Optical phased array based target detection method and optical phased array lidar

Abstract

This application provides a target detection method and an optical phased array lidar based on an optical phased array. The method includes: selecting a set of array channels to be used from the array channel set of the optical phased array, wherein the number of array channels in the set is negatively correlated with the size of the light spot formed by the set of array channels; controlling the selected set of array channels to perform ranging and obtain a current ranging result, wherein other array channels in the array channel set besides the selected set are not controlled. This application solves the technical problem of low target detection success rate in related technologies' OPA lidar, thereby achieving the technical effect of improving the detection success rate of OPA lidar.

Description

Technical Field

[0001] This application relates to the field of lidar, and more specifically, to a target detection method based on an optical phased array and an optical phased array lidar. Background Technology

[0002] OPA (Optical Phased Array) lidar is a type of lidar that uses an optical phased array. Optical phased arrays typically employ quasi-parallel axes for ranging. Due to the spacing between the transmitting and receiving arrays, the transmitting and receiving beams may not overlap. When these beams do not overlap, the receiving array cannot receive the probe light from the transmitting array, thus failing to receive effective information and resulting in target detection failure.

[0003] It is evident that OPA lidar, a related technology, suffers from a low success rate in target detection. Summary of the Invention

[0004] This application provides a target detection method and an optical phased array lidar based on optical phased arrays, so as to at least solve the technical problem of low target detection success rate of OPA lidar in related technologies.

[0005] According to one aspect of the embodiments of this application, a target detection method based on an optical phased array is provided, comprising: selecting a set of array channels to be used from the array channel set of the optical phased array, wherein the number of array channels included in the set of array channels is negatively correlated with the size of the light spot formed by the set of array channels; controlling the selected set of array channels to use the set of array channels for ranging, and obtaining a current ranging result, wherein other array channels in the array channel set other than the set of array channels are not controlled.

[0006] According to another aspect of the embodiments of this application, an optical phased array lidar is also provided, comprising: a controller and an optical phased array, the optical phased array including a set of array channels; wherein, the controller is configured to select a set of array channels to be used from the set of array channels, wherein the number of array channels included in the set of array channels is negatively correlated with the size of the light spot formed by the set of array channels; control the selected set of array channels to use the set of array channels for ranging to obtain a current ranging result, wherein other array channels in the set of array channels besides the selected set of array channels are not controlled; the optical phased array is configured to perform ranging operations through the selected set of array channels in response to the control of the controller.

[0007] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, and the computer program is configured to perform the steps in any of the above method embodiments when it is run.

[0008] According to another aspect of the embodiments of this application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the steps in any of the method embodiments described above.

[0009] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to perform the steps of any of the above method embodiments through the computer program.

[0010] This application utilizes a method that treats a large-scale optical phased array as a small-scale optical phased array. A set of array channels is selected from the array channel set of the optical phased array, where the number of array channels in a set is negatively correlated with the size of the light spot formed by that set. The selected set of array channels is controlled to perform ranging, obtaining the current ranging result. Other array channels besides the selected set are not controlled. Since the light spot size of an optical phased array is related to its size (the larger the array, the smaller the light spot), treating a large-scale optical phased array as a small-scale optical phased array allows the light spot to overlap at the near end, ensuring the effectiveness of near-end ranging and thus improving the success rate of target detection. This solves the technical problem of low target detection success rate in related OPA lidar technologies. Attached Figure Description

[0011] Figure 1 This is a schematic diagram illustrating an application scenario of a target detection method based on an optical phased array according to an embodiment of this application;

[0012] Figure 2 This is a schematic flowchart of an optional target detection method based on an optical phased array according to an embodiment of this application;

[0013] Figure 3 This is a schematic diagram of an optional target detection method based on an optical phased array according to an embodiment of this application;

[0014] Figure 4This is a schematic diagram of another optional target detection method based on an optical phased array according to an embodiment of this application;

[0015] Figure 5 This is a schematic diagram of an optional optical phased array lidar according to an embodiment of this application;

[0016] Figure 6 This is a computer system architecture block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0018] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0019] According to one aspect of the embodiments of this application, a target detection method based on an optical phased array is provided. Optionally, in this embodiment, the above-described target detection method based on an optical phased array can be applied, but is not limited to, to applications such as... Figure 1 The diagram shows a hardware environment including an onboard terminal 102, a lidar 104, and a current vehicle 106. The lidar 104 can be an OPA lidar. The onboard terminal 102 and lidar 104 are installed on the current vehicle 106. The lidar 104 can receive control from the onboard terminal 102 and provide target detection services to the current vehicle 106.

[0020] The target detection method based on optical phased array in this application embodiment can be executed by LiDAR 104, or by vehicle-mounted terminal 102 and LiDAR 104 together. Alternatively, the vehicle-mounted terminal 102 can execute the target detection method based on optical phased array in this application embodiment by a client installed on it.

[0021] Taking the target detection method based on optical phased array in this embodiment, executed by lidar 104, as an example, Figure 2 This is a schematic flowchart of an optional target detection method based on an optical phased array according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this method may include the following steps:

[0022] Step S202: Select a set of array channels to be used from the set of array channels of the optical phased array, wherein the number of array channels in a set of array channels is negatively correlated with the size of the light spot formed by the set of array channels.

[0023] Step S204: Control the selected set of array channels to use the set of array channels for ranging and obtain the current ranging result. Other array channels in the array channel set besides the set of array channels are not controlled.

[0024] The target detection method based on optical phased arrays in this embodiment can be applied to the field of lidar, specifically to scenarios where optical phased array lidar is used for ranging. An optical phased array can include an antenna array, corresponding to a set of array channels. Each array channel corresponds to one optical signal. By controlling the phase of the optical signal in the array channel, the focusing direction and shape of the overall beam can be changed, thereby achieving precise control and shaping of the beam. The antenna array of the optical phased array can be divided into a transmitting array and a receiving array. The transmitting array is used to transmit the detection beam, and the receiving array is used to receive the reflected beam from the target object. By controlling the phase of each unit in the transmitting array, a specific beam pattern can be formed. The transmitted detection beam forms a emission spot on the target object. The shape, size, and intensity of the emission spot depend on the phase control of the optical phased array and the distance and reflection characteristics of the target object. After the beam reflected by the target object is received by the optical phased array, a receiving spot is formed on the receiving array. The receiving spot contains the depth and reflection information of the target object. By analyzing these spots, the three-dimensional structure and surface characteristics of the target object can be obtained.

[0025] Optical phased arrays typically employ quasi-parallel axis ranging. A quasi-parallel axis OPA transceiver array refers to a configuration in an optical phased array where the axes of the transmitting and receiving arrays are nearly parallel. This configuration allows OPA systems to achieve rapid, inertia-free beam control in optical communication and sensing applications. However, due to the spacing between the transmitting and receiving arrays, a certain blind zone exists. Especially when the axis difference between the transmitting and receiving arrays is large, if the transmitting and receiving beams do not overlap (misalignment occurs near the transmitting end), the receiving array cannot receive the probe light from the transmitting array, resulting in a failure to receive a valid signal and a reduced target detection success rate.

[0026] To at least partially solve the above-mentioned technical problems, this embodiment provides a near-far OPA ranging scheme based on the switching of large and small light spots. According to the application scenario characteristics of optical phased array lidar, in the case of near-end measurement, a large-scale optical phased array is used as a small-scale optical phased array. That is, only a portion of the array channels of the optical phased array are used. For example, a 1024 array is used as a 512 array (i.e., 512 of the 1024 channels are controlled, and the remaining channels are not controlled, which is equivalent to a 512 array). Since the number of array channels used for detection is negatively correlated with the size of the light spot formed, by reducing the array size to expand the light spot, the light spot and the light spot can overlap at the near end, so as to ensure the effectiveness of near-end ranging.

[0027] For example, for such Figure 3 The first OPA transceiver array and the second OPA transceiver array shown are illustrated. The array size of the first OPA transceiver array is larger than that of the second OPA transceiver array, and correspondingly, the light transmit / receive spot size of the first OPA transceiver array is smaller than that of the second OPA transceiver array. Figure 3 It can be seen that the larger the array size of the OPA, the smaller its synthesized light spot, and the smaller the array size, the larger the light spot.

[0028] It should be noted that the reference position for selecting the array channel can be specified in advance, such as the upper left corner, lower left corner, upper right corner, lower right corner, center point, etc. Alternatively, the reference position of the array channel can be determined based on the relative position of the area to be tested and the optical phased array. For example, if the detection area is close to the left, the array channel on the left can be selected; if the detection area is close to the right, the array channel on the right can be selected. Other information can also be referenced to select the array channel, but this embodiment does not limit this.

[0029] In this embodiment, a set of array channels to be used can be selected from the array channel set of the optical phased array. This set of array channels can be selected based on the detection intention. If near-end detection is required, the set of array channels can be a portion of the array channels in the set; if far-end detection is required, the set of array channels can be all the array channels in the set. Optionally, a set of array channels to be used can be selected from the array channel set of the optical phased array based on detection reference information. The detection reference information is used to directly or indirectly characterize the distance to be detected. For example, the detection reference information can be the distance information of the target obtained by ranging using other ranging devices (which can be approximate distance information), or information affecting the detection area such as the field of view angle. This embodiment does not limit this.

[0030] By controlling a selected set of array channels, ranging can be performed using that set of array channels to obtain the current ranging result. When using a set of array channels for ranging, the other array channels in the array channel set are not controlled. The number of array channels in a set of array channels is negatively correlated with the size of the light spot formed by the set of array channels. By adjusting the number of array channels in a set of array channels, rapid switching between near and far-end detection can be achieved, improving the flexibility of target detection while ensuring the accuracy of target detection.

[0031] The embodiments provided in this application select a set of array channels to be used from the array channel set of an optical phased array. The number of array channels in a set of array channels is negatively correlated with the size of the light spot formed by the set of array channels. The selected set of array channels is controlled to use the set of array channels for ranging and obtain the current ranging result. Other array channels in the array channel set besides the set of array channels are not controlled. This solves the technical problem of low target detection success rate in OPA lidar in related technologies and improves the target detection success rate.

[0032] In one exemplary embodiment, selecting a set of array channels to be used from the array channel set of the optical phased array includes: selecting a set of array channels to be used from the array channel set of the optical phased array according to the current longitudinal scanning angle of the optical phased array.

[0033] In this embodiment, the array channels to be used can be selected based on the longitudinal scanning angle of the optical phased array. The smaller the longitudinal scanning angle of the optical phased array, the closer the detection area, and the fewer array channels are used; conversely, the larger the longitudinal scanning angle of the optical phased array, the farther the detection area, and the more array channels are used. Therefore, a set of array channels to be used can be selected from the array channel set of the optical phased array according to the current longitudinal scanning angle of the optical phased array.

[0034] For example, such as Figure 4 As shown, OPA LiDAR can be applied to vehicle scenarios. That is, OPA LiDAR is a vehicle-mounted radar. Vehicle-mounted radar can switch between large and small spot sizes according to the scanning field of view. The ranging of the area directly in front is usually for ranging obstacles such as vehicles and walls in front. Its ranging distance is usually far, and a large array of small spots can be used for ranging. However, the ranging of the area diagonally below is usually shorter due to the limitations of the ground. A small array of large spots can be used for scanning.

[0035] In this embodiment, by adjusting the array size of the optical phased array according to the current longitudinal scanning angle of the optical phased array, it is possible to perform near and far OPA ranging by switching between large and small light spots, ensuring that the OPA lidar can accurately detect targets at different ranging distances, thus achieving the accuracy and reliability of ranging.

[0036] In an exemplary embodiment, selecting a set of array channels to be used from the array channel set of the optical phased array according to the current longitudinal scanning angle of the optical phased array includes: when the current longitudinal scanning angle is greater than a preset angle threshold, determining all array channels in the array channel set as the selected set of array channels; when the current longitudinal scanning angle is less than or equal to the preset angle threshold, determining a first consecutive number of array channels in the array channel set as the selected set of array channels.

[0037] To improve the ease of switching between large and small spot sizes, a scanning angle threshold can be set, i.e., a preset angle threshold. When the current longitudinal scanning angle is greater than the preset angle threshold, the current ranging distance is relatively far. In far-end measurements, a large-scale optical phased array can be used, and all array channels in the array channel set are selected as a set of array channels, i.e., all array channels are used. When the current longitudinal scanning angle is less than or equal to the preset angle threshold, the current ranging distance is relatively short. In near-end measurements, a small-scale optical phased array can be used. In this case, the first number of array channels in the array channel set can be selected as a set of array channels.

[0038] Optionally, the first number of array channels can be continuous array channels. In this case, the selected array channels can be controlled using a small-scale, full-array control method, thus facilitating the adjustment of the array channel phase. The first number can be half, a quarter, or another number of array channels in the array channel set. The aforementioned preset angle threshold can be set empirically and may be related to the application scenario of the OPA lidar and the array size of the optical phased array. In this embodiment, it is not limited to this.

[0039] For example, the size of the light spot can be switched according to the scanning field of view. For example, for vehicle radar, the area directly in front is scanned with a small light spot for strong detection capability, while the area diagonally below is scanned with a large light spot. The application of the large and small light spots can be distinguished according to the longitudinal angle. The implementation process can be as follows: obtain the current longitudinal scanning angle ang_cur. If ang_cur > ang_low (preset angle threshold), then control all OPA array channels to perform ranging according to the small light spot for strong ranging capability. Otherwise, control half of the array channels in the OPA array to perform detection according to the large light spot.

[0040] In this embodiment, by selecting to use all or a continuous portion of the array channels based on the relationship between the current longitudinal scanning angle and the preset angle threshold, the convenience of switching between large and small light spots can be improved.

[0041] In an exemplary embodiment, to improve the diversity of spot switching and thus the accuracy of target detection, the optical phased array can be configured with N spot modes, where N is a positive integer greater than or equal to 2. The number of array channels corresponding to the N spot modes decreases sequentially, i.e., the number of array channels corresponding to the N spot modes decreases sequentially from the Nth spot mode to the 1st spot mode; the ranging distance range corresponding to the N spot modes also decreases sequentially, i.e., the ranging distance range corresponding to the N spot modes decreases sequentially from the Nth spot mode to the 1st spot mode.

[0042] The number of light spot patterns (N), the number of array channels corresponding to each light spot pattern, and the corresponding ranging distance range can be set according to the application scenario. For example, when the array size of the optical phased array is large, its maximum ranging distance is far, so its ranging distance can be divided into more ranging distance ranges, and the number of light spot patterns corresponding to it is also correspondingly large; when the array size of the optical phased array is small, its maximum ranging distance is short, and the number of light spot patterns corresponding to it is also correspondingly small.

[0043] Correspondingly, based on the detection reference information, a set of array channels to be used is selected from the array channel set of the optical phased array, including: based on the previous ranging result of the optical phased array, the current spot mode is selected from N spot modes according to the preset adjustment method to obtain a set of array channels.

[0044] To select the correct spot pattern from N spot patterns configured in an optical phased array for ranging, the current spot pattern can be selected from the N spot patterns according to the previous ranging result of the optical phased array and a preset adjustment method, resulting in a set of array channels. Here, the previous ranging result is the ranging result obtained by the optical phased array in the previous ranging operation, and the set of array channels is the array channel corresponding to the current spot pattern. The preset adjustment method is the way to adjust the spot pattern used by the optical phased array. It can set the correspondence between the previous ranging result and the currently used spot pattern, or set the correspondence between the direction of the spot pattern used to adjust the previous ranging result, or set other adjustment conditions corresponding to the preset adjustment method, so as to adjust the used spot pattern according to the preset adjustment method.

[0045] For example, the following groups of light spot patterns can be defined: {G1, G2, G3, ..., GN}, with corresponding ranging distances of {D1, D2, D3, ..., DN} (i.e., a distance sequence). The distance interval corresponding to light spot pattern G1 is [D1, D2), the distance interval corresponding to light spot pattern G2 is [D2, D3), and so on. The distance interval corresponding to light spot pattern GN is [DN, +∞), or other correspondences may exist. The light spot size is switched based on the matching ranging distance by comparing the previous ranging distance with the ranging distances in the distance sequence.

[0046] This embodiment demonstrates how configuring multiple spot patterns can enhance the diversity of spot switching, thereby improving the accuracy of target detection. Furthermore, determining the current spot pattern based on the previous ranging result using a preset adjustment method improves the rationality of spot pattern switching.

[0047] In an exemplary embodiment, the spot pattern used by the optical phased array for the previous ranging is the Mth spot pattern among N spot patterns, where M is a positive integer greater than or equal to 1 and less than or equal to N. Correspondingly, based on the previous ranging result of the optical phased array, the current spot mode is selected from N spot modes according to a preset adjustment method to obtain a set of array channels. This includes: when the previous ranging result indicates that the distance was detected in the previous measurement, if the distance detected in the previous measurement is greater than the maximum value of the ranging distance interval corresponding to the Mth spot mode and M≠N, the (M+1)th spot mode is selected as the current spot mode to obtain a set of array channels; when the distance detected in the previous measurement is less than the minimum value of the ranging distance interval corresponding to the Mth spot mode and M≠1, the (M-1)th spot mode is selected as the current spot mode to obtain a set of array channels; when the previous ranging result indicates that the distance was not detected in the previous measurement, if M≠1, the (M-1)th spot mode is selected as the current spot mode to obtain a set of array channels.

[0048] The previous ranging result can be one of two things: the first is that the distance was detected, and the second is that the distance was not detected. Different adjustment strategies can be used for different previous ranging results. If the previous ranging result indicates that the distance was detected, the preset adjustment method for selecting the current spot mode from N spot modes based on the previous ranging result of the optical phased array is as follows: if the previously detected distance is greater than the maximum value of the ranging distance interval corresponding to the Mth spot mode, and M≠N, then a target exists in a region farther than the ranging distance interval corresponding to the spot mode used in the previous ranging. A spot mode with a larger corresponding ranging distance interval can be used for detection, and the (M+1)th spot mode is selected as the current spot mode. The spot pattern is used to obtain a set of array channels, that is, the array channels corresponding to the (M+1)th spot pattern. When the distance detected in the previous step is less than the minimum value of the ranging distance interval corresponding to the Mth spot pattern and M≠1, then there is a target in a region closer to the ranging distance interval corresponding to the spot pattern used in the previous ranging. The spot pattern with a smaller ranging distance interval can be used for detection. The (M-1)th spot pattern is selected as the current spot pattern, and a set of array channels is obtained, that is, the array channels corresponding to the (M-1)th spot pattern.

[0049] If the previous ranging result indicates that no distance was detected in the previous ranging, the ranging distance range corresponding to the spot pattern used in the previous ranging may be relatively far. A spot pattern with a smaller ranging distance range can be used. If M≠1 (that is, the spot pattern used in the previous ranging is not the spot pattern with the smallest corresponding ranging distance range), the M-1th spot pattern can be selected as the current spot pattern to obtain a set of array channels.

[0050] For example, an optical phased array is configured with 3 spot patterns, and the corresponding array channels decrease in sequence from the 3rd spot pattern to the 1st spot pattern. The ranging distance interval corresponding to the 3rd spot pattern is from 10 m to 15 m, the ranging distance interval corresponding to the 2nd spot pattern is from 5 m to 10 m, and the ranging distance interval corresponding to the 1st spot pattern is from 1 m to 5 m.

[0051] If the actual distance of the target to be measured is 13 m, and the spot pattern used in the previous ranging is the 2nd spot pattern, and the distance detected in the previous time is greater than the maximum value of the ranging distance interval corresponding to the 2nd spot pattern, then the spot pattern used in the current time is the 3rd spot pattern. If the actual distance of the target to be measured is 3 m, and the spot pattern used in the previous ranging is the 2nd spot pattern, and no distance is detected in the previous time, then the spot pattern used in the current time is the 1st spot pattern.

[0052] Through this embodiment, according to the order of the spot patterns, adjusting the spot pattern used in the current time based on the ranging result of the previous time can ensure the rationality of the spot pattern adjustment, and further improve the ranging accuracy.

[0053] In an exemplary embodiment, the above method further includes: in the case of performing the first ranging, controlling the array channel corresponding to the Nth spot pattern to perform ranging using the array channel corresponding to the Nth spot pattern, so as to obtain the first ranging result.

[0054] In this embodiment, when performing the first ranging, the spot pattern with the largest corresponding ranging distance interval can be used for ranging, so as to first detect the target within the largest possible detection range. Subsequently, in order to avoid the existence of blind areas due to the non-overlapping area between the transmitting and receiving spots, the spot pattern with a smaller ranging distance interval is used for ranging, thereby improving the efficiency of area detection.

[0055] For example, during the first ranging, ranging is performed according to the spot pattern (GN) of the largest-scale small spots. If a distance is detected, it is compared with the distance sequence. If it is less than the lower limit, the spot for the next ranging is made smaller, and the spot pattern G_N-1 is used for ranging; if no distance information is detected, the spot pattern used for the next ranging is also adjusted to G_N-1.

[0056] If the currently used spot pattern is G_M, where 1 < M < N, then it is judged by comparing the current ranging distance with the corresponding distance interval. If it is greater than the upper limit, the spot pattern used next is adjusted to G_M+1; if it is less than the lower limit, the spot pattern used next is adjusted to G_M-1.

[0057] In this embodiment, when performing the first ranging measurement, the light spot pattern with the largest corresponding ranging distance range is used for ranging, which can improve the efficiency of area detection.

[0058] In an exemplary embodiment, after controlling a selected set of array channels to use the set of array channels for ranging and obtaining the current ranging result, the method further includes: if the current ranging result indicates that no distance was detected in the current ranging, determining a second consecutive number of array channels in the set of array channels as the array channels to be used for the next ranging, wherein the second number is half the number of array channels in the set of array channels; controlling the second number of array channels to use the second number of array channels for ranging and obtaining the next ranging result.

[0059] In this embodiment, if the current ranging result indicates that no distance was detected in the current ranging, in order to avoid target detection failure due to the lack of overlapping areas of the received and received light spots, some array channels in the array channel group used in the current ranging can be used as the array channels for the next ranging in the next ranging.

[0060] This embodiment allows for rapid ranging using half of the array channels even if no distance is detected in the previous ranging operation, thus improving the timeliness of ranging.

[0061] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0062] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0063] According to another aspect of the embodiments of this application, an optical phased array lidar is also provided, which can be used to implement the target detection method based on optical phased array provided in the above embodiments, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0064] Figure 5 This is a schematic diagram of an optional optical phased array lidar according to an embodiment of this application, as shown below. Figure 5 As shown, the optical phased array-based lidar includes: a controller 502 and an optical phased array 504, wherein the optical phased array 504 includes an array of channels; wherein,

[0065] The controller 502 is used to select a set of array channels to be used from the array channel set, wherein the number of array channels in a set of array channels is negatively correlated with the size of the light spot formed by the set of array channels; and to control the selected set of array channels to use the set of array channels for ranging and obtain the current ranging result, wherein the other array channels in the array channel set other than the set of array channels are not controlled;

[0066] The optical phased array 504 is used to perform ranging operations through a selected set of array channels in response to the control of the controller.

[0067] It should be noted that the controller 502 in this embodiment can be used to execute steps S202 and S204 in the foregoing embodiments.

[0068] The embodiments provided in this application select a set of array channels to be used from the array channel set of an optical phased array. The number of array channels in a set of array channels is negatively correlated with the size of the light spot formed by the set of array channels. The selected set of array channels is controlled to use the set of array channels for ranging and obtain the current ranging result. Other array channels in the array channel set besides the set of array channels are not controlled. This solves the technical problem of low target detection success rate in OPA lidar in related technologies and improves the target detection success rate.

[0069] In an exemplary embodiment, the controller 502 is further configured to select a set of array channels to be used from the array channel set of the optical phased array 504 according to the current longitudinal scanning angle of the optical phased array 504, wherein the longitudinal scanning angle of the optical phased array 504 is positively correlated with the number of array channels to be used.

[0070] In an exemplary embodiment, the controller 502 is further configured to determine all array channels in the array channel set as a selected set of array channels when the current longitudinal scanning angle is greater than a preset angle threshold; and to determine a first consecutive number of array channels in the array channel set as a selected set of array channels when the current longitudinal scanning angle is less than or equal to the preset angle threshold, wherein the first number is half the number of array channels in the array channel set.

[0071] In an exemplary embodiment, the optical phased array 504 is configured with N spot patterns. The ranging distance range corresponding to the N spot patterns decreases sequentially from the Nth spot pattern to the 1st spot pattern. The number of array channels corresponding to the N spot patterns also decreases sequentially from the Nth spot pattern to the 1st spot pattern, where N is a positive integer greater than or equal to 2. The controller 502 is further configured to select the current spot pattern from the N spot patterns according to a preset adjustment method based on the previous ranging result of the optical phased array 504, thereby obtaining a set of array channels. The previous ranging result is the ranging result obtained by the optical phased array 504 in the previous ranging operation, the preset adjustment method is the method of adjusting the spot pattern used by the optical phased array 504, and the set of array channels is the array channel corresponding to the current spot pattern.

[0072] In an exemplary embodiment, the optical phased array 504 uses the Mth spot pattern out of N spot patterns for the previous ranging operation, where M is a positive integer greater than or equal to 1 and less than or equal to N. The controller 502 is further configured to, when the previous ranging result indicates that a distance was detected previously, select the (M+1)th spot pattern as the current spot pattern to obtain a set of array channels if the previously detected distance is greater than the maximum value of the ranging distance interval corresponding to the Mth spot pattern and M≠N; select the (M-1)th spot pattern as the current spot pattern to obtain a set of array channels if the previously detected distance is less than the minimum value of the ranging distance interval corresponding to the Mth spot pattern and M≠1; and select the (M-1)th spot pattern as the current spot pattern to obtain a set of array channels if the previous ranging result indicates that no distance was detected previously and M≠1.

[0073] In an exemplary embodiment, the controller 502 is further configured to control the array channel corresponding to the Nth spot pattern during the first ranging operation, so as to use the array channel corresponding to the Nth spot pattern to perform ranging and obtain the first ranging result.

[0074] In an exemplary embodiment, the controller 502 is further configured to, after controlling a selected set of array channels to use the set of array channels for ranging and obtaining a current ranging result, determine a second consecutive number of array channels in the set of array channels as the array channels to be used for the next ranging if the current ranging result indicates that no distance was detected in the current ranging, wherein the second number is half the number of array channels in the set of array channels; and control the second number of array channels to use the second number of array channels for ranging and obtain the next ranging result.

[0075] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0076] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps in any of the above method embodiments when it is run.

[0077] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0078] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is configured to perform the steps of any of the method embodiments described above via the computer program. In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0079] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0080] According to another aspect of the embodiments of this application, a computer program product is also provided, comprising a computer program / instructions containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit 601, it performs various functions provided in the embodiments of this application. The sequence numbers of the embodiments of this application above are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0081] Figure 6 This is a computer system architecture block diagram of an optional electronic device according to an embodiment of this application. For example... Figure 6 As shown, the computer system 600 includes a CPU (Central Processing Unit) 601, which can perform various appropriate actions and processes based on programs stored in ROM 602 or programs loaded into RAM 603 from storage section 608. Random access memory 603 also stores various programs and data required for system operation. The CPU 601, ROM 602, and RAM 603 are interconnected via bus 604. An I / O (Input / Output) interface 605 is also connected to bus 604.

[0082] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including CRT (Cathode Ray Tube), LCD (Liquid Crystal Display), and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card, such as a LAN card or modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0083] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit 601, it performs various functions defined in the system of this application.

[0084] It should be noted that, Figure 6 The computer system 600 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0085] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0086] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A target detection method based on an optical phased array, characterized in that, include: A set of array channels to be used is selected from the array channel set of the optical phased array, wherein the number of array channels in the set of array channels is negatively correlated with the size of the light spot formed by the set of array channels; The selected set of array channels is controlled to perform ranging using the set of array channels and obtain the current ranging result. Other array channels in the set of array channels other than the selected set of array channels are not controlled.

2. The method according to claim 1, characterized in that, The step of selecting a set of array channels to be used from the array channel set of the optical phased array includes: Based on the current longitudinal scanning angle of the optical phased array, a set of array channels to be used is selected from the array channel set of the optical phased array, wherein the longitudinal scanning angle of the optical phased array is positively correlated with the number of array channels to be used.

3. The method according to claim 2, characterized in that, The step of selecting the set of array channels to be used from the array channel set of the optical phased array based on the current longitudinal scanning angle of the optical phased array includes: When the current longitudinal scanning angle is greater than a preset angle threshold, all array channels in the array channel set are determined as the selected set of array channels; When the current longitudinal scanning angle is less than or equal to a preset angle threshold, a first number of consecutive array channels in the array channel set are determined as the selected set of array channels, wherein the first number is half the number of array channels in the array channel set.

4. The method according to claim 1, characterized in that, The optical phased array is configured with N spot patterns. The ranging distance range corresponding to the N spot patterns decreases sequentially from the Nth spot pattern to the 1st spot pattern. The number of array channels corresponding to the N spot patterns decreases sequentially from the Nth spot pattern to the 1st spot pattern. N is a positive integer greater than or equal to 2. The step of selecting a set of array channels to be used from the array channel set of the optical phased array includes: Based on the previous ranging result of the optical phased array, the current spot pattern is selected from the N spot patterns according to a preset adjustment method to obtain the set of array channels. The previous ranging result is the ranging result obtained by the optical phased array in the previous ranging operation. The preset adjustment method is the method of adjusting the spot pattern used by the optical phased array. The set of array channels is the array channel corresponding to the current spot pattern.

5. The method according to claim 4, characterized in that, The spot pattern used by the optical phased array for the previous ranging is the Mth spot pattern among the N spot patterns, where M is a positive integer greater than or equal to 1 and less than or equal to N; The step of selecting the current spot pattern from the N spot patterns according to a preset adjustment method based on the previous ranging result of the optical phased array to obtain the set of array channels includes: If the previous ranging result indicates the previously detected distance, and the previously detected distance is greater than the maximum value of the ranging distance interval corresponding to the Mth spot pattern, and M≠N, then the (M+1)th spot pattern is selected as the current spot pattern, thus obtaining the set of array channels; if the previously detected distance is less than the minimum value of the ranging distance interval corresponding to the Mth spot pattern, and M≠1, then the (M-1)th spot pattern is selected as the current spot pattern, thus obtaining the set of array channels. If the previous ranging result indicates that no distance was detected in the previous measurement, when M≠1, the (M-1)th spot pattern is selected as the current spot pattern to obtain the set of array channels.

6. The method according to claim 5, characterized in that, The method further includes: In the case of the first ranging measurement, the array channel corresponding to the Nth spot pattern is controlled to use the array channel corresponding to the Nth spot pattern to perform ranging and obtain the first ranging result.

7. The method according to any one of claims 1 to 6, characterized in that, After controlling the selected set of array channels to use the set of array channels for ranging and obtaining the current ranging result, the method further includes: If the current ranging result indicates that no distance was detected in the current ranging, a second consecutive number of array channels in the group of array channels are determined as the array channels to be used in the next ranging, wherein the second number is half the number of array channels in the group of array channels; The second number of array channels are controlled to perform ranging using the second number of array channels, and the next ranging result is obtained.

8. An optical phased array lidar, characterized in that, include: A controller and an optical phased array, wherein the optical phased array includes an array of channels; wherein, The controller is configured to select a set of array channels to be used from the array channel set, wherein the number of array channels in the set is negatively correlated with the size of the light spot formed by the set of array channels; and to control the selected set of array channels to use the set of array channels for ranging to obtain the current ranging result, wherein other array channels in the array channel set besides the set of array channels are not controlled; The optical phased array is used to perform ranging operations through the selected set of array channels in response to the control of the controller.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

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