Detection method and related product

Abstract

A detection method and related products are applied to the technical field of detection. In the embodiment of the invention, the detection control device can control the light emitter to send the light supplementing pulse and supplement light for the image imaging function, and the detection control device can dynamically adjust the emission parameters of the light emitter, so that the light supplementing effect of image imaging is adapted to different scene requirements. According to the scheme provided by the invention, the high-resolution image can be obtained all day long, the fusion of the image and the point cloud is ensured, and the imaging resolution of the detection system is improved.

Description

Technical Field

[0001] This application relates to the field of detection technology, and in particular to detection methods and related products. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a technology that emits laser beams and receives their reflected signals to obtain information about targets in space. It boasts advantages such as long detection range and high accuracy, providing distance detection information in space and is widely used in fields such as intelligent driving and remote sensing mapping. Especially in the field of intelligent driving, LiDAR has become one of the core sensors for vehicles to perceive their environment, providing data support for key functions such as path planning, obstacle avoidance, and navigation in intelligent driving vehicles.

[0003] However, lidar technology still faces some challenges, with limitations in angular resolution being particularly prominent. Currently, the angular resolution of the point cloud output by lidar is insufficient to meet the requirements of devices for accurate object identification in space. Improving the angular resolution of lidar to achieve high-precision imaging has become a hot topic in the field of detection engineering and is of great significance for promoting the further development of intelligent driving technology. Summary of the Invention

[0004] This application provides a detection method and related products that can utilize a light emitter for supplementary lighting during the image imaging process of a detection system. It also supports dynamic adjustment of the light emitter's emission parameters, allowing the supplementary lighting effect to adapt to different scene requirements. The solution provided in this application enables the acquisition of high-resolution images around the clock and in all weather conditions, ensuring the fusion of images and point clouds and improving the system's imaging resolution.

[0005] Firstly, this application provides a detection method for controlling a detection device including a first optical transmitter and at least one optical receiver. The detection device can be a standalone device or a detection system composed of multiple distributed modules (software and / or hardware modules). For ease of description, some embodiments use a detection control device as an exemplary execution entity; however, in specific implementations, the entity executing the method can be other devices or modules. The detection control device here can be a standalone device or a module within a standalone device, such as a chip or software. Optionally, the detection control device can be located within the detection device, or it can be located externally to the detection device and connected to it, such as through an electrical signal connection or a communication connection.

[0006] The detection method includes: a detection control device acquiring perceived information about the environment, adjusting the emission parameters of a first light emitter based on the perceived information, and controlling the first light emitter to emit supplementary light pulses based on the emission parameters. The emission parameters include adjustable variables used to control the characteristics of the supplementary light pulses. At least one optical receiver in the detection device is capable of receiving a returned beam and obtaining detection data based on the returned beam. The returned beam includes reflected light from the supplementary light pulses. A first part of the detection data is used to obtain an image of the environment, and a second part of the detection data is used to obtain a point cloud of the environment.

[0007] The detection device features both image imaging and point cloud imaging capabilities; the detection data output from at least one optical receiver can yield both an image and a point cloud. Furthermore, the detection control device can utilize a first optical emitter to emit supplementary light pulses to enhance image imaging, thereby improving the resolution of the image obtained by the detection device. Moreover, the characteristics of the supplementary light pulses emitted by the first optical emitter are controllable; the detection control device can adjust the emission parameters of the first optical emitter to control these characteristics.

[0008] In the above scheme, at least one optical receiver can perform both point cloud imaging and image imaging, enabling point cloud and image imaging to be completed within a single system. This reduces registration complexity and facilitates the fusion of images and point clouds, improving the resolution of the detection device's output. Furthermore, the detection control device actively supplements the image imaging function with additional illumination, dynamically adjusting the emission parameters of the optical emitter based on sensing information. This ensures that the pulse characteristics of the supplementary illumination match the current environmental conditions (i.e., the scene), achieving adaptive illumination compensation. This allows the image imaging function to achieve high imaging quality in various environments. Thus, the detection device can acquire high-resolution images around the clock and in all weather conditions, ensuring the fusion of images and point clouds, further improving the resolution of the detection device's output, and accurately acquiring the target's reflectivity.

[0009] The above-described solution is particularly suitable for detecting complex, dynamically changing scenarios, such as intelligent driving scenarios, robot navigation scenarios, and drone flight scenarios. In some cases, the detection device is installed inside the vehicle. Applying this solution to the vehicle can significantly improve the vehicle's perception accuracy of the environment, providing accurate perception results for the driver or intelligent driving system. Especially when combined with driver assistance functions (or intelligent driving functions) are enabled, using this solution can significantly improve the accuracy of environmental perception, contributing to improved driving decision-making accuracy and vehicle safety.

[0010] Optionally, the first part and the second part of the probe data are two independent parts, or the first part and the second part have overlapping parts, or the first part and the second part are two sets of data with the same content.

[0011] In one possible implementation of the first aspect, the detection device is included in the sensing device. The sensing device is a lidar, or a sensing device including a lidar sensor. Since lidar is an active detection technology and has its own light emitter, the detection device can utilize the light emitter in the lidar to supplement the lidar's image imaging function, thereby improving the resolution of the image acquired by the lidar. Even in scenarios where supplementary lighting is required, the added light emitter can be adapted to the lidar architecture. Therefore, implementing the above solution on the lidar architecture can improve the resolution of the sensing device's output results and enhance the detection performance and sensing reliability of the sensing device without significantly increasing hardware costs.

[0012] In another possible implementation of the first aspect, the sensing information includes at least one of the following: background light intensity of the environment, information of angular targets in the environment, temperature of the environment, weather information of the environment, status information of the terminal where the detection device is located, road information of the terminal where the detection device is located, or operating scene of the terminal where the detection device is located.

[0013] In the above embodiments, the sensing information includes information in one or more dimensions, which enables fine-grained control of the emission parameters of the light emitter and improves the accuracy of emission parameter adjustment.

[0014] In another possible implementation of the first aspect, the characteristics of the supplementary light pulse include at least one of the following: power, pulse width, waveform, or number of pulses within a preset time unit.

[0015] The preset time unit includes one or more of the following: frame, subframe (or time slot), microsecond, etc. Pulse power, usually referring to the peak power of a single pulse, affects the accuracy or energy consumption of the detection device. For example, higher power results in stronger reflected light from the target, improving range accuracy. Pulse width refers to the duration of the pulse, affecting the energy of a single pulse and further impacting the detection device's accuracy, resolution, or anti-interference capability. Waveform is a change in voltage, current (or energy density) occurring within a short time, including one or more waveforms such as rectangular waves (or square waves), Gaussian pulses, sharp pulses, sawtooth waves, or trapezoidal pulses, which can affect the detection accuracy, anti-interference capability, or system signal-to-noise ratio of the detection device. The number of pulses within a preset time unit affects the detection device's range resolution and performance stability in complex scenarios.

[0016] In another possible implementation of the first aspect, the detection method further includes the following operation: the detection control device adjusts the receiving parameters of at least one optical receiver based on the sensing information to control at least one optical receiver to receive the returned beam based on the receiving parameters.

[0017] In the above embodiments, the detection and control device dynamically adjusts the receiving parameters of the optical receiver in combination with the sensing information, so that the receiving capability of the optical receiver can match the current environmental conditions (i.e., the scene), and the optical receiver can adaptively receive signals, which helps to obtain images with better resolution.

[0018] In another possible implementation of the first aspect, the receiving parameters include at least one of the following parameters: gating parameters, photon detection efficiency (PDE) parameters, or pixel binning methods, etc.

[0019] Gating parameters control one or more of the following: whether the receiving time window is open or closed, the opening time, and the duration of the open window. For example, gating parameters include one or more of the following: gate width, delay time, or end time. PDE refers to the photon detection efficiency of the detector element. PDE can affect the detector element's sensitivity to photons; therefore, adjusting PDE-related parameters can adjust the receiving capability of at least one optical receiver. Pixel binning methods can affect one or more of the following: the sensitivity, resolution, noise performance, or dynamic range of the optical receiver.

[0020] In another possible implementation of the first aspect, where the perceived information includes an indication of the ambient background light intensity, a set of emission parameters of the first light emitter is used to indicate the energy of the supplementary light pulse, the energy of which is related to the ambient background light intensity.

[0021] The energy of the supplementary light pulse is related to its power, pulse width, waveform, or the number of pulses within a preset time unit. In the above scheme, the control device correlates the pulse energy of the first light emitter with the background light intensity, using the background light intensity as a basis for adjusting the emission parameters of the light emitter, which can improve the performance stability of the system under different background light environments.

[0022] For example, in low-light environments, the energy of the supplementary light pulse can be increased, such as by increasing the power or pulse width. As another example, in high-light environments, the energy of the supplementary light pulse can be reduced.

[0023] In another possible implementation of the first aspect, the energy of the supplementary light pulse is negatively correlated with the ambient background light intensity.

[0024] In another possible implementation of the first aspect, in the case where the environment includes a angular reflective target, the energy of the supplementary light pulse is positively correlated with the ambient background light intensity.

[0025] In another possible implementation of the first aspect, the sensing information includes indication information of the ambient background light intensity, and the detection control device acquires the sensing information of the environment, including the following operation: the detection control device acquires the indication information of the ambient background light intensity from the first light receiver. In some embodiments, the first light receiver is at least one light receiver. In still other embodiments, the first light receiver includes other light receivers besides at least one light receiver.

[0026] In the above implementation, the sensing information includes information fed back by the optical receiver. In this way, the information actually detected by the optical receiver can be used as the basis for adjusting the transmission parameters, thereby improving the accuracy of the transmission parameter adjustment.

[0027] In another possible implementation of the first aspect, the background light intensity indication information includes one or more of the following: background light intensity, data output by the first optical receiver, or detection results obtained based on the data output by the first optical receiver. Wherein, when the background light intensity indication information includes detection results, the detection results pertain to an image and / or point cloud.

[0028] The above implementation describes how the first optical receiver provides three types of information to the detection and control device, and uses one or more of these three types of information to determine the background light intensity to obtain the basis for adjusting the emission parameters, thereby improving the accuracy of the adjustment.

[0029] In another possible implementation of the first aspect, when the perceived information is matched with a first scene level among multiple scene levels, the set of values ​​for the emission parameters of the first light emitter corresponds to a first energy level. Here, the first energy level belongs to multiple energy levels, the multiple energy levels correspond to different sets of emission parameter values, and the multiple scene levels correspond to different energy levels.

[0030] In the above implementation, the detection and control device can establish a mapping relationship between scene level and energy level, so that the specific type of scene perceived by the environment is accurately matched with the level of the supplementary light parameter, significantly improving the performance of the detection device under various environmental conditions.

[0031] Secondly, this application provides a detection method for controlling a detection device including a first optical transmitter and at least one optical receiver. The detection device can be a standalone device or a detection system composed of multiple distributed modules (software and / or hardware modules). For ease of description, some embodiments use a detection control device as an exemplary execution entity, but in specific implementations, the entity executing the method can be other devices or modules. The detection control device here can be a standalone device or a module within a standalone device, such as a chip or software. Optionally, the detection control device can be located within the detection device, or it can be located externally to the detection device and connected to it.

[0032] The detection method includes: a detection control device adjusting the emission parameters of a first light emitter to a first set of values, thereby controlling the first light emitter to emit a first supplementary light pulse based on the first set of emission parameters. The emission parameters include adjustable variables for controlling the characteristics of the supplementary light pulse. At least one optical receiver is used to receive a first returned beam and obtain first detection data based on the first returned beam. The first returned beam includes reflected light from the first supplementary light pulse. At least a portion of the first detection data is used to obtain a first image of the environment. The detection control device switches the emission parameters of the first light emitter to a second set of values, thereby controlling the first light emitter to emit a second supplementary light pulse based on the second set of emission parameters. The second set of values ​​is different from the first set of values. At least one optical receiver is also used to receive a second returned beam and obtain second detection data based on the second returned beam. The second returned beam includes reflected light from the second supplementary light pulse. At least a portion of the second detection data is used to obtain a second image of the environment.

[0033] Furthermore, at least one optical receiver is also used to obtain third probe data, which is used to obtain a point cloud of the environment. Optionally, the third probe data can be obtained by receiving at least a portion of a first return beam, or by receiving at least a portion of a second return beam, or by at least one optical receiver receiving a return beam from another transmitted beam (such as a point cloud service).

[0034] In the above scheme, at least one optical receiver can perform both point cloud imaging and image imaging, enabling point cloud and image imaging to be completed within a single system. This reduces registration complexity and facilitates the fusion of images and point clouds, improving the resolution of the detection device's output. Furthermore, the detection control device actively supplements the image imaging function with additional light and dynamically switches the emission parameters of the optical emitter, causing the pulse characteristics of the supplementary light to change dynamically. Thus, the detection device's image imaging function can achieve high imaging quality in various environments, allowing the detection device to acquire high-resolution images around the clock and in all weather conditions, ensuring the fusion of images and point clouds, and further improving the resolution of the detection device's output.

[0035] In one possible implementation of the second aspect, the set of values ​​of the emission parameters of the optical emitter is related to the operating mode of the detection device. The first set of values ​​corresponds to the first operating mode of the detection device, and the second set of values ​​corresponds to the second operating mode of the detection device. The first operating mode and the second operating mode are different.

[0036] In the above embodiments, the detection control device can dynamically switch the working mode of the detection device and use different sets of emission parameter values ​​in different working modes, so that the characteristics of the supplementary light pulse can match the working mode of the detection device and achieve adaptive illumination compensation.

[0037] In another possible implementation of the second aspect, the detection method further includes: the detection control device determining the current operating mode of the detection device based on an operating mode switching strategy, wherein the operating mode switching strategy is used to indicate the switching pattern of multiple operating modes of the detection device.

[0038] In the above implementation, by using the working mode switching strategy, the working mode can be switched according to a predefined switching rule to form a specific pattern of changes in the supplementary light parameters, thereby avoiding the limitations of detection performance in a single mode, covering the detection needs of multiple scenarios, and improving the overall performance of the detection system.

[0039] In another possible implementation of the second aspect, the emission time of the first supplementary light pulse and the emission time of the second supplementary light pulse are located in different frames.

[0040] In another possible implementation of the second aspect, the emission time of the first supplementary light pulse and the emission time of the second supplementary light pulse are located in different subframes of the same frame.

[0041] In another possible implementation of the second aspect, the emission time of the first supplementary light pulse and the emission time of the second supplementary light pulse are located at different time periods of the same subframe.

[0042] In another possible implementation of the second aspect, the value set of the emission parameters of the light emitter is related to the sensing information of the environment in which the detection device is located, the first value set corresponds to the first sensing information of the environment, and the second value set corresponds to the second sensing information of the environment.

[0043] In the above embodiments, the detection device can dynamically switch different sets of emission parameters, but the specific values ​​in each set can be determined by sensing information. The emission parameters of the light emitter are dynamically adjusted in combination with the sensing information so that the pulse characteristics of the supplementary light can match the current environmental conditions (i.e., the scene), thereby achieving adaptive illumination compensation and enabling the image imaging function to achieve high imaging quality in various environments.

[0044] In another possible implementation of the second aspect, the characteristics of the supplementary light pulse include at least one of the following: power, pulse width, waveform, or number of pulses within a preset time unit.

[0045] In another possible implementation of the second aspect, after adjusting the transmission parameters of the first optical transmitter to a first set of values, the detection method further includes the following operation: the detection control device adjusts the reception parameters of at least one optical receiver to a third set of values. After adjusting the transmission parameters of the first optical transmitter to a second set of values, the detection method further includes the following operation: the detection control device switches the reception parameters of at least one optical receiver to a fourth set of values.

[0046] In another possible implementation of the second aspect, the receiving parameters include at least one of the following parameters: gating parameters, photon detection efficiency (PDE) parameters, or pixel binning method, etc.

[0047] Thirdly, this application provides a detection control device, which includes an acquisition unit and a processing unit. The detection control device is used to implement the method described in the first aspect or any possible implementation of the first aspect, or to implement the method described in the second aspect or any possible implementation of the second aspect.

[0048] Fourthly, this application provides a detection control device, which includes a processor and a memory. The memory is used to store computer instructions, and the processor is used to invoke the computer instructions to implement the method described in the first aspect or any possible implementation of the first aspect, or to implement the method described in the second aspect or any possible implementation of the second aspect.

[0049] Fifthly, this application provides a detection control device, including a processor and an interface circuit. The interface circuit is used to input and output data, and the processor is used to invoke computer instructions to implement the method described in the first aspect or any possible implementation of the first aspect, or to implement the method described in the second aspect or any possible implementation of the second aspect.

[0050] Sixthly, this application provides a detection device, including a first light emitter, at least one light receiver, and a detection control device according to any one of the third to fifth aspects. The first light emitter is used to emit a supplementary light pulse, the at least one light receiver is used to receive a returned light beam and obtain detection data based on the returned light beam, the returned light beam including reflected light from the supplementary light pulse, a first portion of the detection data is used to obtain an image of the environment, and a second portion of the detection data is used to obtain a point cloud of the environment.

[0051] In one possible implementation of the sixth aspect, the first optical emitter includes a first light source, a first gating circuit, and a first driving module. The detection and control device is configured to output a gating control signal to the first gating circuit and a waveform control signal to the first driving module based on a set of emission parameters of the first optical emitter. The first gating circuit is configured to select at least one of a plurality of power sources as a power supply for the first driving module in response to the gating control signal, the power parameters supplied by the plurality of power sources being at least partially different. The first driving module is configured to drive the first light source to emit light in response to the waveform control signal.

[0052] In another possible implementation of the sixth aspect, the first light emitter includes a first light source, a first power supply module, and a first drive module. The detection and control device is configured to output a power adjustment signal to the first power supply module and a waveform control signal to the first drive module based on a set of emission parameters of the first light emitter. The first power supply module is configured to control the electrical energy parameters supplied to the first drive module in response to the power adjustment signal, and the first drive module is configured to drive the first light source to emit light in response to the waveform control signal.

[0053] In another possible implementation of the sixth aspect, at least one optical receiver includes a second optical receiver for receiving the returned beam to obtain detection data during a first time period, the first time period including the reception period corresponding to the supplementary light pulse. The detection data is used to obtain point clouds and images.

[0054] In another possible implementation of the sixth aspect, at least one optical receiver includes a second optical receiver, and the returned beam includes a third returned beam and a fourth returned beam. The second optical receiver is used to receive a first portion of the probe data obtained from the third returned beam during a first time period, the first time period including a reception period corresponding to a supplementary light pulse, and the third returned beam including reflected light from the supplementary light pulse. The first optical transmitter is also used to transmit a probe pulse. The second optical receiver is used to receive a second portion of the probe data obtained from the fourth returned beam during a second time period, the second time period including a reception period corresponding to the probe pulse, and the fourth returned beam including reflected light from the probe pulse, wherein the first time period and the second time period do not overlap at least partially.

[0055] In another possible implementation of the sixth aspect, at least one optical receiver includes a second optical receiver, the detection device further includes a second optical transmitter, the returned beam includes a third returned beam and a fourth returned beam, the second optical receiver is used to receive a first portion of the detection data obtained from the third returned beam, the third returned beam including reflected light from a supplementary light pulse. The second optical transmitter is used to emit a detection pulse, and the second optical receiver is also used to receive a second portion of the detection data obtained from the fourth returned beam, the fourth returned beam including reflected light from the detection pulse.

[0056] In another possible implementation of the sixth aspect, the return beam includes a third return beam and a fourth return beam, and at least one optical receiver includes a third optical receiver and a fourth optical receiver, the field of view of the third optical receiver at least partially overlapping the field of view of the fourth optical receiver. The third optical receiver is used to receive a first portion of the detection data obtained from the third return beam, the third return beam including reflected light from the supplementary light pulse. The first optical transmitter is also used to transmit the detection pulse, and the fourth optical receiver is also used to receive a second portion of the detection data obtained from the fourth return beam, the fourth return beam including reflected light from the detection pulse.

[0057] In another possible embodiment of the sixth aspect, the detection device further includes a second light emitter, the returned beam including a third and a fourth returned beam, and at least one light receiver including a third and a fourth light receiver, the field of view of the third light receiver at least partially overlapping the field of view of the fourth light receiver. The third light receiver is used to receive a first portion of the detection data obtained from the third returned beam, the third returned beam including reflected light from a supplementary light pulse. The second light emitter is used to emit a detection pulse, and the fourth light receiver is also used to receive a second portion of the detection data obtained from the fourth returned beam, the fourth returned beam including reflected light from the detection pulse.

[0058] In another possible implementation of the sixth aspect, the detection device further includes a data processing module for obtaining an image and a point cloud based on the detection data, and fusing the image and the point cloud to obtain an enhanced point cloud image. The enhanced point cloud image contains more target points than the point cloud itself, or the enhanced point cloud image includes the target's outline, texture, pattern, brightness variations, etc.

[0059] Furthermore, the data processing module can utilize the intensity information in the image, combined with the distance information of the target in the point cloud, to determine the reflectivity of the target in the point cloud.

[0060] Furthermore, the data processing module can utilize images and point clouds to identify high-reflectivity or angular-reflectivity targets in the environment.

[0061] In a seventh aspect, this application provides a sensing device, characterized in that it includes a detection and control device according to any one of the third, fourth, or fifth aspects, or includes a detection device according to the sixth aspect.

[0062] Optionally, the sensing device includes sensors that utilize light to sense the environment, and the sensing device includes one or more of the following: lidar, camera, or fusion sensing device. The fusion sensing device includes various types of sensors such as lidar sensors, image sensors, and radar sensors.

[0063] Eighthly, this application provides a terminal, which includes the detection and control device of the third to fifth aspects, or the detection device of the sixth aspect, or the sensing device of the seventh aspect.

[0064] Ninthly, this application provides a computer-readable storage medium for storing computer program instructions that, when executed by a processor, cause a device including a processor to implement the method of the first aspect or the method of the second aspect.

[0065] In a tenth aspect, this application provides a computer program product including computer program instructions, which, when executed by a processor, cause a device including a processor to implement the method of the first aspect or the method of the second aspect.

[0066] For the beneficial effects of the technical solutions in aspects other than the first aspect of this application, please refer to the beneficial effects of the first aspect and / or the second aspect. Attached Figure Description

[0067] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0068] Figure 1 This is a schematic diagram of the architecture of a detection device provided in an embodiment of this application;

[0069] Figure 2 This is a schematic diagram of the architecture of another detection device provided in the embodiments of this application;

[0070] Figure 3 This is a schematic diagram of the architecture of another detection device provided in the embodiments of this application;

[0071] Figure 4 This is a schematic diagram of the architecture of another detection device provided in the embodiments of this application;

[0072] Figure 5 This is a schematic diagram of the architecture of another detection device provided in the embodiments of this application;

[0073] Figure 6 This is a schematic diagram of a signal transmission timing provided in an embodiment of this application;

[0074] Figure 7 This is a schematic diagram of another signal transmission timing provided in an embodiment of this application;

[0075] Figure 8 This is a schematic diagram of another signal transmission timing provided in an embodiment of this application;

[0076] Figure 9 This is a schematic diagram of another signal transmission timing provided in an embodiment of this application;

[0077] Figure 10 This is a schematic diagram of another signal transmission timing provided in an embodiment of this application;

[0078] Figure 11 This is a schematic diagram illustrating the relationship between a control device and a light emitter according to an embodiment of this application;

[0079] Figure 12 This is a schematic diagram illustrating the relationship between another control device and a light emitter provided in an embodiment of this application;

[0080] Figure 13 This is a schematic flowchart of a detection method provided in an embodiment of this application;

[0081] Figure 14 This is a schematic diagram of a supplementary light pulse provided in an embodiment of this application;

[0082] Figure 15 This is a schematic diagram of another type of supplementary light pulse provided in the embodiments of this application;

[0083] Figure 16 This is a schematic diagram of another type of supplementary light pulse provided in the embodiments of this application;

[0084] Figure 17 This is a schematic diagram of another type of supplementary light pulse provided in the embodiments of this application;

[0085] Figure 18 This is a schematic diagram of another type of supplementary light pulse provided in the embodiments of this application;

[0086] Figure 19 This is a schematic diagram of another type of supplementary light pulse provided in the embodiments of this application;

[0087] Figure 20 This is a schematic diagram of the receiving parameters of a supplementary light pulse and a light receiver provided in an embodiment of this application;

[0088] Figure 21 This is a flowchart illustrating another detection method provided in an embodiment of this application;

[0089] Figure 22 This is a schematic diagram of the structure of a detection and control device provided in an embodiment of this application;

[0090] Figure 23 This is a schematic diagram of the structure of another detection and control device provided in the embodiments of this application;

[0091] Figure 24 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0092] Figure label:

[0093] 10-Detection device, 11-Detection control device, 12-First optical transmitter, 121-First gating circuit, 122-First driving module, 123-First light source, 124-First power supply module, 13-Optical receiver, 13a-First optical receiver, 13b-Second optical receiver, 14-Second optical transmitter. Detailed Implementation

[0094] The following section will introduce some of the technical terms.

[0095] A photodetector is a device that converts light signals into electrical signals using the photoelectric effect. Exemplary photodetectors include p-type intrinsic-n-type photodiodes (PIN photodiodes), avalanche photodiodes (APDs), single-photon avalanche diodes (SPADs), silicon photomultipliers (SiPMs), and other types, and are widely used in fields such as LiDAR (Light Detection and Ranging).

[0096] LiDAR sensors comprise multiple photodetectors, enabling spatially resolved detection. In some designs, these photodetectors are arranged in an array (e.g., a matrix), with one or more photodetectors corresponding to a single pixel. This array design allows the light receiver to output data pixel by pixel, enabling individual acquisition and processing of light intensity, timestamps, or photon counts for each pixel, generating high-resolution detection results. In some cases, the data output by a LiDAR sensor includes point clouds and / or images, or the data output can be processed to obtain point clouds and / or images.

[0097] Image sensors include photosensitive elements, such as complementary metal-oxide-semiconductor (CMOS), charge-coupled devices (CCD), or Live MOS. In some cases, the data output by the image sensor can be used to obtain pixelated brightness and / or color information. For example, the data output by the first detector may include images and / or video, or the data output by the image sensor may be processed to obtain images and / or video.

[0098] A pixel is the smallest unit of imaging in a light receiver. It can correspond to a single photodetector or be composed of multiple photodetectors binned together. Binning refers to the technique of merging the signals of multiple adjacent units. For example, in a detector array, the electrical signals of multiple adjacent detectors (such as 2×2 or 4×4) are combined into the output of a single pixel.

[0099] The transmitter (TX) is the module that emits laser pulses, providing the pulsed laser light required for image imaging and / or point cloud imaging. The transmitter includes optical emitters such as vertical-cavity surface-emitting lasers (VCSELs) or edge-emitting lasers (EELs).

[0100] The receiver (RX) is a module that receives signals from the object space. It includes optical receivers, such as SPADs, APDs, and SiPMs. In some solutions, the RX can realize point cloud imaging and image imaging functions.

[0101] The above explanations of the terminology can be applied to the examples below.

[0102] LiDAR sensors offer high ranging accuracy, but their low angular resolution limits the accuracy of the point cloud data. Some sensors possess image processing capabilities, providing high angular resolution images. Fusion with low-resolution point clouds can improve the overall point cloud resolution. Currently, image processing primarily relies on ambient light, making it susceptible to environmental factors such as ambient light intensity, exposure time, sensor speed, and highly reflective targets. For example, in nighttime or overcast conditions, weak ambient light significantly reduces the signal-to-noise ratio, while strong ambient light and high reflectivity lead to overexposure and poor image quality. In short, image processing cannot be consistently fused with LiDAR sensor point clouds in all weather conditions, making it difficult to stably improve LiDAR imaging resolution in complex environments.

[0103] In view of this, embodiments of this application provide a detection method and related products that can utilize a light emitter for supplementary lighting during image imaging and support dynamic adjustment of the light emitter's emission parameters, enabling the supplementary lighting effect for image imaging to adapt to different scene requirements. The solution provided by embodiments of this application can acquire high-resolution images all day and all weather, ensuring the fusion of images and point clouds and improving the system's imaging resolution.

[0104] The following describes the architecture of a detection device applicable to embodiments of this application. It should be noted that the system architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of this application. As system architectures evolve and new business scenarios emerge, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0105] Please see Figure 1 , Figure 1 This is a schematic diagram of the architecture of a detection device provided in an embodiment of this application. The detection device 10 includes a detection control device 11, a first light emitter 12, and at least one light receiver 13. Wherein:

[0106] The detection control device 11 is a device with both computing and control capabilities. In some cases, the detection control device can output control signals to control actuators (such as drive circuits, motors, etc.) to perform corresponding operations. The naming of modules, parameters, information, devices, etc. in this document is only illustrative; for example, the main control module or control circuit in some detection systems can be regarded as the detection control device 11 here.

[0107] In some possible implementations, the detection control device 11 includes at least one processor. The processor can be used to run a program or instructions corresponding to the program to achieve a specific function. In one implementation, the processor includes circuitry with instruction read and execute capabilities, such as an arithmetic logic unit (ALU), processor core, central processing unit (CPU), microprocessor, microcontroller unit (MCU), graphics processing unit (GPU), or digital signal processor (DSP). In another implementation, the processor implements a certain function through the logic of hardware circuitry. This hardware circuitry logic is fixed or reconfigurable. For example, the processor may be a hardware circuitry implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuitry, the process of the processor loading configuration information to configure the hardware circuitry can be viewed as the process of the processor loading instructions to achieve a specific function. In another implementation, the processor includes hardware circuitry designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), or deep learning processing unit (DPU). In yet another implementation, the processor includes means for processing signals, such as a digital-to-analog converter (DAC). In yet another implementation, the probe control device 11 includes at least one processor integrated as a system-on-chip (SOC), commonly referred to as an SOC by those skilled in the art. This SOC may include at least one processor; when the SOC includes multiple processors, the types of processors can be different, such as including a CPU and an MCU. These various implementations can be combined.

[0108] In some other possible implementations, the detection control device 11 can be implemented in software. For example, the detection control device 11 may include one or more of computer instructions, computer programs, or computer code.

[0109] The first light emitter 12 includes a light source, referred to as the first light source for ease of identification, which is capable of generating an emitted beam, for example, generating an emitted beam in the form of pulses. Further, the beam emitted by the first light emitter can illuminate an object space for detection. In some cases, the first light source includes one or more of a vertical-plane emitting laser and / or an edge-emitting laser (EEL). When the vertical-plane emitting laser is mounted on a circuit board, its emitting surface is parallel to the surface of the circuit board. Exemplarily, the vertical-plane emitting laser includes, but is not limited to, one or more of a laser diode (LD), a VCSEL, a photonic crystal surface-emitting semiconductor laser (PCSEL), a horizontal cavity surface-emitting laser (HCSEL), and a fiber laser. An edge-emitting laser refers to a laser that emits light through a side surface; in other words, when the edge-emitting laser is mounted on a circuit board, its emitting surface is a side surface (or perpendicular to the surface of the circuit board). Alternatively, the EEL can be replaced with other devices that emit light at the edge of the light-emitting element, such as a silicon photonic chip.

[0110] The optical receiver 13 is capable of receiving a light beam and obtaining detection data, and can be a lidar sensor or an image sensor. The received light beam includes ambient light and / or targets in the object space (such as...). Figure 1 The black object (as described) reflects the emitted light beam. In some embodiments, the light receiver 13 includes multiple photodetectors, and further, the multiple photodetectors can be arranged to form an array structure. Exemplarily, the light receiver 13 includes photodetectors such as SPAD, SiPM, APD, multi-pixel photon counter (MPPC), or electron multiplying charge-coupled device (EMCCD), etc. As another example, the light receiver 13 includes a photosensitive element (another type of photoelectric conversion element), such as complementary metal oxide semiconductor (CMOS), charge-coupled device (CCD), or Live MOS, etc.

[0111] In this embodiment, the characteristics of the pulse generated by the first optical transmitter 12 are adjustable. For example, one or more of the following characteristics can be adjusted: power, wavelength, pulse width, number of pulses in a specified time unit, frequency of the transmitted pulse, or wavelength of the pulse.

[0112] Furthermore, the emission parameters of the first optical transmitter 12 are adjustable. Adjusting the emission parameters of the first optical transmitter 12 can change the characteristics of the pulse generated by the first optical transmitter 12 accordingly. For example, the emission parameters may include adjustable variables related to electrical energy such as voltage, current, and power, which are related to the characteristics of the pulse. Even more exemplarily, the emission parameters may include one or more adjustable variables related to pulse characteristics, such as power, emission time, waveform, pulse width, number of emission cycles, period, wavelength, or emission mode.

[0113] In other words, adjustable variables can control the characteristics of the pulses generated by the first light emitter 12. For example, increasing the voltage (or current) supplied to the first light source in the first light emitter 12 can increase the power of the pulse. Furthermore, adjusting the emission time of the first light source can control the pulse width of the pulses generated by the first light emitter 12. Moreover, the emission parameters include indications of the first waveform; adjusting the emission parameters can control the waveform of the pulses generated by the first light emitter 12 to match the first waveform. Of course, due to limitations in manufacturing processes, circuit noise, or environmental factors, the final waveform of the pulses may not be completely consistent with the ideal first waveform. This refers to the ability to adjust the emission parameters to make the pulse characteristics approach the ideal situation.

[0114] In some cases, the first light source in the first light emitter 12 can be driven by a driving circuit, which has one or more of the aforementioned adjustable variables. For example, the adjustable variables may be one or more adjustable variables such as voltage, current, waveform control-related variables of the driving circuit.

[0115] In some possible implementations, the detection control device 11 can adjust the emission parameters of the light emitter. For example, the detection control device 11 adjusts the emission parameters of the first light emitter 12 so that the characteristics of the pulses emitted by the first light emitter 12 meet the requirements.

[0116] Furthermore, the detection control device can adjust the emission parameters of the light emitter based on input information. The input information includes one or more of the following: background light intensity of the environment, information on angular targets in the environment, temperature of the environment, weather information, status information of the terminal where the detection device is located, road information of the terminal where the detection device is located, operating scenario of the terminal where the detection device is located, or operating mode of the detection device. These will be described in detail below.

[0117] In some cases, when the detection device 10 includes other light emitters, the detection control device 11 can also adjust the emission parameters of the other light emitters.

[0118] In some possible implementations, the detection control device 11 may receive feedback from at least one optical receiver 13, such as feedback from a first optical receiver 13a and feedback from a second optical receiver 13b. This feedback may serve as at least a partial basis for the detection control device 11 to adjust the emission parameters of the optical emitter. For example, at least one optical receiver 13 may provide the detection control device with indication information of the ambient background light intensity, and the detection control device may adjust the emission parameters of the optical emitter (such as the first optical emitter 12) in the detection device 10 based on this indication information.

[0119] For example, the optical receiver 13 may provide the detection control device with one or more of the following three types of information:

[0120] The first type involves a light receiver 13 with a background light sensing function, which can directly output the background light intensity. For example, the background light intensity can be quantified by an index, such as a value between 1 and 100, with a larger value indicating stronger background light. Alternatively, the background light intensity can be determined by levels, such as low, medium, and high, with different levels representing different intensities of background light.

[0121] Secondly, the data output by the light receiver 13 can reflect the background light intensity. For example, the light receiver 13 can output data from multiple pixels, and the detection control device can process the data from these multiple pixels to obtain the background light intensity. Exemplarily, the detection control device 11 can receive detection data data1 from the light receiver 13. Detection data data1 includes photon count values ​​from multiple pixels and information indicating whether each pixel has a valid echo. The detection device can obtain the background light intensity based on the photon count value of at least one background pixel, where the background pixel is a pixel without a valid echo.

[0122] The third type is the detection result obtained based on the data output by the optical receiver 13. The detection result may include point clouds, images, target recognition results, and fusion results of point clouds and images (such as enhanced point cloud images), etc.

[0123] In some cases, in addition to at least one optical receiver in the detection device 10, the detection control device 11 may also receive feedback information from other devices, which can serve as at least part of the basis for adjusting the emission parameters of the optical emitter. For example, the detection control device 11 may receive indication information of the ambient background light intensity from other optical receivers.

[0124] The above describes the process of acquiring input information using background light intensity indication information as an example. Besides background light intensity indication information, the detection and control device may also acquire other information, which can also serve as a basis for adjusting the emission parameters of the light emitter. For example, other information may include one or more of the following: information about angular targets in the environment, temperature information, weather information, terminal status information, information about the terminal's driving scenario, and the operating mode information of the detection device.

[0125] In some possible implementations, the receiving capability of the optical receiver 13 is adjustable. This receiving capability can be adjusted by modifying the receiving parameters. Exemplarily, the receiving parameters include at least one of the following: gating parameters, PDE parameters, or pixel binning methods, etc. In some cases, the image imaging integration time of the optical receiver can be considered as one of the gating parameters.

[0126] Furthermore, the detection control device can adjust the receiving capability of the light receiver 13 based on the input information. The input information includes one or more of the following: background light intensity of the environment, information on angular targets in the environment, temperature of the environment, weather information of the environment, status information of the terminal where the detection device is located, road information of the terminal where the detection device is located, operating scene of the terminal where the detection device is located, or operating mode of the detection device.

[0127] In this embodiment, at least a portion of the detection data output by at least one optical receiver 13 is used to obtain an image of the environment. Furthermore, at least a portion of the detection data output by at least one optical receiver is also used to obtain a point cloud of the environment, which can be used to indicate measurement information of one or more dimensions of targets in the environment, such as distance, position, angle, velocity, and reflectivity.

[0128] Optionally, the point cloud data and the image data can originate from the same optical receiver, or from different optical receivers. Furthermore, if at least one optical receiver comprises multiple optical receivers, the types of these receivers can be different, for example, some may be lidar sensors and some may be image sensors. Several possible scenarios are illustrated below:

[0129] Case 1: The detection device 10 includes a light receiver 13, such as... Figure 2 and Figure 3 The first optical receiver 13a is shown. Wherein, Figure 2 This is a schematic diagram of a 1T1R architecture detection device, including a light transmitter and a light receiver. Figure 3 This is a schematic diagram of a 2T1R architecture detection device, including two optical transmitters and one optical receiver. Figure 2 and Figure 3The first optical receiver 13a is capable of receiving the incident light beam, including the echo of the beam used for image imaging (i.e., the image service beam) and the echo of the beam used for point cloud services (i.e., the point cloud service beam). The detection data output by the first optical receiver 13a can be used to obtain an image of the environment and a point cloud of the environment. In other words, the first optical receiver 13a has both image imaging and point cloud imaging functions. The image imaging and point cloud imaging functions are performed by the same optical receiver, which facilitates pixel-level alignment and improves the registration accuracy between the point cloud and the image.

[0130] In some designs, the image imaging function and point cloud imaging function of the first optical receiver 13a can be performed in a time-division manner. For example, the detection data output by the first optical receiver 13a during time period S1 is used to obtain a point cloud, and the detection data output by the first optical receiver 13a during another time period S2 is used to obtain an image. Furthermore, the characteristics of the pulses emitted by the optical transmitter during time period S1 and the characteristics of the pulses emitted by the optical transmitter during time period S2 can be the same or different.

[0131] In some other designs, the image imaging function and the point cloud imaging function of the first optical receiver 13a can be completed simultaneously. For example, during time period S3, the detection data output by the first optical receiver 13a forms two identical sets of data, one set for obtaining the point cloud and the other set for obtaining the image.

[0132] In scenario 2, the detection device 10 includes multiple optical receivers, each capable of performing a different function. Please refer to [link / reference]. Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of a 1T2R architecture detection device, including one light transmitter and two light receivers. Figure 5 This is a schematic diagram of a 2T2R architecture detection device, including two light emitters and two light receivers. The detection device 10 includes a first light receiver 13a and a second light receiver 13b. The first light receiver 13a is used to perform image imaging (such as an image sensor), and its output data can be used to obtain an image of the environment. The second light receiver 13b is used to perform point cloud imaging (such as a lidar sensor), and its output data can be used to obtain a point cloud of the environment.

[0133] The architecture of the receiver has been introduced above; the transmitter will be described below.

[0134] Optionally, the image service beam and the point cloud service beam can be the same beam, or they can be different beams. Further, the image service beam and the point cloud service beam can be emitted through the same light emitter, or they can be emitted through different light emitters. For example, combining... Figure 2 and Figure 4 Both the image service beam and the point cloud service beam are emitted by the first light emitter 12. For example, combined with... Figure 3 and Figure 5 The image service beam is emitted by the first light transmitter 12, and the point cloud service beam is emitted by the second first light receiver 13a transmitter 14.

[0135] The architecture of the detection device has been described above. It should be understood that... Figures 1-5 The diagram shown is an exemplary functional block diagram; the detection device 10 may include more modules not shown.

[0136] For example, the detection device also includes a data processing module. The data processing module can obtain an image and a point cloud based on the detection data output from at least the optical receiver in the detection device 10, and fuse the image and the point cloud to obtain an enhanced point cloud image. The enhanced point cloud image contains more target points than the point cloud itself, or the enhanced point cloud image includes the target's outline, texture, pattern, brightness variations, etc. In some solutions, the data processing module can use intensity information from the image, combined with the target's distance information in the point cloud, to determine the reflectivity of the target in the point cloud. In other solutions, the data processing module can use the image and the point cloud to identify highly reflective or angularly reflective targets in the environment.

[0137] For example, some detection devices 10 also include a waveform control module, which is connected to a light emitter (such as a first light emitter 12 and / or a second light emitter 14) and is used to control the waveform of the light beam emitted by the light emitter.

[0138] For example, some detection devices 10 also include optical systems for processing light beams, such as transmitting lenses or receiving lenses.

[0139] The above has introduced various possible structures for transmitters and receivers. The following section will combine... Figures 2-5 Several possible detection processes are introduced.

[0140] In the first detection process, 1T1R completed image imaging and point cloud imaging in a time-division multiplexing manner. Combined with... Figure 2 In the IT1R architecture, the first optical transmitter 12 in the detection device 10 can transmit image service beams and point cloud service beams in a time-division multiplexing manner. During the receiving period corresponding to the image service beam, such as during the transmission of the image service beam, the first optical receiver 13a performs image imaging. For example, the data output by the first optical receiver 13a can be processed to obtain an image of the environment, or the data output by the first optical receiver 13a includes an image of the environment. During the receiving period corresponding to the point cloud service beam, such as during the transmission of the point cloud service beam, the first optical receiver 13a performs point cloud imaging (or distance measurement imaging). Further, the data output by the first optical receiver 13a can be processed to obtain a point cloud of the environment, or the data output by the first optical receiver 13a includes a point cloud of the environment.

[0141] From the receiving perspective, the returned beams received by the first optical receiver include the returned light (or third returned beam) of the image service beam (i.e., the supplementary light pulse) and the returned beam of the point cloud service beam (i.e., the fourth returned beam). The returned light of the image service beam and the returned beam of the point cloud service beam are received by the first optical receiver 13a in a time-division manner. For example, the first optical receiver 13a receives the returned light (or reflected light) of the image service beam in a first time period to obtain the first part of the detection data; the first time period includes the receiving time period corresponding to the image service beam. Since the first optical transmitter 12 is also used to transmit the point cloud service beam (i.e., the detection pulse), the first optical receiver 13a receives the returned light (or reflected light) of the point cloud service beam in a second time period to obtain the second part of the detection data; the second time period includes the receiving time period corresponding to the point cloud service beam. The first time period and the second time period do not overlap at least partially.

[0142] In detection process 2, 1T1R simultaneously completes image imaging and point cloud imaging. Compared to detection process 1, the light beam emitted by the first optical transmitter 12 at this time includes both the image service beam and the point cloud service beam. Alternatively, the same pulse can serve as both the image service beam and the point cloud service beam. Correspondingly, the first optical receiver 13a receives the returned beam and obtains output data during a first time period, which is the reception period of the emitted beam from the first optical transmitter 12. This output data is used to obtain both the point cloud and the image.

[0143] In the third detection process, 2T1R completed image imaging and point cloud imaging in a time-division manner. Combined with... Figure 3 In the 2T1R architecture, the first optical transmitter 12 in the detection device 10 emits an image service beam, and the second optical transmitter 14 emits a point cloud service beam. The emission periods of the image service beam and the point cloud service beam do not overlap, i.e., they are time-division multiplexing. During the reception period corresponding to the image service beam, the first optical receiver 13a performs image imaging. For example, the data output by the first optical receiver 13a can be processed to obtain an image of the environment, or the data output by the first optical receiver 13a includes an image of the environment. During the reception period corresponding to the point cloud service beam, the first optical receiver 13a performs point cloud imaging. For example, the data output by the first optical receiver 13a can be processed to obtain a point cloud of the environment, or the data output by the first optical receiver 13a includes a point cloud of the environment.

[0144] For details on the specific reception process and time period divisions, please refer to the aforementioned detection process 1.

[0145] In detection process 4, 2T1R simultaneously completes image imaging and point cloud imaging. Combined with... Figure 3In the 2T1R architecture, the first optical transmitter 12 in the detection device 10 emits an image service beam, and the second optical transmitter 14 emits a point cloud service beam. The emission periods of the image service beam and the point cloud service beam overlap (including partial overlap). At this time, the return beam received by the first optical receiver 13a includes the return light of the image service beam and the return light of the point cloud service beam. The output data obtained by the first optical receiver 13a from the return beam can be used to obtain both the point cloud and the image. For example, it can be divided into two parts to obtain the image of the environment and the point cloud of the environment respectively, or it can include both the image of the environment and the point cloud of the environment.

[0146] The detection process involves 5 stages, where image imaging and point cloud imaging are completed either time-division or simultaneously via 1T2R. Combined with... Figure 4 In the 1T2R architecture, the first optical transmitter 12 can simultaneously or time-divisionally transmit point cloud service beams and image service beams. The first optical receiver 13a receives the return light from the image service beam, and the data output by the first optical receiver 13a includes images or images that can be obtained. The second optical receiver 13b receives the return light from the point cloud service, and the data output by the first optical receiver 13b includes point clouds or point clouds that can be obtained.

[0147] The detection process involves 6 steps, with image imaging and point cloud imaging completed in a time-sharing or simultaneous manner using a 2T2R method. Combined with... Figure 5 In the 5T2R architecture, the first optical transmitter 12 and the second optical transmitter 14 transmit point cloud service beams and image service beams, respectively, and their transmission periods may overlap, not overlap, or partially overlap. The first optical receiver 13a receives the return light from the image service beam, and the data output by the first optical receiver 13a includes images or images that can be obtained. The second optical receiver 13b receives the return light from the point cloud service, and the data output by the second optical receiver 13b includes point clouds or point clouds that can be obtained.

[0148] Especially when the detection device is a scanning detection device, the 2T2R architecture can greatly shorten the slot cycle (each slot completes a scan of one wave position), which can help improve the horizontal resolution of the system.

[0149] As mentioned above, point cloud service beams and image service beams can be transmitted in a time-division multiplexing manner. For ease of understanding, several possible transmission timing sequences are described below:

[0150] Transmission timing 1, TX, includes one or more optical transmitters that transmit image service beams and point cloud service beams in a time-division multiplexing manner within a subframe (slot). The image service beam can optionally be transmitted after the point cloud service beam. Of course, some embodiments of this application also use the case where the image service beam is transmitted before the point cloud service beam.

[0151] In some cases, during the transmission of an image service beam, the optical receiver's image imaging function is enabled, such as when the image imaging function enable signal is high. In other cases, during the transmission of an image service beam, the optical transmitter's waveform adjustment function is enabled, such as when the waveform adjustment function enable signal is high. Here, waveform adjustment refers to the adjustment from transmitting a point cloud service beam to transmitting an image service beam. Since the waveforms of the image service beam and the point cloud service beam may differ, waveform adjustment is necessary.

[0152] It should be understood that frames and subframes are predefined units of time. In a timing diagram, a frame typically refers to the time it takes for a sensing device to complete one full scan of the field of view, but some schemes may have different designs for the definition of a frame.

[0153] In some embodiments, the duration of a frame is synchronized using a frame synchronization signal (such as F_SYNC). For example, a rising edge of the F_SYNC signal indicates the start of a frame, and a falling edge indicates the end of a frame; that is, the duration of a frame is the period during which the F_SYNC signal is high.

[0154] Furthermore, one or more subframes can be designed within a single frame. Figures 6-10 Taking a frame comprising n subframes (n is a non-zero positive integer) as an example, frame 1 may include subframes 1 to n. The duration of a subframe is synchronized using a subframe synchronization signal (such as S_SYNC). For example, a rising edge of the S_SYNC signal indicates the start of a subframe, and a falling edge indicates the end of a subframe; that is, the duration of a subframe is the period during which the S_SYNC signal is high. Furthermore, time intervals typically exist between subframes and between frames.

[0155] Combination Figure 5 TX can transmit point cloud service beams during the period when the subframe signal is at a high level, that is, transmit point cloud service beams within the subframe.

[0156] Transmission timing 2: TX transmits the point cloud service beam within one subframe and the image service beam during the intervals between subframes. Combined with... Figure 6 TX can transmit point cloud service beams when the S_SYNC signal is high and image service beams when the S_SYNC signal is low.

[0157] Transmission timing 3: TX transmits the point cloud service beam and the image service beam within a frame. The point cloud service beam is transmitted within n subframes of a frame, and the image service beam is transmitted before the end of a new frame, after n subframes. Combined with... Figure 8TX can transmit point cloud service beams during the period when the F_SYNC signal is high and during the period when the S_SYNC signal is high, and transmit image service beams after n subframes when the F_SYNC signal is high and the S_SYNC signal is low.

[0158] Transmission timing 4: TX transmits point cloud service beams within a frame and image service beams during the intervals between frames. Combined with... Figure 9 TX can transmit point cloud service beams during the period when the F_SYNC signal is high, such as in subframes a1 to an and b1 to bn, and transmit image service beams during the period when the F_SYNC signal is low.

[0159] In transmission timing 5, TX transmits point cloud service beams and image service beams separately in different frames. For example, combined with... Figure 7 In odd-numbered frames, i.e., subframes a1 to an, TX transmits point cloud service beams, and in even-numbered frames, i.e., subframes b1 to bn, it transmits image service beams.

[0160] Of course, the above launch timing is just an example. In the actual implementation, multiple launch timings may be used, such as alternating launch timing 1 and launch timing 5.

[0161] The following section will further introduce some other functional modules in the detection device.

[0162] In one possible implementation, the emitting end of the detection device 10 further includes a laser driving module, which drives the light source of the emitting end to emit light. For ease of description, the laser driving module is considered as a module in the light emitter; that is, the light emitter includes both the laser driving module and the light source. This module division is also used in some embodiments below. Of course, this module division is only an example. For instance, in some cases, the light emitter may only include the light source, and the driving module may be a module other than the light emitter.

[0163] As one possible design, the first light emitter 12 includes a first light source, a first power supply module, and a first driving module. The first power supply module supplies power to the first driving module, enabling the first driving module to drive the first light source to emit light. The parameters of the electrical energy supplied by the first power supply module are adjustable, such as the supplied voltage and / or current. When the first driving module drives the first light source to emit light, it can control some emission parameters of the first light source, such as waveform or pulse width. Two examples are described below:

[0164] Example 1, please see Figure 11 , Figure 11This is a schematic diagram illustrating the relationship between a control device and a light emitter according to an embodiment of this application. The first light emitter 12 includes a first light source 123, a first gating circuit 121, and a first driving module 122. The first light source 123 is capable of emitting light, for example, it is a laser chip. The first light emitter 12 also includes multiple power sources, such as power sources 1 to n. Furthermore, the electrical parameters supplied by the multiple power sources are at least partially different, for example, different voltages, different currents, or the same current but different voltages, or the same current but different voltages. The first gating circuit 121 can select at least one of the multiple power sources as the power supply for the first driving module 122, for example, selecting power source 1 to power the first driving module 122. Understandably, when the first gating circuit 121 selects different power sources (or power source groups), the characteristics of the pulse emitted by the first light source also change accordingly. For example, when a power source with a higher voltage is selected, the first light source can emit pulses with higher power. For example, the first gating circuit includes a multiplexer (MUX) gating circuit or a multi-stage metal-oxide-semiconductor (MOS) circuit. In some cases, the first gating circuit 121 and multiple power supplies can be regarded as a first power supply module for powering the first drive module 122.

[0165] In some possible implementations, the detection control device 11 may output a gating control signal to the first gating circuit 121 and a waveform control signal to the first driving module 122. Accordingly, the first gating circuit 121, in response to the gating control signal, selects at least one of a plurality of power sources as the power supply for the first driving module 122. Changing the power source selection alters the parameters of the electrical energy supplied to the first driving module, thereby controlling the characteristics of the pulses emitted by the first light source. The first driving module 122, in response to the waveform control signal, drives the first light source to emit light, and changes in the waveform control signal alter the characteristics of the pulses emitted by the first light source. Furthermore, the gating control signal and the waveform control signal are related to a set of values ​​for the emission parameters of the first light emitter, for example, determined based on a set of values ​​for the emission parameters of the first light emitter.

[0166] Example 2, please see Figure 12 , Figure 12 This is a schematic diagram illustrating the relationship between a control device and a light emitter according to another embodiment of this application. The first light emitter 12 includes a first light source 123, a first power supply module 124, and a first drive module 122. The first power supply module 124 can supply power to the first drive module and supports adjusting the parameters of the supplied power, such as voltage and current. Optionally, the first power supply module includes a PWM, a filter module (optional), and a power chip. The first drive module 122 can drive the first light source to emit light, and its operating parameters are adjustable to adjust the characteristics of the emitted pulses of the first light source.

[0167] For example, the detection control device 11 can output a power regulation signal to the first power module and a waveform control signal to the first drive module 122. The first power module 124 controls the electrical energy parameters supplied to the first drive module in response to the power regulation signal. For example, the power regulation signal is a voltage regulation control signal, which enables the first power module 124 to regulate the voltage supplied to the first drive module 122. Optionally, the first control device includes a DAC, and the power regulation signal can be output by the DAC.

[0168] It should be noted that the above module division is an exemplary division for the purpose of illustrating the functions. In the actual implementation, the module division may be designed differently, or more modules may be added, some modules may be removed, or the above modules may be merged or split.

[0169] The method provided in the embodiments of this application is described below. Please refer to... Figure 13 This application provides a detection method, including one or more steps from S1301 to S1302. It should be understood that, for ease of description, the method is described in the order of S1301 to S1302, but this application does not limit the order of execution, the execution time, or the number of executions of the above one or more steps. Steps S1301 to S1302 are as follows:

[0170] S1301, the detection and control device acquires perception information about the environment.

[0171] The detection control device is a computing device capable of controlling the detection device, such as adjusting the characteristics of the pulses emitted by the detection control device and controlling the receiving capability of the receiver in the detection device. Exemplarily, the detection device includes a first light emitter and at least one light receiver. The first light emitter emits supplementary light pulses, while the at least one light receiver receives the returned light beam and obtains detection data based on the returned light beam. A first part of the detection data is used to obtain an image of the environment, and a second part of the detection data is used to obtain a point cloud of the environment. The returned light beam includes reflected light from the supplementary light pulses and optionally also includes background light from the environment. The first part and the second part of the detection data may originate from the same light emitter, for example, data from different time periods. Of course, the detection data and the first and second parts of the detection data may also overlap in time periods; for example, the first part of the detection data may be the same data. For related descriptions, please refer to the description of the foregoing embodiments.

[0172] The perceived environmental information includes at least one of the following: background light intensity information, information on angular targets in the environment, temperature information, weather information, status information of the terminal where the detection device is located, road information where the terminal is located, or the operating scenario of the terminal where the detection device is located. The following sections will describe some of the information dimensions listed above in different scenarios:

[0173] Scenario 1: The perceived information includes indications of the ambient background light intensity. These indications indicate the intensity of the ambient background light, allowing for adjustments to the detection device's operating parameters to maintain high imaging quality under varying lighting conditions. For example, in low-light environments, such as at night or in tunnel scenes, increasing the amount of supplementary light pulses and / or extending the supplementary light duration can improve the image signal-to-noise ratio, making edges and textures clearer and enhancing the matching accuracy between the image and the point cloud. Conversely, in strong-light environments, such as at midday or in backlighting scenarios, reducing the supplementary light intensity can prevent overexposure, avoid loss of image details, and improve the reliability of the output results. Furthermore, in the presence of highly reflective targets, controlling the energy of the supplementary pulse emitted by the first light emitter to be positively correlated with the background light intensity can reduce crosstalk from highly reflective targets and improve the accuracy of the output results.

[0174] Scenario 2: The perceived information includes information about retroreflective targets in the environment. Optionally, the retroreflective target information includes the reflectivity indication of the retroreflective target and / or the distance of the retroreflective target. Retroreflective targets, including high-reflectivity targets, can reflect most of the incident light back to the light source along its original direction. The signal reflected by the retroreflective target can easily cause crosstalk to the signal reception at the receiver. The retroreflective target information includes one or more of the following: the presence of the retroreflective target, its position, distance, or reflectivity. The detection and control device uses the retroreflective target information to adjust the transmission parameters, which can reduce retroreflective crosstalk and enhance the detection capability of key targets. For example, when the lidar sensor detects no retroreflective target, such as when the environment only includes distant targets or low-reflectivity targets (such as weak reflective signs or worn traffic signs), the supplementary light power can be adjusted or the supplementary light time can be extended to enhance the signal-to-noise ratio of the image sensor, making the target clearer in the image and improving the accuracy of the output results. For example, when there are angularly reflective targets (such as highly reflective license plates or brightly colored signs) within the field of view of the detection device, the detection control device can reduce the intensity of the supplementary light to avoid image overexposure and ensure that details are not lost. Furthermore, for moving angularly reflective targets (such as bicycle reflectors, reflective vehicle bodies, or reflective vests worn by pedestrians), the detection control device can adjust the emission parameters multiple times according to changes in the target's distance, improving the recognition rate in dynamic scenes.

[0175] Scenario 3: The sensed information includes environmental temperature indicators, such as temperature or weather. The detection and control device uses this temperature information to adjust the operating parameters of the detection device, improving its energy efficiency stability under various temperature conditions. For example, temperature affects the heat dissipation efficiency of the detection device components; at higher temperatures, reducing the transmission power or pulse width can extend the lifespan of the light source. Further, temperature can reflect specific climate conditions. For instance, in hot, dry environments, dust or heat waves in the air may cause strong light scattering. In such cases, low-frequency, short-pulse-width, high-power pulses can be used to balance pulse penetration and the lifespan of the detection device.

[0176] Scenario 4: Sensing information includes environmental weather information. Adjusting the operating parameters of the detection device using this weather information can improve its performance stability under complex weather conditions. For example, in rainy or foggy weather, pulse characteristics can be adjusted to achieve higher penetration, such as by increasing transmission power. Similarly, in snowy conditions, the intensity of supplementary lighting can be reduced to avoid overexposure in images. It should be noted that the examples above are merely illustrations. In some cases, weather data can be used for more detailed analysis to solve specific problems, such as activating high-penetration lighting when fog is detected, increasing supplementary lighting power when roads are slippery, and employing specific supplementary lighting modes during heavy rain.

[0177] Scenario 5: Sensing information includes the status information of the terminal where the detection device is located. Adjusting the operating parameters of the detection device using the terminal's status allows the characteristics of the supplementary light pulses to be adapted to the terminal's state, improving the overall safety and stability of the terminal. This status information includes factors such as battery level, vehicle speed, load within the terminal (e.g., weight, number of people, or specific personnel), and the terminal's location. For example, when the terminal's battery level is below a threshold, switching to a low-power supplementary light mode (e.g., reducing power and frequency) prioritizes core detection functions and extends battery life. At higher vehicle speeds (e.g., >80 km / h), short-pulse high-power supplementary light is used to reduce image ghosting and motion blur. During emergency braking or high-speed lane changes, supplementary light enhancement is triggered to improve the accuracy of output results and provide reliable data for vehicle control. Based on location, supplementary light can be activated in advance before entering low-light environments such as tunnels or underground parking garages. In autonomous driving mode (without passengers), increasing supplementary light power enhances external sensing capabilities.

[0178] Scenario 6: Sensing information includes road information about the terminal where the detection device is located. Adjusting the operating parameters of the detection device using this road information can significantly improve its performance under various road conditions. Road information can indicate one or more of the following: road type, lane markings, traffic signs, road surface material, waviness, or curvature. For example, in high-speed scenarios, power and pulse width can be adjusted to match the long-distance, high-speed imaging requirements. In urban roads, power can be reduced to decrease the power consumption of the imaging device (this is just an example). Furthermore, on rural roads and unpaved surfaces, specific pulses can be used to reduce image blurring caused by vehicle movement. Additionally, transmission parameters can be designed to adapt to different road scenarios, such as those involving curves, steep slopes, bridges, and tunnels.

[0179] Scenario 7: The perceived information includes the operating scenario of the terminal where the detection device is located. Specifically, some terminals can distinguish their own scenario. For example, vehicles can identify the type of driving scenario they are in, such as one or more of the following scenarios: meeting oncoming traffic at night, following other vehicles, overtaking, turning, high-speed driving, adverse weather conditions, or urban road driving. By designing the transmission parameters based on the operating scenario, the performance of the detection device under various operating scenarios can be significantly improved, thereby enhancing the overall safety and stability of the terminal.

[0180] Of course, in addition to the perceived information dimensions listed above, other information dimensions may also be used in the specific implementation process to dynamically adjust the emission parameters.

[0181] The acquisition of sensing information can include receiving information from outside the detection device or receiving feedback from devices within the detection device. Taking background light intensity indication information as an example, the detection control device can receive feedback information from a third light receiver to obtain the background light intensity indication information. In some solutions, the third light receiver is at least one light receiver within the detection device. In other solutions, the third light receiver includes other light receivers besides at least one light receiver, such as a camera or other light intensity sensors. Specific types of background light intensity indication information can be found above.

[0182] S802, the detection and control device adjusts the transmission parameters of the first light transmitter based on the sensing information.

[0183] The emission parameters of the first light emitter are adjustable, and the detection and control device can adjust the emission parameters of the first light emitter based on sensing information. After the emission parameters of the first light emitter are adjusted, the first light emitter emits supplementary light pulses based on the adjusted emission parameters. For example, the emission parameters of the first light emitter include the voltage supplied to the light source. When the voltage is adjusted to a first voltage value, the first light emitter supplies the first voltage value to the light source, causing the light source to emit supplementary light pulses based on the supplied first voltage value.

[0184] The emission parameters include adjustable variables used to control the characteristics of the supplementary light pulse. For example, the pulse characteristics include one or more of the following: power, pulse width, waveform, or number of pulses within a preset time unit. The emission parameters may include one or more of the following adjustable variables: voltage, current, power, power supply, power supply method, emission time, emission energy, duty cycle, frequency, waveform, pulse width, number of pulses, period, wavelength, or emission mode. Different values ​​of these adjustable variables can form pulses with different characteristics; therefore, the pulse characteristics can be controlled by adjusting the values ​​of these adjustable variables.

[0185] For example, please see Figures 14 to 19 , Figures 14 to 19 Several possible fill light pulses are illustrated. Among them, Figure 14 The pulse shown Figure 15 The pulses shown have different power and pulse width. For example, Figure 14 The power of a single pulse in the pulse diagram is P1, and the pulse width is T1. Figure 15 The pulses shown have a power of P2 and a pulse width of T2. P1 and P2 are different, and T1 and T2 are different. In some cases, different pulses may have certain characteristics that are the same, such as different power but the same pulse width, or different pulse widths but the same power.

[0186] For example, Figure 16 The supplementary light pulses shown (which can be considered as pulse sequences) and Figure 14 The supplementary light pulses shown each consist of multiple pulses. The two sets of pulses have the same power and pulse width, but the number of pulses per preset time unit differs. For example... Figure 14 Three pulses were emitted within a preset duration (for example only), and Figure 16 In the proposed scheme, three pulses were emitted within a preset duration.

[0187] For example, Figures 14 to 16 The supplementary lighting pulses shown are all square waves. In some cases, the waveform of the pulses can be adjusted to other forms, such as... Figure 17 The Gaussian wave shown, or Figure 18 The spiked waves shown are examples of this.

[0188] Furthermore, when the supplementary lighting pulse comprises multiple pulses, the characteristics of these pulses may differ. For example, one supplementary lighting pulse might be... Figure 19 As shown, the supplementary light pulse consists of three pulses, designated #1 to #3. Each pulse has different characteristics, such as power (taking peak power as an example), pulse width, and waveform. The emission parameter set may include one or more sets of values ​​to indicate how to adjust multiple pulses in the supplementary light pulse to have specified characteristics.

[0189] In one possible implementation, the detection and control device obtains a target value set of the emission parameters of the first light emitter based on the sensing information, and adjusts the value set of the emission parameters of the first light emitter to the target value set. Here, a value set refers to a collection of values ​​for one or more emission parameters; for example, emission parameters include voltage, emission time, and waveform. One possible value set is as follows: the voltage of the power supply is V1, the emission time is from time t1 to time t2, and the waveform is a square wave. Another possible value set includes three sets of values, respectively indicating... Figure 19 The waveforms shown are #1 to #3.

[0190] In one possible implementation, the detection control device can encode the pulses emitted by the first optical transmitter to obtain an encoding result. The encoding result indicates one or more of the following: the power, pulse width, waveform, and number of pulses per period for N (N is a non-zero positive integer) emitted pulses. The detection control device can then adjust the emission parameters of the first optical transmitter based on the encoding result to emit the pulses indicated by the encoding result. Optionally, the input to the encoding process may include one or more of the aforementioned input information, such as sensing information or the operating mode of the detection device.

[0191] For example, when an angularly opposed target is present in the environment, the detection and control device can control the emission of multiple supplementary light pulses based on the distance to the angularly opposed target. The power and pulse width of each supplementary light pulse are designed using the distance to the angularly opposed target. In other words, the characteristics of the multiple supplementary light pulses may be different.

[0192] In one possible implementation, when the sensed information includes an indication of the ambient background light intensity, a set of emission parameter values ​​is used to indicate the energy of the light pulse, and the energy of the supplementary light pulse is related to the ambient background light intensity. The energy of the supplementary light pulse is related to pulse characteristics such as pulse power, pulse width, waveform, or the number of pulses within a preset time unit. In other words, the detection and control device can use the background light intensity information to determine a target set of emission parameter values ​​and adjust the emission parameters so that the energy of the supplementary light pulse matches the performance requirements under the ambient background light intensity.

[0193] For example, the energy of the supplementary light pulse is negatively correlated with the ambient background light intensity. For instance, in low-light environments, the supplementary light pulse energy can be increased, such as by increasing the power or pulse width. Conversely, in high-light environments, the supplementary light pulse energy can be decreased.

[0194] As another example, the energy of the supplementary light pulse is positively correlated with the ambient background light intensity. Furthermore, in the case where the environment includes corner-reflecting targets, the energy of the supplementary light pulse is positively correlated with the ambient background light intensity, thus reducing the crosstalk effect of corner-reflecting targets.

[0195] In one possible implementation, the first light emitter has multiple adjustable energy levels, each corresponding to a different set of emission parameters. For example, Figure 14 The supplementary light pulse shown is the first energy level, corresponding to a set of emission parameter values. And... Figure 16 The supplementary light pulse shown is the second energy level, corresponding to another set of emission parameter values. Figure 15 The supplementary light pulse shown is the third energy level, corresponding to another set of emission parameter values. Furthermore, the detection and control device can establish a mapping relationship between scene levels and energy levels. When the perceived information matches the first scene level among multiple scene levels, the emission parameter value set of the first light emitter corresponds to the first energy level.

[0196] For example, when the ambient light intensity falls into the first light intensity level, the emission parameters are adjusted to the first set of values ​​so that the first light emitter emits light. Figure 14 The pulse shown. For example, when the ambient light intensity falls into the second light intensity level, the emission parameters are adjusted to the first set of values ​​so that the first light emitter emits light. Figure 15 The pulse shown.

[0197] In some possible implementations, the detection control device can also dynamically adjust the receiving parameters of the optical receiver based on the sensing information, so that the receiving capability of the optical receiver can match the current environmental conditions (i.e., the scene) and adaptively receive signals. For example, the receiving parameters include at least one of the following: gating parameters, photon detection efficiency (PDE) parameters, or pixel binning methods, etc.

[0198] To facilitate understanding, several possible receiving parameters are introduced below:

[0199] Parameter 1, the gating parameter, is used to control one or more of the following: whether the receiving time window is open or closed, the opening time, and the duration of the open window. For example, gating parameters include gate width, delay time, and end time. In some schemes, a larger dynamic range can be achieved by using specific gate widths and delay times in combination with the waveform.

[0200] In some cases, the gating parameter includes the image imaging integration time, or the gating parameter controls the image imaging integration time. The following section combines... Figure 20 (a) and Figure 20 (b) introduces the characteristics of the supplementary light pulses and the receiving capabilities of the optical receiver in two different scenarios.

[0201] Please see Figure 20 (a) The detection control device can adjust the emission parameters of the light emitter to form a pattern such as Figure 20The supplementary light pulse shown in (a) consists of three pulses, all of which are square waves, with powers of P0 and P1 respectively. a1 P a2 and P a3 The pulse widths are Δ at1 Δ at2 and Δ at3 In addition to the characteristics mentioned above, the number of pulses and the time interval between two adjacent pulses can also be included in the transmission parameters. Furthermore, the detection device can also control the receiving parameters of the receiver, such as controlling the time of integration operation (i.e., image integration time) during image imaging. For example, the image integration time corresponding to the optical receiver is Δ... ar1 Δ ar2 and Δ ar3 The specific integration time can also be included in the received parameters.

[0202] Please see Figure 20 (b) The detection control device can adjust the emission parameters of the light emitter. After adjustment, the first light emitter emits as shown in the image. Figure 20 The supplementary light pulse shown in (b) consists of three pulses, all of which are square waves with powers of P0 and P0 respectively. b1 P b2 and P b3 The pulse widths are Δ bt1 Δ bt2 and Δ bt3 The above-mentioned at least part of the power and / or at least part of the pulse width are related to Figure 20 The situation shown in (a) is different. In addition to the characteristics described above, the number of pulses and the time interval between two adjacent pulses may also be changed (not shown here). Similarly, the detection device can adjust the receiving parameters at the receiver so that the image integration time corresponding to the optical receiver is adjusted to Δ... br1 Δ br2 and Δ br3 The specific start or end time of the integration process may also change.

[0203] Parameter 2, PDE-related parameters, adjust the receiving capability of at least one optical receiver by adjusting the PDE-related parameters. For example, when the ambient light intensity is high, reducing the PDE of the optical receiver makes the detection element less sensitive to the received light signal, thus avoiding loss of image details. For example, the PDE can be adjusted by regulating parameters such as the voltage and current of the detection element.

[0204] Parameter 3, pixel binning mode. Binning mode can affect one or more of the following: sensitivity, resolution, noise performance, or dynamic range of the optical receiver. For example, one binning mode combines the outputs of the detector elements in a 2x2 array into the output of a single pixel, while another binning mode combines the outputs of the detector elements in a 3x3 array into the output of a single pixel.

[0205] exist Figure 8 In the illustrated embodiment, the detection and control device can dynamically adjust the emission parameters of the light emitter based on the sensing information, so that the pulse characteristics of the supplementary light can match the current environmental conditions (i.e., the scene), achieving adaptive illumination compensation. This allows the image imaging function to achieve high imaging quality in various environments. In this way, the detection device can acquire high-resolution images around the clock and in all weather conditions, ensuring the fusion of images and point clouds, and further improving the resolution of the detection device's output results.

[0206] Please combine Figure 21 This application also provides a detection method, including one or more steps in S2101 to S2102. It should be understood that, for ease of description, the method is described in the order of S2101 to S2102, but this application does not limit the order of execution, the execution time, or the number of executions of the above one or more steps. S2101 to S2102 are as follows:

[0207] S2101, the detection control device adjusts the emission parameters of the first optical transmitter to the first value group.

[0208] Specifically, the first light emitter emits a first supplementary light pulse based on a first set of emission parameters. The emission parameters include adjustable variables used to control the characteristics of the supplementary light pulse. For an introduction to the emission parameters, please refer to the preceding text. A set of values ​​refers to a collection of values ​​for one or more emission parameters. For example, emission parameters may include voltage, emission time, and waveform. One possible first set of values ​​is as follows: the voltage value is V2, the emission time is from t3 to t4 (duration T1), and the waveform is a square wave. For example, when the emission parameters are in the first set of values, the first light emitter emits a pulse as shown below. Figure 14 The supplementary light pulse shown.

[0209] Accordingly, at least one optical receiver is used to receive a first returned beam and obtain first detection data based on the first returned beam, the first returned beam including reflected light from a first supplementary light pulse, and at least a portion of the first detection data is used to obtain a first image of the environment.

[0210] In some possible implementations, the set of values ​​for the emission parameters of the light emitter is related to the perceived information of the environment in which the detection device is located, with the first set of values ​​corresponding to the first perceived information of the environment. For example, the detection control device can acquire the first perceived information and determine the first set of values ​​for the emission parameters of the first light emitter based on the first perceived information.

[0211] S2102, the detection control device switches the transmission parameters of the first optical transmitter to the second value group.

[0212] Specifically, the first light emitter emits a second supplementary light pulse based on a second set of emission parameters, which is different from the first set of parameters. For example, one possible second set of parameters is as follows: the voltage value is V3, the emission time is from t4 to t6 (duration is T2), and the waveform is a square wave.

[0213] Correspondingly, the characteristics of the second supplementary light pulse are also different from those of the first supplementary light pulse. For example, when the emission parameters are in the second set of values, the first light emitter emits as follows: Figure 15 The supplementary light pulse shown.

[0214] Accordingly, at least one optical receiver is also configured to receive a second returned beam and obtain second detection data based on the second returned beam, the second returned beam including reflected light from a second supplementary light pulse, and at least a portion of the second detection data is used to obtain a second image of the environment.

[0215] exist Figure 21 In the illustrated embodiment, because the detection device switches the emission parameters, the first light emitter can emit at least two different pulses. Accordingly, the pulse characteristics of the supplementary light change dynamically, enabling the image imaging function to achieve high image quality in various environments. For example, by emitting... Figure 14 The pulses shown Figure 15 Taking the pulse shown as an example, Figure 14 The pulse shown can be detected with high power and short pulse width, matching the high-resolution requirements of high-speed, low-light environments and high-scattering scenes. Figure 5 The pulses shown can meet the high-resolution requirements of scenarios involving strong light, low energy consumption, and close-range detection. Therefore, utilizing a variety of different pulses can cover the detection needs of various scenarios, thereby improving the overall performance of the detection system.

[0216] In some possible implementations, the set of values ​​for the emission parameters of the light emitter is related to the perceived information of the environment in which the detection device is located, and the second set of values ​​corresponds to the second perceived information of the environment. For example, the detection control device can acquire the second perceived information and determine the second set of values ​​for the emission parameters of the first light emitter based on the second perceived information.

[0217] Optionally, the second sensing information is the same as the first sensing information, but the operating modes of the detection devices corresponding to the first set of transmission parameter values ​​and the second set of transmission parameter values ​​are different. That is, the detection device can determine different sets of transmission parameter values ​​based on the same sensing information in different operating modes.

[0218] Alternatively, the second sensing information may differ from the first sensing information. Furthermore, the operating modes of the detection devices corresponding to the first set of transmission parameters and the second set of transmission parameters may be the same or different.

[0219] In some possible implementations, at least one optical receiver is also used to obtain third detection data, which is used to obtain a point cloud of the environment. The point cloud of the environment may be fused with a first image and / or a second image.

[0220] In some possible implementations, the detection control device determines the current operating mode of the detection device based on an operating mode switching strategy. This strategy indicates the switching pattern of multiple operating modes of the detection device. Utilizing this strategy, operating modes can be switched according to a predefined pattern, forming a specific rhythm (pattern) of supplementary lighting parameter changes. This avoids the limitations of single-mode detection, covers the detection needs of various scenarios, and improves the overall performance of the detection system. For example, the detection control device controls the detection device to switch according to the following pattern: "Mode 1 (corresponding to short pulse high power), Mode 2 (corresponding to long pulse low power), Mode 3 (corresponding to long pulse high power), Mode 4 (corresponding to short pulse low power)". This not only covers the detection needs in different scenarios but also avoids prolonged high-power operation of the first light emitter, enabling multi-dimensional detection of the object space.

[0221] In some possible implementations, the emission times of the first and second supplementary light pulses are located in different frames. Alternatively, the emission times of the first and second supplementary light pulses are located in different subframes of the same frame. Or, the emission times of the first and second supplementary light pulses are located at different time periods within the same subframe. The definitions of frames and subframes are provided above.

[0222] In some possible implementations, the detection control device can also dynamically adjust the receiving parameters of the optical receiver. For example, it can adjust the receiving parameters of the optical receiver from one set of values ​​to another set of values. See detailed description below. Figure 20 Related information.

[0223] It should be understood that the various embodiments and possible implementation methods provided in this application can be combined. For example, combining the adjustment of transmission parameters with the adjustment of reception parameters can adapt the signal transmission and reception, thereby improving the anti-interference capability and dynamic range of the detection device.

[0224] The following describes some apparatuses for implementing the aforementioned methods. It should be understood that the division of units in the apparatuses provided in the embodiments of this application is only a logical functional division; in actual implementation, they can be fully or partially integrated onto a single physical entity, or they can be physically separated. The units of the apparatus can be entirely implemented through processor-invoked software, entirely through hardware circuitry, or partially through processor-invoked software with the remaining portion implemented through hardware circuitry.

[0225] Furthermore, the units in the device can be implemented by a processor calling software. For example, the device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit in the device. The processor is, for example, a general-purpose processor, such as a CPU or a microprocessor, and the memory is either internal or external to the device. The processor is a circuit with signal processing capabilities, as described above.

[0226] Alternatively, the units in the device can be implemented as hardware circuits. The functionality of some or all units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC (Application-Specific Integrated Circuit). The functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit is implemented as a PLD (Power Logic Device). Taking an FPGA as an example, it can include a large number of logic gates. The connection relationships between these logic gates are configured through configuration files, thereby achieving the functionality of some or all of the above units.

[0227] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or for implementing the functions of the units in the device. The at least one processor may be of different types, such as a CPU and an FPGA.

[0228] Several possible devices are listed below.

[0229] Please see Figure 22 , Figure 22 This is a schematic diagram of a detection control device provided in an embodiment of this application. The detection control device 11 is used to implement the aforementioned detection method. Optionally, the detection control device 11 can be a standalone device. Alternatively, the detection control device 11 can also be a component in a standalone device (such as a circuit board), such as a chip or integrated circuit.

[0230] like Figure 22 As shown, the detection control device 11 includes a processing unit 1101, which performs one or more of the aforementioned operations such as adjustment, calculation, and determination, and further includes other operations for implementing the detection method. Furthermore, the detection control device 11 also includes an acquisition unit 1102, which performs one or more operations such as acquisition, reception, and transmission, and further includes other operations for implementing the detection method. The specific operations performed by each module can be found in [reference needed]. Figure 13 and Figure 21 The embodiments shown are described in detail here.

[0231] Please see Figure 23 , Figure 23 This is a schematic diagram of a detection control device 11 provided in an embodiment of this application. The detection control device 11 can be a standalone device or a component within a standalone device, such as a chip, software module, or integrated circuit. The detection control device 11 includes at least one processor 111 and a communication interface 112. Optionally, it may also include at least one memory 113. Further optionally, it may also include a connection line 114, wherein the processor 111, the communication interface 112, and / or the memory 113 are connected via the connection line 114, and / or communicate with each other via the connection line 114 to transmit control signals and / or data signals. Wherein:

[0232] Processor 111 is a module that performs arithmetic and / or logical operations, and may specifically include one or more of the following modules: filter, modem, power amplifier, low noise amplifier (LNA), baseband processor, radio frequency processor, radio frequency circuit, CPU, application processor (AP), MCU, ECU, GPU, DAC, microprocessor unit (MPU), ASIC, ISP, DSP, FPGA, complex programmable logic device (CPLD), or coprocessor, etc.

[0233] The communication interface 112 can be used to provide information input or output to the at least one processor, or to receive signals sent from the outside and / or send signals to the outside.

[0234] For example, communication interface 112 may include interface circuitry. For example, communication interface 112 may include a wired link interface such as a bus, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, vehicular short-range communication technology, and other short-range wireless communication technologies, etc.). As a possible design, if the detection and control device 11 is a standalone device, communication interface 112 may include a receiver and a transmitter. The receiver and transmitter may be the same component or different components. When the receiver and transmitter are the same component, this component can be referred to as a transceiver. As yet another possible design, if the detection and control device 11 is a chip or circuit, communication interface 112 may include an input interface and an output interface, which may be the same interface or different interfaces.

[0235] Alternatively, the functions of the communication interface 112 can be implemented by a transceiver circuit or a dedicated transceiver chip.

[0236] The memory 113 provides storage space, in which data such as the operating system and computer programs can be stored. The memory 113 can be one or a combination of multiple types of random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0237] The functions and actions of each module or unit in the detection control device 11 listed above are merely illustrative examples.

[0238] The functional units in the detection control device 11 can be used to implement the aforementioned detection method, for example... Figure 13 or Figure 21 The detection method is shown. Optionally, if the detection control device 11 includes at least one memory 113, and the processor 111 implements the aforementioned detection method by calling a computer program, the computer program can be stored in the memory 113.

[0239] This application embodiment also provides a sensing device, which includes the aforementioned detection and control device 11, and further includes a first light emitter and at least one light receiver.

[0240] Optionally, the sensing device includes sensors that utilize light to sense the environment, and the sensing device includes one or more of the following: lidar, camera, or fusion sensing device. The fusion sensing device includes various types of sensors such as lidar sensors, image sensors, and radar sensors.

[0241] Optionally, the sensing device also includes a housing for housing other components in the lidar.

[0242] Optionally, when the sensing device includes a lidar, the lidar type can be a scanning lidar or a solid-state lidar. For example, the aforementioned method and related apparatus can be applied to line-scanning lidar or spot-scanning lidar.

[0243] As one possible design, the sensing device includes a detection control unit, a light emitter, and at least one light receiver. The at least one light receiver can be used to acquire high-resolution images and point cloud data. The detection control unit can obtain sensing information based on the high-resolution images and point cloud data. This sensing information includes, for example, the background light intensity of the current environment and information about corner-reflecting targets (e.g., crosstalk from corner-reflecting targets). The detection control unit can use this sensing information to switch the supplementary light pulses of the light emitter (e.g., adjusting parameters such as power, pulse width, waveform, and number of pulses) and / or adjust the operating parameters of the light receiver, thereby enabling the light receiver to acquire images with a high signal-to-noise ratio (e.g., grayscale images). Furthermore, the detection control unit, or the data processing unit within the detection device, can fuse the high signal-to-noise ratio image with the point cloud, improving the imaging resolution of the detection device. Furthermore, since the image carries the intensity information of the target, the detection device can accurately determine the reflectivity information of the target using the image and the point cloud.

[0244] This application embodiment also provides a terminal, which includes the aforementioned detection and control device 11, or includes the aforementioned sensing device, such as lidar.

[0245] Here, "terminal" broadly refers to electronic devices. For example, "terminal" encompasses one or more electronic devices such as mobile platforms or smart devices. Mobile platforms refer to autonomous or semi-autonomous moving vehicles or equipment, such as vehicles, drones, aircraft, and robots. Smart devices refer to devices that integrate sensors, and also include vehicles, roadside equipment, drones, mobile phones, and robots.

[0246] It should be understood that "vehicles" here is used in a broad sense, including transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), and agricultural equipment (such as lawnmowers, harvesters, etc.). Similarly, "robots" can refer to automated guided vehicles (AGVs), walking and talking robots, service robots, and other types of robots.

[0247] Taking the detection device 10 as an example, which is a lidar, please refer to [link / reference]. Figure 24 , Figure 24 This is a schematic diagram of a vehicle structure including a lidar, provided in an embodiment of this application. The lidar can sense the vehicle's surrounding environment and obtain relevant information about targets in the surrounding environment. This target information can be used to control the vehicle or assist the driver in driving.

[0248] It should be understood that Figure 24 The LiDAR installation location shown is for illustrative purposes only. In actual implementations, sensing devices (such as LiDAR) can be installed in other locations, such as the top of the cockpit, or even the front, side, or rear of the vehicle.

[0249] In addition, several additional points need to be explained regarding the embodiments of this application:

[0250] I. The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. 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. These modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the protection scope of the technical solutions of the embodiments of this application.

[0251] 2. Unless otherwise stated, “multiple” means two or more.

[0252] 3. Unless otherwise specified or in case of logical conflict, the terms and / or descriptions in different embodiments of this application are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0253] IV. The various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of protection of this application. The magnitude of the serial numbers used in this application does not imply the order of execution; the execution order of each process should be determined by its function and internal logic. For example, the terms "first," "second," "third," "fourth," and other various terminology (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. The data used in this way can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein.

[0254] Furthermore, any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0255] V. The terms “comprising” and “having” and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules that are expressly listed, but may include other steps or modules that are not expressly listed or that are inherent to such process, method, product or device.

[0256] VI. The terms “center,” “upper,” “lower,” “left,” “right,” “vertical,” “horizontal,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0257] VII. The Cartesian coordinate system and the x, y, z directions shown in the various embodiments of this application are exemplary identifiers for ease of understanding and are not intended to limit the embodiments of this application. In actual implementation, the placement of devices, the arrangement direction, and the direction of the beam may be designed differently, and other coordinate systems such as spherical coordinates may also be used.

[0258] 8. Unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can mean A or B. In this application, "and / or" is merely a description of the relationship between the related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be singular or plural.

[0259] 9. Unless otherwise stated, the names of devices, systems, modules and other information in the embodiments of this application are merely examples, and devices, modules and modules are used to represent possible entities that implement a certain function, and the meanings of the three can be used interchangeably.

Claims

1. A method of detecting, characterized by, A detection device for controlling a first optical transmitter and at least one optical receiver, the detection method comprising: To acquire information about the environment; The emission parameters of the first light emitter are adjusted based on the sensing information to control the first light emitter to emit supplementary light pulses based on the emission parameters. The emission parameters include adjustable variables for controlling the characteristics of the supplementary light pulses. The at least one optical receiver is used to receive the returned beam and obtain detection data based on the returned beam, the returned beam including the reflected light of the supplementary light pulse, a first part of the detection data is used to obtain an image of the environment, and a second part of the detection data is used to obtain a point cloud of the environment.

2. The method of claim 1, wherein, The perceived information includes at least one of the following: background light intensity of the environment, information on angular targets in the environment, temperature of the environment, weather information of the environment, status information of the terminal where the detection device is located, road information of the terminal where the detection device is located, or driving scenario of the terminal where the detection device is located.

3. The method of claim 1 or 2, wherein, The characteristics of the supplementary light pulse include at least one of the following: Power, pulse width, waveform, or number of shots within a preset time unit.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: The receiving parameters of the at least one optical receiver are adjusted based on the sensing information to control the at least one optical receiver to receive the returned beam based on the receiving parameters.

5. The method according to claim 4, characterized in that, The receiving parameters include at least one of the following: gating parameters, photon detection efficiency (PDE) parameters, or pixel binning method.

6. The detection method according to any one of claims 1-5, characterized in that, When the perceived information includes an indication of the ambient light intensity, the set of emission parameter values ​​indicates the energy of the supplementary light pulse, the energy of which is related to the ambient light intensity.

7. The detection method according to claim 6, characterized in that, The energy of the supplementary light pulse is negatively correlated with the background light intensity of the environment; Alternatively, in the case where the environment includes angular reflective targets, the energy of the supplementary light pulse is positively correlated with the ambient background light intensity.

8. The detection method according to any one of claims 1-7, characterized in that, The perceived information includes information indicating the background light intensity of the environment; acquiring the perceived information of the environment includes: Obtain indication information of the background light intensity of the environment from the first light receiver; Wherein, the first optical receiver belongs to the at least one optical receiver, or the first optical receiver is another optical receiver other than the at least one optical receiver.

9. The detection method according to claim 8, characterized in that, The background light intensity indication information includes one or more of the following: the background light intensity, the data output by the first optical receiver, or the detection result obtained based on the data output by the first optical receiver; Where the background light intensity indication information includes the detection result, the detection result belongs to an image and / or point cloud.

10. The detection method according to any one of claims 1-9, characterized in that, The perceived information includes information about angular reflective targets in the environment, and the information about the angular reflective targets includes the reflectivity indication of the angular reflective targets and / or the distance of the angular reflective targets.

11. The detection method according to any one of claims 1-10, characterized in that, When the perceived information matches the first scene level among multiple scene levels, the value set of the emission parameters corresponds to the first energy level; The first energy level belongs to multiple energy levels, and the multiple energy levels correspond to different value groups of the emission parameters. The multiple scene levels correspond to different energy levels.

12. A detection method, characterized in that, A detection device for controlling a first optical transmitter and at least one optical receiver, the detection method comprising: The emission parameters of the first light emitter are adjusted to a first set of values ​​to control the first light emitter to emit a first supplementary light pulse based on the first set of emission parameters. The emission parameters include adjustable variables for controlling the characteristics of the supplementary light pulse. The at least one optical receiver is used to receive a first returned beam and obtain first detection data based on the first returned beam, the first returned beam including reflected light from the first supplementary light pulse, and at least a portion of the first detection data is used to obtain a first image of the environment; The emission parameters of the first optical transmitter are switched to the second set of values ​​to control the first optical transmitter to emit a second supplementary light pulse based on the second set of emission parameters, wherein the second set of values ​​is different from the first set of values. The at least one optical receiver is further configured to receive a second returned beam and obtain second detection data based on the second returned beam, the second returned beam comprising reflected light from the second supplementary light pulse, and at least a portion of the second detection data being used to obtain a second image of the environment. The at least one optical receiver is also used to obtain third detection data, which is used to obtain a point cloud of the environment.

13. The method according to claim 12, characterized in that, The set of emission parameters of the optical emitter is related to the operating mode of the detection device. The first value group corresponds to the first working mode of the detection device, and the second value group corresponds to the second working mode of the detection device. The first working mode is different from the second working mode.

14. The method according to claim 13, characterized in that, The method further includes: Based on the working mode switching strategy, the current working mode of the detection device is determined. The working mode switching strategy is used to indicate the switching pattern of multiple working modes of the detection device.

15. The method according to any one of claims 12-14, characterized in that, The emission times of the first supplementary light pulse and the second supplementary light pulse are in different frames. Alternatively, the emission time of the first supplementary light pulse and the emission time of the second supplementary light pulse may be located in different subframes of the same frame. Alternatively, the emission time of the first supplementary light pulse and the emission time of the second supplementary light pulse may be located at different time periods within the same subframe.

16. The method according to any one of claims 12-15, characterized in that, The values ​​of the emission parameters of the light emitter are related to the perceived information of the environment in which the detection device is located. The first value group corresponds to the first perceived information of the environment, and the second value group corresponds to the second perceived information of the environment.

17. The detection method according to any one of claims 12-16, characterized in that, The characteristics of the supplementary light pulse include at least one of the following: Power, pulse width, waveform, or number of shots within a preset time unit.

18. The method according to any one of claims 12-17, characterized in that, After adjusting the emission parameters of the first optical emitter to the first set of values, the method further includes: The receiving parameters of the at least one optical receiver are adjusted to the third value group; After adjusting the emission parameters of the first optical emitter to the second set of values, the method further includes: Switch the reception parameters of the at least one optical receiver to the fourth value group.

19. The method according to claim 18, characterized in that, The receiving parameters include at least one of the following: gating parameters, photon detection efficiency (PDE) parameters, or pixel binning method.

20. A detection and control device, characterized in that, The detection and control device includes an acquisition unit and a processing unit. The detection and control device is used to implement the method according to any one of claims 1-11, or to implement the method according to any one of claims 12-18.

21. A detection and control device, characterized in that, The detection control device includes a processor and a memory, the memory being used to store computer instructions, and the processor being used to invoke the computer instructions to implement the method according to any one of claims 1-11, or to implement the method according to any one of claims 12-18.

22. A detection and control device, characterized in that, It includes a processor and an interface circuit, the interface circuit being used for inputting and outputting data, and the processor being used for invoking computer instructions to implement the method according to any one of claims 1-11, or to implement the method according to any one of claims 12-21.

23. A detection device, characterized in that, It includes a first light emitter, at least one light receiver, and the detection control device according to any one of claims 20-22. The first light emitter is used to emit supplementary light pulses; The at least one optical receiver is used to receive the returned beam and obtain detection data based on the returned beam, the returned beam including the reflected light of the supplementary light pulse, a first part of the detection data is used to obtain an image of the environment, and a second part of the detection data is used to obtain a point cloud of the environment.

24. The detection device according to claim 23, characterized in that, The first light emitter includes a first light source, a first gating circuit, and a first driving module. The detection control device is used to output a gating control signal to the first gating circuit and a waveform control signal to the first driving module based on the value set of the emission parameters of the first optical transmitter. The first gating circuit is used to select at least one of a plurality of power sources as the power supply for the first driving module in response to the gating control signal, wherein the power parameters supplied by the plurality of power sources are at least partially different. The first driving module is used to drive the first light source to emit light in response to the waveform control signal.

25. The detection device according to claim 23, characterized in that, The first light emitter includes a first light source, a first power supply module, and a first driving module. The detection control device is used to output a power adjustment signal to the first power module and a waveform control signal to the first drive module based on the value set of the transmission parameters of the first optical transmitter. The first power module is used to control the electrical energy parameters supplied to the first drive module in response to the power regulation signal. The first driving module is used to drive the first light source to emit light in response to the waveform control signal.

26. The detection device according to any one of claims 23-25, characterized in that, The at least one optical receiver includes a second optical receiver. The second optical receiver is used to receive the returned beam to obtain detection data during a first time period, the first time period including the receiving time period corresponding to the supplementary light pulse; The probe data is used to obtain point clouds and images.

27. The detection device according to any one of claims 23-25, characterized in that, The at least one optical receiver includes a second optical receiver, and the returned beam includes a third returned beam and a fourth returned beam; The second optical receiver is used to receive the third returned beam to obtain a first portion of the detection data during a first time period, the first time period including the receiving time period corresponding to the supplementary light pulse, and the third returned beam including the reflected light of the supplementary light pulse; The first optical transmitter is also used to transmit detection pulses; The second optical receiver is used to receive the fourth returned beam during the second time period to obtain the second portion of the detection data. The second time period includes the reception period corresponding to the detection pulse, and the fourth returned beam includes the reflected light of the detection pulse. The first time period and the second time period do not overlap at least partially.

28. The detection device according to any one of claims 23-25, characterized in that, The at least one optical receiver includes a second optical receiver, the detection device further includes a second optical emitter, and the returned beam includes a third returned beam and a fourth returned beam. The second optical receiver is used to receive the third returned beam to obtain the first part of the detection data, the third returned beam including the reflected light of the supplementary light pulse; The second optical transmitter is used to emit a probe pulse, and the second optical receiver is also used to receive a second portion of the probe data from a fourth return beam, the fourth return beam including the reflected light of the probe pulse.

29. The detection device according to any one of claims 23-25, characterized in that, The returned beam includes a third returned beam and a fourth returned beam, and the at least one optical receiver includes a third optical receiver and a fourth optical receiver, wherein the field of view of the first optical receiver at least partially overlaps with the field of view of the second optical receiver; The third optical receiver is used to receive the first part of the detection data obtained by the third returned beam, and the third returned beam includes the reflected light of the supplementary light pulse; The first optical transmitter is also used to transmit detection pulses. The fourth optical receiver is also used to receive the second part of the detection data obtained by the fourth returned beam, the fourth returned beam including the reflected light of the detection pulse.

30. The detection device according to any one of claims 23-25, characterized in that, The detection device further includes a second light emitter, the return beam includes a third return beam and a fourth return beam, and the at least one light receiver includes a third light receiver and a fourth light receiver, wherein the field of view of the third light receiver and the field of view of the fourth light receiver at least partially overlap; The third optical receiver is used to receive the first part of the detection data obtained by the third returned beam, and the third returned beam includes the reflected light of the supplementary light pulse; The second optical transmitter is used to transmit detection pulses. The fourth optical receiver is also used to receive the second part of the detection data obtained by the fourth returned beam, the fourth returned beam including the reflected light of the detection pulse.

31. The detection device according to any one of claims 23-30, characterized in that, The detection device further includes a data processing module, which is used to obtain an image and a point cloud based on the detection data, and to fuse the image and the point cloud to obtain an enhanced point cloud image.

32. A sensing device, characterized in that, It includes the detection control device according to any one of claims 20-22, or the detection device according to any one of claims 23-31.

33. A terminal, characterized in that, It includes the detection and control device according to any one of claims 20-22, or the detection device according to any one of claims 23-31, or the sensing device according to claim 32.

34. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store computer program instructions that, when executed by a processor, cause an apparatus including a processor to implement the method of any one of claims 1-11, or the method of any one of claims 12-19.

35. A computer program product comprising computer program instructions, characterized in that, When the computer program instructions are executed by a processor, the apparatus including the processor performs the method according to any one of claims 1-11, or the method according to any one of claims 12-19.

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