Control method, apparatus, system, and vehicle for lidar

Abstract

A control method, device, system and vehicle of a laser radar are disclosed. The laser radar is rotatably installed on the vehicle. The control method comprises: determining a running state of the vehicle; and controlling rotation of the laser radar according to the running state of the vehicle. The laser radar is rotatably installed on the vehicle; and the rotation of the laser radar is controlled based on the running state of the vehicle, so that the laser radar can change the detection range according to the running state of the vehicle, so that the detection range of the laser radar can better adapt to the change of the vehicle driving scene, increase the accuracy of blind area detection, improve the reliability or safety of vehicle driving, etc.

Description

Technical Field

[0001] This disclosure relates to the field of optical detection technology, and more particularly to control methods, devices, systems, and carriers for lidar. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a sensor that uses laser light as a medium to detect objects. It actively detects its surroundings by emitting laser light and has found applications in many fields. However, continuous improvement in the environmental detection capabilities of LiDAR is still needed in its application. Summary of the Invention

[0003] This disclosure provides a control method, apparatus, system, and carrier for lidar, which can improve the adaptability of lidar to the environment and enhance its detection performance.

[0004] Firstly, a control method for a lidar is provided. The lidar is rotatably mounted on a vehicle. The control method includes: determining the operating state of the vehicle; and controlling the rotation of the lidar according to the operating state of the vehicle. This disclosure rotatably mounts the lidar on a vehicle and controls its rotation based on the vehicle's operating state, allowing the lidar to change its detection range according to the vehicle's operating state, thus better adapting its detection range to changes in the vehicle's driving scenario. For example, for different driving scenarios, the orientation of the center of the lidar's field of view (FOV) can be changed so that the center of the FOV faces the user's blind spot, increasing the accuracy of blind spot detection and improving the reliability or safety of the vehicle's operation.

[0005] Optionally, the operating state includes a turning state; controlling the rotation of the lidar according to the vehicle's operating state includes: controlling the lidar to rotate in the same direction as the turning direction according to the vehicle's turning state; or, controlling the lidar to rotate in the opposite direction to the turning direction according to the vehicle's turning state. This disclosure allows the lidar to focus more on objects that may appear in the driving direction when the vehicle is turning, thereby reducing the driving risk that the lidar may not be able to reach the area the vehicle is about to travel in time due to its detection angle, and improving the reliability or safety of the vehicle. Furthermore, the detection capability of the lidar's edge field of view may be relatively reduced compared to the detection capability of its central field of view. The above rotation control can compensate for the risk of missed detection caused by the reduced detection capability of the edge field of view. By controlling the rotation of the lidar, the orientation of the central field of view changes with the vehicle's operating state, focusing more on areas where risks may occur. This disclosure allows the vehicle's steering control lidar to increase blind spot detection when the vehicle turns in the opposite direction, reducing the risk caused by insufficient user attention in non-driving directions. When an object appears in a non-driving direction, the system can promptly warn the user or automatically control the vehicle's behavior. By increasing blind spot detection, the system reduces the need for user attention, decreases driving risks, and improves the vehicle's reliability and safety.

[0006] Optionally, the lidar is a first lidar, and the vehicle also includes a second lidar. The second lidar is rotatably mounted on the vehicle, and its rotation is controlled according to the vehicle's operating state. This includes controlling the first lidar to rotate in the same direction as the steering direction; and the control method further includes controlling the second lidar to rotate in the same or opposite direction as the steering direction, or keeping the second lidar stationary. This disclosure utilizes at least two lidars to improve the reliability or safety of the vehicle in steering driving scenarios.

[0007] Optionally, the vehicle includes a car. By controlling the steering of the LiDAR according to the vehicle's driving scenario, it can better adapt to the "dynamic blind spots" created by the vehicle's position relative to other vehicles due to factors such as road alignment, slope, buildings, greenery, and changes in relative position. This helps the driver avoid road risks in advance. Combined with the vehicle's alarm system, it can provide timely warnings to the driver, improving driving safety and reducing the risk of accidents. Especially with the increasing prevalence of fully and semi-autonomous driving, this LiDAR control method enables automatic steering without requiring manual steering by the user, making it highly practical. It ensures driving safety while also considering ease of operation, making it highly practical.

[0008] Optionally, the control method further includes: determining the vehicle's driving scenario; and enabling the rotation control of the LiDAR based on the driving scenario. Enabling the rotation control of the LiDAR in the required scenario can reduce the power consumption of controlling the LiDAR. In addition, it can reduce the probability of LiDAR rotation and reduce power consumption in simple driving scenarios such as high speed.

[0009] Secondly, a control device for a lidar includes a processor and an interface circuit. The processor is configured to execute any of the control methods described above and to send control signals through the interface circuit, the control signals being used to control the rotation of the lidar.

[0010] Optionally, the control device includes a determining unit and a controlling unit. The determining unit can determine the operating status of the vehicle, and the controlling unit can control the rotation of the lidar according to the operating status of the vehicle.

[0011] Optionally, the control device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the control methods described above or to implement the functions of the units described above.

[0012] Optionally, the vehicle includes a vehicle; the control device includes, but is not limited to, a domain controller, an electronic control unit, an on-board central computer, a zone controller, a microcontroller unit, or a vehicle control unit.

[0013] Optionally, the domain controller may include a vehicle domain controller, a cockpit domain controller, or an intelligent driving domain controller.

[0014] Thirdly, a mounting device for a lidar (laser radar) includes: a mounting frame configured to support the lidar and a power mechanism, the power mechanism being configured to provide power to drive the lidar to rotate; a mounting hole located on the mounting frame, configured to accommodate the lidar's rotating shaft and provide a central position for the lidar's rotation; and a drive structure disposed on the mounting frame, connected to the power output shaft of the power mechanism, configured to receive the power output from the power output shaft and, under the action of the power, drive the lidar to rotate around the central position. This disclosure mounts the lidar and power mechanism onto a carrier using a mounting device, which is beneficial for the stable operation of the lidar. For example, the mounting hole can accommodate the lidar's rotating shaft, allowing the lidar to be rotatably mounted on the carrier, thus maintaining stability during rotation and reducing the impact on the lidar's detection performance. Furthermore, the drive structure can transmit power to the lidar, facilitating a flattened layout of the lidar and power mechanism, reducing the overall mounting area of ​​the lidar and power mechanism, resulting in a compact structure that is more conducive to applications on carriers.

[0015] Optionally, the axis of rotation and the optical center of the lidar are aligned on the same straight line, ensuring that the coordinates of the optical center relative to the vehicle remain constant during lidar rotation. Positioning the axis at the optical center allows for the determination of the transformation relationship between the lidar's coordinate system and the vehicle's coordinate system by calibrating the relative position of the lidar and the vehicle. By calculating (e.g., linearly) the lidar's rotation angle, the transformation relationship between the rotated lidar and the vehicle's coordinate system can be determined; the calculation is simple and requires no further calibration.

[0016] Optionally, the lidar and power mechanism are arranged along the bearing surface of the mounting frame, and the drive structure is configured to convert the power output in the first direction into a driving force in the second direction. This driving force is used to drive the rotation of the lidar. The first direction is perpendicular to the bearing surface, and the second direction is parallel to the bearing surface. The mounting structure provided in this disclosure is more conducive to the flattening of the overall structure, reducing installation space. Moreover, thanks to the flattened design of the entire structure, the lidar can be more flexibly fixed to or integrated into different positions on the vehicle, reducing the likelihood of structural interference and facilitating the installation of the lidar on the vehicle.

[0017] Optionally, the base of the lidar is provided with a first toothed structure; the driving structure includes a second toothed structure, which is disposed on the mounting bracket, meshes with the first toothed structure, and is connected to a power output shaft, rotating relative to the mounting bracket under the action of power. The toothed structure design of this disclosure is more compact and the transmission is more stable, and it is also conducive to the conversion of the driving force direction, making the mounting structure of the lidar and the power mechanism more flat.

[0018] Optionally, the first tooth-shaped structure includes an arc-shaped tooth-shaped structure, and the second tooth-shaped structure includes a fan-shaped tooth-shaped structure. This configuration results in a compact structure, which is beneficial for the lightweighting of the lidar, reduces the installation cost of the lidar, and has better driving efficiency.

[0019] Optionally, the fan-shaped tooth structure includes a hollow structure, which is beneficial for the overall lightweighting of the lidar and mounting device.

[0020] Optionally, a first guide structure is provided on the lidar base; a second guide structure is provided on the mounting bracket, the second guide structure matching the first guide structure and configured to guide the rotation trajectory of the lidar during its rotation. This ensures more stable mounting of the lidar on the mounting bracket without affecting its rotation, and makes the lidar's rotation trajectory more stable.

[0021] Optionally, the mounting bracket supporting the power mechanism includes a mounting platform and an opening. The mounting platform is configured to mount the power mechanism, and the opening is configured to expose the side where the power mechanism connects to the drive structure. This disclosure, by setting a mounting platform to mount the power mechanism, can raise the height of the power mechanism to a certain extent, allowing the power output shaft to be positioned on the side of the power mechanism facing the mounting bracket. This provides mounting space for the drive structure, enabling it to transmit the power output from the power output shaft to the lidar. Without changing the thickness of the power mechanism, this further achieves a flattened overall structure for the lidar and mounting device, reducing the installation space. In this disclosure, the mounting bracket also has an opening on the side where the power mechanism connects to the drive structure, exposing this connection. This facilitates heat dissipation for the power mechanism, allowing for stable operation over extended periods. Furthermore, it reduces the overall weight of the mounting device, enabling lightweight production.

[0022] Fourthly, a control system for a vehicle, the control system comprising: a lidar rotatably mounted on the vehicle; and a control device, such as any of the above, signal-connected to a power mechanism driving the lidar and configured to control the rotation of the lidar.

[0023] Fifthly, a vehicle is provided, including a lidar and a control device for any of the lidars described above.

[0024] Alternatively, the lidar may be mounted on the vehicle using any of the mounting devices described above.

[0025] In a sixth aspect, a computer-readable storage medium is provided, including instructions stored thereon, which, when invoked by a processor, execute any of the above control methods.

[0026] In a seventh aspect, a computer program (or computer program product) is provided, including instructions that, when invoked by a processor, execute any of the control methods described in the above embodiments. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the following description of the embodiments will be provided as examples. The drawings described below are merely embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. The drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain this disclosure and do not constitute a limitation of this disclosure.

[0028] Figure 1 This illustrates an application scenario for a lidar that is consistent with some embodiments of this disclosure.

[0029] Figure 2 A schematic flowchart of a control method for a lidar consistent with some embodiments of this disclosure is shown.

[0030] Figure 3 An example diagram is shown that illustrates a control method for a lidar consistent with some embodiments of this disclosure.

[0031] Figure 4 An example diagram is shown that illustrates a control method for a lidar consistent with some embodiments of this disclosure.

[0032] Figure 5 An example block diagram of a control device consistent with some embodiments of this disclosure is shown.

[0033] Figure 6 An example block diagram of a control device consistent with some embodiments of this disclosure is shown.

[0034] Figure 7 A three-dimensional structural example of a lidar and mounting device consistent with some embodiments of this disclosure is shown.

[0035] Figure 8 A three-dimensional structural breakdown example of a lidar and mounting device consistent with some embodiments of this disclosure is shown.

[0036] Figure 9 A bottom-view example of a lidar and mounting device consistent with some embodiments of this disclosure is shown.

[0037] Figure 10 A side view example diagram of a lidar consistent with some embodiments of this disclosure is shown.

[0038] Figure 11 A bottom-view example diagram of a lidar consistent with some embodiments of this disclosure is shown.

[0039] Figure 12 A structural example diagram of a control system consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0040] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the specific implementation methods of this disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are merely some embodiments of this disclosure. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without creative effort. Adjustments and improvements made without departing from the concept of this disclosure are all within the protection scope of this disclosure.

[0041] To keep the drawings simple, each figure only schematically shows the parts related to the corresponding embodiment. They do not represent the actual structure of the product, and there may be more or fewer structures or parts in reality. In addition, for the sake of simplicity and ease of understanding, there may be more or fewer similar structures or parts in reality for the structures or parts shown in the figures.

[0042] The terms “installation,” “setting up,” and “connection” should be interpreted broadly. For example, “installation” can mean direct installation or installation through other components; “setting up” can mean direct setting or setting through other components; and “connection” can mean direct connection or connection through other components.

[0043] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, left, right, front, or back) are relative rather than absolute when describing the structure or movement of the various components, and are not intended to limit the direction of the product during actual use.

[0044] LiDAR (LiDAR) uses laser light as a medium for object detection. During detection, LiDAR emits a laser beam; upon encountering an object, the laser is reflected from the object's surface. At least a portion of the reflected light is reflected back to the LiDAR; this reflected light is called an echo. LiDAR converts the echo into an electrical signal and processes this signal to determine information about the object, such as its distance, position, or velocity, or even its three-dimensional structure.

[0045] LiDAR has found applications in many fields, such as autonomous driving, drones, robot recognition, geographic mapping, and environmental monitoring. Autonomous driving, also known as automated driving or assisted driving, includes any level of automated driving, such as L1-L5. In applications, LiDAR can be mounted on vehicles to provide them with perception data, such as point cloud data, enabling the vehicles to perform one or more functions, such as analysis, decision-making, or control. Vehicles include, but are not limited to, vehicles, ships, aircraft (such as flying vehicles or drones), robots (such as industrial robots or home robots), or surveying equipment.

[0046] LiDAR systems may face diverse environments during application; however, their limited adaptability makes it difficult to meet the demands of changing environments. Especially with the development of intelligent and automated systems, LiDAR perception plays a crucial role in the intelligent or automated operation of vehicles. Based on this, this disclosure provides control methods, devices, and systems for LiDAR to improve the flexibility of environmental perception. This allows LiDAR to adapt more flexibly to environmental changes, providing perception data more accurately suited to the vehicle's environment, thus making the vehicle's operation more reliable.

[0047] The following description uses the application of LiDAR in the field of intelligent driving as an example. When LiDAR is applied in other fields, the solutions provided in this disclosure can also be adopted to improve the reliability of the applied vehicle. For example, LiDAR can be installed on a vehicle. During vehicle operation, the user may be unable to observe a certain area around the vehicle; this area can be called a blind spot. Blind spots may contain pedestrians, motor vehicles, non-motorized vehicles, or obstacles, thereby increasing the risk of collisions or accidents. By installing LiDAR on the vehicle, the surrounding environment can be perceived, and the vehicle's driving strategy can be adjusted in a timely manner using the perceived data, improving driving safety.

[0048] During vehicle operation, driving scenarios may change. For example, vehicles may engage in lane changes, turns, or U-turns; and they may navigate urban roads, highways, or elevated roads. Blind spots may also change depending on the driving scenario. While using lidar to reduce the risks associated with blind spots, lidar remains inflexible and cannot adapt its detection area to changes in blind spots.

[0049] This disclosure provides a control method for a lidar, which can control the rotation of the lidar according to the motion state of the vehicle, thereby adaptively changing the detection area of ​​the lidar and enhancing the detection of blind spots. This control method enables the lidar to more flexibly adapt to changes in blind spots during vehicle operation, effectively reducing the risks associated with blind spots, and making it easier for the vehicle to perceive its surroundings and adjust its driving strategy or alert the user to risks in a timely manner, thus improving driving safety.

[0050] The following description is in conjunction with the accompanying drawings.

[0051] Figure 1 An example diagram illustrating an application scenario of a lidar system consistent with some embodiments of this disclosure is shown. Please refer to... Figure 1The lidar 110 is mounted on the vehicle 120 and can detect objects around the vehicle while the vehicle 120 is in motion, providing perception data to the vehicle for intelligent driving. This disclosure does not limit the mounting location of the lidar 110 on the vehicle 120. For example, the lidar 110 can be mounted on the front side of the vehicle roof, such as... Figure 1 As shown in the solid-line box. For example, Figure 1 The dashed box also shows several other possible installation locations, including but not limited to: other locations on the top of the vehicle (such as the rear, middle, or any other location), near the headlights, hidden inside the headlight covers, on both sides of the vehicle body, on the front bumper, inside the grille, above the windshield, above the rear window, on the side fenders, on the front wheel arches, on the hood, on the trunk lid, under the trunk, or in a location inside the cabin that can be detected from the outside through the windshield.

[0052] Vehicle 120 may be equipped with one or more lidar sensors 110. This disclosure does not limit the number of lidar sensors installed on the vehicle. The number and location of the lidar sensors can be selected and designed based on one or more factors such as sensing performance, safety, cost, appearance, or engineering. For example, one lidar sensor may be installed on the front side of the vehicle roof; another example is one lidar sensor installed near the headlights on each side of the vehicle; yet another example is one lidar sensor installed on the front side of the vehicle roof and one lidar sensor installed on each side of the vehicle fender; yet another example is one lidar sensor installed on the front and rear sides of the vehicle roof and one lidar sensor installed at the front wheel arches on each side of the vehicle.

[0053] This disclosure does not limit the type of lidar. For example, the lidar can be a mechanical lidar, a semi-solid-state lidar, or a solid-state lidar. Semi-solid-state lidar may include, for example, microelectromechanical system (MEMS) lidar, rotating mirror lidar, tilting mirror lidar, or prism lidar. Solid-state lidar may include optical phase array (OPA) lidar or flash lidar. When a vehicle is equipped with multiple lidars, the types and shapes of the lidars can be the same or different.

[0054] Figure 2 A flowchart illustrating a control method for a lidar consistent with some embodiments of this disclosure is shown. The lidar is rotatably mounted on a vehicle; please refer to... Figure 2 The control method may include the following steps:

[0055] S210: Determine the vehicle's operational status;

[0056] S220: Controls the rotation of the lidar according to the vehicle's operating status.

[0057] The embodiments disclosed above rotatably mount a lidar on a vehicle; and control the rotation of the lidar based on the vehicle's operating state, allowing the lidar to change its detection range according to the vehicle's operating state, thus better adapting the lidar's detection range to changes in the vehicle's driving scenario. For example, for different driving scenarios, the orientation of the center of the lidar's field of view (FOV) can be changed so that the center of the FOV faces the user's blind spot, increasing the accuracy of blind spot detection and improving the reliability or safety of the vehicle's operation.

[0058] In some embodiments of this disclosure, the operating state of the vehicle may include a turning state. Step S220 above may include: controlling the lidar to rotate in the same direction as the turning direction, based on the vehicle's turning state. For example, when the vehicle turns left or makes a U-turn, the lidar may be controlled to rotate to the left; when the vehicle turns right, the lidar may be controlled to rotate to the right.

[0059] By setting the above parameters, the lidar can focus more on objects that may appear in the direction of travel when the vehicle is turning. This reduces the driving risk that the lidar may not be able to reach the area that the vehicle is about to travel in time when the vehicle is turning, thus improving the reliability and safety of the vehicle.

[0060] Furthermore, the detection capability of the edge field of view of the lidar may be relatively reduced compared to the detection capability of the center field of view. The above rotation control can compensate for the risk of missed detection caused by the reduced detection capability of the edge field of view. By controlling the rotation of the lidar, the orientation of the center field of view changes with the operating status of the vehicle, and is more directed towards areas where risks may occur.

[0061] In some embodiments of this disclosure, the operating state of the vehicle may include a turning state. Step S220 above may include: controlling the lidar to rotate in a direction different from the turning direction, based on the vehicle's turning state, to enhance the lidar's detection of blind spots. For example, when the vehicle turns left or makes a U-turn, the lidar may be controlled to rotate to the right; when the vehicle turns right, the lidar may be controlled to rotate to the left.

[0062] While a vehicle is in motion, users may focus more on the direction they are about to travel, potentially creating blind spots in the non-traveling direction. These blind spots can then become vulnerable to obstacles or moving objects that may appear in the non-traveling direction, posing a risk. The above-mentioned design increases blind spot detection when the vehicle is turning, reducing the risks caused by insufficient user attention in the non-traveling direction. Furthermore, it provides timely warnings to the user or automatically controls the vehicle's behavior when objects appear in the non-traveling direction. By increasing blind spot detection, the required level of user attention is reduced, and the occurrence of driving risks is decreased, thereby improving the vehicle's reliability and safety.

[0063] Furthermore, when a vehicle is turning, users may constantly change their line of sight to reduce the risks caused by prolonged blind spots. Embodiments of this disclosure, through rotation control using lidar, can reduce the frequency of changes in the user's line of sight, making vehicle operation safer.

[0064] In some embodiments of this disclosure, when controlling the rotation of the lidar according to the vehicle's turning state, the rotation angle of the lidar can be controlled according to the vehicle's turning angle. The rotation angle of the lidar and the turning angle of the vehicle can have a linear or non-linear relationship, and this disclosure does not impose any limitations. In some embodiments of this disclosure, when controlling the rotation of the lidar according to the vehicle's turning state, the lidar can be controlled to rotate by a preset angle. This preset angle can be pre-set so that during turning, the center area of ​​the lidar's field of view faces the side of the vehicle, towards the area where the vehicle is about to travel.

[0065] In some embodiments of this disclosure, multiple lidar units can be rotatably mounted on a vehicle. For example, Figure 3 An example diagram is shown that illustrates a control method for a lidar consistent with some embodiments of this disclosure. Please refer to... Figure 3 A lidar 310 and a lidar 320 are rotatably mounted on a carrier 300. The control method described above for the lidars can be applied to both lidar 310 and lidar 320. This disclosure embodiment can include various control modes for multiple lidars. Taking the first and second lidars as examples, the control modes can include the following:

[0066] Control Mode 1: In some embodiments of this disclosure, the above control method may include: controlling the first lidar to rotate in the same direction as the turning direction; and controlling the second lidar to rotate in the opposite direction to the turning direction. Please refer to... Figure 3 For example, vehicle 300 turns right, such as Figure 3The direction indicated by the middle arrow R controls the LiDAR 310 to rotate to the right, changing its field of view from the range shown in F1 to the range shown in F2 in the diagram. Controlling the LiDAR 320 to rotate to the left changes its field of view from the range shown in F3 to the range shown in F4 in the diagram. At this time, the first LiDAR can include LiDAR 310, and the second LiDAR can include LiDAR 320. For example, when the vehicle 300 turns left... Figure 3 The direction indicated by the middle arrow L controls the LiDAR 320 to rotate to the left, changing its field of view from the range shown in F3 to the range shown in F4 in the diagram. Controlling the LiDAR 310 to rotate to the right changes its field of view from the range shown in F1 to the range shown in F2 in the diagram. At this point, the first LiDAR can include LiDAR 320, and the second LiDAR can include LiDAR 310.

[0067] The above embodiments can utilize at least two LiDARs to improve the reliability or safety of vehicles in turning and driving scenarios. For example, during vehicle operation, blind spots can easily form in the direction opposite to the turn; or, as the user constantly changes their gaze, blind spots may form in the same direction as the turn due to the user's attention. Objects appearing in blind spots, especially moving objects, may obstruct or collide with the vehicle's movement, thus posing a driving risk. By having at least two LiDARs rotate in different directions when the vehicle is turning, the detection performance of blind spots can be improved, driving risks can be reduced, and the reliability or safety of the vehicle can be improved. In addition, when the user operates the vehicle, the requirement for constantly switching the user's attention can be reduced; the user can focus on a certain direction (e.g., the direction of travel or the front), reducing operational complexity and improving the user experience.

[0068] Control Mode Two: In some embodiments of this disclosure, the above control method may include: controlling the first lidar to rotate in the same direction as the turning direction; controlling the second lidar to rotate in the same direction as the turning direction. Please refer to... Figure 4 For example, vehicle 400 turns right, such as Figure 4 The direction indicated by the middle arrow R controls the lidar 410 to rotate to the right, changing the field of view from the range shown in F1 to the range shown in F2 in the diagram. The lidar 420 is also controlled to rotate to the right, changing the field of view from the range shown in F3 to the range shown in F4 in the diagram. Similarly, the vehicle 400 turns to the left, as shown in the middle arrow R. Figure 4 The direction indicated by the middle arrow L controls the LiDAR 420 to rotate to the left, shifting its field of view to the left. Controlling the LiDAR 410 to rotate to the left also shifts its field of view towards the center region.

[0069] The above embodiments can also utilize at least two LiDARs to improve the reliability or safety of the vehicle in turning scenarios. Using the above control method, when the vehicle is turning, one LiDAR rotates in the direction of steering, while the other rotates towards the center area. This reduces the risk of blind spots in the center area in front of the vehicle due to changes in the field of view of the LiDARs rotating in the same direction, thereby improving the vehicle's reliability or safety. Furthermore, when the user operates the vehicle, the requirement for constant switching of user attention is reduced; the user's focus can remain on a particular direction for a longer period. When blind spots occur, they can be compensated for using LiDAR detection, reducing operational complexity and improving the user experience.

[0070] Control Mode 3: In some embodiments of this disclosure, the above control method may include: controlling the first lidar to rotate in the same direction as the turning direction; the second lidar remaining stationary. Please continue to refer to... Figure 3 For example, vehicle 300 turns right, such as Figure 3 The direction indicated by the middle arrow R controls the lidar 310 to rotate to the right, changing the field of view from the range shown in F1 to the range shown in F2 in the diagram. Lidar 320 remains stationary, maintaining the field of view as shown in F3 in the diagram. Similarly, vehicle 300 turns to the left, as... Figure 3 The direction indicated by the middle arrow L controls the LiDAR 320 to rotate to the left, changing its field of view from the range shown in F3 to the range shown in F4 in the diagram. The LiDAR 310 remains stationary, maintaining its field of view within the range shown in F1 in the diagram.

[0071] The above embodiments can also utilize at least two LiDARs to improve the reliability or safety of the vehicle in turning scenarios. Using the above control method, when the vehicle is turning, one LiDAR rotates in the turning direction while the other remains stationary, thus balancing detection performance in the middle area and non-turning directions. When the vehicle turns, the field of view of the LiDAR rotating in the same direction changes, improving detection performance in the turning direction. Simultaneously, maintaining the field of view of the other LiDAR allows it to change dynamically with the vehicle's movement, reducing the requirement for simultaneous control of the LiDARs and ensuring detection in both the middle and non-turning directions, thereby improving the vehicle's reliability and safety. Furthermore, when the user operates the vehicle, the need for constant switching of user attention is reduced, decreasing the frequency of viewpoint switching, lowering operational complexity, and improving the user experience.

[0072] This disclosure does not limit the rotation angle of the first lidar and the size of the rotation angle of the second lidar, and the rotation angles of the first lidar and the second lidar can be the same or different. This disclosure also does not limit the range of the field of view of the first and second lidars. The field of view range of the first lidar and the field of view range of the second lidar can be the same or different. For example, the rotation angle A1 of lidar 310 and the rotation angle A2 of lidar 320 can be the same or different. The field of view range F1 or F2 of lidar 310 and the field of view range F3 or F4 of lidar 320 can be the same or different.

[0073] In some embodiments of this disclosure, the rotation angle of the lidar (including a first lidar or a second lidar) can be set according to the lidar's field of view. When the lidar's field of view is small, a smaller rotation angle can be set; when the lidar's field of view is large, a larger rotation angle can be set. This ensures that the lidar's field of view, or the combined field of view of the first and second lidars, can still cover the central area in front of the vehicle after rotation, improving the detection of the central area. For example, the lidar's rotation angle can be 1 / 5 to 1 / 2 of its field of view.

[0074] In some embodiments of this disclosure, the above-mentioned vehicle includes a vehicle. By controlling the steering of the LiDAR 400 according to the vehicle's driving scenario, it can better adapt to the "dynamic blind spots" caused by factors such as road alignment, slope, buildings, greenery, and changes in relative position with other vehicles during vehicle operation. This helps the driver avoid road risks in advance. Combined with the alarm system installed on the vehicle, it can provide timely warnings to the driver, improving driving safety and reducing the risk of accidents. Especially now that fully and semi-autonomous driving is becoming increasingly common, this control method for the LiDAR 400 enables automatic steering of the LiDAR 400 without requiring manual steering control by the user. It is highly practical, ensuring driving safety while also considering the convenience of driving operation.

[0075] In some embodiments of this disclosure, the vehicle may provide a selection or configuration interface for the user, allowing the user to choose any of the above control modes according to their driving habits, thereby increasing the flexibility of the LiDAR for user scenarios. In this case, the above control method may further include: determining the control mode of the LiDAR; enabling control mode one, control mode two, or control mode three based on the control mode of the LiDAR. In some embodiments of this disclosure, the user can select the control mode through a control interface provided on the vehicle screen; or the user can select the control mode through voice or gesture commands; or the user can select the control mode through a remote mobile phone or other portable electronic device. This disclosure does not impose limitations. Determining the control mode of the LiDAR may include: receiving a command signal, which can be input by the user through any of the above methods, and the information is converted into a command signal and provided to the control device executing the above control method.

[0076] In some embodiments of this disclosure, please continue to refer to Figure 3 and Figure 4 The first and second lidars can be disposed on both sides of the front top of the vehicle or on both sides of the front face of the vehicle. In some embodiments of this disclosure, a third and fourth lidar can be rotatably mounted on both sides of the rear top of the vehicle or on both sides of the rear face of the vehicle. The rotation control of the third and fourth lidars can also be performed in a similar manner.

[0077] Controlling the rotation angle of a lidar can include one or more of the horizontal or vertical angles. For example, for an aircraft, when the aircraft turns, one or more of the aircraft's horizontal or vertical field of view can be shifted.

[0078] In some embodiments of this disclosure, the control device executing the above control method can also enable or disable the rotation control of the LiDAR according to the vehicle's driving scenario. For example, the above control method further includes: determining the vehicle's driving scenario; and enabling the rotation control of the LiDAR according to the driving scenario. The driving scenario may include, but is not limited to, any of the driving scenarios described in the above embodiments. In some embodiments of this disclosure, the rotation control of the LiDAR can be enabled in driving scenarios on urban roads or mountain roads. In driving scenarios on highways, the rotation control of the LiDAR can be disabled. In driving scenarios on elevated roads, the rotation control of the LiDAR can be enabled or disabled. In some embodiments of this disclosure, the rotation control of the LiDAR can be enabled in driving scenarios involving turning (including lane changing, turning, or U-turn). For example, based on the vehicle's navigation information, if it is determined that the vehicle is about to turn, then the rotation control of the LiDAR can be enabled. Enabling the rotation control of the LiDAR in needed scenarios can reduce the power consumption of the LiDAR control. In addition, in simple driving scenarios such as highways, the probability of LiDAR rotation can be reduced, thus reducing power consumption.

[0079] For example, when a vehicle is traveling at high speed, the probability of encountering risks on either side of the vehicle is low, and the LiDAR can maintain its original orientation. For instance, the LiDAR's field of view can be directed directly in front of or to the side of the vehicle's direction of travel, allowing it to focus its detection on a more distant area in front of the vehicle. When the vehicle is traveling in more complex areas (e.g., urban roads or mountain roads), the LiDAR's rotation can be enabled. This allows the LiDAR's field of view to deflect at a certain angle towards the side of the vehicle during turning, increasing its lateral detection capability and thus expanding its lateral visibility range. This reduces lateral blind spots, enabling the vehicle to avoid objects in its path in a timely manner and improving its reliability and safety.

[0080] This disclosure also provides a control device for a lidar in some embodiments, configured to perform any of the control methods described above. The control device may include units or means for performing each step of the control methods described above. For example, Figure 5 An example block diagram of a control device consistent with some embodiments of this disclosure is shown. The control device 500 includes a processor 510 and an interface circuit 520. The processor 510 can execute any of the control methods provided in the above embodiments and send control signals through the interface circuit 520. The control signals are used to control the rotation of the lidar.

[0081] In some embodiments of this disclosure, the control device may include units or means for performing the various steps of the control method described above. For example, Figure 6 An example block diagram of a control device consistent with some embodiments of this disclosure is shown. Please refer to... Figure 6The control device 600 includes a determining unit 610 and a control unit 620. The determining unit 610 can determine the operating status of the vehicle, and the control unit 620 can control the rotation of the lidar according to the operating status of the vehicle.

[0082] The above division of units is merely a logical functional division. In actual implementation, all or part of them can be integrated into a single physical entity, or they can be physically separated. Furthermore, the above units can be implemented by a processor calling software; for example, a control 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 control methods or the functions of the above units. The processor may include, for example, a general-purpose processor, such as a central processing unit (CPU), and the memory may be internal to the control device or external to it. Alternatively, the above units can be implemented as hardware circuits. The functions of some or all of the units can be implemented through the design of the hardware circuit, which can be understood as one or more processors. For example, in some embodiments, the hardware circuit may include an application-specific integrated circuit (ASIC). By designing the logical relationships between the components within the circuit, any of the above control methods or the functions of all or part of the above units can be implemented. In some embodiments, the hardware circuit may be a hardware circuit implemented using a programmable logic device (PLD), such as a field-programmable gate array (FPGA), which may include a large number of logic gates. The logical relationships between the logic gates are configured through a configuration file, thereby realizing the functions of any of the control methods described above or some or all of the units. The units of the above control device may be implemented entirely through processor-invoked programs, entirely through hardware circuits, or partially through processor-invoked programs with the remaining parts implemented through hardware circuits.

[0083] In this disclosure, a processor is a circuit with signal processing capabilities. In some embodiments, the processor can be a circuit with instruction read and execute capabilities, such as a CPU, microcontroller unit (MCU), graphics processing unit (GPU), or digital signal processor (DSP). In other embodiments, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units.

[0084] The units in the above control device can be integrated in whole or in part, or they can be implemented independently. In some embodiments, these units are integrated together and implemented as a system-on-a-chip (SoC). The SoC may include at least one processor for implementing any of the above control methods or implementing the functions of the units in the above control device.

[0085] The control device provided in this disclosure may include one or more processors of a vehicle. Taking a vehicle as an example, the control device includes, but is not limited to, a domain control unit (DCU), an electronic control unit (ECU), a vehicle central computer (VCC), a zone controller (zonal / zone ECU, or zone control unit, ZCU), a microcontroller unit (MCU), or a vehicle control unit (VCU). Domain controllers include, for example, a vehicle domain controller (VDC), a cockpit domain controller (CDC), or a domain controller for advanced driving assistance systems / autonomous driving.

[0086] This disclosure also provides a lidar mounting device for mounting lidar to a vehicle. Figure 7A three-dimensional structural example of a lidar and mounting device consistent with some embodiments of this disclosure is shown. Figure 8 A three-dimensional structural breakdown example of a lidar and mounting device consistent with some embodiments of this disclosure is shown. Figure 9 A bottom-view example of a lidar and mounting device consistent with some embodiments of this disclosure is shown.

[0087] Please refer to Figures 7 to 10 The mounting device 720 for the lidar 710 includes a mounting bracket 721, a mounting hole 722, and a drive structure 723. The mounting bracket 721 is configured to support the lidar 710 and the power mechanism 730, which is configured to provide power to drive the lidar 710 to rotate. The mounting hole 722 is located on the mounting bracket 721 and is configured to accommodate the rotating shaft 711 of the lidar 710, providing a central position for the rotation of the lidar 710. The drive structure 723 is mounted on the mounting bracket 721 and connected to the power output shaft 731 of the power mechanism 730. It is configured to receive the power output from the power output shaft 731 and, under the action of the power, drive the lidar 710 to rotate around its central position.

[0088] The embodiments disclosed above allow for the mounting of the lidar and power mechanism onto a carrier using a mounting device, which is beneficial for the stable operation of the lidar. For example, the mounting holes can accommodate the lidar's rotating shaft, allowing the lidar to be rotatably mounted on the carrier, thus maintaining stability during rotation and reducing the impact on the lidar's detection performance. Furthermore, the drive structure allows for power transmission to the lidar, facilitating a flattened layout of the lidar and power mechanism, reducing the overall mounting area, resulting in a compact structure that is more suitable for carrier-based applications.

[0089] In some embodiments of this disclosure, the lidar 710 and the power mechanism 730 are arranged along the bearing surface of the mounting bracket 721. The drive structure is configured to convert the power output in a first direction into a driving force in a second direction, which is used to drive the rotation of the lidar 710. The first direction is perpendicular to the bearing surface, and the second direction is parallel to the bearing surface. The mounting structure provided in the above embodiments is more conducive to the flattening of the overall structure and reduces the installation space. Moreover, thanks to the flattened design of the entire structure, the lidar can be more flexibly fixed to or integrated into different positions of the vehicle, for example... Figure 1 The various locations shown are designed to minimize structural interference, facilitating the installation of the lidar on the vehicle.

[0090] Figure 10 A side view example diagram of a lidar consistent with some embodiments of this disclosure is shown. Please refer to... Figure 10In some embodiments of this disclosure, the end of the rotating shaft 711 away from the lidar 710 is provided with a slot 712. When the end of the rotating shaft 711 away from the lidar 710 is inserted into the mounting hole 722, it can be secured in the slot 712 by a limiting structure 740 (e.g., a retaining ring). The limiting structure 740 is used to limit the displacement of the rotating shaft 711 relative to the mounting hole 722 on a plane parallel to the surface of the mounting bracket 721, without restricting the rotation of the rotating shaft 711, thereby allowing the lidar 710 to be more stably rotated and mounted on the mounting bracket 721.

[0091] In some embodiments of this disclosure, the rotating shaft 711 and the optical center of the lidar 710 are collinear, ensuring that the coordinates of the optical center relative to the vehicle remain unchanged during the rotation of the lidar 710. Positioning the rotating shaft at the optical center allows for the determination of the transformation relationship between the lidar's coordinate system and the vehicle's coordinate system by calibrating the relative position of the lidar and the vehicle. By calculating (e.g., linearly) the rotation angle of the lidar, the transformation relationship between the rotated lidar and the vehicle's coordinate system can be determined; the calculation is simple and requires no further calibration.

[0092] The embodiments disclosed herein do not limit the implementation of the drive structure. For example, the drive structure may include a pulley connecting the lidar 710 and the power output shaft 731, or a support arm connecting the lidar 710 and the power output shaft 731, or a gear structure connecting the lidar 710 and the power output shaft 731, etc.

[0093] Figure 11 A bottom-view example diagram of a lidar system consistent with some embodiments of this disclosure is shown. Please refer to... Figure 8 , Figure 9 ,and Figure 11 The base of the lidar 710 is provided with a first toothed structure 713. The drive structure 723 includes a second toothed structure, disposed on a mounting bracket 721. The second toothed structure meshes with the first toothed structure 713, and is connected to a power output shaft 731, rotating relative to the mounting bracket 721 under power. In some embodiments of this disclosure, the first toothed structure 713 may include an arc-shaped toothed structure, and the second toothed structure may include a fan-shaped toothed structure. This arrangement results in a compact structure, reducing the installation cost of the lidar and providing better drive efficiency. The embodiments of this disclosure do not limit the shape and size of the first toothed structure 713 and the second toothed structure, as long as power transmission is achieved. For example, the first toothed structure 713 or the second toothed structure 700 may include a non-arc rack, a circular gear, or other toothed structures with regular or irregular outer contours.

[0094] In some embodiments of this disclosure, the power mechanism 730 may include a rotary or linear motor, whose power output shaft 731 can drive the second toothed structure to rotate or move linearly, thereby driving the first toothed structure 713 to rotate forward or reverse by a certain angle. For example, when the power mechanism 730 may include a linear motor, the second toothed structure may include, for example, a rack, and the first toothed structure 713 may include, for example, a gear, an arc-shaped or sector-shaped toothed structure. The linear motor can drive the rack to move linearly, and the linear movement of the rack drives the first toothed structure 713 to rotate. As another example, when the power mechanism 730 may include a rotary motor, the second toothed structure may include, for example, a gear, an arc-shaped or sector-shaped toothed structure, etc. The rotary motor can drive the second toothed structure to rotate, and the rotation of the second toothed structure can drive the first toothed structure 713 to rotate.

[0095] The toothed structure design of the above embodiments of this disclosure is more compact and provides more stable transmission, and it is also beneficial for the conversion of the driving force direction, making the mounting structure of the lidar and power mechanism more flat. In addition, setting the first toothed structure as an arc-shaped toothed structure is beneficial for the lightweighting of the lidar.

[0096] Please refer to some embodiments of this disclosure. Figure 8 and Figure 9 The second tooth-shaped structure may include a fan-shaped tooth-shaped structure, which may include a hollow structure 724. This facilitates the overall lightweighting of the lidar and its mounting device.

[0097] Please refer to some embodiments of this disclosure. Figures 9-11 The base of the lidar 710 is provided with a first guide structure 714, and the mounting bracket 721 is provided with a second guide structure 725. The second guide structure 725 matches the first guide structure 714 and is configured to guide the rotation trajectory of the lidar 710 during its rotation, so that the lidar 710 can rotate stably, thereby better detecting the surrounding environment of the vehicle and improving the detection effect.

[0098] This disclosure does not limit the shape, size, and structure of the first guide structure and the second guide structure. For example, please refer to... Figures 9-11The first guide structure 714 may include a guide post, and the second guide structure may include a guide groove. In some other embodiments, the first guide structure 714 may include a guide groove, and the second guide structure may include a guide post. One end of the guide post may have a structure similar to the rotating shaft 711 described above, for example, it may have a slot. When the end of the guide post is inserted into the guide groove, it can be secured in the slot by a limiting structure 750 (e.g., a retaining spring), thereby movably limiting the guide post to be mounted on the mounting bracket 721. This allows the lidar 710 to be mounted more stably on the mounting bracket 721 without affecting the rotation of the lidar 710, and makes the rotation trajectory of the lidar more stable. Moreover, the above structure is simple to set, has low cost, and is more conducive to the quick assembly and disassembly of the lidar 710 and the mounting device 720.

[0099] In some embodiments of this disclosure, please continue to refer to Figure 8 and Figure 9 The mounting frame 721, which supports the power mechanism 730, includes a mounting platform 726 on which the power mechanism 730 can be mounted. In this embodiment, by setting the mounting platform 726 to mount the power mechanism 730, the height of the power mechanism 730 can be increased to a certain extent, so that the power output shaft 731 can be positioned on the side of the power mechanism 730 facing the mounting frame 721, and installation space can be provided for the drive structure 723, enabling it to transmit the power output from the power output shaft 731 to the lidar 710. While maintaining the same thickness of the power mechanism 730, the overall structure of the lidar and mounting device is further flattened, reducing the installation space. In some embodiments of this disclosure, the mounting frame 721 also has an opening 727 on the side where the power mechanism 730 connects to the drive structure 723, that is, the opening 727 can expose the side where the power mechanism 730 connects to the drive structure 723. This facilitates heat dissipation for the power mechanism 730, allowing it to operate stably for a long time, and also reduces the overall weight of the mounting device 720, achieving lightweight production.

[0100] This disclosure also provides a control system for a vehicle. Figure 12 A structural example diagram of a control system consistent with some embodiments of this disclosure is shown. Please refer to... Figure 12 The control system 1200 may include a lidar 1210 and a control device 1220. The control device 1220 may be the same as or similar to the control device provided in any of the above embodiments. The lidar 1210 is rotatably mounted on a carrier, and the control device 1220 is signal-connected to the power mechanism 1230 that drives the lidar 1210 and is configured to control the rotation of the lidar 1210.

[0101] This disclosure also provides a vehicle including a lidar and a control device for the lidar provided in any of the above embodiments. In some embodiments of this disclosure, the lidar can be mounted on the vehicle using the mounting device provided in any of the above embodiments.

[0102] Furthermore, embodiments of this disclosure also provide a computer-readable storage medium including instructions stored thereon, which, when invoked by a processor, execute any of the control methods described in the above embodiments. Embodiments of this disclosure also provide a computer program (or computer program product) including instructions, which, when invoked by a processor, execute any of the control methods described in the above embodiments.

[0103] The computer-readable storage media described above may be read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0104] In this disclosure, unless otherwise expressly specified and limited, ordinal numbers, such as "first," "second," etc., are used only to distinguish and describe related objects, and should not be construed as indicating or implying the relative importance or order between related objects. Furthermore, ordinal numbers do not represent the quantity of related objects. For example, "first lidar" may include one lidar or multiple lidars.

[0105] "Multiple" includes two or more, and other classifiers are similar.

[0106] The terms "or" and "and / or" in this disclosure are used to describe relationships between related objects, indicating a non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone," "B alone," or "A and B," where "A" and "B" can include a single object or multiple objects. Similarly, "A, B and / or C," "A, B or C," and "A, B and C" can both include: "A alone," "B alone," "C alone," "A and B," "A and C," "B and C," or "A, B and C," where "A," "B," and "C" can include a single object or multiple objects. Additionally, the " / " in this disclosure is used to indicate an "or" relationship between related objects. The meanings of "at least one of A or B" and "one or more of A and B" in this disclosure are the same as the meaning of "A or B" above. The meanings of "one or more of A, B, and C" and "at least one of A, B, or C" are the same as the meaning of "A, B, or C" above. The meaning of "one or more of A, B, and C" is the same as the meaning of "A, B, or C" above.

[0107] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail or in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, the above embodiments can be freely combined as needed.

Claims

1. A control method for a lidar, characterized in that, The lidar is rotatably mounted on the vehicle, and the control method includes: Determine the vehicle's operational status; The rotation of the lidar is controlled according to the operating status of the vehicle.

2. The control method according to claim 1, characterized in that, The operating state includes a turning state; controlling the rotation of the lidar based on the operating state of the vehicle includes: Based on the vehicle's turning state, control the lidar to rotate in the same direction as the turning direction; or, Based on the vehicle's turning state, the lidar is controlled to rotate in the opposite direction to the turning direction.

3. The control method according to claim 2, characterized in that, The lidar is a first lidar, and the vehicle also includes a second lidar, which is rotatably mounted on the vehicle. Controlling the rotation of the lidar according to the operating state of the vehicle includes: Control the first lidar to rotate in the same direction as the turning direction; Furthermore, the control method further includes: Control the second lidar to rotate in the same or opposite direction as the steering direction, or keep the second lidar stationary.

4. The control method according to any one of claims 1-3, characterized in that, The vehicle includes a vehicle.

5. The control method according to claim 4, characterized in that, Also includes: Determine the driving scenario of the vehicle; Based on the driving scenario, enable the rotation control of the lidar.

6. A control device for a lidar, characterized in that, The device includes a processor and an interface circuit, the processor being configured to execute the control method as described in any one of claims 1-5, and to send control signals through the interface circuit for controlling the rotation of the lidar.

7. An installation device for a lidar, characterized in that, The installation device includes: The mounting bracket is configured to carry the lidar and a power mechanism, the power mechanism being configured to provide power to drive the lidar to rotate; Mounting holes are located on the mounting bracket and are configured to accommodate the rotating shaft of the lidar, providing a central position for the rotation of the lidar. The drive structure, mounted on the mounting bracket and connected to the power output shaft of the power mechanism, is configured to receive the power output from the power output shaft and, under the action of the power, drive the lidar to rotate around the central position.

8. The installation device according to claim 7, characterized in that, The rotating shaft and the optical center of the lidar are on the same straight line.

9. The mounting device according to claim 7 or 8, wherein the lidar and the power mechanism are arranged along the bearing surface of the mounting frame, and the drive structure is configured to convert the power output in a first direction into a driving force in a second direction, the driving force being used to drive the rotation of the lidar, the first direction being perpendicular to the bearing surface and the second direction being parallel to the bearing surface.

10. The mounting device according to any one of claims 7-9, characterized in that, The base of the lidar is provided with a first tooth-shaped structure; the driving structure includes: A second toothed structure is disposed on the mounting bracket. The second toothed structure meshes with the first toothed structure, and the second toothed structure is connected to the power output shaft, rotating relative to the mounting bracket under the action of the power.

11. The installation device according to claim 10, characterized in that, The first tooth-like structure includes an arc-shaped tooth-like structure, and the second tooth-like structure includes a fan-shaped tooth-like structure.

12. The mounting device according to any one of claims 11, characterized in that, The fan-shaped tooth structure includes a hollow structure.

13. The mounting device according to any one of claims 7-12, characterized in that, The lidar base is provided with a first guide structure; the mounting bracket is provided with a second guide structure, which matches the first guide structure and is configured to guide the rotation trajectory of the lidar during its rotation.

14. The mounting device according to any one of claims 7-13, characterized in that, The mounting bracket that carries the power mechanism includes a mounting platform and an opening. The mounting platform is configured to mount the power mechanism, and the opening is configured to expose the side of the power mechanism connected to the drive structure.

15. A control system, characterized in that, For a vehicle, the control system includes: A lidar unit is rotatably mounted on the vehicle. The control device as described in claim 6 is signal-connected to the power mechanism driving the lidar and configured to control the rotation of the lidar.

16. A vehicle, characterized in that, It includes a lidar and a control device for the lidar as described in claim 6.

17. The vehicle according to claim 16, wherein the lidar is mounted on the vehicle by means of the mounting device according to any one of claims 7-14.

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