the present disclosure is shown.

[0051] Figure 4a A schematic diagram is shown of controlling the exposure parameters of the first detection channel based on the output signal of the first detector according to some embodiments of the present disclosure.

[0052] Figure 4b A schematic diagram is shown of controlling the exposure parameters of the second detection channel based on the output signal of the second detector according to some embodiments of the present disclosure.

[0053] Figure 4c A schematic diagram is shown of controlling the exposure parameters of the first detection channel based on the output signal of the second detector according to some embodiments of the present disclosure.

[0054] Figure 4d A schematic diagram is shown of controlling the exposure parameters of the second detection channel based on the output signal of the first detector according to some embodiments of the present disclosure.

[0055] Figure 5a A schematic diagram illustrating an example of row exposure according to some embodiments of the present disclosure is shown.

[0056] Figure 5bSchematic diagram showing row exposure examples according to other embodiments of the present disclosure.

[0057] Figure 5c Schematic diagram showing row exposure examples according to further embodiments of the present disclosure.

[0058] Figure 6a A schematic diagram showing an example of a laser array at a certain light-emitting moment according to some embodiments of the present disclosure is shown.

[0059] Figure 6b A schematic diagram showing an example of a detector array at a certain receiving moment according to some embodiments of the present disclosure is shown.

[0060] Figure 6c A schematic diagram illustrating another example of a laser array emitting light according to some embodiments of the present disclosure is shown.

[0061] Figure 6d A schematic diagram showing an example of a detector array at another receiving moment according to some embodiments of the present disclosure is shown.

[0062] Figure 7a A schematic diagram illustrating an example of synchronized exposure according to some embodiments of the present disclosure is shown.

[0063] Figure 7b A schematic diagram illustrating an example of asynchronous exposure according to some embodiments of the present disclosure is shown.

[0064] Figure 8 A schematic diagram of a lidar example according to some other embodiments of the present disclosure is shown.

[0065] Figure 9a to Figure 9c An optical path diagram of an example of a lidar according to some embodiments of the present disclosure is shown.

[0066] Figure 10 A schematic diagram illustrating an example of a device according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0067] Hereinafter, only certain exemplary embodiments are described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the scope of the present disclosure. Therefore, the drawings and description are considered to be illustrative in nature and not restrictive.

[0068] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the present disclosure and simplifying the description. They do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0069] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal connectivity between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0070] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0071] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0072] The following describes embodiments of the present disclosure in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0073] LiDAR can include multiple lasers and multiple detectors, which can form multiple detection channels. Each detection channel can detect a direction within the LiDAR detection field of view. When there are highly reflective objects (for example, objects with a reflectivity greater than 70%, 80%, 90%, 95%, 99%, etc.) in the LiDAR application scenario, such as traffic signs such as highway signs, license plates, taillights, etc., crosstalk between different detection channels is likely to occur, resulting in high-reflectivity ghosting.

[0074] Figure 1a Figure 2 shows a schematic diagram of the principle of generating ghosts in point clouds. Figure 1a As shown in the figure, the light beam emitted by the second detection channel channel2 detects a highly reflective object in its detection direction. The echo signal intensity generated after being reflected by the highly reflective object is enhanced, so that the first detection channel channel1 working in parallel will also receive the interference echo signal from the second detection channel channel2. Due to the high intensity of the interference echo signal, the first detection channel channel1 mistakenly judges the interference echo as an echo from the detection direction responsible for the detection channel channel1, and mistakenly believes that an object has been detected in a position where there is actually no object (for example, Figure 1a The position indicated by the dotted circle in the middle) produces ghost images in the point cloud.

[0075] Figure 1b Figure 2 shows a schematic diagram of the point cloud that produces ghosts. Figure 1b As shown in the figure, after the laser radar detects a high-reflective object, the generated high-reflective object point cloud image (for example, Figure 1b The dotted rectangle part) will spread to the surrounding areas (for example, Figure 1b The circled part in the middle) causes the image size of the high-reflection object in the point cloud to become larger, resulting in high-reflection broadening (expansion) phenomenon.

[0076] In some embodiments, the multiple detection channels of a lidar can operate independently; in other embodiments, the multiple detection channels of the lidar can operate in parallel. Parallel operation can be in the temporal dimension. For example, if multiple detection channels are activated within the same time frame, it can be considered that the multiple detection channels are operating in parallel. When all detection channels operate in parallel, it is called global exposure. Figure 1c Schematic diagram showing an example of a global exposure of a laser radar according to some embodiments of the present disclosure. Figure 1c As shown, the laser radar may include a laser array 110 and a detector array 120, which may form multiple detection channels. The laser radar may also include a transmitting optical component M1 and a receiving optical component M2. When the laser radar is globally exposed, the light beam emitted by the laser 111 is reflected by the objects OB1 and OB2, and then received by the detector 121, generating a point cloud image OB1' and a point cloud image OB2'. Figure 1c It can be seen that the point cloud image OB1' shows a high-reflection broadening phenomenon, and it can be determined that the object OB1 is a high-reflection object. Figure 1c Here, an example of global exposure of the laser radar is given. In other embodiments, Figure 1c We can also illustrate the case of partial exposure of LiDAR. When some detection channels of LiDAR work in parallel, it is called partial exposure. For example, Figure 1c It is also possible to exemplify the case where some adjacent detection channels are exposed in parallel.

[0077] For LiDAR, especially those with multiple detection channels, crosstalk, high-reflection ghosting, and high-reflection broadening can all affect the accuracy of LiDAR detection results. When a LiDAR is globally exposed or when several adjacent detection channels are exposed in parallel, crosstalk, high-reflection ghosting, and high-reflection broadening are exacerbated by the parallel operation of multiple detectors across multiple detection channels, impacting the accuracy of LiDAR detection results.

[0078] Figure 1d Schematic diagrams of examples of global exposure of a laser radar according to other embodiments of the present disclosure are shown. When the laser radar is globally exposed, the exposure parameters of the detection channels corresponding to the high-reflection area can be adaptively adjusted through local exposure control to suppress crosstalk between detection channels and high-reflection broadening. Independently controlling the exposure parameters of part (for example, one or several) of the laser radar's detection channels is called local exposure control. Figure 1d As shown, local exposure control (e.g., Figure 1d After that, the point cloud image OB1' of object OB1 is compared with the point cloud image OB2' of object OB2. Figure 1cThe point cloud image of the global exposure without local exposure control is clearer, and the high reflection broadening is effectively suppressed, which can improve the accuracy of the lidar detection results.

[0079] The present disclosure provides a control method for a laser radar. The laser radar includes a laser array and a detector array, which constitute multiple detection channels. The multiple detection channels include a first detection channel and a second detection channel. The first detection channel includes at least one first laser and at least one first detector, and the second detection channel includes at least one second laser and at least one second detector. The control method includes: determining at least one of the output signal of the first detector or the output signal of the second detector based on at least one exposure of the first detection channel; and determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel based on at least one of the output signal of the first detector or the output signal of the second detector. The control method of the present disclosure can determine the exposure parameters of the detection channel or other detection channels based on the detection results of the detection channel or other detection channels, and perform feedback control on the exposure parameters of the detection channel or other detection channels. It is applicable to local exposure or global exposure, can effectively suppress crosstalk, high-reflection ghosting and high-reflection broadening between detection channels, can improve the signal-to-noise ratio and frame rate of the laser radar, and improve the accuracy of the laser radar detection results.

[0080] Figure 2 A schematic diagram showing an example of a laser radar according to some embodiments of the present disclosure is shown. Figure 3 FIG. 1 is a flow chart showing an example of a control method according to some embodiments of the present disclosure. Figure 2 and Figure 3 As shown, the laser radar 100 includes a laser array 110 and a detector array 120. The laser array 110 and the detector array 120 constitute a plurality of detection channels. The plurality of detection channels include a first detection channel channel1 and a second detection channel channel2. The first detection channel channel1 includes at least one first laser 111 and at least one first detector 121 (e.g., Figure 2 A first laser 111 and a first detector 121 are shown. The second detection channel channel2 includes at least one second laser 112 and at least one second detector 122 (e.g., Figure 2A second laser 112 and a second detector 122 are shown. The control method 200 includes steps S210 and S220. In step S210, at least one of an output signal of the first detector 121 or an output signal of the second detector 122 is determined based on at least one exposure of the first detection channel channel 1. In step S220, at least one of an exposure parameter of the first detection channel channel 1 or an exposure parameter of the second detection channel channel 2 is determined based on at least one of the output signal of the first detector 121 or the output signal of the second detector 122.

[0081] In this disclosure, the term "determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel" should be understood broadly. For example, it can be understood to mean determining a current value or a target value of at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel, determining a control strategy, executing the control strategy, etc. The control strategy may include adjusting the exposure parameter or maintaining the exposure parameter.

[0082] In some embodiments, the output signal of the first detector can be determined based on one or more exposures of the first detection channel. The exposure parameters of the first detection channel are determined based on the output signal of the first detector. The exposure parameters may include the luminous intensity of the laser, the energy emitted by the laser, the number of pulses emitted by the laser, the pulse width, etc. The following is an introduction using the luminous intensity of the laser as an example. When the output signal of the first detector exceeds a first threshold, the luminous intensity of the first laser can be reduced. When the output signal of the first detector is lower than a second threshold, the luminous intensity of the first laser can be increased. Figure 4aAs shown, the first detection channel 1 may include one or more first lasers 111 and one or more first detectors 121. The first laser 111 can emit a light beam. The first detector 121 can receive the echo reflected by the incident light beam from an object, convert the echo into an electrical signal, and output it. Based on the output signal of the first detector 121, the reflectivity of the object detected by the first detection channel 1 can be determined, and the exposure parameters of the first detection channel 1 can be determined based on the reflectivity of the object detected by the first detection channel 1. When the output signal of the first detector 121 exceeds a first threshold, it is determined that the intensity of the echo received by the first detector 121 is high, indicating that the reflectivity of the object detected by the first detection channel 1 is high. The emission intensity of the first laser 111 can be reduced to suppress high-reflection ghosting and high-reflection broadening and reduce power consumption. When the output signal of the first detector 121 is below a second threshold, it is determined that the intensity of the echo received by the first detector 121 is low, indicating that the reflectivity of the object detected by the first detection channel 1 is low or that the distance is far. The emission intensity of the first laser 111 can be increased to improve the signal-to-noise ratio and range-finding capability of the lidar. When the output signal of the first detector 121 meets the preset conditions (for example, the output signal of the first detector 121 is not higher than the first threshold and not lower than the second threshold), the luminous intensity of the first laser 111 can be maintained, so that the laser radar operates stably and maintains robustness. Based on the output signal of this detection channel (for example, the first detection channel), the detection result of this detection channel can be determined, and according to the detection result of this detection channel, the object reflectivity of this detection channel can be determined, and according to the object reflectivity of this detection channel, the exposure parameters of this detection channel can be determined, and the control strategy of the exposure parameters of this detection channel can be determined, and feedback control of the exposure parameters of this detection channel can be implemented, and local exposure control of the laser radar can be implemented, and high-reflection ghosting and high-reflection broadening phenomena can be effectively suppressed, and the signal-to-noise ratio can be improved, and the accuracy of the laser radar detection results can be improved. When the lidar is globally exposed, each detection channel can determine the exposure parameters of its own detection channel based on the detection results of its own detection channel and perform feedback control. This can not only suppress high-reflection ghosting and high-reflection phenomena, reduce crosstalk between detection channels, improve the signal-to-noise ratio, and improve the accuracy of lidar detection results, but also increase the frame rate. One global exposure can generate one frame of point cloud, which can improve the detection efficiency of the lidar.

[0083] In some embodiments, the output signal of the first detector exceeding the first threshold includes: the amplitude of the output signal of the first detector exceeding at least one of the first amplitude threshold or the width exceeding the first width threshold. For example, the amplitude of the output signal of the first detector 121 exceeds the first amplitude threshold. In another example, the width of the output signal of the first detector 121 exceeds the first width threshold. In another example, the amplitude of the output signal of the first detector 121 exceeds the first amplitude threshold and the width exceeds the first width threshold. When the amplitude of the output signal of the first detector exceeds at least one of the first amplitude threshold or the width exceeds the first width threshold, the luminous intensity of the first laser can be reduced to suppress high reflection.

[0084] In some embodiments, the output signal of the first detector being lower than the second threshold includes: at least one of the amplitude of the output signal of the first detector being lower than the second amplitude threshold or the width being lower than the second width threshold. For example, the amplitude of the output signal of the first detector 121 is lower than the second amplitude threshold. In another example, the width of the output signal of the first detector 121 is lower than the second width threshold. In another example, the amplitude of the output signal of the first detector 121 is lower than the second amplitude threshold and the width is lower than the second width threshold. When at least one of the amplitude of the output signal of the first detector is lower than the second amplitude threshold or the width is lower than the second width threshold, the light intensity of the first laser can be increased to improve the signal-to-noise ratio.

[0085] In some embodiments, the output signal of the first detector is not higher than the first threshold and not lower than the second threshold, including: the amplitude of the output signal of the first detector is within the range of the second amplitude threshold and the first amplitude threshold, or the width is within at least one of the ranges of the second width threshold and the first width threshold. For example, the amplitude of the output signal of the first detector is within the range of the second amplitude threshold and the first amplitude threshold. For another example, the width of the output signal of the first detector is within the range of the second width threshold and the first width threshold. For another example, the amplitude of the output signal of the first detector is within the range of the second amplitude threshold and the first amplitude threshold, and the width is within the range of the second width threshold and the first width threshold. When the amplitude of the output signal of the first detector is within the range of the second amplitude threshold and the first amplitude threshold, or the width is within at least one of the ranges of the second width threshold and the first width threshold, the luminous intensity of the first laser can be maintained without adjustment, so that the laser radar operates stably and maintains robustness.

[0086] In some embodiments, the laser of the lidar or a laser group consisting of multiple lasers can be independently controlled. For example, the laser or the laser group can be independently addressed. For example, the laser or the laser group can have an independent conduction path, and by controlling the connection or disconnection of the conduction path, the independent control of the laser or the laser group can be achieved. For example, the laser or the laser group can have an independent drive channel, and the independent control of the laser or the laser group can be achieved through the independent drive channel. By independently controlling the laser or the laser group, the local exposure area of ​​the lidar can be flexibly controlled, thereby improving the dynamic adjustment capability of the lidar. In some embodiments, the laser group can include one row (column) or multiple rows (columns) of lasers. It should be noted that the multiple lasers in the laser group can belong to the same detection channel or different detection channels, and can be set according to needs.

[0087] In some embodiments, independent control of a laser or a group of lasers may include independent control of whether the laser emits light or not, and independent control of exposure parameters of the laser or the group of lasers, etc. The exposure parameters of the laser or the group of lasers may include the pulse width, pulse number, pulse interval, emission time, pulse intensity, and measuring frequency of the probe light emitted by the laser.

[0088] In addition, the operating parameters of the laser can be changed by changing the applied voltage or current of the laser or laser group or the on-resistance of the switch controlling the laser or laser group. For example, the luminous intensity of the laser can be increased by increasing the applied voltage or current of the laser or laser group or reducing the on-resistance of the switch controlling the laser or laser group. For another example, the luminous intensity of the laser can be reduced by reducing the applied voltage or current of the laser or laser group or increasing the on-resistance of the switch controlling the laser or laser group. In some embodiments, the control of the laser or laser group can also be achieved by means of an external liquid crystal optical switch, spatial light modulation, etc. In practical applications, it can be flexibly set according to demand.

[0089] In some embodiments, the output signal of the second detector can be determined based on one or more exposures of the second detection channel. The exposure parameters of the second detection channel are determined based on the output signal of the second detector. The exposure parameters may include the luminous intensity of the laser, the energy emitted by the laser, the number of pulses emitted by the laser, the pulse width, etc. The following takes the luminous intensity of the laser as an example. Figure 4bAs shown, the second detection channel channel2 may include one or more second lasers 112 and one or more second detectors 122. The second laser 112 may emit a light beam. The second detector 122 may receive the echo reflected by the light beam incident on the object, convert the echo into an electrical signal and output it. Based on the output signal of the second detector 122, the reflectivity of the object detected by the second detection channel channel2 may be determined, and based on the reflectivity of the object detected by the second detection channel channel2, the exposure parameter of the second detection channel channel2 may be determined. When the output signal of the second detector 122 exceeds a preset threshold value (for example, a first threshold value), it is determined that the intensity of the echo received by the second detector 122 is high, and it is determined that the reflectivity of the object detected by the second detection channel channel2 is high. The luminous intensity of the second laser 112 may be reduced to suppress high-reflection ghosting and high-reflection broadening phenomena and reduce power consumption. When the output signal of the second detector 122 is lower than a preset threshold (e.g., the second threshold), it is determined that the echo intensity received by the second detector 122 is low, and it is determined that the reflectivity of the object detected by the second detection channel 2 is low or the distance is far. The luminous intensity of the second laser 112 can be increased to improve the signal-to-noise ratio and range-finding capability of the laser radar. When the output signal of the second detector 122 meets a preset condition (e.g., the output signal of the second detector 122 is not higher than the first threshold and not lower than the second threshold), the luminous intensity of the second laser 112 can be maintained, so that the laser radar operates stably and maintains robustness. Based on the output signal of this detection channel (for example, the second detection channel), the detection result of this detection channel can be determined. According to the detection result of this detection channel, the object reflectivity of this detection channel can be determined. According to the object reflectivity of this detection channel, the exposure parameters of this detection channel can be determined. The control strategy of the exposure parameters of this detection channel can be determined. Feedback control of the exposure parameters of this detection channel can be implemented. Local exposure control of the lidar can be implemented, which is similar to the above-mentioned situation of determining the exposure parameters of the first detection channel channel1 based on the output signal of the first detector 121, and will not be repeated here.

[0090] In some embodiments, the output signal of the second detector can be determined based on one or more exposures of the first detection channel. The exposure parameters of the first detection channel are determined based on the output signal of the second detector. The exposure parameters may include the luminous intensity of the laser, the emission energy of the laser, the number of pulses emitted by the laser, the pulse width, etc. When the output signal of the second detector exceeds the third threshold, the luminous intensity of the first laser can be reduced. When the output signal of the second detector is lower than a preset threshold (for example, the second threshold), the luminous intensity of the first laser can be increased. The following description will be made using the luminous intensity of the laser as an example. Figure 4cAs shown, the first detection channel channel1 may include one or more first lasers 111 and one or more first detectors 121. The second detection channel channel2 may include one or more second lasers 112 and one or more second detectors 122. The first laser 111 may emit a light beam. The second detector 122 may receive an echo reflected by an object when the light beam is incident, convert the echo into an electrical signal, and output the electrical signal. Based on the output signal of the second detector 122, the detection result of the second detection channel channel2 may be determined. Based on the detection result of the second detection channel channel2, the reflectivity of the object detected by the first detection channel channel1 may be determined. Based on the reflectivity of the object detected by the first detection channel channel1, the exposure parameters of the first detection channel channel1 may be determined. When the output signal of the second detector 122 exceeds the third threshold, it is determined that the echo intensity received by the second detector 122 is high, and it is determined that the reflectivity of the object detected by the second detection channel channel 2 is high. Since the second detection channel channel 2 is adjacent to the first detection channel channel 1, it can be inferred that the reflectivity of the object detected by the first detection channel channel 1 is high. It is inferred that the echo intensity received by the first detector 121 is high, which may easily cause crosstalk to detectors in other channels (e.g., the second detector 122). Therefore, the emission intensity of the first laser 111 can be reduced to suppress crosstalk, high-reflection ghosting, and high-reflection broadening. When the output signal of the second detector 122 is lower than a preset threshold (e.g., the second threshold), it is determined that the echo intensity received by the second detector 122 is low, and it is determined that the reflectivity of the object detected by the second detection channel channel 2 is low or the distance is far. Since the second detection channel channel 2 is adjacent to the first detection channel channel 1, it can be inferred that the reflectivity of the object detected by the first detection channel channel 1 is low or the distance is far. It is inferred that the echo intensity received by the first detector 121 is low, and the emission intensity of the first laser 111 can be increased to improve the signal-to-noise ratio and range finding capability. When the output signal of the second detector 122 meets the preset conditions (for example, the output signal of the second detector 122 is not higher than the third threshold and not lower than the second threshold), the luminous intensity of the first laser 111 can be maintained, so that the laser radar operates stably and maintains robustness.Based on the output signals of other detection channels (for example, the second detection channel), the detection results of other detection channels can be determined. According to the detection results of other detection channels, the detection results of the current detection channel (for example, the first detection channel) can be determined. It can be determined whether the object reflectivity of the current detection channel is too high so that the echo intensity is too high, resulting in crosstalk of detectors in other detection channels, or whether the object reflectivity of the current detection channel is too low so that the echo intensity is too low to accurately identify object information. The exposure parameters of the current detection channel can be determined. The control strategy of the exposure parameters of the current detection channel can be determined. Feedback control of the exposure parameters of the current detection channel can be implemented. Local exposure control of the laser radar can be implemented. Crosstalk, high-reflection ghosting and high-reflection broadening phenomena between detection channels can be effectively suppressed. The signal-to-noise ratio can be improved, and the accuracy of the laser radar detection results can be improved.

[0091] In some embodiments, based on the detection results of other detection channels, the exposure parameters of the detection channel are determined, which can be used for local exposure control of the laser radar. For example, based on the exposure results of one or more lasers in one row (or column) or multiple rows in other detection channels, the exposure parameters of the next row (or column) or multiple rows and the next one or more lasers in the detection channel can be determined to implement feedback control of the exposure parameters of the detection channel and local exposure control of the laser radar. For example, the other detection channels include m rows of lasers and n rows of detectors, and the detection channel includes a row of lasers and b rows of detectors. The exposure parameters of the a-th row of lasers can be determined by the output signal of the n-th row of detectors. Based on the signal strength output by the n-th row of detectors, the exposure parameters of the a-th row of lasers can be increased, decreased or maintained, where a, b, m, and n are all positive integers.

[0092] In other embodiments, exposure parameters for a detection channel are determined based on the detection results of other detection channels, which can also be used for global exposure control of the LiDAR. When the LiDAR is globally exposed, each detection channel can determine its own exposure parameters based on the detection results of other detection channels and perform feedback control. This not only suppresses high-reflection ghosting and high-reflection phenomena, improves the signal-to-noise ratio, and increases the accuracy of LiDAR detection results, but also increases the frame rate. A single global exposure can generate a frame of point cloud, which can increase the scanning speed and frame rate of the LiDAR.

[0093] In some embodiments, the output signal of the second detector exceeding the third threshold includes: the amplitude of the output signal of the second detector exceeding at least one of the third amplitude threshold or the width exceeding the third width threshold. For example, the amplitude of the output signal of the second detector 122 exceeds the third amplitude threshold. In another example, the width of the output signal of the second detector 122 exceeds the third width threshold. In another example, the amplitude of the output signal of the second detector 122 exceeds the third amplitude threshold and the width exceeds the third width threshold. When the amplitude of the output signal of the second detector exceeds at least one of the third amplitude threshold or the width exceeds the third width threshold, the light intensity of the first laser can be reduced to suppress crosstalk and high reflection.

[0094] In some embodiments, the output signal of the second detector being below the second threshold includes: the amplitude of the output signal of the second detector being below the second amplitude threshold, or the width being below the second width threshold. When the amplitude of the output signal of the second detector is below the second amplitude threshold, or the width is below the second width threshold, the emission intensity of the first laser can be increased to improve the signal-to-noise ratio and range finding capability. This is similar to the example of the output signal of the first detector being below the second threshold, and will not be further described here.

[0095] In some embodiments, the output signal of the second detector being no higher than the third threshold and no lower than the second threshold includes: the amplitude of the output signal of the second detector being within a range between the second amplitude threshold and the third amplitude threshold, or the width being within at least one of a range between the second width threshold and the third width threshold. This is similar to the aforementioned example of the output signal of the first detector being no higher than the first threshold and no lower than the second threshold, and is not further described here.

[0096] In some embodiments, the output signal of the first detector can be determined based on one or more exposures of the first detection channel. The exposure parameters of the second detection channel are determined based on the output signal of the first detector. The exposure parameters may include the luminous intensity of the laser, the energy emitted by the laser, the number of pulses emitted by the laser, the pulse width, etc. The following is an introduction using the luminous intensity of the laser as an example. When the output signal of the first detector exceeds the fourth threshold, the luminous intensity of the second laser can be reduced. When the output signal of the first detector is lower than a preset threshold (for example, the second threshold), the luminous intensity of the second laser can be increased. Figure 4dAs shown, the first detection channel channel1 may include one or more first lasers 111 and one or more first detectors 121. The second detection channel channel2 may include one or more second lasers 112 and one or more second detectors 122. The first laser 111 may emit a light beam. The first detector 121 may receive the echo reflected by the light beam incident on the object, convert the echo into an electrical signal and output it. Based on the output signal of the first detector 121, the detection result of the first detection channel channel1 may be determined. When the second detection channel channel2 is adjacent to the first detection channel channel1 (for example, the second detection channel channel2 is adjacent to the first detection channel channel1), the reflectivity of the object detected by the second detection channel channel2 may be inferred based on the detection result of the first detection channel channel1, and the exposure parameters of the second detection channel channel2 may be predetermined based on the reflectivity of the object detected by the second detection channel channel2. When the output signal of the first detector 121 exceeds the fourth threshold, it is determined that the echo intensity received by the first detector 121 is high, and it is determined that the reflectivity of the object detected by the first detection channel channel1 is high. Since the first detection channel channel1 is adjacent to the second detection channel channel2, it can be inferred that the reflectivity of the object detected by the second detection channel channel2 is high. It is inferred that the echo intensity received by the second detector 122 is high, which may easily cause the detectors of other channels (for example, the first detector 121) to be crosstalked. The luminous intensity of the second laser 112 can be reduced in advance to prevent crosstalk, high-reflection ghosting and high-reflection broadening. After the luminous intensity of the second laser 112 is reduced in advance, the exposure parameters of the second laser 112 can be re-determined according to the output signal of the second detector 122. Figure 4bAs shown, for example, when the output signal of the second detector 122 exceeds a preset threshold (e.g., a first threshold), it is determined that the echo intensity received by the second detector 122 is high, and it is determined that the reflectivity of the object detected by the second detection channel channel2 is high. The luminous intensity of the second laser 112 can be further reduced to suppress crosstalk, high-reflection ghosting, and high-reflection broadening. For another example, when the output signal of the second detector 122 is lower than a preset threshold (e.g., a second threshold), it is determined that the echo intensity received by the second detector 122 is low, and it is determined that the reflectivity of the object detected by the second detection channel channel2 is low or the distance is far. The luminous intensity of the second laser 112 can be increased to improve the signal-to-noise ratio and range-finding capability of the lidar. When the output signal of the first detector 121 is lower than a preset threshold (e.g., the second threshold), it is determined that the echo intensity received by the first detector 121 is low, and it is determined that the reflectivity of the object detected by the first detection channel channel1 is low or the distance is far. Since the first detection channel channel1 is adjacent to the second detection channel channel2, it can be inferred that the reflectivity of the object detected by the second detection channel channel2 is low or the distance is far. It is inferred that the echo intensity received by the second detector 122 is low, and the luminous intensity of the second laser 112 can be increased in advance to try to improve the signal-to-noise ratio and distance measurement capability. After the luminous intensity of the second laser 112 is increased in advance, the exposure parameters of the second laser 112 can be determined based on the output signal of the second detector 122. Figure 4bAs shown, for example, when the output signal of the second detector 122 is lower than a preset threshold (e.g., the second threshold), it is determined that the echo intensity received by the second detector 122 is low, and it is determined that the reflectivity of the object detected by the second detection channel channel2 is low or the distance is far. The luminous intensity of the second laser 112 can be further increased to improve the signal-to-noise ratio and distance measurement capability of the laser radar. For another example, when the output signal of the second detector 122 exceeds a preset threshold (e.g., the first threshold), it is determined that the echo intensity received by the second detector 122 is high, and it is determined that the reflectivity of the object detected by the second detection channel channel2 is high. The luminous intensity of the second laser 112 can be reduced to suppress crosstalk, high-reflection ghosting, and high-reflection broadening. When the output signal of the first detector 121 meets a preset condition (e.g., the output signal of the first detector 121 is not higher than the fourth threshold and not lower than the second threshold), the luminous intensity of the second laser 112 can be maintained to ensure stable operation and maintain robustness of the laser radar. Based on the output signal of the detection channel (for example, the first detection channel), the detection result of the detection channel can be determined. According to the detection result of the detection channel, the detection results of other detection channels (for example, the second detection channel) can be determined. It can be determined whether the reflectivity of the object in the other detection channels is too high so that the echo intensity is too high, causing the detector of the detection channel to be crosstalked, or whether the reflectivity of the object in the other detection channels is too low so that the echo intensity is too low to accurately identify the object information. The exposure parameters of the other detection channels can be determined, and the control strategy of the exposure parameters of the other detection channels can be determined. Feedback control of the exposure parameters of the other detection channels can be implemented, local exposure control of the laser radar can be implemented, crosstalk, high-reflection ghosting and high-reflection broadening between the detection channels can be effectively suppressed, the signal-to-noise ratio can be improved, and the accuracy of the laser radar detection results can be improved. Based on the detection results of other detection channels, the exposure parameters of the detection channel are determined, which can be used for local exposure control of the laser radar, and can also be used for global exposure control of the laser radar.

[0097] In some embodiments, the output signal of the first detector exceeding the fourth threshold includes: the amplitude of the output signal of the first detector exceeding at least one of the fourth amplitude threshold or the width exceeding the fourth width threshold. For example, the amplitude of the output signal of the first detector 121 exceeds the fourth amplitude threshold. In another example, the width of the output signal of the first detector 121 exceeds the fourth width threshold. In another example, the amplitude of the output signal of the first detector 121 exceeds the fourth amplitude threshold and the width exceeds the fourth width threshold. When the amplitude of the output signal of the first detector exceeds at least one of the fourth amplitude threshold or the width exceeds the fourth width threshold, the light intensity of the second laser can be reduced.

[0098] In some embodiments, the output signal of the first detector being lower than the second threshold includes at least one of an amplitude of the output signal of the first detector being lower than the second amplitude threshold or a width of the output signal of the first detector being lower than the second width threshold. When the output signal of the first detector is lower than a preset threshold (e.g., the second threshold), the light intensity of the second laser may be increased.

[0099] In some embodiments, the output signal of the first detector is not higher than the fourth threshold and not lower than the second threshold, including: the amplitude of the output signal of the first detector is within the range between the second amplitude threshold and the fourth amplitude threshold, or the width is within at least one range between the second width threshold and the fourth width threshold. Similar to the example in which the output signal of the second detector is not higher than the third threshold and not lower than the second threshold, details will not be repeated here. It should be noted that the specific numerical values ​​and size relationships of the various thresholds mentioned in this disclosure are not limited in this disclosure and will depend on actual circumstances. In some embodiments, the second threshold may be smaller than the first threshold, the second threshold may be smaller than the third threshold, and the second threshold may be smaller than the fourth threshold. The thresholds here may include at least one of the amplitude threshold or the width threshold.

[0100] In some embodiments, at least one of the output signal of the first detector or the output signal of the second detector can be repeatedly determined based on multiple exposures of the first detection channel, or based on multiple exposures of the second detection channel, or based on one or more exposures of the first detection channel and one or more exposures of the second detection channel. At least one of the exposure parameters of the first detection channel or the exposure parameter of the second detection channel can be determined based on at least one of the output signal of the first detector or the output signal of the second detector. For example, the exposure parameter of the first detection channel or the exposure parameter of the second detection channel can be determined multiple times based on each determination of at least one of the output signal of the first detector or the output signal of the second detector. For another example, the exposure parameter of the first detection channel or the exposure parameter of the second detection channel can be determined based on the average value or cumulative result of the multiple determinations of the output signal of the first detector, or based on the average value or cumulative result of the multiple determinations of the output signal of the second detector. For another example, weights can be set for the output signal of the first detector and the output signal of the second detector, respectively, and at least one of the exposure parameters of the first detection channel or the exposure parameter of the second detection channel can be comprehensively determined based on the repeatedly determined output signals of the first detector and the output signals of the second detector. This is done until at least one of the output signals of the first detector or the output signal of the second detector meets a preset condition. Satisfying the preset conditions may include the output signal of the detector being no higher than a preset threshold (e.g., a first threshold, a third threshold, a fourth threshold, etc.) and no lower than a preset threshold (e.g., a second threshold, etc.). Based on multiple detection results of the detection channel, the exposure parameters of the detection channel can be determined, and feedback control of the exposure parameters of the detection channel can be implemented. This can achieve local exposure control or global exposure control of the lidar, suppress crosstalk, high-reflection ghosting, and high-reflection broadening between detection channels, improve the signal-to-noise ratio, and improve the accuracy of the lidar detection results.

[0101] In some embodiments, the current detection result of the first detection channel can be determined based on the output signal of the first detector determined from multiple exposures performed by the first detection channel. Similarly, the current detection result of the second detection channel can be determined based on the output signal of the second detector determined from multiple exposures performed by the second detection channel. In other embodiments, the current detection result of the second detection channel can be determined based on the output signal of the first detector determined from multiple exposures performed by the first detection channel. The current detection result of the first detection channel can be determined based on the output signal of the second detector determined from multiple exposures performed by the second detection channel. Furthermore, the current detection result of the first detection channel or the current detection result of the second detection channel can be determined comprehensively based on the output signal of the first detector determined from multiple exposures performed by the first detection channel and the output signal of the second detector determined from multiple exposures performed by the second detection channel. In other words, the detection result of a detection channel can be determined based on multiple detection results performed by the detection channel itself, multiple detection results performed by other detection channels, or a combination of multiple detection results performed by the detection channel and other detection channels. Based on the multiple detection results performed by at least one of the detection channels or other detection channels, the detection result of at least one of the detection channels or other detection channels can be accurately determined. The detection results can include object point cloud data, object speed, object distance, object reflectivity, etc.

[0102] In some embodiments, at least one of the exposure parameters for subsequent rounds or the current round of the first detection channel can be determined based on at least one of the output signals of the first detector or the output signals of the second detector; or at least one of the exposure parameters for subsequent rounds or the current round of the second detection channel can be determined. Exposure parameters for subsequent rounds of at least one of the detection channels or other detection channels can be determined based on the detection results of the current round of at least one of the detection channels or other detection channels, thereby implementing feedback control of the exposure parameters for subsequent rounds of at least one of the detection channels or other detection channels. Exposure parameters for the current round of at least one of the detection channels or other detection channels can be determined based on the detection results of the previous round of at least one of the detection channels or other detection channels, thereby implementing feedback control of the exposure parameters for the current round of at least one of the detection channels or other detection channels. The exposure parameters of at least one of the detection channels or other detection channels can be accurately determined, and feedback control of the exposure parameters can be accurately implemented, thereby accurately implementing local exposure control or global exposure control of the lidar.

[0103] In some embodiments, the first detection channel may be adjacent to the second detection channel. For example, the distance between the first detection channel and the second detection channel is less than a preset value. The first detection channel may include multiple first lasers and multiple first detectors. The second detection channel may include multiple second lasers and multiple second detectors. The distance between the first detection channel and the second detection channel may include the distance between the first laser of the first detection channel and the second laser of the second detection channel, or the distance between the first detector of the first detection channel and the second detector of the second detection channel. In some embodiments, the first detection channel may be adjacent to the second detection channel. The multiple first lasers may be arranged in one or more rows. The multiple second lasers may be arranged in one or more rows. The one or more rows of first lasers may form a laser group. The one or more rows of second lasers may form a laser group. The multiple first detectors may be arranged in one or more rows. The multiple second detectors may be arranged in one or more rows. In some embodiments, the one or more rows of lasers in at least one of the first detection channel or the second detection channel may be controlled to perform exposure sequentially or synchronously. This exposure mode may be referred to as a row exposure mode, which may include row-by-row exposure or skipped row exposure. One or more rows of detectors in at least one of the first or second detection channels can be controlled to receive echoes from a laser beam reflected from an object. The columns are similar to the rows and are not further described here. The following description uses rows as an example.

[0104] Figure 5a Schematic diagram showing an example of row exposure according to some embodiments of the present disclosure. Figure 5a As shown, the first detection channel channel1 can be adjacent to the second detection channel channel2. The first detection channel channel1 can include a row of first lasers 111 and a plurality of first detectors (not shown in the figure), and the second detection channel channel2 can include a row of second lasers 112 and a plurality of second detectors (not shown in the figure). Optionally, a row of lasers in the same detection channel can be exposed sequentially or synchronously. For example, a row of first lasers 111 in the first detection channel channel1 can be exposed sequentially or synchronously. For example, referring to Figure 5a , a row of multiple (for example, 5) first lasers 111 can be exposed sequentially or synchronously. Similarly, a row of second lasers 112 of the second detection channel channel2 can also be exposed sequentially or synchronously. Optionally, lasers of different detection channels can be exposed sequentially in units of rows. Crosstalk between different detection channels can be suppressed. For example, a row of first lasers 111 of the first detection channel channel1 can be exposed sequentially with a row of second lasers 112 of the second detection channel channel2. For example, referring to Figure 5a, after a row of first lasers 111 of the first detection channel channel1 is exposed, a row of second lasers 112 of the second detection channel channel2 is exposed. Alternatively, after a row of second lasers 112 of the second detection channel channel2 is exposed, a row of first lasers 111 of the first detection channel channel1 is exposed. Optionally, lasers of different detection channels can be exposed synchronously. The scanning speed and frame rate can be improved. For example, a row of first lasers 111 of the first detection channel channel1 can be exposed synchronously with a row of second lasers 112 of the second detection channel channel2. When a row of lasers is exposed, multiple detectors can be activated to receive the echo reflected by the light beam emitted by the laser incident on the object, which can improve the dynamic range of the detector. Multiple detectors and lasers can belong to the same detection channel or to different detection channels. For example, when a row of first lasers 111 of the first detection channel channel1 is exposed, one or more first detectors of the first detection channel channel1 (this detection channel) can be activated to receive the echo reflected by the light beam emitted by the first laser 111 incident on the object, and one or more second detectors of the second detection channel channel2 (other detection channels) can be activated to receive the echo reflected by the light beam emitted by the first laser 111 incident on the object. One or more first detectors of the first detection channel channel1 and one or more second detectors of the second detection channel channel2 can also be activated to jointly receive the echo reflected by the light beam emitted by the first laser 111 incident on the object. For another example, when a row of second lasers 112 in the second detection channel channel 2 is exposed, one or more second detectors in the second detection channel channel 2 can be activated to receive echoes reflected from an object when the light beam emitted by the second laser 112 is incident on the object. One or more first detectors in the first detection channel channel 1 can also be activated to receive echoes reflected from an object when the light beam emitted by the second laser 112 is incident on the object. One or more first detectors in the first detection channel channel 1 and one or more second detectors in the second detection channel channel 2 can also be activated to jointly receive echoes reflected from an object when the light beam emitted by the second laser 112 is incident on the object. When the echoes of a row of laser beams are received by multiple detectors, the exposure parameters of at least one detection channel in the first detection channel channel 1 or the second detection channel channel 2 can be determined based on the output signals of the multiple detectors. The detection results of the multiple detectors can accurately determine the exposure parameters of at least one detection channel in the current detection channel or other detection channels, thereby accurately implementing feedback control of the exposure parameters and accurately implementing local exposure control or global exposure control of the lidar.

[0105] Figure 5b Schematic diagrams showing row exposure examples according to other embodiments of the present disclosure are shown. Figure 5b As shown, the first detection channel channel1 and the second detection channel channel2 are adjacent. The first detection channel channel1 may include multiple rows (for example, 3 rows) of first lasers 111 and multiple first detectors (not shown in the figure), and the second detection channel channel2 may include multiple rows (for example, 3 rows) of second lasers 112 and multiple second detectors (not shown in the figure). Optionally, multiple rows of lasers in the same detection channel can be exposed sequentially. For example, the multiple rows of first lasers 111 in the first detection channel channel1 can be exposed sequentially, and the multiple rows of second lasers 112 in the second detection channel channel2 can also be exposed sequentially. The sequential exposure method can include row-by-row sequential exposure, also known as row rolling shutter exposure. Taking the first detection channel channel1 including 3 rows of first lasers 111 as an example, refer to Figure 5b , the first lasers 111 of the 1st to 3rd rows can be exposed in order from top to bottom in rows. The sequential exposure method can also include skipping sequential exposure, that is, exposure is performed using an interval skipping scanning method. Taking the first detection channel channel1 including 3 rows of first lasers 111 as an example, refer to Figure 5b , after the first laser 111 in the first row is exposed, the first laser 111 in the third row is exposed, while the first laser 111 in the second row is not exposed. It should be noted that the introduction here is based on the example of one row interval, but the present disclosure is not limited to this. The number of rows of lasers in the detection channel, the order of row-by-row sequential exposure, and the number of interval rows of skip-row sequential exposure can all be adjusted according to actual conditions. When multiple rows of lasers in the same detection channel are sequentially exposed, multiple detectors can be activated to receive the echo reflected by the light beam emitted by the laser incident on the object, so as to improve the dynamic range of the detector. Multiple detectors can belong to the same detection channel as the multiple rows of lasers exposed sequentially, or they can belong to different detection channels. For example, when multiple rows of first lasers 111 of the first detection channel channel1 are exposed in time sequence, one or more first detectors of the first detection channel channel1 (this detection channel) can be activated to receive the echo reflected by the light beam emitted by the first laser 111 incident on the object, and one or more second detectors of the second detection channel channel2 (other detection channels) can be activated to receive the echo reflected by the light beam emitted by the first laser 111 incident on the object. One or more first detectors of the first detection channel channel1 and one or more second detectors of the second detection channel channel2 can also be activated to jointly receive the echo reflected by the light beam emitted by the first laser 111 incident on the object.

[0106] Optionally, multiple rows of lasers in the same detection channel can be exposed synchronously. The synchronous exposure method can include synchronous exposure of all rows of lasers. For example, multiple rows of first lasers 111 in the first detection channel channel1 can be exposed synchronously, and multiple rows of second lasers 112 in the second detection channel channel2 can also be exposed synchronously. Taking the first detection channel channel1 including 3 rows of first lasers 111 as an example, refer to Figure 5b For example, the first lasers 111 in the 1st to 3rd rows can be exposed synchronously. The synchronous exposure method can also include synchronous exposure of some rows of lasers. Taking the first detection channel channel1 including 3 rows of first lasers 111 as an example, refer to Figure 5b For example, the 1st and 3rd rows of lasers are exposed synchronously, or the 1st and 2nd rows of lasers are exposed synchronously, or the 2nd and 3rd rows of lasers are exposed synchronously, and so on. It should be noted that the synchronous exposure of 2 rows of lasers is used as an example for introduction here, but the present disclosure is not limited to this. The number of rows of lasers in the detection channel and the number of synchronous exposure rows can be adjusted according to actual conditions. When multiple rows of lasers in the same detection channel are exposed synchronously, multiple detectors can be activated to receive the echo reflected by the object when the light beam emitted by the laser is incident, so as to improve the dynamic range of the detector. Multiple detectors can belong to the same detection channel as the multiple rows of lasers exposed synchronously, or they can belong to different detection channels.

[0107] Optionally, multiple rows of lasers in different detection channels can be exposed sequentially. For example, one or more rows of first lasers 111 in the first detection channel channel1 can be exposed sequentially with one or more rows of second lasers 112 in the second detection channel channel2. Figure 5b After the multiple rows (for example, 2 or 3 rows) of the first laser 111 in the first detection channel channel1 are sequentially exposed, the multiple rows (for example, 2 or 3 rows) of the second laser 112 in the second detection channel channel2 are sequentially exposed. The sequential exposure here can be similar to the aforementioned line-by-line sequential exposure or line-skipping sequential exposure. When the multiple rows of lasers in different detection channels are sequentially exposed, multiple detectors can be activated to receive the echo reflected by the object when the light beam emitted by the laser is incident, so as to improve the dynamic range of the detector. The multiple detectors can belong to the same detection channel as the multiple rows of lasers exposed sequentially, or they can belong to different detection channels.

[0108] Optionally, multiple rows of lasers in different detection channels can be exposed synchronously. For example, one or more rows of first lasers 111 in the first detection channel channel1 can be exposed synchronously with one or more rows of second lasers 112 in the second detection channel channel2. The multiple rows can be all rows or part of the rows. For example, referring to Figure 5b, 2 or 3 rows of first lasers 111 in the first detection channel channel1 can be synchronously exposed with 2 or 3 rows of second lasers 112 in the second detection channel channel2. Figure 5a and Figure 5b , one row of first lasers 111 in the first detection channel channel 1 can be synchronously exposed with two or three rows of second lasers 112 in the second detection channel channel 2. Furthermore, multiple rows of first lasers 111 in the first detection channel channel 1 can also be synchronously exposed with one row of second lasers 112 in the second detection channel channel 2. When multiple rows of lasers in different detection channels are synchronously exposed, multiple detectors can be activated to receive the echo reflected by the laser beams incident on the object, thereby improving the dynamic range of the detectors. The multiple detectors can belong to the same detection channel as the multiple rows of lasers being synchronously exposed, or they can belong to different detection channels.

[0109] It should be noted that Figure 5a and Figure 5b The example shows the case where the first detection channel channel1 and the second detection channel channel2 both include 1 row or 3 rows of lasers, but the present disclosure is not limited to this. The first detection channel channel1 and the second detection channel channel2 may include lasers of other numbers of rows, and the number of rows of lasers and the number of lasers in each row may be the same or different. The first detection channel channel1 and the second detection channel channel2 may include one or more columns of lasers, and the number of columns of lasers and the number of lasers in each column may be the same or different. The first detection channel channel1 and the second detection channel channel2 may include one or more lasers, and the number and arrangement of lasers in the two may be the same or different. All of these are within the scope of protection of the present disclosure.

[0110] In some embodiments, the multiple detection channels of the laser radar may include a third detection channel. The third detection channel may include at least one third laser and at least one third detector. The control method includes: controlling the third detection channel and at least one of the first detection channel or the second detection channel to be simultaneously selected. For example, when determining the exposure parameters of the second detection channel based on the output signal of the first detector, the first detection channel and the third detection channel may be simultaneously selected for exposure. For another example, when determining the exposure parameters of the first detection channel based on the output signal of the second detector, the second detection channel and the third detection channel may be simultaneously selected for exposure. By selecting the third detection channel, the scanning speed and frame rate of the laser radar can be improved, which is conducive to the rapid generation of point clouds. Optionally, the multiple detection channels of the laser radar may also include more detection channels, for example, a fourth detection channel, a fifth detection channel, a sixth detection channel, etc. By selecting more detection channels, the scanning speed and frame rate can be further improved.

[0111] Figure 5c Schematic diagrams of row exposure examples according to some other embodiments of the present disclosure are shown. Multiple rows of lasers can perform sequential exposure row by row (e.g., rolling shutter exposure). Multiple rows of lasers can belong to different detection channels. Figure 5c As shown, the laser array 110 includes 6 rows of lasers, and the detector array 120 includes 6 rows of detectors. The 6 rows of lasers and the 6 rows of detectors can form 6 detection channels, and each detection channel includes 1 row of lasers and 1 row of detectors. The 1st to 6th rows of lasers can be exposed sequentially from top to bottom in rows. Optionally, 1 row of detectors can be activated respectively to receive the echo reflected by the light beams emitted by the 1st to 6th rows of lasers. For example, the 1st row of detectors can be activated to receive the echo reflected by the light beams emitted by the 1st row of lasers. The exposure parameters of the 1st row of lasers can be determined based on the output signals of the 1st row of detectors. For another example, the 2nd row of detectors can be activated to receive the echo reflected by the light beams emitted by the 2nd row of lasers. The exposure parameters of the 2nd row of lasers can be determined based on the output signals of the 2nd row of detectors. In this way, the exposure parameters of this detection channel can be determined according to the detection results of this detection channel, feedback control of the exposure parameters of this detection channel can be achieved, local exposure control or global exposure control of the laser radar can be achieved, high-reflection ghosting and high-reflection broadening phenomena can be suppressed, the signal-to-noise ratio can be improved, and the accuracy of the laser radar detection results can be improved.

[0112] Optionally, multiple rows of detectors can be activated to receive echoes reflected from objects emitted by the beams from the first to sixth rows of lasers, thereby improving the dynamic range of the detectors. For example, rows of detectors from the first to third rows can be activated to receive echoes reflected from objects emitted by the beams from the second row of lasers. The exposure parameters of the second row of lasers can be determined based on the output signals of the first row of detectors, the third row of detectors, or a combination of the output signals from rows 1 to 3. In this way, the exposure parameters of a detection channel can be determined based on the detection results of other detection channels, enabling feedback control of the exposure parameters of the detection channel and achieving local exposure control of the lidar. Optionally, the exposure parameters of the current detection channel can be determined based on the detection results of the previous detection channel. For example, the exposure parameters of the third row of lasers can be determined based on the output signals from the second row of detectors. In this way, the exposure parameters of the current detection channel can be determined based on the detection results of other detection channels, enabling feedback control of the exposure parameters of the detection channel and achieving local exposure control of the lidar.

[0113] Optionally, the exposure parameters for the next detection channel can be determined based on the detection results of the current detection channel. For example, the exposure parameters for the fourth row of lasers can be determined based on the output signals of the third row of detectors. In this way, the exposure parameters of other detection channels can be determined based on the detection results of the current detection channel, enabling feedback control of the exposure parameters of other detection channels and achieving local exposure control of the lidar. When multiple rows of lasers in different detection channels perform row-by-row sequential exposure, the exposure parameters for the Xth detection channel can be determined based on the detection results of the Xth detection channel, the X-1th detection channel, or the X+1th detection channel, where X is a positive integer greater than or equal to 2. The exposure parameters for the X+1th detection channel can also be determined based on the detection results of the Xth detection channel. Feedback control of exposure parameters can be implemented between rows of different detection channels. Similarly, feedback control of exposure parameters can be implemented between columns of different detection channels, and feedback control of exposure parameters between single or multiple lasers in different detection channels can be implemented, achieving local or global exposure control of the lidar.

[0114] As previously mentioned, the exposure parameters for a detection channel can be determined based on the detection results of that detection channel or other adjacent detection channels. Alternatively, the exposure parameters for other detection channels can be determined based on the detection results of that detection channel. When both the detectors of the current detection channel and other adjacent detection channels are activated, echoes from both the current detection channel and other detection channels can be received by more detectors, improving the dynamic range of the detectors.

[0115] In some embodiments, whether the current detection channel or other detection channels have detected a highly reflective object can be determined based on the detection results of the detector (for example, the size of the spot area formed by the echo on the detector or the number or proportion of the triggered detectors, etc.). For example, under normal circumstances, when the laser of the Xth detection channel emits light, the detector of the Xth detection channel receives the echo of the Xth detection channel. When the echo of the Xth detection channel is received by the detector of the X-1th or X+1th detection channel, it means that the echo energy of the Xth detection channel is relatively high, and it can be determined that the Xth detection channel has detected a highly reflective object. Based on the optical crosstalk of the uplink and downlink, it can be inferred that the X-1th detection channel and the X+1th detection channel may also have detected a highly reflective object. For example, when the object is determined based on the output signal of the Xth row detector (for example, Figure 5c When the object OB2 or OB1 in the image is a highly reflective object, it can be inferred that the output signals of the detectors in the X-1th row and the X+1th row may also have detected a highly reflective object. The exposure parameters of at least one of the Xth detection channel, the X-1th detection channel, or the X+1th detection channel (for example, the luminous intensity of the laser, the pulse width of the laser emission, etc.) can be adjusted to suppress crosstalk, high-reflection ghosting, and high-reflection broadening between different detection channels. Point cloud broadening and ghosting caused by weather and other factors can also be suppressed. Feedback control of exposure parameters between rows of different detection channels can be implemented, and feedback control of local exposure of the lidar can be implemented, thereby improving the accuracy of lidar detection results.

[0116] In other embodiments, multiple rows of lasers may belong to the same detection channel. Figure 5c As shown, the laser array 110 includes 6 rows of lasers, and the detector array 120 includes 6 rows of detectors. The 6 rows of lasers and the 6 rows of detectors can form a detection channel. When multiple rows of lasers in the same detection channel perform row-by-row sequential exposure, the exposure parameters of the Yth row of lasers can be determined based on the output signal of the Yth row of detectors, the exposure parameters of the Yth row of lasers can be determined based on the output signal of the Y-1th row of detectors, and the exposure parameters of the Yth row of lasers can be determined based on the output signal of the Y-1th row of detectors, where Y is a positive integer. In addition, the exposure parameters of the Y+1th row of lasers can also be determined based on the output signal of the Yth row of detectors. Feedback control of exposure parameters between rows within the same detection channel can be achieved, crosstalk, high-reflection broadening, high-reflection ghosting, etc. between rows within the same detection channel can be suppressed, local exposure control of the laser radar can be achieved, and the accuracy of the laser radar detection results can be improved.

[0117] The above describes the "row exposure" example. According to at least one of the output signals of the first detector or the output signals of the second detector, one or more rows of lasers of at least one detection channel in the first detection channel or the second detection channel can be controlled to be exposed sequentially or synchronously, and feedback control of exposure parameters between rows of the same detection channel can be achieved, or feedback control of exposure parameters between rows of different detection channels can be achieved. One or more rows of lasers can be controlled as a whole, or each laser can be controlled individually, thereby achieving global or local exposure feedback control of the laser radar, suppressing crosstalk between different detection channels, suppressing high-reflection ghosting, suppressing high-reflection broadening, and improving the detection dynamic range of the laser radar and the accuracy of detection results (for example, distance or reflectivity, etc.). Similarly, feedback control of exposure parameters between columns of the same detection channel or different detection channels, and between single or multiple lasers can be achieved to achieve global or local exposure feedback control of the laser radar, which will not be repeated here.

[0118] In some embodiments, the laser may include a semiconductor laser such as a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), a distributed feedback laser (DFB), a fiber laser, or a similar device.

[0119] Figure 6a A schematic diagram showing an example of a laser array at a certain light-emitting moment according to some embodiments of the present disclosure is shown. Figure 6c FIG2 shows a schematic diagram of a laser array according to some other embodiments of the present disclosure at another light-emitting moment. Figure 6a and Figure 6c As shown in the figure, a dotted box represents a detection channel. The figure illustrates 16 detection channels, arranged in a 4x4 two-dimensional array. A circle represents a laser P. A detection channel includes 9 lasers arranged in a 3x3 array. Dark circles represent active lasers, while light circles represent passive lasers. For convenience, the nine lasers in each detection channel can be numbered P1 to P9.

[0120] In some embodiments, one exposure of each detection channel can be completed by combining multiple local exposures. During each local exposure, one or more lasers in the detection channel can be selected, and all lasers in the detection channel can be traversed to complete one exposure of the detection channel. Figure 6aAs shown, in order to complete a single exposure of a detection channel, one laser in the 3*3 array can be selected at a time, and 9 lasers can be selected in sequence to complete a single exposure of the detection channel. For another example, for a single exposure of the detection channel, multiple (for example, 2, 3, etc.) lasers in the 3*3 array can be selected at a time, and 9 lasers can be traversed to complete a single exposure of the detection channel. When traversing the lasers in the detection channel, they can be selected in a certain order (for example, from left to right, from top to bottom, etc.) or randomly. In order to complete a single exposure of a detection channel, one laser can be selected for each partial exposure to reduce crosstalk between lasers, or multiple lasers can be selected synchronously to increase the scanning rate. The distance between the lasers that are selected front and back or selected synchronously should be greater than a certain threshold to reduce crosstalk between lasers.

[0121] In some embodiments, one exposure of multiple detection channels can be completed by multiple partial exposures. During each partial exposure, one or more lasers in each detection channel can be synchronously selected, and all lasers in the detection channel can be traversed to complete one exposure of multiple detection channels. Figure 6a and Figure 6cAs shown, to complete a single exposure of 16 detection channels, the laser P1 in the 3*3 array of each detection channel can be synchronously selected, followed by the laser P2 in the 3*3 array of each detection channel, and then the laser P3 in the 3*3 array of each detection channel. In this way, the lasers P4, P5, P6, P7, P8, and P9 in the 3*3 array of each detection channel can be synchronously selected in sequence to complete a single exposure of all 16 detection channels. In other words, a single exposure of multiple detection channels can be achieved by synchronously exposing the multiple detection channels, with each detection channel performing a timed exposure within each detection channel. Multiple detection channels can complete one or more exposures to generate a single frame of point cloud. Synchronously exposing multiple detection channels, with each detection channel performing a timed exposure within each detection channel, can shorten the LiDAR scan time, increase the LiDAR scan rate and frame rate, and reduce crosstalk between detection channels. Alternatively, a single exposure of multiple detection channels can also be achieved by synchronously exposing the multiple detection channels, with each detection channel performing a partial timed exposure within each detection channel. For example, when 16 detection channels are exposed synchronously, multiple lasers within each detection channel (for example, two lasers P1 and P9) can be simultaneously selected. The synchronous exposure of multiple detection channels and the synchronous exposure within each detection channel can further shorten the scanning time of the lidar and further improve the scanning rate and frame rate of the lidar. When multiple detection channels are exposed synchronously, the distance between lasers exposed synchronously in different detection channels and between lasers exposed synchronously or successively in the same detection channel can be greater than a certain threshold, thereby reducing crosstalk between lasers in different detection channels or the same detection channel.

[0122] In some embodiments, the detector may include a single photon avalanche diode (SPAD), an avalanche photodiode (APD), a silicon photomultiplier (SiPM), or a similar device.

[0123] Figure 6b A schematic diagram showing an example of a detector array at a certain receiving moment according to some embodiments of the present disclosure is shown. Figure 6d FIG. 1 shows a schematic diagram of a detector array at another receiving moment according to some embodiments of the present disclosure. Figure 6b and Figure 6d As shown, a small square represents a detector Q. The detector surrounded by a thick rectangular box represents an activated detector. A detector surrounded by a thick rectangular box represents a laser (e.g., Figure 6aThe dark dots represent the light spot area Q1 formed when the laser beam emitted by the laser is reflected by the object and the echo is incident on the detector. Figure 6a and Figure 6b As shown, the echo of the light beam emitted by the laser P1 in each detection channel after being reflected by the object can be incident on the detector to form a light spot area Q1. Figure 6c and Figure 6d As shown, the echo of the light beam emitted by laser P2 in each detection channel after being reflected by an object can be incident on the detector to form a light spot area Q2. In some embodiments, more detectors (for example, a 10*10 detector array in the figure) can be activated in at least one direction of the row or column to expand the receiving area of ​​the echo. This allows the echo of the laser beam to be received by more detectors, which can improve the dynamic range of the detectors and, in turn, the dynamic range of the lidar. The energy distribution in the light spot area is uneven, with a quasi-Gaussian distribution, decreasing by orders of magnitude from the center to the edge of the light spot. This energy distribution is conducive to identifying highly reflective objects. The echo reflected by a highly reflective object will be broadened. By activating more detectors to expand the receiving area of ​​the echo, it is conducive to identifying highly reflective objects. For example, the size of the light spot area can be used to determine whether the lidar has detected a highly reflective object. When the light spot area is greater than a certain threshold, it indicates that a large number of detectors are saturated, indicating that the lidar has detected a highly reflective object. The laser exposure parameters (for example, luminous intensity, pulse width, etc.) can be adjusted to suppress the high reflection phenomenon. For example, the output signal of the detector at the edge of the spot area can be used to determine whether the lidar has detected a highly reflective object. When the output signal of the detector at the edge exceeds a certain threshold, it means that the echo energy is high. It can be determined that the lidar has detected a highly reflective object, and the exposure parameters of the laser (for example, luminous intensity, pulse width, etc.) can be reduced to suppress the high-reflection phenomenon.

[0124] In some embodiments, when different lasers are exposed, different detectors can be selected to adjust the receiving area of ​​the light spot. For example, when laser P1 is exposed, Figure 6b Schematic detector (e.g., Figure 6b The detector (the part outlined in the thick line) receives the echo of laser P1. For example, when laser P2 is exposed, it can be activated Figure 6d Schematic detector (e.g., Figure 6dThe detectors (part of the detector framed by the thick line) receive the echo of the laser P2. The detectors of different detection channels can be completely different or partially overlap. For example, the detectors of adjacent detection channels can partially overlap. By selecting different detectors to adjust the receiving area of ​​the light spot, the light spot area can be located at the center of the receiving area (for example, the geometric center or the weight center), so that the energy distribution of the light spot area is Gaussian-like, which is convenient for identifying highly reflective objects, determining the exposure parameters of the detection channel, and realizing local exposure control or global exposure control of the lidar.

[0125] In some embodiments, the laser radar may be a solid-state laser radar. For a solid-state laser radar, each of the laser radar's multiple detection channels completes one or more exposures to generate a frame of point cloud. In some embodiments, the laser radar may be a mechanical rotary laser radar. For a mechanical rotary laser radar, its rotor rotates one or more times around its axis of rotation to generate a frame of point cloud. In some embodiments, the laser radar may be a semi-solid-state laser radar, such as a laser radar that uses a scanner such as a rotating mirror or a galvanometer mirror. For a semi-solid-state laser radar, its scanner completes one or more cycles of scanning to generate a frame of point cloud.

[0126] By controlling the sequential exposure of the lasers in at least one LiDAR detection channel, crosstalk between different detection channels or within the same detection channel can be reduced. This reduced crosstalk allows for global exposure control of the LiDAR, improving its scanning speed and frame rate. By controlling the synchronous exposure of the lasers in at least one LiDAR detection channel, the scanning speed and frame rate can also be increased. Thanks to LiDAR's high frame rate design, the exposure of one or more detection channels in the next frame or frames can be controlled based on the point cloud data from the previous frame or frames. This exposure mode is known as inter-frame feedback exposure mode. Based on the object reflectivity information detected in the previous frame or frames, the exposure parameters of one or more rows (columns) or multiple rows (columns) of one or more detection channels can be adjusted for the next frame or frames. This enables feedback control of exposure parameters at the transmitter, improving the dynamic detection range of the LiDAR and suppressing high-reflection broadening. LiDAR's high frame rate and short inter-frame intervals minimize object movement during the inter-frame interval, reducing motion blur and distortion, and improving the accuracy of object velocity measurement.

[0127] The dynamic range of the entire LiDAR system is determined by the transmit dynamic range and receive dynamic range. In some embodiments, the detector includes a SPAD. SPADs are single-photon devices with limited detection dynamic range. Feedback control of the laser's exposure parameters can improve the dynamic range of the transmit end and alleviate the dynamic range limitations of the receive end, thereby increasing the dynamic range of the entire LiDAR system and enhancing the LiDAR's detection performance.

[0128] In some embodiments, each laser of a lidar can begin exposure with initial exposure parameters. During the exposure process, if the echo signal of a detection channel in the detector array is found to be saturated (for example, a portion of the point cloud is overexposed), since the lasers can be independently controlled, the exposure parameters of the lasers in that detection channel or adjacent detection channels can be adjusted (for example, by reducing the laser's luminous intensity, shortening the laser's pulse width, etc.) to suppress crosstalk, high-reflection broadening, and high-reflection ghosting. If the echo signal intensity of a detection channel in the detector array is found to be low (for example, a portion of the point cloud is underexposed), the exposure parameters of the lasers in that detection channel or adjacent detection channels can be adjusted (for example, by increasing the laser's luminous intensity, increasing the laser's pulse width, etc.) to improve the signal-to-noise ratio and range finding performance. If the echo signal intensity of a detection channel in the detector array meets preset conditions (for example, a region of the point cloud is moderately exposed), the exposure parameters of the lasers in that detection channel or adjacent detection channels can be maintained (for example, by maintaining the laser's luminous intensity, pulse width, etc.) to maintain detection performance. Different exposure parameter controls can be implemented for different areas, so that the lidar can achieve different detection performance in different detection areas and meet the different needs of different detection areas.

[0129] In some embodiments, each laser of the lidar can start exposure from the initial exposure parameters. During the exposure process, if it is found that the echo signal of a detection channel in the detector array is in a saturated state (for example, part of the point cloud is overexposed), since the laser can be controlled independently, the exposure parameters of the laser of the detection channel or the adjacent detection channel in the next frame or multiple frames can be adjusted (for example, reducing the luminous intensity of the laser, reducing the pulse width of the laser emission, etc.) to suppress crosstalk, high-reflection broadening and high-reflection ghosting. If it is found that the echo signal intensity of a detection channel in the detector array is low (for example, part of the point cloud is underexposed), the exposure parameters of the laser of the detection channel or the adjacent detection channel in the next frame or multiple frames can be increased (for example, increasing the luminous intensity of the laser, increasing the pulse width of the laser emission, etc.) to improve the signal-to-noise ratio and distance measurement performance. If the echo signal strength of a detection channel in the detector array meets preset conditions (for example, moderate exposure in a region of the point cloud), the exposure parameters of the laser in that detection channel or an adjacent detection channel can be maintained for the next frame or frames (for example, maintaining the laser's luminous intensity and pulse width) to maintain detection performance. Inter-frame feedback control can also be used to control high-reflection broadening and crosstalk between different detection channels.

[0130] During the exposure parameter feedback control process, the laser radar can adjust the exposure parameters of only the detection channels or lasers in adjacent detection channels in the detector array whose echo signals change significantly through local exposure feedback control. The exposure parameters of the detection channels or lasers in adjacent detection channels whose echo signals do not change significantly can remain unchanged, which can save the laser radar's power consumption, storage space and data processing time.

[0131] In some embodiments, the LiDAR can achieve a very high frame rate (e.g., 1000fps, 2000fps, 5000fps, 10000fps, 100000fps, or 50000fps), and the output frame rate can be adjusted according to user needs. For example, multiple exposures can be superimposed to form a frame, thereby converting the output frame rate of the LiDAR into a frame rate (e.g., 60fps, 20fps, or 10fps) synchronized with other sensors (e.g., cameras). This can improve the efficiency of fusion of the LiDAR detection results with other sensors. Superimposing multiple exposures to form a frame is also beneficial for filtering ambient light, which can reduce the interference of ambient light on the LiDAR detection results.

[0132] In some embodiments, the laser radar can operate in a synchronized exposure mode. In the synchronized exposure mode, multiple detection channels in the laser array are exposed synchronously, and the detectors of the multiple detection channels need to be turned on and wait for a certain time (for example, 1 microsecond, 2 microseconds or 4 microseconds) to wait for the echo reflected from the target at each distance. Since the distance of the external object is unknown, in order to achieve the farthest detection distance of the laser radar, the time the detector is turned on and waited is based on the time it takes for the photon to travel back and forth between the laser radar and the object at the farthest detection distance of the laser radar (for example, 100 meters, 150 meters, 200 meters, 250 meters, 300 meters or 400 meters, etc.).

[0133] Figure 7a Schematic diagram showing an example of synchronized exposure according to some embodiments of the present disclosure. Figure 7a As shown, when the first detection channel channel and the second detection channel channel2 are synchronously exposed, the first laser 111 and the second laser 112 emit light in parallel. Since the distance of object C1 is relatively close and the distance of object C2 is relatively far, the first detector 121 first receives the echo reflected by the close object C1, the time is time1, and the second detector 122 later receives the echo reflected by the distant object C2, the time is time2. The time window during which the detector array 110 is turned on can be greater than or equal to time2. In the synchronous exposure mode, the farther the object is, the longer the detector is turned on, and the more detection data is generated and stored. Among the data generated and stored by the detector, only a small part is valid data (for example, data generated by the echo of the object), and the other data is noise data (for example, ambient light data, stray light data, etc.). This affects the utilization efficiency of the storage and processing resources of the lidar, and also affects the signal-to-noise ratio of the detected echo.

[0134] In some embodiments, the lidar can operate in an asynchronous exposure mode. In this mode, the exposure parameters of the detection channel can be determined based on the previously detected target position. The exposure parameters can include at least one of the laser emission time or the detector's on-time window.

[0135] Alternatively, the output signal of the first detector may be determined based on at least one exposure of the first detection channel, at least one exposure of the second detection channel, or at least one exposure of the first detection channel and at least one exposure of the second detection channel. The object distance may be determined based on the output signal of the first detector. Based on the object distance, at least one of the emission time of the first laser or the activation time window of the first detector may be determined. Figure 7bA schematic diagram illustrating an example of asynchronous exposure according to some embodiments of the present disclosure is shown. For example, for a close-range object C1, the emission time of the first laser 111 can be delayed, while for a distant object C2, the emission time of the first laser 111 can be advanced. By controlling the detection channel corresponding to the close-range object to be exposed later and the detection channel corresponding to the distant object to be exposed earlier, the detectors of different detection channels can receive valid echoes at the same or similar time points, reducing the waiting time of the detectors. The detectors can then determine valid data using shorter exposure time segments, reducing the amount of data generated by the detectors, reducing the storage and processing resources required for the detection data, and improving the signal-to-noise ratio of the detected echoes.

[0136] In some embodiments, determining at least one of the emission time of the first laser or the activation time window of the first detector includes adjusting at least one of the emission time of the first laser or the activation time window of the first detector. For example, at least one of the emission time of the first laser or the activation time window of the first detector can be adjusted based on the distance of the object. When the object is far away, the emission time of the first laser can be advanced, the activation time window of the first detector can be shortened, or the activation time of the time window of the first detector can be advanced. When the object is close, the emission time of the first laser can be delayed, the activation time window of the first detector can be shortened, or the activation time of the time window of the first detector can be delayed.

[0137] By controlling the laser timing exposure of at least one detection channel of the laser radar, the crosstalk between different detection channels or the crosstalk within the same detection channel can be reduced. Since the crosstalk is reduced, the laser radar can be globally exposed and the scanning speed and frame rate of the laser radar can be improved. By controlling the synchronous exposure of the laser of at least one detection channel of the laser radar, the scanning speed and frame rate of the laser radar can also be improved. Since the frame rate of the laser radar is high, the interval between frames is relatively short, and the movement of the object during the interval between frames is small, the time or opening time window of the light emission of the detection channel or the adjacent detection channel in the next frame or multiple frames can be determined by the distance of the object detected by the detection channel or the adjacent detection channel in the previous frame or multiple frames.

[0138] The present disclosure also provides a laser radar. Figure 8 Schematic diagram of an example of a laser radar 300 according to some embodiments of the present disclosure is shown. Figure 8As shown, the laser radar 300 includes a transmitter TX, a detector RX and a controller 130. The transmitter TX includes a laser array 110. The transmitter TX is configured to emit a light beam light. The detector RX includes a detector array 120. The detector RX is configured to receive an echo echo reflected by the light beam light on the object OB and convert the echo into an electrical signal. The controller 130 is coupled to the transmitter TX and the detector RX. The laser array 110 and the detector array 120 constitute a plurality of detection channels channel. The plurality of detection channels include a first detection channel channel1 and a second detection channel channel2. The first detection channel channel1 includes at least one first laser 111 and at least one first detector 121. The second detection channel channel2 includes at least one second laser 121 and at least one second detector 122. The controller 130 can perform operations S210 and S220.

[0139] Operation S210: Determine at least one of an output signal of a first detector and an output signal of a second detector based on at least one exposure of a first detection channel.

[0140] Operation S220: Determine at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel based on at least one of the output signal of the first detector or the output signal of the second detector.

[0141] In some embodiments, the controller 130 may include a control circuit, a central processing unit (CPU), and may also include other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and similar devices.

[0142] In some embodiments, the laser radar may include a laser radar that transmits and receives coaxially; in other embodiments, the laser radar may include a laser radar that transmits and receives non-coaxially.

[0143] Figure 9a to Figure 9c An optical path diagram of an example of a lidar according to some embodiments of the present disclosure is shown.

[0144] Figure 9a The figure shows the application optical path of the non-coaxial laser radar. Figure 8 and Figure 9aAs shown, the transmitter TX includes a laser array 110 and a transmitting optical assembly M1, and the detector RX includes a detector array 120 and a receiving optical assembly M2. The transmitted light beam "light" can be emitted to the exterior of the lidar via the transmitting optical assembly M1, and the echo "echo" can be incident on the detector array 120 via the receiving optical assembly M2. In some embodiments, the transmitter TX and the detector RX can be optically isolated as needed.

[0145] Figure 9b The figure shows the application optical path of the laser radar for transmitting and receiving side axes. Figure 8 and Figure 9b As shown, the application optical path for transmitting and receiving is coaxial. The transmitter TX includes a laser array 110, and the detector RX includes a detector array 120. The laser radar also includes a beam splitter 140. The beam splitter 140 can separate the transmit and receive light paths. The beam splitter can include a lens or film with partial transmission and partial reflection, a polarization beam splitter / combiner, or a reflector with a central aperture. The laser radar can also include a collimating lens 150 (or lens assembly).

[0146] Figure 9c FIG. 1 shows an application optical path of a laser radar based on a diffractive optical element (DOE) 160 or an optical crystal. Figure 8 and Figure 9c As shown, a diffractive optical element 160 can be disposed downstream of the optical path of the laser array 110 for spatial modulation of the optical beam. The diffractive optical element or optical crystal can be a passive element (e.g., a grating) for achieving optical beam modulation. The diffractive optical element or optical crystal can also be an active element for achieving spatial modulation of the optical beam. For example, an electrically excited photoelectric crystal (e.g., a liquid crystal) can be used to achieve control of the propagation direction of the optical beam.

[0147] In some embodiments, the controller 130 may implement any embodiment of any one or more lidar control methods described above.

[0148] The present disclosure also relates to a device. Figure 10 Schematic diagram showing an example of a device 400 according to some embodiments of the present disclosure. Figure 10 As shown, the device 400 may include a processor 410 and a memory 420. The memory 420 may include computer executable instructions stored thereon, and when the executable instructions are executed by the processor 410, any steps or optional steps of the control method 200 in any of the above embodiments may be implemented.

[0149] In some embodiments, the device may include but is not limited to a lidar, a vehicle controller, a mobile phone, a tablet computer, a laptop computer, a wearable device, a cloud, a manufacturer's server, a computer, etc.

[0150] In some embodiments, the processor may include a CPU, and may also include other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.

[0151] In some embodiments, the memory may include random access memory (RAM) or non-volatile memory. Further, the memory may include at least one of phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), read-only memory (ROM), and electrically erasable programmable read-only memory (EEPROM).

[0152] The present disclosure also provides a computer-readable storage medium, including computer-executable instructions stored thereon, which, when executed by a processor, implement any one or more of the above-mentioned laser radar control methods 200.

[0153] The present disclosure may take the form of a computer program product implemented on one or more storage media containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and may be implemented by any method or technology to store information. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: PRAM, SRAM, DRAM, other types of RAM, ROM, EEPROM, flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0154] It should be noted that although several components of the lidar are mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more components described above can be implemented in a single component. Conversely, the features and functions of a single component described above can be further divided and embodied by multiple components.

[0155] It should be noted that this specification provides method operation steps such as embodiments or schematic diagrams, but based on routine or non-creative work, more or fewer operation steps may be included. The order of steps listed in the embodiments is only one way of executing the steps among many, and does not represent the only execution order. When implemented in actual systems or device products, the methods shown in the embodiments or flowcharts can be executed sequentially or in parallel.

[0156] Finally, it should be noted that the above descriptions are merely examples of the present disclosure and are not intended to limit the present disclosure. Although the present disclosure has been described in detail with reference to the aforementioned examples, those skilled in the art will be able to modify the technical solutions described in the aforementioned examples or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A control method for a laser radar, wherein the laser radar includes a laser array and a detector array, forming multiple detection channels, wherein the multiple detection channels include a first detection channel and a second detection channel, wherein the first detection channel includes at least one first laser and at least one first detector, and the second detection channel includes at least one second laser and at least one second detector, the control method comprising: determining at least one of an output signal of the first detector or an output signal of the second detector based on at least one exposure of the first detection channel; and At least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel is determined based on the at least one of the output signal of the first detector or the output signal of the second detector.

2. The control method according to claim 1 , wherein the exposure parameter comprises a light emission intensity of a laser, and determining at least one of the exposure parameter of the first detection channel or the exposure parameter of the second detection channel comprises: The exposure parameter of the first detection channel is determined according to the output signal of the first detector, wherein when the output signal of the first detector exceeds a first threshold, the luminous intensity of the first laser is reduced.

3. The control method according to claim 1 , wherein the exposure parameter comprises a light intensity of a laser, and determining at least one of the exposure parameter of the first detection channel or the exposure parameter of the second detection channel comprises: The exposure parameter of the first detection channel is determined according to the output signal of the first detector, wherein when the output signal of the first detector is lower than a second threshold, the luminous intensity of the first laser is increased.

4. The control method according to claim 1, further comprising: Repeatedly determine at least one of the output signal of the first detector or the output signal of the second detector, and determine at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel based on the at least one of the output signal of the first detector or the output signal of the second detector, until the determined at least one of the output signal of the first detector or the output signal of the second detector meets a preset condition.

5. The control method according to claim 2, wherein the output signal of the first detector exceeds a first threshold value, comprising: The output signal of the first detector has at least one of an amplitude exceeding a first amplitude threshold or a width exceeding a first width threshold.

6. The control method according to claim 1 , wherein the exposure parameter comprises a light intensity of a laser, and determining at least one of the exposure parameter of the first detection channel or the exposure parameter of the second detection channel comprises: The exposure parameters of the first detection channel are determined according to the output signal of the second detector, wherein when the output signal of the second detector exceeds a third threshold, the light emission intensity of the first laser is reduced.

7. The control method according to claim 6, wherein the output signal of the second detector exceeds a third threshold value, comprising: At least one of an amplitude of the output signal of the second detector exceeds a third amplitude threshold or a width exceeds a third width threshold.

8. The control method according to claim 1 , wherein the exposure parameter comprises a light intensity of a laser, and determining at least one of the exposure parameter of the first detection channel or the exposure parameter of the second detection channel comprises: The exposure parameter of the second detection channel is determined according to the output signal of the first detector, wherein when the output signal of the first detector exceeds a fourth threshold, the luminous intensity of the second laser is reduced.

9. The control method according to any one of claims 1 to 8, wherein the first detection channel is adjacent to the second detection channel; wherein the first detection channel includes a plurality of first lasers, and the second detection channel includes a plurality of second lasers; the plurality of first lasers are arranged in one or more rows; and the plurality of second lasers are arranged in one or more rows.

10. The control method according to claim 9, wherein the control method comprises: One or more laser lines of at least one of the first detection channel or the second detection channel are controlled to perform exposure in a sequential or synchronous manner.

11. The control method according to any one of claims 1 to 8, wherein the plurality of detection channels include a third detection channel, the third detection channel including at least one third laser and at least one third detector; the control method comprising: The third detection channel is controlled to be simultaneously enabled with at least one of the first detection channel or the second detection channel. 12 . The control method according to claim 1 , wherein the exposure parameter comprises at least one of a light-emitting moment of a laser or an opening time window of a detector.

13. The control method according to claim 12, wherein the determining at least one of the output signal of the first detector or the output signal of the second detector comprises: determining an output signal of the first detector; Determining at least one of the exposure parameter of the first detection channel or the exposure parameter of the second detection channel includes: determining the distance of the object based on the output signal of the first detector; At least one of a lighting moment of the first laser or an opening time window of the first detector is determined according to the object distance.

14. The control method according to claim 13, wherein determining at least one of the emission moment of the first laser or the opening time window of the first detector comprises: At least one of the light-emitting moment of the first laser or the opening time window of the first detector is adjusted.

15. The control method according to any one of claims 1 to 8 or any one of claims 12 to 14, wherein determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel comprises: determining at least one of exposure parameters for a subsequent round or a current round of the first detection channel; or determining at least one of the exposure parameters of a subsequent round or a current round of the second detection channel; The control method further includes: determining a current detection result of the first detection channel according to an output signal of the first detector determined by multiple exposures performed by the first detection channel.

16. A laser radar comprising: an emitter comprising a laser array, the emitter being configured to emit a light beam; a detector, comprising a detector array, wherein the detector is configured to receive an echo generated when the light beam is reflected from an object and convert the echo into an electrical signal; a controller coupled to the emitter and the detector, The laser array and the detector array constitute a plurality of detection channels, the plurality of detection channels including a first detection channel and a second detection channel, the first detection channel including at least one first laser and at least one first detector, the second detection channel including at least one second laser and at least one second detector; the controller is configured to perform the following operations: determining at least one of an output signal of the first detector and an output signal of the second detector based on at least one exposure of the first detection channel; and At least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel is determined based on the at least one of the output signal of the first detector or the output signal of the second detector.

17. The laser radar according to claim 16, wherein the exposure parameter comprises a light emission intensity of a laser, and the operation of determining at least one of the exposure parameter of the first detection channel or the exposure parameter of the second detection channel comprises: The exposure parameter of the first detection channel is determined according to the output signal of the first detector, wherein when the output signal of the first detector exceeds a first threshold, the luminous intensity of the first laser is reduced.

18. The laser radar according to claim 16, wherein the exposure parameter comprises a light emission intensity of a laser, wherein the operation of determining at least one of the exposure parameter of the first detection channel or the exposure parameter of the second detection channel comprises: The exposure parameter of the first detection channel is determined according to the output signal of the first detector, wherein when the output signal of the first detector is lower than a second threshold, the luminous intensity of the first laser is increased.

19. The laser radar according to claim 16, wherein the controller is further configured to perform the following operations: repeatedly determine at least one of the output signals of the first detector or the output signals of the second detector, and determine at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel based on the at least one of the output signals of the first detector or the output signals of the second detector, until the determined at least one of the output signals of the first detector or the output signals of the second detector meets a preset condition.

20. The laser radar according to claim 17, wherein the output signal of the first detector exceeds a first threshold value, comprising: The output signal of the first detector has at least one of an amplitude exceeding a first amplitude threshold or a width exceeding a first width threshold.

21. The laser radar according to claim 16, wherein the exposure parameter comprises a light emission intensity of a laser, and the operation of determining at least one of the exposure parameter of the first detection channel or the exposure parameter of the second detection channel comprises: The exposure parameters of the first detection channel are determined according to the output signal of the second detector, wherein when the output signal of the second detector exceeds a third threshold, the light emission intensity of the first laser is reduced.

22. The laser radar according to claim 21, wherein the output signal of the second detector exceeds a third threshold value, comprising: At least one of an amplitude of the output signal of the second detector exceeds a third amplitude threshold or a width exceeds a third width threshold.

23. The laser radar according to claim 16, wherein the exposure parameter comprises a light emission intensity of a laser, and the operation of determining at least one of the exposure parameter of the first detection channel or the exposure parameter of the second detection channel comprises: The exposure parameter of the second detection channel is determined according to the output signal of the first detector, wherein when the output signal of the first detector exceeds a fourth threshold, the luminous intensity of the second laser is reduced.

24. The laser radar according to any one of claims 16 to 23, wherein the first detection channel is adjacent to the second detection channel; wherein the first detection channel includes a plurality of first lasers, and the second detection channel includes a plurality of second lasers; the plurality of first lasers are arranged in one or more rows; and the plurality of second lasers are arranged in one or more rows.

25. The laser radar according to claim 24, wherein the controller is further configured to perform the following operations: control one or more rows of lasers of at least one of the first detection channel or the second detection channel to expose in a timing or synchronous manner.

26. The laser radar according to any one of claims 16-23, wherein the multiple detection channels include a third detection channel, and the third detection channel includes at least one third laser and at least one third detector; the controller is further configured to perform the following operations: control the third detection channel and at least one of the first detection channel or the second detection channel to be simultaneously selected.

27. The laser radar according to claim 16, wherein the exposure parameter includes at least one of the emission moment of the laser or the opening time window of the detector.

28. The laser radar of claim 27, wherein the operation of determining at least one of the output signal of the first detector or the output signal of the second detector comprises: determining an output signal of the first detector; The operation of determining at least one of the exposure parameter of the first detection channel or the exposure parameter of the second detection channel includes: determining the distance of the object based on the output signal of the first detector; At least one of a lighting moment of the first laser or an opening time window of the first detector is determined according to the object distance.

29. The laser radar according to claim 28, wherein the operation of determining at least one of the emission moment of the first laser or the opening time window of the first detector comprises: At least one of the light-emitting moment of the first laser or the opening time window of the first detector is adjusted.

30. The laser radar according to any one of claims 16 to 23 or any one of claims 27 to 29, wherein the operation of determining at least one of the exposure parameters of the first detection channel or the exposure parameters of the second detection channel comprises: determining at least one of exposure parameters for a subsequent round or a current round of the first detection channel; or determining at least one of the exposure parameters of a subsequent round or a current round of the second detection channel; The controller is configured to perform the following operations: determine a current detection result of the first detection channel according to an output signal of the first detector determined by multiple exposures performed by the first detection channel.

31. The laser radar according to any one of claims 16-23, wherein the laser comprises at least one of a vertical cavity surface emitting laser or an edge emitting laser, and the detector comprises at least one of a single photon avalanche diode, an avalanche photodiode or a silicon photomultiplier tube.

32. The laser radar according to any one of claims 16-23 further includes a transmitting optical component and a receiving optical component, the light beam is emitted to the outside of the laser radar through the transmitting optical component, and the echo is incident on the detector through the receiving optical component.

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