Laser radar detection method and laser radar

Abstract

The invention provides a laser radar detection method and a laser radar, and relates to the technical field of photoelectricity. The laser radar at least comprises a first detection channel and a second detection channel. The detection method comprises the following steps: on at least one detection angle, in a first detection time period, controlling a first laser to emit a first optical signal at a first light emitting moment; and in the second detection time period, at a second light emitting moment, the second laser is controlled to emit a second light signal, the first light emitting moment is earlier than the second light emitting moment, and the time difference between the first light emitting moment and the second light emitting moment is smaller than the first flight time corresponding to the first rated measurement distance of the first detection channel. According to the detection method disclosed by the invention, a section of overlapped detection time exists between the detection channels, so that the time required by polling detection of the plurality of detection channels can be saved, and thus the time resource of the laser radar is saved.

Description

TECHNICAL FIELD

[0001] The present specification relates to the field of optoelectronic technology, and in particular, to a laser radar detection method and a laser radar. BACKGROUND

[0002] A laser radar (LiDAR) can detect the position, velocity, attitude and other characteristic quantities of an object by emitting a laser beam and receiving a detection echo of the laser beam reflected by the surrounding object. Laser radars are widely used in the fields of vehicles, unmanned aerial vehicles, intelligent robots and the like.

[0003] In order to obtain as much three-dimensional information of the scanned area as possible, the laser radar can be a multi-line laser radar including multiple detection channels. The multiple detection channels of the laser radar can be round-robin detected according to a certain time sequence. Before each detection channel is detected, the detection channel needs to be switched to ensure that the receiver under the detection channel is in a detection state. This process includes loading high voltage at both ends of the receiver, so that the receiver enters a photon waiting mode. After a certain time interval, the high voltage is disconnected, and the laser radar switches to the next detection channel for detection. This round-robin mechanism makes one or a few detection channels in the time period to detect, reducing the number of parallel detection channels. It helps to reduce the crosstalk between channels, thereby improving the accuracy and reliability of detection. However, as the number of laser radar beams increases, the time required to complete a complete channel round-robin also increases. In addition, the laser radar also has the needs of detecting long-distance objects, resolution and field of view range, etc. These all put forward higher requirements on the time resources of the laser radar.

[0004] The contents of the background section only represent the applicant's own knowledge and do not mean that the above information has entered the public domain before the filing date of the present disclosure, nor does it mean that it can be prior art of the present disclosure. SUMMARY

[0005] The present specification provides a laser radar detection method and a laser radar, which can reduce the time required for round-robin detection of multiple detection channels in the laser radar, thereby saving the time resources of the laser radar.

[0006] In a first aspect, the present specification provides a laser radar detection method. The laser radar comprises at least a first detection channel and a second detection channel; when the first detection channel is running, a first laser emits a first light signal, and a first receiver receives a corresponding first echo signal; when the second detection channel is running, a second laser emits a second light signal, and a second receiver receives a corresponding second echo signal; the detection method comprises: at at least one detection angle, at a first detection time period, at a first light emission time, controlling the first laser to emit the first light signal; and at a second detection time period, at a second light emission time, controlling the second laser to emit the second light signal, wherein the first light emission time is earlier than the second light emission time, and a time difference between the first light emission time and the second light emission time is less than a first flight time corresponding to a first nominal measurement distance of the first detection channel.

[0007] In some embodiments, the detection angle is a horizontal angle, and a vertical angle at which the first laser emits the first light signal is different from a vertical angle at which the second laser emits the second light signal.

[0008] In some embodiments, before the laser radar detects through the first detection channel and the second detection channel, a working voltage is simultaneously applied to the first receiver and the second receiver, so that the first receiver and the second receiver enter a detection-ready state.

[0009] In some embodiments, a length of the first detection time period is greater than the first flight time and a duration for which the first detection channel continues to detect in the second detection time period.

[0010] In some embodiments, at the at least one detection angle, disturbed data obtained from the first detection channel and in a disturbed time period is corrected to obtain corresponding corrected data, wherein the first detection time period comprises the disturbed time period, and the disturbed time period comprises the second light emission time.

[0011] In some embodiments, at different detection angles, time differences between the first light emission time and the second light emission time are different.

[0012] In some embodiments, the at least one detection angle comprises a plurality of detection angles, and the correcting of the disturbed data obtained from the first detection channel and in the disturbed time period to obtain the corresponding corrected data comprises: for a current detection angle, based on a plurality of detection data measured by the first detection channel in a plurality of detection angles other than the current detection angle and in a distance corresponding to the disturbed time period of the current detection angle, the corrected data is obtained.

[0013] In some embodiments, obtaining the correction data based on the plurality of probe data measured by the first probe channel at a plurality of probe angles other than the current probe angle and within the distance corresponding to the interference period of the current probe angle comprises: obtaining the correction data based on two probe data measured by the first probe channel at two adjacent probe angles of the current probe channel and within the distance corresponding to the interference period of the current probe angle for the current probe angle.

[0014] In some embodiments, obtaining the correction data based on the plurality of probe data measured by the first probe channel at a plurality of probe angles other than the current probe angle and within the distance corresponding to the interference period of the current probe angle comprises: obtaining the correction data based on two probe data measured by the first probe channel at two adjacent probe angles of the current probe channel and within the distance corresponding to the interference period of the current probe angle for the current probe angle.

[0015] In a second aspect, the present specification provides a laser radar. The laser radar comprises a first probe channel and a second probe channel; the first probe channel is operated by a first laser to send a first light signal and a first receiver to receive a corresponding first echo signal; the second probe channel is operated by a second laser to send a second light signal and a second receiver to receive a corresponding second echo signal; at least one storage medium stores at least one instruction set for the laser radar to perform probe; and at least one processor is communicatively connected with the at least one storage medium, wherein the at least one processor reads the at least one instruction set and implements the method for laser radar probe provided by any one of the first aspect when operated.

[0016] In summary, the laser radar probe method provided by the present specification can save the time required for multiple probe channels to rotate and probe by allowing a certain overlapping probe time between multiple probe channels, thereby saving the time resources of the laser radar. The probe method provided by the present specification can also simplify the control circuit and control method of the receiver by applying a working voltage to both ends of the receiver of multiple probe channels at the same time, and further save the time resources of the laser radar. In addition, the probe method provided by the present specification can also expand the ranging range of the previously working probe channel and improve the ranging ability of the laser radar by allowing the previously working probe channel to continue to probe when the subsequently working probe channel is probing.

[0017] The laser radar detection method and other functions of the laser radar provided in the specification will be partially listed in the following description. According to the description, the following numbers and examples will be apparent to those of ordinary skill in the art. The creative aspects of the laser radar detection method and the laser radar provided in the specification can be fully explained by practicing or using the methods, devices and combinations provided in the following detailed examples. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the specification, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the specification, and those of ordinary skill in the art can also obtain other drawings according to these drawings without creative labor.

[0019] Figure 1 A schematic diagram of a laser radar provided according to some embodiments of the specification is shown;

[0020] Figure 2 A schematic diagram of channel distribution in a laser radar provided according to some embodiments of the specification is shown;

[0021] Figure 3A A schematic diagram of a local point cloud output by a laser radar in operation provided according to some embodiments of the specification is shown;

[0022] Figure 3B A schematic diagram of a local point cloud output by another laser radar in operation provided according to some embodiments of the specification is shown;

[0023] Figure 4 A timing diagram of the operation of a first detection channel and a second detection channel provided according to some embodiments of the specification is shown;

[0024] Figure 5 A flowchart of a laser radar detection method provided according to some embodiments of the specification is shown;

[0025] Figure 6A A timing diagram of the operation of a first detection channel and a second detection channel provided according to some embodiments of the specification is shown;

[0026] Figure 6B A timing diagram of the operation of a first detection channel and a second detection channel provided according to some embodiments of the specification is shown;

[0027] Figure 7AA timing diagram is shown when the detection time of the first and second detection channels according to some embodiments of the present specification overlaps;

[0028] Figure 7B A timing diagram is shown when the detection time of the first and second detection channels according to some embodiments of the present specification overlaps;

[0029] Figure 8 A timing diagram is shown when the detection time of the first and second detection channels according to some embodiments of the present specification overlaps;

[0030] Figure 9A A timing diagram is shown when the detection time of the first and second detection channels according to some embodiments of the present specification overlaps; and

[0031] Figure 9B A timing diagram is shown when the detection time of the first and second detection channels according to some embodiments of the present specification overlaps. DETAILED DESCRIPTION

[0032] The following description provides specific applications and requirements of the present specification, in order to enable a person skilled in the art to manufacture and use the contents of the present specification. Various local modifications of the disclosed embodiments are obvious to those skilled in the art, and the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of the present specification. Therefore, the present specification is not limited to the embodiments shown, but is consistent with the widest scope of the claims.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure; the terms "include" and "have" and any variations thereof in the specification and claims of the present disclosure and the above description of drawings are intended to cover non-exclusive inclusion.

[0034] In the description of the embodiments of the present disclosure, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0035] Reference to“an embodiment” herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the disclosure. The appearances of the phrase“in an embodiment” in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the other embodiments. It is explicitly contemplated that embodiments described herein can be combined with each other in their individual aspects.

[0036] The features and other characteristics of the specification, and the operations and functions of the related elements of structure and the combination of parts and economies of manufacture will become more apparent upon consideration of the following description and the appended claims with reference to the accompanying drawings. All these drawings are included as a part of the specification, to explain certain principles of the specification. It should be noted that the accompanying drawings are included only for illustrating purposes and are not intended to limit the scope of the specification. It should be further understood that the accompanying drawings are not drawn to scale.

[0037] The flow diagrams used in this specification illustrate the operations according to some embodiments of the specification. It should be clearly understood that the operations in the flow diagrams can not be implemented in order. Rather, the operations can be implemented in a reversed order or at the same time. In addition, one or more other operations can be added to the flow diagram. One or more operations can be removed from the flow diagram.

[0038] In this specification, the meaning of“X includes at least one of A, B, or C” or“X includes at least one of A, B, or C” is that X includes at least one of A, or X includes at least one of B, or X includes at least one of C. That is, X can include only A, B, or C, or any combination of A, B, and C, and other possible contents / elements. The combination of A, B, and C can be A, B, C, AB, AC, BC, or ABC.

[0039] In this specification, unless explicitly stated, the association relationship between structures can be a direct association relationship or an indirect association relationship. For example, when describing“A is connected with B”, unless it is explicitly stated that A is directly connected with B, it should be understood that A can be directly connected with B or indirectly connected with B; for example, when describing“A is on B”, unless it is explicitly stated that A is directly on B (AB is adjacent and A is on B), it should be understood that A can be directly on B, or A can be indirectly on B (there are other elements between AB, and A is on B). By analogy.

[0040] LiDAR can be applied in various scenarios, such as vehicle driving, robot walking, drone flight, and industrial applications. Taking vehicle driving as an example, LiDAR can help vehicles perceive their surroundings, identify objects on the road, and improve driving safety. This disclosure does not limit the application scenarios of LiDAR; it can be applied to other scenarios besides those listed above. For ease of understanding, examples in the following text will use vehicle driving as an example.

[0041] Below, in conjunction with Figure 1 The structure and detection principle of lidar are explained.

[0042] Figure 1 A schematic diagram of a lidar 100 is shown. (For example...) Figure 1 As shown, the lidar 100 includes multiple lasers 110 and multiple receivers 120. The lidar 100 also includes at least one processor 140 and at least one storage medium 150. The storage medium 150 stores at least one instruction set for the lidar 100 to perform detection. The processor 140 is communicatively connected to the storage medium 150. The processor 140 can also be communicatively connected to the multiple lasers 110 and the multiple receivers 120, respectively.

[0043] When laser 110 is working, it can periodically emit light signals. These light signals can be laser beams. Depending on the number of laser beams that lidar 100 can emit, lidar 100 can generally be divided into single-line lidar and multi-line lidar. Multi-line lidar can be 4-line, 8-line, 16-line, 32-line, 64-line, or 128-line lidar, etc. In this specification, we will use lidar 100 as an example for description.

[0044] When the receiver 120 is working, it can receive reflected signals or echo signals that are reflected back to the lidar 100 by an object. After the light signal encounters an object, it is diffusely reflected by the object to form the reflected signal or echo signal, which returns to the lidar 100 and is received by the receiver 120.

[0045] The plurality of lasers 110 and the plurality of receivers 120 can form a plurality of detection channels 130. A detection channel 130 can represent a path for the laser radar 100 to emit a laser and receive a corresponding echo. A detection channel 130 can be referred to as a channel 130 for short. In this specification, the expressions of detection channel and channel represent the same concept. In some embodiments, a channel 130 can include one laser 110 and one receiver 120. The laser 110 corresponds to the receiver 120, and the light signal emitted by the laser 110 is reflected by an object to generate an echo signal that is incident on the receiver 120. In some embodiments, a channel 130 can include a plurality of lasers 110 and one receiver 120. The plurality of lasers 110 corresponds to the receiver 120, and the light signal emitted by the plurality of lasers 110 is reflected by an object to generate an echo signal that is incident on the receiver 120. In some embodiments, a channel 130 can include one laser 110 and a plurality of receivers 120. The laser 110 corresponds to the plurality of receivers 120, and the light signal emitted by the laser 110 is reflected by an object to generate an echo signal that is incident on the plurality of receivers 120. In other embodiments, a channel 130 can include a plurality of lasers 110 and a plurality of receivers 120. This specification does not limit the specific number of lasers 110 or receivers 120 in a channel 130.

[0046] For the convenience of description, in the following we take the laser and receiver as a 1:1 configuration as an example. In some embodiments, the lasers 110 correspond to the receivers 120 one by one. As shown in FIG. 1, the first laser 111 corresponds to the first receiver 121, and the second laser 112 corresponds to the second receiver 122. Figure 1 The first detection channel (CH1) 131 and the second detection channel (CH2) 132 are shown in FIG. 1. The first detection channel 131 includes the first laser 111 and the first receiver 121. When the first detection channel 131 is running, the first laser 111 sends a first light signal; the first receiver 121 receives a corresponding first echo signal. When the second detection channel 132 is running, the second laser 112 sends a second light signal; the second receiver 122 receives a corresponding second echo signal. In addition to the first detection channel 131 and the second detection channel 132, the laser radar 100 can include other channels, and this specification does not limit the specific number of channels.

[0047] One channel 130 of the lidar 100 can correspond to a detection field of view. The laser 110 in this channel emits a light signal towards the detection field of view, and the receiver 120 receives the echo signal generated after the light signal is reflected by an object within that detection field of view. This enables the lidar 100 to detect objects within that detection field of view. Similarly, other channels 130 in the lidar 100 can detect object information within their respective detection fields of view. The processor 140 can then generate point cloud data based on the object information detected by all channels 130 and output the point cloud data. The point cloud data reflects the object information in the total detection field of view of the lidar 100.

[0048] The following is combined Figure 2 Figure 3 illustrates the detection method and detection field of view of the lidar.

[0049] Figure 2 A schematic diagram of the channel distribution in a lidar 100 is shown. For example... Figure 2 As shown, in some embodiments, the multiple channels 130 in the lidar 100 ( Figure 2 A gray rectangle (representing a channel) can be arranged sequentially along the vertical direction. One channel 130 can correspond to a vertical angle. For example, the vertical angle corresponding to the first channel can be +20 degrees, and the vertical angle corresponding to the last channel can be -25 degrees. During the operation of the lidar 100, the laser 110 in one channel 130 emits a light signal in the direction of its corresponding vertical angle, enabling the detection of objects at that vertical angle. Thus, the multiple channels 130 in the lidar 100 can achieve a certain detection field of view in the vertical direction. For example, the aforementioned first detection channel 131 and second detection channel 132 can correspond to different vertical angles. That is, the vertical angles at which the first laser 111 emits the first light signal and the second laser 112 emits the second light signal can be different. The first detection channel 131 and the second detection channel 132 can be arranged as follows... Figure 2 The physical locations mentioned above may be adjacent, or the light emission times may be adjacent, etc., which are not limited in this specification.

[0050] In some embodiments, the multiple channels 130 in the lidar 100 can be arranged sequentially along the horizontal direction. One channel 130 can correspond to a horizontal azimuth angle. For example, the horizontal azimuth angle corresponding to the first channel can be -60 degrees, and the horizontal azimuth angle corresponding to the last channel can be +60 degrees. During the operation of the lidar 100, the laser 110 in one channel 130 emits a light signal in the direction of its corresponding horizontal azimuth angle, which can realize the detection of objects at that horizontal azimuth angle. In this way, the multiple channels 130 in the lidar 100 can achieve a certain detection field of view in the horizontal direction. The aforementioned first detection channel 131 and second detection channel 132 can correspond to different horizontal angles. That is, the horizontal angles at which the first laser 111 emits the first light signal and the second laser 112 emits the second light signal can be different.

[0051] In some embodiments, the multiple channels 130 in the lidar 100 can be arranged in a two-dimensional manner along a first direction and a second direction. For example, the first direction is a vertical direction. For example, the second direction is a horizontal direction. One channel 130 can correspond to a horizontal angle and a vertical angle. During the operation of the lidar 100, the laser 110 in one channel 130 can emit a laser beam in the direction of its corresponding horizontal angle and vertical angle. This enables the detection of objects at the corresponding horizontal angle and vertical angle. Thus, the multiple channels 130 in the lidar 100 achieve a certain two-dimensional detection field of view.

[0052] In other embodiments, the lidar 100 may include a plurality of channels 130 arranged sequentially in a vertical direction (e.g., Figure 2 The lidar 100 includes a rotating device. This rotating device allows the lidar 100 to rotate, enabling the multiple channels 130 arranged vertically to perform detection at different horizontal angles. Thus, the multiple channels in the lidar 100 can achieve a certain two-dimensional detection field of view.

[0053] In other embodiments, the lidar 100 may include a plurality of channels 130 arranged sequentially along a vertical direction and a scanner. The scanner includes a reflective surface and may have a rotating axis. The reflective surface may rotate, deflect, oscillate, or vibrate about the rotating axis. The rotating axis of the scanner is located on a plane perpendicular to the horizontal plane. The rotating axis of the scanner may be perpendicular to the horizontal plane or may have an angle with the horizontal plane. As the reflective surface moves, light signals emitted at different times can be reflected to different horizontal angles. The plurality of vertically arranged channels 130 in the lidar 100 can achieve a certain two-dimensional detection field of view.

[0054] When the laser radar 100 has a certain range of detection field of view in both the vertical direction and the horizontal direction, the object in the three-dimensional space can be detected. After the laser radar 100 performs one detection on the total detection field of view, one frame of point cloud data corresponding to the total detection field of view can be formed. The point cloud data can reflect the object information in the total detection field of view. The point cloud data can be used to assist the driving control of a vehicle (for example, a vehicle). The point cloud frame rate represents the number of point cloud frames that the laser radar 100 can output per second. The point cloud frame rate can reflect the data amount of the laser radar per unit time.

[0055] Figure 3A A schematic diagram of a local point cloud output by a laser radar 100 in operation is shown. Figure 3B A schematic diagram of a local point cloud output by another laser radar 100 in operation is shown. Figure 3A And Figure 3B The two-dimensional point cloud can be formed after the laser radar 100 detects part of the two-dimensional detection field of view. As shown in Figure 3A The first column of point clouds from the left in the point cloud is detected by the laser radar 100 through the i th channel to the i+5 th channel at the horizontal angle j, the second column of point clouds is detected by the laser radar 100 through the i th channel to the i+5 th channel at the horizontal angle j+1 after the laser radar 100 rotates by one detection angle or the reflector of the scanner deflects by one angle, the third column of point clouds is detected by the laser radar 100 through the i th channel to the i+5 th channel at the horizontal angle j+2 after the laser radar 100 rotates by one detection angle or the reflector of the scanner deflects by one angle again, and the sixth column of point clouds is detected by the laser radar 100 through the i th channel to the i+5 th channel at the horizontal angle j+5. In this way, based on the above point cloud and the vertical angle and the horizontal angle corresponding to the point cloud data, the laser radar 100 can accurately obtain the related information of the object, so that the laser radar 100 can accurately perceive the object in the surrounding environment. The first detection channel 131 and the second detection channel 132 can be any two detection channels in the i th channel to the i+5 th channel. The first detection channel 131 and the second detection channel 132 can have a larger physical interval or a larger detection angle interval, which is not limited by the present application.

[0056] In some scenarios, there can be no object at some detection angles, and the point cloud data corresponding to these detection angles is empty or is reflected as no point in the point cloud. For example, Figure 3BThe point cloud can also be obtained by the LiDAR 100 through channels i to i+5 at horizontal angles j to j+5. The point cloud can be obtained by the LiDAR 100 rotating continuously 5 times or by the scanner's reflective surface deflecting continuously 5 times. Since some detection angles may not contain objects, the point cloud data corresponding to these detection angles will be empty, or will be reflected as no points in the point cloud. For example, at horizontal angle j, if there is no object corresponding to the i+3rd channel, the point cloud will not contain any points corresponding to that detection angle. As another example, at horizontal angle j+5, if there are no objects corresponding to the i+3rd and i+4th channels, the point cloud will not contain any points corresponding to those detection angles.

[0057] In some embodiments, the multiple channels 130 of the lidar 100 can perform detection sequentially according to a certain time order. That is, the multiple channels 130 perform round-robin detection. The first detection channel 131 and the second detection channel 132 are used as examples for description. Figure 4 A timing diagram showing the operation of the first detection channel 131 and the second detection channel 132 is presented. Figure 4 As shown, the first detection channel 131 performs detection first, followed by the second detection channel 132. The process is as follows: The processor 140 can apply a high voltage to both ends of the first receiver 121 during the time interval t0 to t2, causing it to enter a photon-waiting state. The processor 140 can control the first laser 111 to emit a first optical signal into the corresponding detection field of view at time t1. Here, t0 can be earlier or later than t1. t2 can be earlier or later than t1. The goal is to ensure that the first receiver 121 can receive or detect the echo signal within the detection range of the first detection channel 131. For example... Figure 4 In the sequence, t0 is earlier than t1, and t2 is later than t1. After t2, the first receiver 121 can receive the echo signal reflected from the object. After a preset time of flight (TOF), the processor 140 can disconnect the high voltage across the first receiver 121 after t3. At this point, the first detection channel 131 has completed its detection.

[0058] Subsequently, processor 140 can apply high voltage to both ends of the second receiver 122 during the time interval t4 to t6, causing it to enter a photon-waiting state for testing. Processor 140 can control the second laser 112 to emit a second optical signal into the corresponding detection field of view at time t5. Here, t4 can be earlier than t5, or later than t5, as long as the second receiver 122 can receive or detect the echo signal within the measurement range of the second detection channel 122. For example... Figure 4In some embodiments, t4 is earlier than t5, and t6 is later than t5. After t6, the second receiver 122 receives the echo signal from the object reflection, and after the TOF, the processor 140 can turn off the high voltage across the second receiver 122 after t7. At this point, the second detection channel 132 is finished with the detection.

[0059] In some embodiments, the time required for the processor 140 to apply the voltage across the receiver 120 and turn off the voltage (e.g., the period from t0 to t1, the period from t2 to t3, the period from t4 to t5, and the period from t6 to t7) can be any value in the range from 150 ns to 250 ns. For example, the value can be 160 ns, 180 ns, 200 ns, 220 ns, 240 ns, etc.

[0060] In some embodiments, the processor 140 can turn on the control circuit of the first receiver 121 to enter the standby state during the period from t0 to t2. Alternatively, the processor 140 can turn on the control circuit of the first receiver 121 to enter the standby state at t0, at t1, or at t2.

[0061] In some embodiments, the preset time of flight (TOF) can be the time of flight of the laser required for the echo corresponding to the rated measurement distance of the lidar 100 to be received by the receiver 120. The rated measurement distance of the lidar 100, or the rated range of the lidar 100, can be the distance to the farthest object that the lidar 100 is expected to detect. For example, if the rated measurement distance of the lidar is 300 meters, 2 us is required for the laser to travel from the lidar 100 to the lidar 100 after being reflected by the object 300 meters away, i.e., the TOF is 2 us. In some embodiments, each detection channel 130 needs to wait for the TOF before stopping receiving the reflected light (echo signal) reflected by the object, to ensure that the object located at the maximum range can be detected. Objects beyond the rated measurement distance of the lidar cannot be detected by the lidar 100. Figure 4 The time intervals between t2 and t1, and between t6 and t5 in FIG. 1 can each be the TOF.

[0062] In some embodiments, the second detection channel 132 can start detecting immediately after the first detection channel 131 finishes detecting. That is, Figure 4 The time t3 and the time t4 in FIG. 1 can coincide.

[0063] This round-robin mechanism allows one or a few channels 130 to be probing at a time, reducing the number of channels probing in parallel. This helps to reduce the cross-talk between channels 130, thus improving the accuracy and reliability of the probing. However, as the number of laser radar 100 lines increases, the time required to complete a full round-robin of channels also increases. In addition, there are demands for the laser radar 100 to probe further distances, resolution, and field of view, etc. These all put higher demands on the time resources of the laser radar 100.

[0064] Therefore, the present specification provides a probing method that reduces the time required for the laser radar 100 to round-robin probe multiple channels 130 by allowing the probing time periods of multiple channels 130 to partially overlap, thus saving the time resources of the laser radar 100. On this basis, without changing the resolution or range of the laser radar 100, the frame rate or point frequency of the laser radar 100 can be improved; without changing the frame rate of the laser radar 100, the point frequency, resolution, or range of the laser radar 100 can be improved; or any two or more of the frame rate, point frequency, resolution, or range of the laser radar 100 can be simultaneously improved. The above-mentioned first probing channel 131 and second probing channel 132 are used as examples for detailed introduction, and the rest of the probing channels 130 of the laser radar 100 can also use the probing method.

[0065] Figure 5 A flowchart of a laser radar probing method P100 is shown. The probing method P100 can be executed by a processor 140. The processor 140 can process electrical signals. In some embodiments, the processor 140 can be integrated inside the laser radar 100. For example, the processor 140 is the main controller of the laser radar 100. In some embodiments, the processor 140 can be independent of the laser radar 100. For example, the processor 140 can be located in the domain controller of the vehicle, a server, etc. During the process of laser radar probing, the processor 140 can obtain the electrical signals output by the receiver 120. The processor 140 can be in communication connection with the receiver 120, which can be achieved through wired or wireless communication. In some embodiments, the processor 140 can control the laser 110 to emit light signals. For example, the processor 140 can output control signals to the driving circuit of the laser 110 to control the laser 110 to emit light signals. In some embodiments, the processor 140 can control the receiver 120 to receive the echo signals. For example, the processor 140 can output control signals to the control circuit of the receiver 120 to control the receiver to receive echo signals. The processor 140 can include a part that controls the laser 110, a part that controls the receiver 120, a part that processes signals, and other parts that make logical judgments.

[0066] Processor 140 may be in the form of one or more processors. In some embodiments, processor 140 may include one or more hardware processors, such as microcontrollers, microprocessors, reduced instruction set computers (RISC), application-specific integrated circuits (ASICs), application-specific instruction set processors (ASIPs), central processing units (CPUs), graphics processing units (GPUs), physical processing units (PPUs), microcontroller units, digital signal processors (DSPs), field-programmable gate arrays (FPGAs), advanced RISC machines (ARMs), programmable logic devices (PLDs), any circuitry or processor capable of performing one or more functions, etc., or any combination thereof. For illustrative purposes only, the LiDAR 100 described in this specification consists of one processor 140. However, it should be noted that the LiDAR 100 in this specification may also include multiple processors 140. Therefore, the operational and / or method steps disclosed in this specification may be performed by one processor 140 as described in this specification, or they may be performed jointly by multiple processors 140. For example, if processor 140 executes steps A and B in this specification, it should be understood that steps A and B may also be executed jointly or separately by two different processors 140 (e.g., the first processor executes step A and the second processor executes step B, or the first and second processors jointly execute steps A and B).

[0067] Storage medium 150 may include a data storage device. The data storage device may be a non-transitory storage medium or a temporary storage medium. For example, the data storage device may include one or more of a disk 151, a read-only storage medium (ROM) 153, or a random access storage medium (RAM) 157. Storage medium 150 also includes at least one instruction set stored in the data storage device. The at least one instruction set is used for detecting window damage. The instructions are computer program code, which may include programs, routines, objects, components, data structures, procedures, modules, etc., that execute the window damage detection method provided in this specification.

[0068] like Figure 5 As shown, the detection method P100 may include steps P110 to P130. The detection method P100 may be executed by the processor 140.

[0069] P110: At at least one detection angle, during the first detection period, at the first emission moment, control the first laser 111 to emit a first optical signal.

[0070] P130: During the second detection period, at the second emission moment, control the second laser 112 to emit a second optical signal.

[0071] The processor 140 can control the first laser 111 and the second laser 112 to emit optical signals respectively. The first emission time is earlier than the second emission time. The time difference between the first and second emission times is less than the first flight time corresponding to the first rated measurement distance of the first detection channel 131. That is, the first detection channel 131 detects before the second detection channel 132. There is a partial overlap between the detection times of the first detection channel 131 and the second detection channel 132.

[0072] Figure 6A A timing diagram is shown when the detection times of the first detection channel 131 and the second detection channel 132 overlap. Figure 6B A timing diagram showing the simultaneous application of operating voltage to the first detection channel 131 and the second detection channel 132 is shown.

[0073] like Figure 6A As shown, at the first emission moment t1', the first laser 111 emits the first optical signal. During the time period t0' to t2', the processor 140 can apply a high voltage across the first receiver 121, putting it into a photon-waiting state. At t2', the voltage across the first receiver 121 reaches its operating voltage, and the first receiver 121 can receive the echo signal reflected from the object. The duration t2' to t6' can be the first time-of-flight (TOF1) corresponding to the first rated measurement distance of the first detection channel 131. After t6', the high voltage across the first receiver 121 is disconnected. The detection by the first detection channel 131 ends.

[0074] The time difference between the first emission moment t1' and the second emission moment t4' is less than TOF1. Therefore, before the first detection channel 131 has finished detecting, that is, at the second emission moment t4' within the first detection period, the second laser 112 emits a second optical signal. During the time period t3' to t5', the processor 140 applies a high voltage to both ends of the second receiver 122, putting it into a photon-waiting state. At moment t5', the voltage across the second receiver 122 reaches the operating voltage, and the second receiver 122 can receive the echo signal reflected from the object. The duration of t5' to t7' can be the second time of flight (TOF2) corresponding to the second rated measurement distance of the second detection channel 132. After moment t7', the high voltage across the second receiver 122 is disconnected. The detection by the second detection channel 132 ends.

[0075] The detection period is defined as the voltage across receiver 120 reaching its operating voltage until the high voltage across it is disconnected. The first detection period is t2' to t6', and the second detection period is t5' to t7'. There is an overlap between the first and second detection periods—t5' to t6'.

[0076] For example, the detection time required for the first detection channel 131 is TOF1; the detection time required for the second detection channel 132 is TOF2. The detection time required for the two detection channels to detect sequentially is TOF1 + TOF2. Let the second detection channel 132... Probing begins at point t and continues until t7'. The required probing time for both channels at this point is... Saved The time. For example, let the second detection channel 132 be in The detection begins at point t and continues for two seconds (TOF2) to t7'. Therefore, the required detection time for both channels at this point is... Saved The time.

[0077] By activating the emission detection of the second detection channel 132 before the end of the first detection period (TOF1) of the first detection channel 131, an overlapping detection time exists between the two channels 130, saving the time of channel rotation detection. Each pair of channels within the lidar 100 can have a similar overlapping detection time as described above, thereby saving time resources for the lidar 100.

[0078] In some embodiments, the detection angle can be a horizontal angle. The vertical angles at which the first laser emits the first light signal and the second laser emits the second light signal are different. The horizontal angle can be the angle in the horizontal orientation described above. Therefore, the above-mentioned at least one detection angle can be at least one horizontal angle within the horizontal detection field of view of the lidar 100. This specification does not limit the number of the above-mentioned at least one horizontal angle. For example, the number of at least one horizontal angle can be 2, 3, 4, 5, 6, 8, etc. When the lidar 100 detects at multiple horizontal angles, it can perform detection at each horizontal angle. Figure 5 The detection method shown in the embodiment of Figure 6, or performed at one of two adjacent horizontal angles, can be used. Figure 5 - The detection method of the embodiment shown in Figure 6. The lidar 100 can detect two adjacent horizontal angles with a certain interval, which can be the horizontal angular resolution of the lidar. This specification does not limit the interval angle between two adjacent horizontal angles; for example, it can be 0.1 degrees, 0.15 degrees, 0.2 degrees, 0.4 degrees, or 0.5 degrees, etc. In some embodiments, the plurality of lasers 110 in the lidar 100 can be arranged sequentially along the vertical direction and correspond to different vertical azimuth angles (e.g., ...). Figure 2 Therefore, the vertical angle between the first laser emitting the first optical signal and the second laser emitting the second optical signal is different.

[0079] In some embodiments, the detection angle can be a vertical angle. The vertical angle can be an angle in the vertical direction as described above. The horizontal angle of the first laser emitting the first light signal is different from the horizontal angle of the second laser emitting the second light signal.

[0080] In some embodiments, the working voltage is applied to the first receiver 121 and the second receiver 122 simultaneously before the laser radar 100 detects through the first detection channel 131 and the second detection channel 132, so that the first receiver 121 and the second receiver 122 enter the detection standby state.

[0081] As shown in FIG. 7, the processor 140 can apply the working voltage to both the first receiver 121 and the second receiver 122 simultaneously in the period of t0'~t2'. The first receiver 121 and the second receiver 122 can enter the detection standby state at t2'. The processor 140 can unload the working voltage on the first receiver 121 at t4'. The processor can unload the working voltage on the second receiver 122 at t5'. Figure 6B

[0082] By switching the two channels 130 simultaneously, i.e., applying the working voltage to both the receivers 120 simultaneously, the control circuit and the control method of the receiver 120 can be simplified, and the time required for switching some detection channels 130 can be reduced, so that the time resource of the laser radar 100 can be further saved. The receivers 120 in the multiple channels 130 in the laser radar 100 can be applied in a similar manner as the two detection channels described above, so that the working voltage is applied to and unloaded from the receivers 120 in the multiple channels 130 simultaneously.

[0083] In some embodiments, the length of the first detection period can be greater than the first flight time TOF1. The first detection channel 131 can continue to detect in the second detection period. When the length of the first detection period is greater than the first flight time TOF1, it means that the first detection channel 131 continues to detect after TOF1. The first detection channel 131 continues to detect in the second detection period, which means that when the second detection channel 132 detects, the first detection channel 131 also detects.

[0084] The processor 140 can pre-set the total length T of the detection of the first detection channel and the second detection channel. Wherein, T<(TOF1+TOF2), to ensure that there is an overlapping time between the two detection channels. Figure 7A FIG. 6 shows another timing diagram when the detection time of the first detection channel 131 and the second detection channel 132 overlaps. Figure 7B FIG. 7 shows another timing diagram when the detection time of the first detection channel 131 and the second detection channel 132 overlaps. ​

[0085] The first detection channel 131 and the second detection channel 132 can terminate detection simultaneously. For example... Figure 6A to Figure 7B As shown, at the first emission moment t1', the first laser 111 emits the first optical signal. During the period t0' to t2', the processor 140 can simultaneously apply operating voltages to the terminals of the first receiver 121 and the second receiver 122. The first receiver 121 and the second receiver 122 can enter the detection state at moment t2'. The first detection channel 131 starts at moment t2', continues for the first time of flight (TOF1) to moment t4', and then continues to detect until moment t5', ending detection simultaneously with the second detection channel 132. The total detection period for the two channels is t2' to t5', T = t5' - t2'. Since the first detection period of the first detection channel 131 is t2' to t5', which is longer than the first time of flight (TOF1), the first detection channel 131 continues to detect after TOF1, and may receive object distance information beyond the first rated measurement distance. For example, the first rated measurement distance of the first detection channel 131 is 300m. Since the first detection channel 131 can receive the echo signal reflected back from an object located at 400m away, which is more than 300m away, the ranging range of the first detection channel 131 can be extended to 400m.

[0086] In some embodiments, the processor 140 can simultaneously unload the operating voltage on the first receiver 121 and the second receiver 122 so that the first detection channel 131 and the second detection channel 132 simultaneously terminate detection.

[0087] The first detection channel 131 and the second channel 132 may not terminate detection simultaneously. The first detection channel 131 can continuously detect for the entire duration T. The second detection channel 132 can begin detection at any time within the total detection period, provided that it maintains the detection duration of TOF2 and does not terminate detection later than the first detection channel 131. Figure 8As shown, at the first light emitting moment t1', the first laser 111 emits a first light signal. During the period of t0'~t2', the processor 140 can apply working voltage to both the first receiver 121 and the second receiver 122. The first receiver 121 and the second receiver 122 can enter the standby state at the moment of t2'. The first detection channel 131 starts to detect at the moment of t2' and continues to detect for the first flight time TOF1 until the moment of t4', and then stops detecting at the moment of t5'. The second detection channel 132 starts to detect at the second light emitting moment t2' and continues to detect for the second flight time TOF2 until the moment of t4', and then stops detecting. The total detection period of the two channels is t2'~t6', and the second detection channel 132 stops detecting earlier than the first detection channel 131. Since the first detection period of the first detection channel 131 is t2'~t6', which is greater than the first flight time TOF1. Therefore, the first detection channel 131 continues to detect after TOF1, and the first detection channel 131 can receive distance information of objects beyond the first rated measurement distance, and the ranging range of the first detection channel 131 can be expanded.

[0088] By making the first detection channel 131 continue to detect during the second detection period of the second detection channel 132, the first detection channel 131 can have a longer detection range without increasing the round-trip detection time, and information of objects farther away can be obtained, thereby improving the long-range detection capability of the lidar 100. Multiple channels in the lidar 100 can be similar to the two detection channels described above. The detection channel 130 that works first can continue to detect when the detection channel 130 that works later detects, thereby expanding the ranging range of the detection channel 130 that works first and improving the long-range detection capability of the lidar 100.

[0089] The lidar 100 can detect in groups of two detection channels 130, and the detection method of the first detection channel 131 and the second detection channel 132 described above can be used for detection.

[0090] In some embodiments, the lidar 100 further includes a third detection channel (CH3). The third detection channel can include a third laser and a third receiver. The third laser sends a third light signal when the third detection channel is running, and the third receiver receives a corresponding third echo signal. When the lidar 100 is working, the processor 140 can control the third laser to emit a third light signal at a third light emitting moment. The time difference between the third light emitting moment and the second light emitting moment is less than the second flight time corresponding to the second rated measurement distance of the second detection channel 132, thereby saving time resources of the lidar 100.

[0091] In some embodiments, working voltage is applied to the corresponding receiver 120 when each detection channel 130 starts to detect, so that the corresponding receiver 120 enters the standby state.

[0092] In some embodiments, the receivers of the first detection channel 131 and the second detection channel 132 can apply working voltage simultaneously. The detection method timing of the first detection channel 131 and the second detection channel 132 can be the same as or similar to any of the embodiments in Figure 8 The third detection channel can apply working voltage during the detection of the first detection channel 131 and the second detection channel 132.

[0093] Figure 8 A timing diagram showing that the detection time of the three detection channels 130 overlaps. In some embodiments, as Figure 5 shown, during the period of t0'~t2', the processor 140 can simultaneously apply working voltage across the first receiver 121, the second receiver 122 and the third receiver. The first receiver 121, the second receiver 122 and the third receiver can enter the detection standby state at the moment of t2'.

[0094] During the period of t2'~t4', the first detection channel 131 continuously detects. When the first detection channel 131 does not end detection, that is, at the second light emission moment t3' located in the first detection period (t2'~t4'), the second laser 112 emits a second light signal. During the period of t3'~t6', the second detection channel continuously detects. When the second detection channel 132 does not end detection, at the third light emission moment t5', the third laser emits a third light signal. Wherein, the first detection channel 131 detection end moment t4' can be located before the third light emission moment t5', or can be located after the third light emission moment t5'. For example, Figure 9A t4' in the above is located before the third light emission moment t5'.

[0095] When the laser radar 100 includes more detection channels 130, the detection channel 130 working later can start to emit light when the detection channel 130 working earlier does not end detection, thereby saving the time resources of the laser radar 100.

[0096] The laser radar 100 can detect in groups of three detection channels 130, referring to the above-mentioned first detection channel 131, the second detection channel 132 and the third detection channel. Further, the laser radar 100 can also detect in groups of four detection channels 130, in groups of five detection channels 130, etc., thereby better saving the time resources of the laser radar 100.

[0097] Continuing to refer to Figure 9B , the detection method P100 can further include:

[0098] P150: correcting the interfered data from the first detection channel 131 and obtained in the interfered time period to obtain corresponding corrected data. For the convenience of description, the first light emitting moment is denoted as t1 and the second light emitting moment is denoted as t2 hereinafter.

[0099] The first detection time period can include the interfered time period. The interfered time period includes the second light emitting moment. Specifically, when the second detection channel 132 emits the second light signal, the first detection channel 131 is still in the detection process, and thus the second light signal (laser) can be reflected by other devices (such as a light cover, a lens group, etc.) inside the lidar 100 to form stray light. The stray light can be received by the first receiver 121, which interferes with the normal detection of the first receiver 121.

[0100] In some embodiments, since the above interference is caused by the second light signal, the interfered time period can be considered as a time period within Δit after the second light emitting moment t2, denoted as [t2, t2+Δit]. Δit can be 50 ns to 100 ns. For example, the interfered time period can be [t2, t2+50 ns], [t2, t2+60 ns], [t2, t2+70 ns], [t2, t2+80 ns], [t2, t2+90 ns], etc.

[0101] Due to the above reasons, the echo signal obtained by the first detection channel 131 in the interfered time period is not reliable and cannot accurately reflect the information of the object. However, removing the echo information in the interfered time period will also cause a range gap in the echo information. Therefore, in some embodiments, the at least one detection angle includes a plurality of detection angles. The correcting the interfered data from the first detection channel and obtained in the interfered time period to obtain corresponding corrected data can include: for a current detection angle, based on a plurality of detection data measured by the first detection channel in a plurality of detection angles other than the current detection angle and corresponding to a distance in the interfered time period of the current detection angle, obtaining the corrected data. Figure 9A A timing diagram of two channels 130 under a plurality of detection angles is shown. Figure 9B Another timing diagram of two channels 130 under a plurality of detection angles is shown.

[0102] As described above, the plurality of detection angles can be vertical angles or horizontal angles, which will not be described again here. Since the angle difference between the detection angles is relatively small, and the echo obtained by detecting the same object at different detection angles is probably continuous, the detection results obtained by the same channel 130 at different detection angles have certain relevance. That is, the detection results at other detection angles are of reference significance to the detection results at the current detection angle. Among them, the detection data within the distance corresponding to the interference period of the current detection angle represents the detection results of the period corresponding to the same distance in the other channels that can be measured by the object at the distance of 250 meters from the laser radar. For example, the channel at the interference period of the current detection angle can obtain the detection result of whether there is an object at a distance of 250 meters from the laser radar by receiving the echo signal. Since the detection result of the interference period of the detection angle is not reliable, the processor 140 can correct the detection result of the current detection channel based on the detection result of the period that can detect whether there is an object at a distance of 250 meters from the laser radar at other detection angles.

[0103] The light emission time interval of the first detection channel 131 and the second detection channel 132 at different detection angles is usually determined, which may cause the interference period of the first detection channel 131 at different detection angles to be the same period. Figure 9A And Figure 9B The interference period of the first detection channel 131 at different detection angles is shown by the gray column. As Figure 9B When the second light emission time of the second detection channel 132 at angle j-1, angle j and angle j+1 is t2, the interference periods at the three detection angles are the same, and the detection data measured at the corresponding distances of the three detection angles are all unreliable. Therefore, for the detection data of any angle, the data of the other two detection angles cannot be used for correction.

[0104] To avoid the interference period always occurring at the same time, in some embodiments, the time difference between the first light-emitting time and the second light-emitting time can be different at different detection angles. For example, the processor 140 can fix the second light-emitting time at multiple detection angles as t2, and add a random jitter to the first light-emitting time, so that the first light-emitting time changes from t1 to t1 + At, where At can be any number. For example, At can be 150ns, 200ns, -100ns, -150ns, -200ns, and the like. For another example, the processor 140 can fix the first light-emitting time at multiple detection angles as t1, and add a random jitter to the second light-emitting time, so that the second light-emitting time changes from t2 to t2 + At. In this way, it can be ensured that the interference period of multiple detection channels does not always occur at the same time. For example Figures 1 to 9B At angle j-1, the second light-emitting time is t2, and the interference period is [t2, t2 + At]; at angle j, the second light-emitting time is t2 + |At|, and the interference period is [t2 + |At|, t2 + |At| + At]; at angle j+1, the second light-emitting time is t2 - |At|, and the interference period is [t2 - |At|, t2 - |At| + At].

[0105] As mentioned earlier, since the angle difference between the detection angles is relatively small, and the echoes obtained by different detection angles for the same object are probably continuous. Therefore, when the receivers 120 of the current and next two detection angles both receive echo signals, it is probably that there is an object in the detection field of view of the current detection angle. When the receivers 120 of the current and next two detection angles do not receive echo signals, it is probably that there is no object in the detection field of view of the current detection angle. When only one of the receivers 120 of the current and next two detection angles receives an echo signal, the processor 140 can determine that there is no object in the detection field of view of the current detection angle to reduce noise. Therefore, in some embodiments, for the multiple detection data measured by the first detection channel 131 at multiple detection angles other than the current detection angle within the distance corresponding to the interference period of the current detection angle, obtaining the correction data can include: for the current detection angle, based on two detection data measured by the first detection channel within the distance corresponding to the interference period of the current detection angle at the adjacent two detection angles of the current detection channel, obtaining the correction data.

[0106] For example ​In some embodiments, the processor 140 can determine whether there is an object in the corresponding distance of the disturbed time period at the angle j by referring to the detection results of the first receiver 121 at the angle j-1 and the angle j+1. The detection results of the first receiver 121 at the angle j-1 and the angle j+1 can be the detection data measured within the corresponding distance of the time period [t2+Δt, t2+Δt+Δit] at the angle j-1 and the angle j+1, respectively.

[0107] When the first receiver 121 receives the first echo signal within the time period [t2+Δt, t2+Δt+Δit] at the angle j-1 and the angle j+1, the processor 140 can determine that there is an object in the corresponding distance of the disturbed time period at the angle j. When the first receiver 121 does not receive the first echo signal within the time period [t2+Δt, t2+Δt+Δit] at the angle j-1 and the angle j+1, the processor 140 can determine that there is no object in the corresponding distance of the disturbed time period at the angle j.

[0108] In some embodiments, the correction data can be obtained by at least one of interpolation, weighted summation, averaging, or pooling of the plurality of detection data. For example, the correction data within the time period [t2+Δt, t2+Δt+Δit] at the angle j can be the average of the corresponding detection data within the time period [t2+Δt, t2+Δt+Δit] at the angle j-1 and the angle j+1.

[0109] The present specification also provides a laser radar 100. The laser radar 100 comprises a first detection channel 131, a second detection channel 132, at least one storage medium 150, and at least one processor 140. The first detection channel 131 is configured to operate such that the first laser 111 transmits a first light signal and the first receiver 121 receives a corresponding first echo signal. The second detection channel 132 is configured to operate such that the second laser 112 transmits a second light signal and the second receiver 122 receives a corresponding second echo signal. The at least one storage medium 150 stores at least one instruction set for the laser radar 100 to perform detection. The at least one processor 140 is communicatively connected to the at least one storage medium 150. When the at least one processor 140 operates, the at least one processor 140 reads the at least one instruction set and implements the laser radar detection method P100 described above. The laser radar 100 can be the laser radar corresponding to the above-mentioned embodiments. ​ The embodiments correspond to the laser radar.

[0110] Another aspect of the present specification provides a computer-readable non-transitory storage medium storing at least one set of executable instructions for performing the laser radar detection. When the executable instructions are executed by a processor, the executable instructions direct the processor to implement the steps of the laser radar detection method P100 described in the present specification. In some possible implementation manners, various aspects of the present specification can also be implemented in the form of a program product including program codes. When the program product is run on the processor 140, the program codes are used to make the processor 140 execute the steps of the laser radar detection method P100 described in the present specification. The program product for implementing the above method can include the program codes in a portable compact disc read-only memory (CD-ROM) and can be run on the processor 140. However, the program product of the present specification is not limited to this, and in the present specification, the readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system. The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, be but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any appropriate combination of the above. More specific examples of the readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any appropriate combination of the above. The computer-readable storage medium can include a data signal propagating in a baseband or as a carrier wave in a propagated data signal, in which the readable program codes are borne. Such a propagated data signal can take on multiple forms, including but not limited to an electromagnetic signal, an optical signal, or any appropriate combination of the above. The readable storage medium can also be any readable medium that is not a storage medium and that can transmit, propagate or transport the program for use by or in connection with an instruction execution system, apparatus or device. The program codes contained in the readable storage medium can be transmitted in any appropriate medium, including but not limited to wireless, wired, optical, RF, and the like, or any appropriate combination of the above. The program codes for performing the operations of the present specification can be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, C++, and the like, and a conventional procedural programming language such as the "C" language or the like.

[0111] The above described specific embodiments of the application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still accomplish desirable results. Additionally, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order to achieve desirable results. In certain implementations, multitasking and parallel processing can be advantageous.

[0112] In light of the above, those skilled in the art will appreciate that the foregoing detailed disclosure is presented for purposes of illustration only and not limitation. Although the present application has been described in detail with regard to particular embodiments, those skilled in the art will understand that various changes can be made and equivalents can be substituted for elements thereof without departing from the scope of the present application. It is therefore intended that the present application will not be limited to the particular embodiments described herein, but that the application will include all embodiments falling within the spirit and scope of the appended claims.

[0113] In addition, certain terminology has been used for the purpose of reference only. For example, "one embodiment", "an embodiment" and / or "some embodiments" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, use of such terminology indicates that a particular feature, structure or characteristic is included as an optional aspect of an

[0114] It will be appreciated that, in the foregoing description of embodiments of the application, various features are described as being combined in a single embodiment, drawn together in a single figure, or described in a single or common paragraph. Such depiction, however, is merely for the purpose of convenience and is not intended to limit the application in any way. Indeed, instances can occur where, for example, some features of one embodiment are combined with features of an alternative embodiment. It is therefore intended that the present application embrace all such alternatives, modifications and variations of the various embodiments that have been presented for a purpose of description. It is intended that the description contained in this application sufficiently enable anyone skilled in the art to practice the application without unnecessary experimentation, and to make and use variations thereof, and it is intended that all such variations not be parts of the present application with specifics disclosed elsewhere in this application.

[0115] Each patent, patent application, publication of a patent application, and other material, for example articles, books, specifications, publications, documents, things, and / or the like which can be cited in this document is / are hereby incorporated by reference in their entirety for all purposes to the same extent as if each were specifically and individually indicated to be incorporated by reference herein. Furthermore, articles "a", "an", and "the" as used in this document are to be construed to mean "one or more" or "at least one" unless specified otherwise or clear from context to be directed to only one. Also, terms like "first" and / or "second" are used merely as labels, and are not intended to impose numerical requirements on their objects.

[0116] Finally, it should be understood that the embodiments of the application disclosed herein are illustrative of the principles of the present application. Other modifications that fall within the scope of the application can also be made. Thus, the embodiments disclosed in this application are merely exemplary and not limiting of the scope of the application. Those skilled in the art can adopt alternative configurations to implement the application disclosed in this application without departing from the scope of the application. Accordingly, the embodiments disclosed in this application are not limited to that precisely as shown or described.

Claims

1. A method of laser radar detection, characterized by, The laser radar comprises at least a first detection channel and a second detection channel; when the first detection channel is running, a first laser emits a first optical signal, and a first receiver receives a corresponding first echo signal; When the second detection channel is running, a second laser emits a second optical signal, and a second receiver receives a corresponding second echo signal; The detection method comprises: In a first detection period, at a first light-emitting time, the first laser is controlled to emit the first optical signal; and In a second detection period, at a second light-emitting time, the second laser is controlled to emit the second optical signal, wherein The first light-emitting time is earlier than the second light-emitting time, and the time difference between the first light-emitting time and the second light-emitting time is less than a first flight time corresponding to a first rated measurement distance of the first detection channel.

2. The method of claim 1, wherein The detection angle is a horizontal angle, and the vertical angle at which the first laser emits the first optical signal is different from the vertical angle at which the second laser emits the second optical signal.

3. The method of claim 1 or 2, wherein Before the laser radar performs detection through the first detection channel and the second detection channel, a working voltage is simultaneously applied to the first receiver and the second receiver, so that the first receiver and the second receiver enter a detection-ready state.

4. The method of claim 3, wherein The length of the first detection period is greater than the first flight time; and The first detection channel continues to perform detection in the second detection period. Further comprising 5. The method according to claim 1 or 2, characterized in that, Interference data obtained from the first detection channel in an interference period is corrected to obtain corresponding corrected data, wherein The first detection period comprises the interference period, The interference period comprises the second light-emitting time.

6. The method of claim 5, wherein At different detection angles, the time difference between the first light-emitting time and the second light-emitting time is different. The at least one detection angle comprises a plurality of detection angles, and the correcting of the interference data obtained from the first detection channel in the interference period comprises, for a current detection angle, 7. The method of claim 5, wherein, Based on a plurality of detection data measured by the first detection channel at a plurality of detection angles other than the current detection angle and within a distance corresponding to the interference period of the current detection angle, the corrected data is obtained. For the obtaining of the corrected data based on the plurality of detection data measured by the first detection channel at the plurality of detection angles other than the current detection angle and within the distance corresponding to the interference period of the current detection angle, for the current detection angle, 8. The method of claim 7, wherein, Based on two detection data measured by the first detection channel at two adjacent detection angles of the current detection channel and within a distance corresponding to the interference period of the current detection angle, the corrected data is obtained. ​ 9. The method of claim 7, wherein, The obtaining the correction data based on the plurality of probe data measured by the first probe channel at a plurality of probe angles other than the current probe angle within a distance corresponding to the interference period of the current probe angle includes: at least one of interpolation, weighted summation, averaging, or pooling of the plurality of probe data to obtain the correction data.

10. A lidar, comprising: at least comprising: a first probe channel, when the first probe channel is running, a first laser transmits a first optical signal, and a first receiver receives a corresponding first echo signal; a second probe channel, when the second probe channel is running, a second laser transmits a second optical signal, and a second receiver receives a corresponding second echo signal; at least one storage medium storing at least one instruction set for the laser radar to perform detection; and at least one processor in communication connection with the at least one storage medium, wherein the at least one processor reads the at least one instruction set and implements the method of laser radar detection according to any one of claims 1-9 when running.

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