Method and device for controlling laser radar and electronic equipment

Abstract

The invention discloses a method for controlling a laser radar, the laser radar comprises a laser emission array and a laser receiving array, the method comprises the steps that in a measurement period, at least one emission block to be started in the current measurement period is determined from the laser emission array, and the emission array comprises a plurality of emission blocks; each transmitting block comprises a plurality of transmitting units; controlling at least one emitting block to emit a laser beam according to a preset rule; and controlling a receiving block of the laser receiving array corresponding to at least one transmitting block to receive laser echoes, wherein the laser echoes refer to echoes obtained after the laser beams are reflected by the target object. The optical crosstalk can be reduced while the frame rate is ensured, and the measurement flexibility and the accuracy of the measurement result are improved.

Description

[0001] This application is a divisional application. The original application has the application number 202211396263.X and the application date is November 7, 2022. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the field of laser detection technology, and in particular to a method, apparatus and electronic device for controlling a lidar. Background Technology

[0003] LiDAR can directly perform rapid and high-precision imaging of three-dimensional space, thus becoming one of the main sensors in current autonomous driving technology. Currently, the development of LiDAR mainly focuses on improving ranging capabilities and increasing point cloud density. How to improve ranging performance and increase the density of the detected point cloud has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a method, apparatus, and electronic device for controlling a radar. By controlling the scanning mode of the lidar, optical crosstalk can be reduced while ensuring the frame rate, thereby improving the flexibility of measurement and the accuracy of measurement results.

[0005] Increasing the number of concurrent transmitting units in a lidar system improves its detection efficiency.

[0006] The technical solution is as follows: In a first aspect, a method for controlling a lidar is provided, the lidar comprising a laser emitting array and a laser receiving array, the method comprising: Within a measurement cycle, at least one emitting block to be activated in the current measurement cycle is determined from the laser emitting array, the emitting array comprising multiple emitting blocks; each emitting block comprising multiple emitting units; Control the emitting block to emit a laser beam; The receiving block of the laser receiving array corresponding to the transmitting block is controlled to receive the laser echo, which refers to the echo after the laser beam is reflected by the target object; the receiving block includes multiple receiving units.

[0007] As an example of this application, the method further includes: When the emitter blocks to be activated in the current cycle include at least two emitter blocks, the at least two emitter blocks satisfy the optical non-crosstalk condition in their physical positions; The at least two transmitting blocks are controlled to emit laser beams in a time-division manner based on a preset rule.

[0008] As another example of this application, controlling at least one of the emitting blocks to emit a laser beam includes: Control at least one of the plurality of transmitting units in the transmitting block to simultaneously emit detection lasers.

[0009] As another example of this application, before controlling the at least one emitting block to emit a laser beam, the method further includes: The number of times the at least one transmitter block is activated during the current measurement period is obtained; The control of the at least one emitting block to emit a laser beam includes: The at least one transmitting block is controlled to emit a laser beam according to a preset rule and the number of times it is turned on.

[0010] As another example of this application, controlling the at least one emitting block to emit a laser beam according to a preset rule and the number of times it is turned on includes: Obtain the time-coded sequence corresponding to the at least one transmitting block, and emit a laser beam according to the time-coded sequence corresponding to the at least one transmitting block and the number of times it is turned on.

[0011] As another example of this application, controlling the at least two emitting blocks to emit laser beams in a time-division manner based on preset rules includes: According to the time encoding sequence corresponding to the kth emission of the at least two emission blocks, the emission block that emits the kth emission is controlled to emit the laser beam at the corresponding time, where k is an integer greater than or equal to 1; After the first preset time threshold, the laser beam is emitted by the emitter block at the corresponding time according to the time encoding sequence corresponding to the emitter unit of the (k+1)th emission.

[0012] As another example of this application, the method for determining the time-coded sequence corresponding to any one of the at least two transmit blocks includes: Based on the first preset sequence, a series of pseudo-random sequences are generated through a linear feedback shift register to obtain multiple pseudo-random sequences; Determine the autocorrelation function of each pseudo-random sequence among the plurality of pseudo-random sequences; Based on the autocorrelation function, select pseudo-random sequences from the plurality of pseudo-random sequences whose autocorrelation coefficients are less than a first specified threshold; Select one pseudo-random sequence from at least one selected pseudo-random sequence as the time-coded sequence corresponding to any one of the transmit blocks.

[0013] As another example of this application, each transmitting block includes multiple transmitting units that simultaneously emit probe lasers.

[0014] As another example of this application, the number of transmitting units corresponding to each transmitting block is less than or equal to the number of receiving units corresponding to each receiving block.

[0015] As another example of this application, before the receiving block of the laser receiving array corresponding to the transmitting block receives the laser echo, the method further includes: Obtain the receiving unit group corresponding to each transmitting block; wherein the receiving unit group includes N receiving unit blocks, where N is a positive integer greater than 1; After the receiving block of the laser receiving array corresponding to the transmitting block receives the echo laser, the method further includes: The echo data received by the receiving unit group are fused to obtain a fusion result; The distance to the target object is determined based on the fusion result.

[0016] As another example of this application, the physical positional relationship of the at least two transmitting blocks is determined based on the power, field of view, and detection distance of each of the at least two transmitting blocks.

[0017] Secondly, a device for controlling a lidar is provided, the lidar comprising a laser emitting array and a laser receiving array, the device comprising: A determination module is configured to determine, within a measurement cycle, at least one emitting block to be activated from the laser emitting array, the emitting array comprising multiple emitting blocks; each emitting block comprising multiple emitting units; The first control module is used to control the emitting block to emit a laser beam; The second control module is used to control the receiving block of the laser receiving array corresponding to the transmitting block to receive the laser echo, wherein the laser echo refers to the echo after the laser beam is reflected by the target object; the receiving block includes multiple receiving units.

[0018] Thirdly, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as described in any of the first aspects.

[0019] Fourthly, a computer-readable storage medium is provided, wherein instructions are stored thereon, which, when executed by a processor, implement the method as described in any of the first aspects.

[0020] Fifthly, a computer program product containing instructions is provided that, when run on a computer, causes the computer to perform the method as described in any of the first aspects.

[0021] The beneficial effects of the technical solutions provided in this application are: Within a measurement cycle, at least one emitting block to be activated in the current measurement cycle is determined from the laser emitting array, which includes multiple emitting blocks; each emitting block includes multiple emitting units; the emitting blocks are controlled to emit laser beams; the receiving blocks of the laser receiving array corresponding to the emitting blocks are controlled to receive laser echoes, where the laser echo refers to the echo after the laser beam is reflected by a target object; each receiving block includes multiple receiving units. Thus, within a measurement cycle, multiple emitting units in at least one emitting block emit laser beams, while the corresponding receiving blocks receive laser echoes. By reducing the distance between concurrent emitting units, the range of transmission crosstalk is reduced, thereby achieving both frame rate maintenance and reduced optical crosstalk, ensuring flexibility in transmission control. In other words, the method provided in this application can simultaneously address the optical crosstalk and frame rate issues of array-type lidar, thereby accurately determining the measurement results. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram illustrating a laser emitting array and a laser receiving array according to an exemplary embodiment; Figure 2 This is a flowchart illustrating a method for controlling a lidar according to an exemplary embodiment; Figure 3 This is a layout diagram of three types of emitter blocks according to an exemplary embodiment; Figure 4 This is a layout diagram of a transmitting block and a corresponding receiving block according to an exemplary embodiment; Figure 5 This is a flowchart illustrating a method for controlling a lidar according to an exemplary embodiment; Figure 6 This is a schematic diagram illustrating a laser emitting array and a laser receiving array according to another exemplary embodiment; Figure 7 This is a schematic diagram illustrating the emission pattern of a laser beam according to an exemplary embodiment; Figure 8 This is a flowchart illustrating a method for controlling a lidar according to another exemplary embodiment; Figure 9 This is a schematic diagram illustrating a laser emitting array and a laser receiving array according to another exemplary embodiment; Figure 10 This is a schematic diagram illustrating a laser emitting array and a laser receiving array according to another exemplary embodiment; Figure 11 This is a schematic diagram illustrating a laser emitting array and a laser receiving array according to another exemplary embodiment; Figure 12 This is a schematic diagram illustrating a laser emitting array and a laser receiving array according to another exemplary embodiment; Figure 13 This is a schematic diagram of a laser emitting array according to another exemplary embodiment; Figure 14 This is a schematic diagram of a device for controlling a lidar according to an exemplary embodiment; Figure 15 This is a schematic diagram of the structure of an electronic device according to an exemplary embodiment. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0025] It should be understood that "multiple" as mentioned in this application refers to two or more. In the description of this application, unless otherwise stated, " / " indicates "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, to facilitate a clear description of the technical solutions of this application, the terms "first," "second," etc., are used to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or execution order, and that "first," "second," etc., do not necessarily imply differences.

[0026] First, the execution subject involved in the embodiments of this application will be introduced. The method provided in the embodiments of this application can be executed by an electronic device, which can be configured within or connected to an array-type lidar. That is, the lidar includes a laser emitting array and a laser receiving array. For example, please refer to... Figure 1 , Figure 1 This is a schematic diagram of an array according to an exemplary embodiment, wherein, Figure 1 Figure (a) in the diagram is a schematic diagram of a laser emitting array. Figure 1Figure (b) in the diagram is a schematic diagram of a laser receiving array. Among them, as shown in Figure (b)... Figure 1 As shown in (a), the laser emitting array includes multiple emitting blocks, and each emitting block includes multiple emitting units. This application does not limit the number of emitting blocks in the emitting array or the number of emitting units included in each emitting block. Figure 1 As shown in (b) of the diagram, the laser receiving array includes multiple receiving blocks, and each receiving block includes multiple receiving units. This application does not limit the number of receiving blocks in the receiving array or the number of receiving units in each receiving block.

[0027] In one instance, the electronic device may be a terminal device such as a mobile phone, laptop, tablet, or mobile phone, a processor, or it may be an in-vehicle device; this application embodiment does not limit this.

[0028] Based on the electronic device described above, the method provided in the embodiments of this application will now be described in detail. Please refer to... Figure 2 , Figure 2 This is a flowchart illustrating a method for controlling a lidar according to an exemplary embodiment. It is provided as an example and not as a limitation. The method, applied to the aforementioned electronic device, may include the following steps: Step 201: Within a measurement cycle, determine at least one emitting block to be activated within the current measurement cycle from the laser emitting array, the emitting array comprising multiple emitting blocks; each emitting block comprising multiple emitting units; The measurement cycle can be set according to actual needs.

[0029] It is understood that the transmitting units included in each transmitting block can be arranged regularly or irregularly; this application does not impose any restrictions. Specific arrangement forms are as follows: Figure 3 As shown in (a), 3(b), and 3(c), this application does not limit the specific arrangement of the emission units in each emission block. It can be understood that 3(b) is a preferred arrangement of emission units, which can increase the distance between any two light-emitting holes within a limited area, thereby improving the yield of VCSEL manufacturing process.

[0030] In applications, electronic devices control the laser emitting array of a lidar to periodically emit laser beams. As an example of this application, it is necessary to determine which one or more emitting blocks to be activated, that is, to determine the emitting groups to be activated within the current measurement cycle from the laser emitting array. In this embodiment, the order and position of the emitting blocks to be activated in each measurement cycle are not limited.

[0031] As an example of this application, different emitting blocks can be controlled to emit lasers within different measurement periods, starting from the middle laser emitting row or column, for example, reference... Figure 1 First, control the different emitting blocks in the fourth row or column to emit laser beams within different measurement cycles. After the fourth row or column finishes emitting, control the different emitting blocks in the fifth row or column to emit laser beams within different cycles, and then control the different emitting blocks in the third row or column to emit laser beams within different cycles. Continue this process, gradually scanning from the middle area outwards until the last row or column finishes emitting. Afterwards, you can return to control the different emitting blocks in the fourth row or column to emit laser beams within different measurement cycles, and repeat this control process.

[0032] As an example of this application, different emitting blocks can be controlled to emit lasers in different measurement cycles, starting from the first row or column of laser emission. For example, please refer to... Figure 1 First, control the different emission groups in the first row or column to emit laser beams within different measurement cycles. After the first row or column finishes emitting, control the different emission groups in the second row or column to emit laser beams within different measurement cycles, and so on, until the emission groups in the last row or column finish emitting. Afterward, you can return to control the different emission groups in the first row or column to emit laser beams within different measurement cycles, and repeat the control process.

[0033] Step 202: Control at least one of the transmitting blocks to emit laser beams according to a preset rule; It can be understood that controlling at least one of the transmitting blocks to emit laser beams according to a preset rule can be controlled to simultaneously emit detection lasers from the multiple transmitting units in at least one of the transmitting blocks.

[0034] It is understood that the laser beam can be emitted by simultaneously illuminating all the emitting units within the emitting block. Alternatively, the emitting units within the emitting block can be illuminated in a time-division manner until all the emitting units in the emitting block are illuminated. Alternatively, the laser beam can be emitted by illuminating only a portion of the emitting units at a time. This application does not limit the number, form, or number of times the emitting units in each emitting block are illuminated in each measurement cycle.

[0035] Step 203: Control the receiving block of the laser receiving array corresponding to the transmitting block to receive the laser echo, wherein the laser echo refers to the echo after the laser beam is reflected by the target object. It can be understood that the transmitting block corresponds to N receiving blocks of the receiving array; N is a positive integer greater than or equal to 1. It can also be understood that when N is 1, the correspondence between each transmitting block of the transmitting array and each receiving block of the receiving array is one-to-one; when N is a positive integer greater than 1, the correspondence between each transmitting block of the transmitting array and each receiving block of the receiving array is one-to-many.

[0036] It can be understood that the control of the receiving block of the laser receiving array corresponding to the transmitting block to receive the laser echo includes: Obtain the N receiver blocks corresponding to each transmitter block; Control the N receiving blocks to receive laser echoes.

[0037] It is understood that, due to the shift in the mapping position between the transmitting block and the receiving block as the distance to the target object changes, this embodiment of the application determines the target receiving unit block based on the offset in the mapping position when controlling the transmitting block to transmit signals. When the target receiving unit block comprises multiple blocks, it can better cover the mapping offset at all distances, ensuring that echo data can be received.

[0038] Alternatively, each transmitter block can also correspond to the entire receiver array.

[0039] The number of receiving blocks corresponding to each transmitting block is determined by the detection distance requirement set by the lidar, the transmitting field of view of each transmitting block, the receiving field of view of the receiving block, and the physical distance between the transmitting array and the receiving array.

[0040] Alternatively, each receiving block may include M receiving units, where M is a positive integer greater than or equal to 1.

[0041] It is understood that the receiving field of view for each receiving block must be greater than or equal to the transmitting field of view for each transmitting block.

[0042] It is understood that, as an optional embodiment, when the transmission field of view corresponding to the transmitting block is smaller than the reception field of view corresponding to the receiving block, an optical adjustment unit can be set in front of the transmitting block to adjust the field of view of the transmitting block, thereby making the transmission field of view of the transmitting block and the reception field of view of the receiving block as equal as possible, thus making better use of the reception field of view of the receiving block. As an optional embodiment, such as... Figure 4The number of transmitting units in the transmitting block can be set to be less than the number of receiving units in the receiving block. The overall emitted light spot of the transmitting unit can be adjusted by the optical adjustment unit, thereby reducing the complexity of the transmitting block and the cost of the transmitting device, while ensuring the receiving efficiency of the receiving block and the frame rate as much as possible.

[0043] As an optional approach, after controlling the receiving blocks of the laser receiving array corresponding to the transmitting block to receive the echo laser, the method further includes: fusing the echo data received by the N receiving blocks to obtain a fusion result; and determining the detection information of the target object based on the fusion result. It can be understood that this detection information includes information such as the target object's distance, size, speed, and reflectivity.

[0044] As an optional approach, before controlling at least one of the transmitting blocks to emit a laser beam according to a preset rule, the method further includes: obtaining the number of times the at least one transmitting block is turned on during the current measurement period; controlling the at least one transmitting block to emit a laser beam according to the preset rule includes: controlling the at least one transmitting block to emit a laser beam according to the number of times it is turned on.

[0045] As an alternative approach, before controlling at least one of the transmitting blocks to emit a laser beam according to a preset rule, the method further includes: acquiring the emission power of at least one of the transmitting blocks during the current measurement period, and controlling at least one of the transmitting blocks to emit a laser beam based on the emission power.

[0046] As an optional approach, before controlling at least one of the transmitting blocks to emit a laser beam according to a preset rule, the method further includes: acquiring a time-coded sequence of at least one of the transmitting blocks; the control of at least one of the transmitting blocks to emit a laser beam according to the preset rule includes: controlling at least one of the transmitting blocks to emit a laser beam according to the time-coded sequence.

[0047] It is understood that controlling at least one of the transmitting blocks to emit a laser beam according to a preset rule further includes: obtaining a time-coded sequence corresponding to the at least one transmitting block, and emitting a laser beam according to the time-coded sequence corresponding to the at least one transmitting block and the number of times it is turned on.

[0048] It can be understood that the preset rules can also be a combination of the above optional methods, and this application does not limit them.

[0049] It is understood that the time-coded sequence corresponding to each emission block in the laser emission array can be predetermined. As an example of this application, the method for determining the time-coded sequence corresponding to any emission block in the emission group includes: generating a series of pseudo-random sequences based on a first preset sequence using a linear feedback shift register to obtain multiple pseudo-random sequences; determining the autocorrelation function of each pseudo-random sequence; and, based on the autocorrelation function, selecting pseudo-random sequences from the multiple pseudo-random sequences whose autocorrelation coefficient is less than a first specified threshold; and selecting one pseudo-random sequence from the selected at least one pseudo-random sequence as the time-coded sequence corresponding to that arbitrary emission block.

[0050] The first preset sequence can be set according to actual needs. It can be understood as a sequence seed used to generate a series of pseudo-random sequences. In one example, different emission units correspond to different first preset sequences.

[0051] The first specified threshold can be set according to actual needs.

[0052] In implementation, a first preset sequence can be input into a linear feedback shift register, and a series of pseudo-random sequences can be output from the linear feedback shift register to obtain multiple pseudo-random sequences. For any pseudo-random sequence among the multiple pseudo-random sequences, if the pseudo-random sequence has a high correlation with itself, then when the pseudo-random sequence is subsequently selected as the time coding sequence of the transmitting unit, the laser beam emitted by the transmitting block is likely to interfere with the laser beam emitted by itself in the next time. Therefore, the autocorrelation function of each pseudo-random sequence among the multiple pseudo-random sequences can be determined so as to select the pseudo-random sequence with less interference based on the autocorrelation function. In implementation, the autocorrelation function of each pseudo-random sequence can be determined by the following formula (1): (1) in, It is the autocorrelation function. Let i represent the i-th pseudo-random sequence. This is the preset time offset.

[0053] Next, a pseudo-random sequence with an autocorrelation coefficient as small as possible (e.g., less than the energy threshold) outside the main lobe of the autocorrelation function is selected. This selected pseudo-random sequence is one with an autocorrelation coefficient less than a first specified threshold. In one example, the electronic device randomly selects one pseudo-random sequence from at least one selected pseudo-random sequence as the time-coded sequence corresponding to the transmitting unit in the transmitting group. For example, after the above processing, the time-coded sequence of a certain transmitting unit is determined to be {0.1, 0.4, 0.2, 0.25, ...}. In this way, the time-coded sequence corresponding to each transmitting block in the laser transmitting array can be determined.

[0054] Based on the electronic device described above, the method provided in the embodiments of this application will now be described in detail. Please refer to... Figure 5 , Figure 5 This is a flowchart illustrating a method for controlling a lidar according to an exemplary embodiment. It is provided as an example and not as a limitation. The method, applied to the aforementioned electronic device, may include the following steps: Step 501: Within a measurement cycle, determine the emission blocks to be activated from the laser emission array within the current measurement cycle. When the current cycle includes at least two emission blocks to be activated, the at least two emission blocks satisfy the optical non-crosstalk condition in their physical positions.

[0055] The measurement cycle can be set according to actual needs.

[0056] Optical non-crosstalk means that there is almost no interference between multiple laser beams emitted by at least two emitters. This can be understood as multiple laser beams emitted by at least two emitters hardly overlapping or not overlapping at all. In other words, the overlap rate is almost zero, or there is no situation where laser beams overlap.

[0057] In applications, electronic devices control the laser emitting array of a lidar to periodically emit laser beams. As an example of this application, the emitting blocks can be controlled to emit in groups within each measurement cycle. For this purpose, it is necessary to determine which one or more emitting blocks to be activated, that is, to determine the emitting groups to be activated in the current measurement cycle from the laser emitting array. In this application embodiment, the order and position of the emitting groups to be activated are not limited.

[0058] As an example of this application, different emission groups can be controlled to emit lasers within different measurement periods, starting from the middle laser emission row or column, for example, referencing... Figure 1 First, control the different emission groups in the fourth row or column to emit laser beams within different measurement cycles. After the fourth row or column finishes emitting, control the different emission groups in the fifth row or column to emit laser beams within different cycles, and then control the different emission groups in the third row or column to emit laser beams within different cycles. Continue this process, gradually scanning from the middle area outwards until the emission groups in the last row or column finish emitting. Afterwards, you can return to control the different emission groups in the fourth row or column to emit laser beams within different measurement cycles, and repeat this control process.

[0059] As an example of this application, different emission groups can be controlled to emit lasers in different measurement periods, starting from the first row or column of laser emission. For example, please refer to... Figure 1First, control the different emission groups in the first row or column to emit laser beams within different measurement cycles. After the first row or column finishes emitting, control the different emission groups in the second row or column to emit laser beams within different measurement cycles, and so on, until the emission groups in the last row or column finish emitting. Afterward, you can return to control the different emission groups in the first row or column to emit laser beams within different measurement cycles, and repeat the control process.

[0060] In this way, the transmission group to be activated in each measurement cycle can be determined based on the sequential control order of the above rows. The number of transmission blocks included in the transmission group can be set according to requirements.

[0061] In one example, the emitter group includes two emitter blocks, such as a first emitter block and a second emitter block. This means that two emitter blocks to be activated are determined within one measurement cycle. For example, please refer to... Figure 1 During the first measurement cycle, the determined emission group includes emission blocks A0 and A6. During the second measurement cycle, the determined emission group includes emission blocks A1 and A7. During the third measurement cycle, the determined emission group includes emission blocks A2 and A8. During the fourth measurement cycle, the determined emission group includes emission blocks A3 and A9. During the fifth measurement cycle, the determined emission group includes emission blocks A4 and A10. During the sixth measurement cycle, the determined emission group includes emission blocks A5 and A11. And so on, as shown in Table 1.

[0062] Table 1

[0063] It should be noted that the above description uses an example of a launch group containing two launch blocks. In another embodiment, a launch group may also include three or more launch blocks, and this application does not limit this.

[0064] It should be noted that each transmitter block may include multiple transmitter units, as described in the above embodiments.

[0065] It should also be noted that the physical positional relationship between at least two transmitter blocks is determined based on the power, field of view, and detection distance of each of the at least two transmitter blocks.

[0066] Because laser beams from adjacent or closely spaced emitter blocks can interfere with each other, increasing the number of concurrent emitters requires ensuring that optical crosstalk does not occur between the multiple concurrent emitter units. For example, taking an emitter group comprising two emitter blocks, to improve anti-optical crosstalk capability for two emitters within the same emitter group, the following can be implemented... Figure 6The emission diagram shows the spatial spacing of the emission blocks in each emission group. The main principle is that the echo floodlight of one laser beam should not fall into the position of another receiving block, i.e., d1 and d2 should both be greater than 0. As an example and not a limitation, the width of the main echo energy is equal to the width of the receiving block. For example, there is no optical crosstalk between emission block A0 and emission block A6.

[0067] The number of receiving units corresponding to a transmitting block is related to the power, field of view, and detection distance of the transmitting block. If the intensity of the laser echo from the transmitting block is high, then the number of receiving blocks corresponding to that transmitting block will be large. If the field of view of the transmitting block is small, then the number of receiving blocks corresponding to that transmitting block will be large. If the detection distance corresponding to the transmitting block is short, then the number of receiving blocks corresponding to that transmitting block will be large.

[0068] Step 502: Control at least two emitting blocks to emit the laser beam in a time-division manner according to a preset rule.

[0069] The preset rules can be set according to actual needs.

[0070] As an example of this application, the specific implementation of step 502 may include: controlling the k-th emission block to emit a laser beam at the corresponding time according to the time encoding sequence corresponding to the emission unit of the k-th emission in at least two emission blocks, where k is an integer greater than or equal to 1. After a first preset duration threshold, controlling the (k+1)-th emission block to emit a laser beam at the corresponding time according to the time encoding sequence corresponding to the emission unit of the (k+1)-th emission.

[0071] The first preset duration threshold can be set by the user according to actual needs, or it can be set by default by the electronic device. This application embodiment does not limit this.

[0072] That is, for two adjacent transmission blocks within a transmission group, there is a transmission time interval of a first preset duration threshold between them. For example, assuming the transmission group includes three transmission blocks, in implementation, the electronic device controls the first transmission block to emit a laser beam at the corresponding time according to the time-coded sequence corresponding to the first transmission block. After the first preset duration threshold has elapsed, the electronic device controls the second transmission block to emit a laser beam at the corresponding time according to the time-coded sequence corresponding to the second transmission block. After another first preset duration threshold has elapsed, the electronic device controls the third transmission block to emit a laser beam at the corresponding time according to the time-coded sequence corresponding to the third transmission block.

[0073] In this application, the time-coded sequence corresponding to each emission block in the laser emission array can be predetermined. As an example, the determination of the time-coded sequence corresponding to any emission block in the emission group includes: generating a series of pseudo-random sequences based on a first preset sequence using a linear feedback shift register to obtain multiple pseudo-random sequences; determining the autocorrelation function of each pseudo-random sequence; and selecting pseudo-random sequences with autocorrelation coefficients less than a first specified threshold from the multiple pseudo-random sequences based on the autocorrelation function; and selecting one pseudo-random sequence from the selected at least one pseudo-random sequence as the time-coded sequence corresponding to that arbitrary emission block.

[0074] The first preset sequence can be set according to actual needs. It can be understood as a sequence seed used to generate a series of pseudo-random sequences. In one example, different emission units correspond to different first preset sequences.

[0075] The first specified threshold can be set according to actual needs.

[0076] In implementation, a first preset sequence can be input into a linear feedback shift register, and a series of pseudo-random sequences can be output from the linear feedback shift register to obtain multiple pseudo-random sequences. For any pseudo-random sequence among the multiple pseudo-random sequences, if the pseudo-random sequence has a high correlation with itself, then when the pseudo-random sequence is subsequently selected as the time coding sequence of the transmitting unit, the laser beam emitted by the transmitting block is likely to interfere with the laser beam emitted by itself in the next time. Therefore, the autocorrelation function of each pseudo-random sequence among the multiple pseudo-random sequences can be determined so as to select the pseudo-random sequence with less interference based on the autocorrelation function. In implementation, the autocorrelation function of each pseudo-random sequence can be determined by the following formula (1): (1) in, It is the autocorrelation function. Let i represent the i-th pseudo-random sequence. This is the preset time offset.

[0077] Next, a pseudo-random sequence with an autocorrelation coefficient as small as possible (e.g., less than the energy threshold) outside the main lobe of the autocorrelation function is selected. This selected pseudo-random sequence is one with an autocorrelation coefficient less than a first specified threshold. In one example, the electronic device randomly selects one pseudo-random sequence from at least one selected pseudo-random sequence as the time-coded sequence corresponding to the transmitting unit in the transmitting group. For example, after the above processing, the time-coded sequence of a certain transmitting unit is determined to be {0.1, 0.4, 0.2, 0.25, ...}. In this way, the time-coded sequence corresponding to each transmitting block in the laser transmitting array can be determined.

[0078] In one example, the number of values ​​included in the time-coded sequence is the same as the number of cyclic transmissions. For instance, if a transmission block needs to be cyclically transmitted 64 times, then the number of values ​​included in the time-coded sequence is 64.

[0079] It is worth mentioning that the transmission time of each transmitter block in different measurement periods is encoded by a pseudo-random sequence. Different transmitter blocks use different codes, which can achieve low crosstalk under high concurrency and reduce mutual interference.

[0080] Once the time-coded sequence corresponding to each transmitter block is determined, it can be stored locally. When it is necessary to control the transmission of the transmitter block, the time-coded sequence corresponding to each transmitter block can be used according to the actual needs.

[0081] For example, please refer to Figure 7 During the first measurement cycle, the transmitter block A0 in the transmitter group is controlled to emit for the first time at time t1, and the transmitter unit A6 in the transmitter group is controlled to emit for the second time at time t2. Assume the time-coding sequence of transmitter unit A0 is {0.2, 0.3, 0.4, 0.6...}, and the time-coding sequence of transmitter unit A1 is {0.3, 0.4, 0.6, 0.7...}, with a first preset duration threshold of 3 seconds. Assuming the start time of the current measurement cycle is the 2nd second, then transmitter unit A0 is controlled to emit the laser beam at 2.2 seconds, and transmitter unit A1 is controlled to emit the laser beam at 5.3 seconds. Similarly, during the second measurement cycle, transmitter A1 in the transmitter group is controlled to emit for the first time at time t1, and transmitter A7 is controlled to emit for the second time at time t2, and so on.

[0082] As an example rather than a limitation, the sequential launch order of multiple launch blocks within a launch group can be interchanged within a measurement period.

[0083] Step 503: Control the receiving block group of the laser receiving array corresponding to the transmitting group to receive the laser echo. The laser echo refers to the echo after the laser beam is reflected by the target object.

[0084] Please refer to Figure 1 Assuming the first row of laser transmitters corresponds to the first row of laser receivers, the second row corresponds to the second row of laser transmitters, and so on, with the last row of laser transmitters corresponding to the last row of laser receivers, then when any transmitter in the first row of laser transmitters emits a laser beam, the laser echo is received by the first row of laser receivers. Similarly, when any transmitter in the second row of laser transmitters emits a laser beam, the laser echo is received by the second row of laser receivers. And so on, until any transmitter in the last row of laser transmitters emits a laser beam, the laser echo is received by the last row of laser receivers.

[0085] For example, if transmitting blocks A0 and A6 are controlled to transmit in a time-division manner during the current measurement cycle, the laser echoes are received by the first laser receiving line. That is, the laser beam emitted by transmitting block A0 is received by the first laser receiving line, and the laser beam emitted by transmitting block A6 is received by the first laser receiving line.

[0086] The laser receiving array extracts all laser echoes throughout the entire measurement cycle. Echoes with a time interval less than t2 are identified as those from the first transmitting unit, while echoes with a time interval greater than t2 are identified as those from the second transmitting unit. Furthermore, when the time code t1 corresponding to the first transmitting unit is zero, the transmission time of the first transmitting unit is exactly aligned with the start of the current measurement cycle. When t1 is greater than 0, the distance of the laser echo from the first transmitting unit is subtracted by t1*c, where c represents the speed of the laser beam. When t1 is negative, the distance of the laser echo from the first transmitting unit is added back to the calculated distance. The transmission time of the second transmitting unit typically has a significant delay t2 from the start of the measurement cycle; t2 is the first preset duration threshold. The time difference between t2 and t1 generally satisfies the condition t2-t1>= Lset *2 / c, where Lset is the farthest detection range of the lidar. Similarly, when calculating the distance of the laser echo from the second transmitting unit, the distance t2*c should be subtracted.

[0087] It should be noted that the above description is based on the example of one line of laser transmitting line corresponding to one line of laser receiving line. In another embodiment, multiple lines of laser transmitting line may correspond to one line of laser receiving line, or one line of laser transmitting line may correspond to multiple lines of laser receiving line. This application does not limit this.

[0088] It should also be noted that within a measurement cycle, the laser receiving line continuously performs receiving operations. That is, from the beginning of a measurement cycle until the end of the measurement cycle, the electronic equipment controls the laser receiving line corresponding to the laser transmitting line where the transmitting group is located to continuously receive laser echoes.

[0089] In one optional implementation, before controlling at least two emitting blocks to emit the laser beam in a time-division manner according to a preset rule, the method further includes: obtaining the number of times the at least two emitting blocks are turned on during the current measurement period; controlling the at least one emitting block to emit the laser beam according to the preset rule includes: controlling each of the two emitting blocks to emit the laser beam according to its corresponding number of turns on.

[0090] In one optional implementation, before controlling at least two of the emitting blocks to emit laser beams according to a preset rule, the method further includes: acquiring the emission power of the two emitting blocks during the current measurement period, and controlling at least one of the emitting blocks to emit a laser beam based on the emission power of each of the at least two emitting blocks.

[0091] It can be understood that the preset rules can also be a combination of the above optional methods, and this application does not limit them.

[0092] In this embodiment, within a measurement cycle, a transmission group to be activated within the current measurement cycle is determined from the laser emission array. The transmission group includes at least two emission blocks, and these at least two emission blocks physically satisfy the optical non-crosstalk condition. The at least two emission blocks are controlled to emit laser beams in a time-division manner according to a preset rule. The receiving unit group of the laser receiving array corresponding to the transmission group is controlled to receive the laser echo, which refers to the echo after the laser beam is reflected by the target object. Thus, within a measurement cycle, by controlling multiple emission blocks to emit laser beams at different times, while ensuring the scanning frame rate, optical crosstalk caused by multiple emission blocks emitting laser beams simultaneously can be avoided. In other words, the method provided in this application can address both the optical crosstalk and frame rate issues of array-type lidar, thereby accurately determining the measurement results.

[0093] The above embodiment is illustrated using the example of one transmission group within one measurement cycle. In another embodiment, at least two transmission groups may exist within one measurement cycle. In this case, please refer to... Figure 8 , Figure 8 This is a flowchart illustrating a method for controlling a lidar according to another exemplary embodiment, which may include the following: Step 801: Within a measurement cycle, determine at least two emission groups to be activated from the laser emission array within the current measurement cycle. Each emission group includes at least two emission blocks, and the at least two emission blocks satisfy the optical non-crosstalk condition in their physical locations.

[0094] It is understood that each launch group includes multiple launch units, as described in the above embodiments, which will not be repeated here.

[0095] As an example of this application, the electronic device can determine the multiple emission groups to be activated in each measurement cycle according to preset rules. For example, the multiple emission groups to be activated in each measurement cycle can be determined according to the sequential control order between rows in the laser emission array.

[0096] As an example of this application, all emitting units in a partition (e.g., a row of emitting units is a partition) of a laser emitting array can be controlled to emit laser beams in a time-division manner within a measurement cycle. Alternatively, some emitting blocks in a partition of a laser emitting array can be controlled to emit laser beams in a time-division manner within a measurement cycle. Specifically, the duration of a measurement cycle and the number of emitting groups included in a measurement cycle can be set according to actual needs.

[0097] For example, there are two transmission groups in each measurement cycle, such as a first transmission group and a second transmission group. The first transmission group includes two transmission blocks, and the second transmission group includes two transmission blocks. That is, two transmission groups to be activated are determined in one measurement cycle, and the number of transmission blocks to be activated in each transmission group is two.

[0098] For example, please refer to Figure 9 In the first measurement cycle, the first transmission group includes transmission blocks A0 and A6, and the second transmission group includes transmission block A1 and transmission unit A7. In the second measurement cycle, the first transmission group is determined to include transmission blocks A2 and A8, and the second transmission group includes transmission blocks A3 and A9. In the third measurement cycle, the first transmission group is determined to include transmission blocks A4 and A10, and the second transmission group includes transmission blocks A5 and A11. This process continues, as detailed in Table 2.

[0099] Table 2

[0100] It should be noted that the above explanation is based on the example of two emission groups in each measurement cycle. That is, within one measurement cycle, some emission blocks in a partition are identified as emission blocks to be activated. In another embodiment, the number of emission groups in each measurement cycle can also be other values. For example, the number of emission groups in each measurement cycle can also be six, namely (A0, A6), (A1, A7), (A2, A8), (A3, A9), (A4, A10), and (A5, A11). That is, within one measurement cycle, all emission blocks in a partition can be identified as emission blocks to be activated.

[0101] It should also be noted that the above explanation uses line-by-line control as an example. In another embodiment, control can be performed using other methods, such as alternating line control. For example, please refer to... Figure 7 At least two transmitter groups must meet the optical non-crosstalk condition in physical location. In this case, within one measurement cycle, the first transmitter group includes transmitter block A0 and transmitter block A6, and the second transmitter group includes transmitter block F0 and transmitter block F6.

[0102] Step 802: Control at least two emission groups to emit laser beams in a time-division manner based on preset rules.

[0103] As an example of this application, a serial control method can be used to control the emission blocks in each emission group to emit laser beams. In implementation, each emission group in at least two emission groups is controlled to emit laser beams in a preset emission sequence, wherein the emission time of the first emission block in each of the at least two emission groups has an emission time interval of a second preset duration threshold within the same measurement period.

[0104] The preset transmission sequence can be set according to actual needs. For example, assuming there are at least two transmission groups, including a first transmission group, a second transmission group, and a third transmission group, the first transmission group can be controlled to transmit first, then the second transmission group can be controlled to transmit, and finally the third transmission group can be controlled to transmit. Furthermore, there is a certain transmission time interval between adjacent transmission groups. That is, there is a transmission time interval of a second preset duration threshold between the first transmission block in the first transmission group and the first transmission block in the second transmission group, and a transmission time interval of a second preset duration threshold between the first transmission block in the second transmission group and the first transmission block in the third transmission group.

[0105] The second preset duration threshold can be set according to actual needs. In one example, the time difference between the second preset duration thresholds t3 and t4 satisfies the condition t3-t4>= Lset *2 / c, where t4 is the time code corresponding to the first transmitting unit in the adjacent transmitting group, Lset is the farthest detection distance of the lidar, and c represents the speed of light of the laser beam. In one example, the second preset duration threshold is greater than the first preset duration threshold, and the difference between the second preset duration threshold and the first preset duration threshold is greater than a preset value.

[0106] In one embodiment, at least two emission groups include a first emission group and a second emission group. The first emission group includes a first emission block and a second emission block, and the second emission group includes a third emission block and a fourth emission block. In this case, the specific implementation of controlling at least two emission groups to emit laser beams in a time-division manner based on preset rules may include: controlling the first emission unit to emit a laser beam at a corresponding time according to the time encoding sequence corresponding to the first emission block; after a first preset time threshold, controlling the second emission block to emit a laser beam at a corresponding time according to the time encoding sequence corresponding to the second emission unit; after the first emission block finishes emitting its laser beam, and after a second preset time threshold, controlling the third emission block to emit a laser beam at a corresponding time according to the time encoding sequence corresponding to the third emission block; after a first preset time threshold, controlling the fourth emission unit to emit a laser beam at a corresponding time according to the time encoding sequence corresponding to the fourth emission unit.

[0107] For example, please refer to Figure 9 In the first measurement cycle, four transmitting blocks, A0, A6, A1, and A7, are emitted. Transmitting blocks A0 and A6 emit laser beams first, and after a second preset time threshold, transmitting blocks A1 and A7 then emit laser beams. Assume the time-coded sequence for transmitting block A0 is {0.2, 0.3, 0.4, 0.6...}, for A6 it is {0.3, 0.4, 0.6, 0.7...}, for A1 it is {0.2, 0.3, 0.5, 0.7...}, and for A7 it is {0.32, 0.41, 0.53, 0.7...}. The first preset time threshold is 3 seconds, and the second preset time threshold is 5 seconds. If the current measurement cycle begins at the 2nd second, then at the 2.2nd second, the laser beam is emitted by the emitting block A0; at the 5.3rd second, the laser beam is emitted by the emitting block A6; at the 7.2nd second, the laser beam is emitted by the emitting block A1; and at the 10.32nd second, the laser beam is emitted by the emitting block A7.

[0108] It should be noted that the above explanation uses the example of the first transmitter block in each transmitter group having a transmission time interval with a second preset duration threshold within the same measurement period. In another embodiment, the transmission time interval of the first transmitter block in each transmitter group within the same measurement period can also be determined by time encoding, and the time encoding rules are described below.

[0109] As another example of this application, when two emission groups meet the optical non-crosstalk condition in physical location, the electronic device can also control the two emission groups to emit in parallel. In implementation, each emission group in at least two emission groups is controlled to emit laser beams in parallel, wherein each emission unit in the at least two emission groups with the same emission order emits laser beams according to the time-coded sequence corresponding to each emission unit, wherein the cross-correlation coefficient between the time-coded sequences corresponding to the emission units with the same emission order in adjacent emission groups is less than a second specified threshold.

[0110] The second specified threshold can be set according to actual needs, and this application embodiment does not limit it.

[0111] Among them, such as Figure 9As shown, when any transmitting group in the same row emits a laser beam, the corresponding receiving unit in the same row receives the echo laser beam emitted by that transmitting group. For example, when the first transmitting groups A0 and A6 emit laser beams, the receiving unit in row A receives the corresponding echo laser beam. When the second transmitting groups A1 and A7 emit laser beams, the receiving unit in row A receives the corresponding echo laser beam. It can be understood that the number of rows of receivers corresponding to any transmitting group can be one or two, depending on the required detection distance and the positional relationship between the transmitting and receiving groups. Optionally, as another possible implementation, when any emitter group in any emitter group emits a laser beam, it can be received by the receiving block corresponding to the emitter block in that emitter group. It is understood that there can be a one-to-one correspondence between the emitter blocks and the corresponding receiving blocks in any emitter group. For example... Figure 10 As shown, the laser beams emitted by the first transmitting groups A0 and A6 can be received by the first receiving groups A0 and A6. Similarly, the laser beams emitted by the second transmitting groups A1 and A7 can be received by the second receiving groups A1 and A7. It is understood that the correspondence between the transmitting blocks and corresponding receiving blocks in any transmitting group can also be one transmitting block and multiple receiving blocks, for example... Figure 11 As shown, when the first transmitting group A0 emits a laser beam, the corresponding receiving blocks A0 and A1 receive the corresponding echo laser. When the first transmitting group A6 emits a laser beam, the corresponding receiving blocks A5, A6, and A7 receive the corresponding echo laser. When the second transmitting group A1 emits a laser beam, the corresponding receiving blocks A0, A1, and A2 of the second receiving group receive the corresponding echo laser. When the second transmitting group's transmitting block A7 emits a laser beam, the corresponding receiving blocks A6, A7, and A8 of the second receiving group receive the corresponding echo laser.

[0112] The correspondence between the transmitting and receiving blocks is related to the detection range requirements of different areas of the radar, the distance between the transmitting and receiving blocks, the focal length of the radar, and the position of the transmitting blocks in the transmitting array. It is understood that the closer the radar's detection range, the greater the spot offset, and the more receiving blocks correspond to one transmitting block. As an optional implementation, the correspondence between transmitting and receiving blocks in different areas of the radar can be set according to requirements. For example, such as... Figure 12 As shown, the detection range corresponding to the first transmitting group in the first row is relatively short, and the spot offset is relatively large. Therefore, the first receiving group corresponding to the first transmitting group is the entire row. The second receiving group corresponding to the second transmitting group in the middle row F is a partial receiving block of row F. This application does not impose a unique limitation on the correspondence between transmitting blocks and receiving blocks. It is understood that when the transmitting array includes multiple transmitting groups, the correspondence between different transmitting groups and receiving groups can be all the same or partially the same; this application does not impose a unique limitation.

[0113] For example, please refer to Figure 13 During the first measurement cycle, four transmission blocks, A0, A6, F0, and F6, are transmitted. A0 and A6 belong to the first transmission group, and F0 and F6 belong to the second transmission group. The electronic equipment controls the first and second transmission groups to transmit in parallel. Assume the time-coded sequence corresponding to transmission block A0 is {0.2, 0.3, 0.4, 0.6...}, the time-coded sequence corresponding to transmission unit A6 is {0.3, 0.4, 0.6, 0.7...}, the time-coded sequence corresponding to transmission unit F0 is {0.4, 0.3, 0.1, 0.5...}, and the time-coded sequence corresponding to transmission block F6 is {0.32, 0.4, 0.5, 0.7...}. The first preset duration threshold is 3 seconds. If the start time of the current measurement cycle is the 2nd second, then at the 2.2nd second, the laser beam is emitted by the emitting block A0, at the 5.3rd second, the laser beam is emitted by the emitting block A6, at the 2.4th second, the laser beam is emitted by the emitting block F0, and at the 5.32nd second, the laser beam is emitted by the emitting block F6.

[0114] As an example and not a limitation, the order of emission between multiple emission groups can be interchanged within a measurement cycle. For example, in the example above, the emission blocks in the second emission group can be controlled to emit laser beams first, and then the emission blocks in the first emission group can be controlled to emit laser beams.

[0115] The time-coding sequences corresponding to each of the aforementioned transmission units can be predetermined. Taking two transmission groups within each measurement cycle as an example, for two transmission blocks in the first and second transmission groups with the same transmission order (e.g., A0 of the first transmission in the first transmission group and A1 of the first transmission in the second transmission group in serial control, or A0 of the first transmission in the first transmission group and F0 of the first transmission in the second transmission group in parallel control), the determination of the time-coding sequences corresponding to each transmission block in these two transmission groups includes: Based on a second preset sequence, generating a series of pseudo-random sequences through a linear feedback shift register to obtain m pseudo-random sequences, where m is an integer greater than 1. Determining the autocorrelation function of each of the m pseudo-random sequences. Based on the autocorrelation function of each of the m pseudo-random sequences, selecting s pseudo-random sequences from the m pseudo-random sequences whose autocorrelation coefficients are less than a third specified threshold, where s is an integer greater than 1 and less than or equal to m. Based on the s pseudo-random sequences, determining the time-coding sequences corresponding to each transmission block in the two transmission units.

[0116] The third specified threshold can be set according to actual needs. In one example, the third specified threshold can be the same as the first specified threshold. In another example, the third specified threshold can also be different from the first specified threshold.

[0117] The second preset sequence can be set according to actual needs. The second preset sequence can also be understood as a sequence seed, which is used to generate a series of pseudo-random sequences.

[0118] In implementation, the second preset sequence is input to a linear feedback shift register, which generates a series of pseudo-random sequences. Similarly, for any pseudo-random sequence in the generated series, if the pseudo-random sequence has a high correlation with itself, then when the pseudo-random sequence is subsequently selected as the time-coding sequence of the transmitting unit, the laser beam emitted by the transmitting unit is likely to interfere with the laser beam emitted by itself in the next time step. Therefore, the autocorrelation function of each of the m generated pseudo-random sequences can be determined here, for example, by formula (1). Then, a pseudo-random sequence with a small autocorrelation coefficient other than the main lobe that satisfies the autocorrelation function is selected, for example, a pseudo-random sequence with an autocorrelation coefficient less than the third specified threshold is selected.

[0119] Subsequently, based on the selected *s* pseudo-random sequences, the time-coding sequences corresponding to each transmission block in the two transmission blocks are determined. As an example of this application, its specific implementation may include: determining the cross-correlation function between each of the *s* pseudo-random sequences and the other *s* pseudo-random sequences; selecting two pseudo-random sequences from the *s* pseudo-random sequences whose cross-correlation coefficient is less than a second specified threshold based on the determined cross-correlation function; and determining the two selected pseudo-random sequences as the time-coding sequences corresponding to each transmission block in the two transmission units.

[0120] Since a measurement cycle includes multiple transmission groups, if multiple transmission groups transmit in parallel, that is, if multiple transmission groups use the same pseudo-random sequence as the time coding sequence, optical crosstalk is likely to occur between the multiple transmission groups. Therefore, in one example, the electronic device determines the cross-correlation function between each of the selected s pseudo-random sequences and each of the other s pseudo-random sequences, so that, based on the determined cross-correlation function, pseudo-random sequences that will not generate optical crosstalk can be selected from the s pseudo-random sequences. In implementation, the cross-correlation function of two pseudo-random sequences can be determined by the following formula (2): (2) in, It is a cross-correlation function. It is a pseudo-random sequence. It is another pseudo-random sequence.

[0121] Next, a pair of pseudo-random sequences that satisfy a cross-correlation coefficient less than a preset second specified threshold are selected; for example, the pair with the smallest cross-correlation coefficient can be selected as the random sequences. The selected pair of pseudo-random sequences are then designated as the time-coded sequences corresponding to each of the two emission units mentioned above. In this way, the time-coded sequence corresponding to each emission unit in the laser emission array can be determined.

[0122] In another embodiment, if a measurement period includes three or more transmission groups, when determining the time-coded sequence corresponding to each transmission block in each transmission group, the time-coded sequence corresponding to each transmission unit in the first and second transmission groups can be determined first in the manner described above. Then, based on the time-coded sequence corresponding to each transmission unit in the second transmission group, the time-coded sequence corresponding to each transmission unit in the third transmission group adjacent to the second transmission group can be determined using the same method. For example, from the remaining s-2 pseudo-random sequences, the pseudo-random sequence with the smallest cross-correlation coefficient corresponding to the time-coded sequence corresponding to the first transmission unit in the second transmission group can be selected, and this selected pseudo-random sequence can be used as the time-coded sequence corresponding to the first transmission unit in the third transmission group. Similarly, the time-coded sequence corresponding to each transmission unit in each of the multiple transmission groups can be determined in this manner.

[0123] Step 803: Control the receiving unit group of the laser receiving array corresponding to each of the at least two transmitting groups to receive the laser echo.

[0124] In one example, when an electronic device controls multiple transmitter groups to emit laser beams in series, for instance, controlling four transmitter blocks A0, A6, A1, and A7 to emit laser beams within a measurement cycle, the laser echoes can all be received by the first laser receiving row within that measurement cycle.

[0125] In one example, when an electronic device controls multiple transmitting groups to emit laser beams in parallel, for instance, controlling four transmitting blocks A0, A6, F0, and F6 to emit laser beams within a measurement cycle, then within this measurement cycle, the first laser receiving row can be controlled to receive the laser echoes from A0 and A6, and the sixth laser receiving row can be controlled to receive the laser echoes from F0 and F6.

[0126] As an optional approach, before controlling at least one of the transmitting blocks to emit a laser beam according to a preset rule, the method further includes: obtaining the number of times the at least one transmitting block is turned on during the current measurement period; controlling the at least one transmitting block to emit a laser beam according to the preset rule includes: controlling the at least one transmitting block to emit a laser beam according to the number of times it is turned on.

[0127] As an alternative approach, before controlling at least two emission groups to emit laser beams according to preset rules, the method further includes: acquiring the emission power of each emission block in at least two emission groups during the current measurement period, and controlling at least two emission groups to emit laser beams based on the emission power of each emission block.

[0128] It can be understood that the preset rules can also be a combination of the above optional methods, and this application does not limit them.

[0129] In this embodiment, different transmitting blocks in multiple transmitting groups can be controlled to emit laser beams in a time-division manner. This not only further improves the scanning frame rate, but also avoids optical crosstalk caused by multiple transmitting blocks emitting laser beams simultaneously, thereby improving the accuracy of the measurement results.

[0130] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0131] Figure 14 This is a schematic diagram illustrating the structure of a device for controlling a lidar according to an exemplary embodiment. The device can be implemented by software, hardware, or a combination of both. The device for controlling the lidar may include: The determining module 1110 is configured to determine, within a measurement cycle, at least one emitting block to be activated from the laser emitting array during the current measurement cycle, the emitting array comprising a plurality of emitting blocks; each emitting block comprising a plurality of emitting units. The first control module 1120 is used to control at least one of the transmitting blocks to emit laser beams according to a preset rule; The second control module 1130 is used to receive laser echoes by a receiving block of the laser receiving array corresponding to at least one of the transmitting blocks, wherein the laser echo refers to the echo after the laser beam is reflected by the target object.

[0132] As an example of this application, the first control module 1120 is used for: Control at least one of the plurality of transmitting units in the transmitting block to simultaneously emit detection lasers.

[0133] As an example of this application, the device further includes an acquisition module 1140, which is used to acquire the number of times the at least one transmitting block is turned on during the current measurement cycle; the first control module 1120 is also used to control the at least one transmitting block to emit laser beams according to the number of times it is turned on.

[0134] As an example of this application, the acquisition module 1140 is further configured to acquire the time-coded sequence corresponding to the at least one transmitting block; the first control module 1120 is further configured to emit a laser beam according to the time-coded sequence corresponding to the at least one transmitting block and the number of times it is turned on.

[0135] As an example of this application, when the current period includes at least two transmitter blocks to be activated, the at least two transmitter blocks satisfy the optical non-crosstalk condition in physical location; The first control module 1120 is further configured to: control the at least two transmitting blocks to emit laser beams in a time-division manner based on a preset rule; The first control module 1120 is specifically used to: control the k-th emission block to emit the laser beam at the corresponding time according to the time encoding sequence corresponding to the k-th emission block among the at least two emission blocks, where k is an integer greater than or equal to 1; After a first preset time threshold, the laser beam is emitted by the (k+1)th emission block at the corresponding time according to the time encoding sequence corresponding to the emission block of the (k+1)th emission.

[0136] The method for determining the time-coded sequence corresponding to any one of the at least two transmitter blocks includes: generating a series of pseudo-random sequences through a linear feedback shift register based on a first preset sequence to obtain multiple pseudo-random sequences; determining the autocorrelation function of each pseudo-random sequence among the multiple pseudo-random sequences; selecting pseudo-random sequences with autocorrelation coefficients less than a first specified threshold from the multiple pseudo-random sequences according to the autocorrelation function; and selecting one pseudo-random sequence from the selected at least one pseudo-random sequence as the time-coded sequence corresponding to the arbitrary transmitter block.

[0137] As an example of this application, the transmitting block corresponds to N receiving blocks of the laser receiving array; N is a positive integer greater than or equal to 1; The second control block 1120 is used to acquire N receiving blocks corresponding to each transmitting block; control the N receiving blocks to receive laser echoes; after controlling the receiving blocks of the laser receiving array corresponding to the transmitting block to receive the echo laser, the method further includes: fusing the echo data received by the N receiving blocks to obtain a fusion result; and determining the distance of the target object based on the fusion result.

[0138] In this embodiment, within a measurement cycle, a transmission group to be activated within the current measurement cycle is determined from the laser emission array. The transmission group includes at least two emission units, and these at least two emission units physically satisfy the optical non-crosstalk condition. The at least two emission units are controlled to emit laser beams in a time-division manner according to a preset rule. The receiving unit group of the laser receiving array corresponding to the transmission group is controlled to receive the laser echo, which refers to the echo after the laser beam is reflected by the target object. Thus, within a measurement cycle, by controlling at least two emission units to emit laser beams at different times, optical crosstalk can be prevented while maintaining the scanning frame rate. In other words, the method provided in this application can address both the optical crosstalk and frame rate issues of array-type lidar, thereby accurately determining the measurement results.

[0139] Figure 15 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 15 As shown, the electronic device 12 of this embodiment includes: at least one processor 120 ( Figure 15 (Only one is shown in the diagram), memory 121, and computer program 122 stored in said memory 121 and executable on said at least one processor 120, wherein said processor 120 executes said computer program 122 to implement the steps of any of the above method embodiments.

[0140] The electronic device 12 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. This electronic device may include, but is not limited to, a processor 120 and a memory 121. Those skilled in the art will understand that... Figure 12 This is merely an example of electronic device 12 and does not constitute a limitation on electronic device 12. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0141] The processor 120 may be a CPU (Central Processing Unit), or it may be other general-purpose processors, DSPs (Digital Signal Processors), ASICs (Application Specific Integrated Circuits), FPGAs (Field-Programmable Gate Arrays), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0142] In some embodiments, the memory 121 may be an internal storage unit of the electronic device 12, such as a hard disk or memory of the electronic device 12. In other embodiments, the memory 121 may be an external storage device of the electronic device 12, such as a plug-in hard disk, SMC (Smart Media Card), SD (Secure Digital) card, flash card, etc., equipped on the electronic device 12. Further, the memory 91 may include both internal and external storage units of the electronic device 12. The memory 91 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 121 can also be used to temporarily store data that has been output or will be output.

[0143] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0144] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0145] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling a lidar, characterized in that, The lidar includes a laser emitting array and a laser receiving array, and the method includes: Within a measurement cycle, at least one emission block to be activated in the current measurement cycle is determined from the laser emission array, the emission array comprising a plurality of said emission blocks; each said emission block comprising a plurality of emission units; Control at least one of the transmitting blocks to emit a laser beam according to a preset rule; Control at least one of the receiving blocks of the laser receiving array corresponding to the transmitting block to receive the laser echo, wherein the laser echo refers to the echo after the laser beam is reflected by the target object; Controlling at least one of the transmitting blocks to emit a laser beam according to a preset rule includes: The system controls the plurality of emitting units in at least one of the emitting blocks to simultaneously emit detection lasers; controls different emitting blocks to emit laser beams in different measurement periods; the receiving field of view corresponding to each receiving block is greater than or equal to the emitting field of view corresponding to each emitting block; and the plurality of emitting units in each emitting block are staggered in both the vertical and horizontal directions.

2. The method as described in claim 1, characterized in that, Before controlling at least one of the emitting blocks to emit a laser beam according to a preset rule, the method further includes: The number of times the at least one transmitter block is activated during the current measurement period is obtained; The control of at least one of the transmitting blocks to emit laser beams according to a preset rule includes: Control the at least one emitting block to emit laser beams according to the number of times it is turned on.

3. The method as described in claim 2, characterized in that, The method further includes: Obtain the time-coded sequence corresponding to the at least one transmitting block, and emit a laser beam according to the time-coded sequence corresponding to the at least one transmitting block and the number of times it is turned on.

4. The method as described in claim 1, characterized in that, The method further includes: When the current cycle includes at least two transmitter blocks to be activated, the at least two transmitter blocks satisfy the optical non-crosstalk condition in their physical positions. The at least two transmitting blocks are controlled to emit laser beams in a time-division manner based on the preset rules.

5. The method of claim 4, wherein controlling the at least two transmitting blocks to emit laser beams in a time-division manner based on the preset rule comprises: According to the time encoding sequence corresponding to the kth emission of the at least two emission blocks, the emission block that emits the kth emission is controlled to emit the laser beam at the corresponding time, where k is an integer greater than or equal to 1; After a first preset time threshold, the laser beam is emitted by the (k+1)th emission block at the corresponding time according to the time encoding sequence corresponding to the emission block of the (k+1)th emission.

6. The method as described in claim 1, characterized in that, The transmitting block corresponds to N receiving blocks of the laser receiving array; N is a positive integer greater than or equal to 1; The control of the receiving block of the laser receiving array corresponding to the transmitting block to receive the laser echo includes: Obtain the N receiver blocks corresponding to each transmitter block; Control the N receiving blocks to receive laser echoes; After the receiving block of the laser receiving array corresponding to the transmitting block receives the echo laser, the method further includes: The echo data received by the N receiving blocks are fused to obtain the fusion result; The distance to the target object is determined based on the fusion result.

7. A device for controlling a lidar, characterized in that, The lidar includes a laser emitting array and a laser receiving array, and the device includes: A determination module is configured to determine, within a measurement cycle, at least one emitting block to be activated from the laser emitting array, the emitting array comprising multiple emitting blocks; each emitting block comprising multiple emitting units. The first control module is used to control the emitting block to emit a laser beam; The second control module is used to control the receiving block of the laser receiving array corresponding to the transmitting block to receive the laser echo, wherein the laser echo refers to the echo after the laser beam is reflected by the target object. Controlling at least one of the transmitting blocks to emit a laser beam according to a preset rule includes: The system controls the plurality of emitting units in at least one of the emitting blocks to simultaneously emit detection lasers; controls different emitting blocks to emit laser beams in different measurement periods; the receiving field of view corresponding to each receiving block is greater than or equal to the emitting field of view corresponding to each emitting block; and the plurality of emitting units in each emitting block are staggered in both the vertical and horizontal directions.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 6.

Images