Distance measuring method, data processing module and electronic device

Abstract

This application discloses a ranging method, a data processing module, and an electronic device. The ranging method is applied to the data processing module, which is coupled to a receiving module. The method includes: determining multiple received data based on the echo signal received by the receiving module. The echo signal is the signal reflected by the target object after the transmitting module emits a laser pulse towards the target object. The multiple received data are determined based on the electrical signal output by the receiving module after responding to the echo signal; determining N data groups based on the multiple received data, wherein each data group includes at least one received data, and there are two data groups among the N data groups that have at least partially identical received data, where N is an integer greater than or equal to 2; and determining the ranging result corresponding to each data group based on the received data of each of the N data groups. Through the above method, the ranging capability can be improved without changing the radar hardware configuration.

Description

Technical Field

[0001] This application relates to the field of electronic circuit technology, and in particular to a ranging method, a data processing module, and an electronic device. Background Technology

[0002] In lidar, ranging capability is a crucial indicator. To improve ranging capability, methods such as increasing the transmission power of the transmitting module or improving the detection efficiency of the receiving module are often employed. However, increasing the transmission power of the transmitting module leads to higher power consumption and higher device costs; while improving the detection efficiency of the receiving module is usually not feasible due to limitations in device manufacturing processes. Summary of the Invention

[0003] This application provides a ranging method, a data processing module, and an electronic device that can improve ranging capabilities without changing the radar hardware configuration.

[0004] In a first aspect, embodiments of this application provide a ranging method applied to a data processing module coupled to a receiving module. The method includes: determining multiple received data based on echo signals received by the receiving module, wherein the echo signal is a signal reflected by the target object after the transmitting module emits a laser pulse towards the target object, and the multiple received data are determined based on electrical signals output by the receiving module in response to the echo signals; determining N data groups based on the multiple received data, wherein each data group includes at least one received data, and there are two data groups among the N data groups that have at least partially identical received data, where N is an integer greater than or equal to 2; and determining a ranging result corresponding to each data group based on the received data of each of the N data groups.

[0005] In one or more embodiments, the receiving module is a receiving array or a receiving unit; determining multiple received data based on the echo signals received by the receiving module includes: determining multiple received data based on the echo signals received by the receiving array, or determining multiple received data based on the multiple echo signals received by the receiving unit.

[0006] In one or more embodiments, determining multiple received data based on the echo signals received by the receiving array includes: determining one received data based on the echo signals received by each receiving unit or each group of receiving units in the receiving array, and obtaining multiple received data based on the receiving array; wherein the receiving array includes multiple receiving units or the receiving array includes multiple groups of receiving units, and each group of receiving units includes at least one receiving unit.

[0007] In one or more embodiments, the method further includes: determining two data groups based on multiple received data determined by multiple echo signals received by a receiving unit during a detection period; configuring the number of received data in the first data group as A, and configuring the number of received data in the second data group as B, wherein A and B are both integers greater than or equal to 1, and A and B are not equal.

[0008] In one or more embodiments, the method further includes: receiving two echoes in one detection cycle for each receiving unit or group of receiving units; configuring the receiving array to have C identical received data in two data groups corresponding to multiple received data determined by each receiving unit or group of receiving units based on the first echo, and configuring the receiving array to have D identical received data in two data groups corresponding to multiple received data determined by each receiving unit or group of receiving units based on the second echo, wherein C and D are both integers greater than or equal to 1, and C and D are not equal.

[0009] In one or more embodiments, determining N data groups based on the plurality of received data includes: determining N initial received data among the plurality of received data; wherein the initial received data is the first received data in the corresponding data group; determining the number of received data in the data group corresponding to each of the N initial received data; and determining the N data groups according to the N initial received data and the number of received data in the data group corresponding to each initial received data.

[0010] In one or more embodiments, determining the ranging result corresponding to each data group based on the received data of each of the N data groups includes: configuring a corresponding weighting coefficient for the received data of each data group; and determining the ranging result corresponding to each data group based on the superposition result of the product of the received data of each data group and the corresponding weighting coefficient.

[0011] In one or more embodiments, the method further includes: adjusting the weighting coefficients corresponding to the received data of the (K+1)th data group based on the ranging result corresponding to the Kth data group, wherein K is an integer greater than or equal to 1 and less than or equal to N.

[0012] Secondly, embodiments of this application provide a data processing module, including: at least one processor and a memory; the memory is coupled to the processor, and the memory is used to store instructions or programs, which, when executed by the at least one processor, cause the at least one processor to perform the ranging method as described above.

[0013] Thirdly, embodiments of this application provide an electronic device, including: a transmitting module for transmitting laser pulses; a receiving module for determining multiple received data based on the echo signal of the laser pulses; and a data processing module as described above.

[0014] Fourthly, embodiments of this application provide a computer storage medium storing instructions or programs that, when executed by at least one processor, cause the at least one processor to perform the ranging method as described above.

[0015] The beneficial effects of this application are as follows: The ranging method of this application includes: determining multiple received data based on the echo signal received by the receiving module, wherein the echo signal is the signal reflected by the target object after the transmitting module emits a laser pulse towards the target object; determining N data groups based on the multiple received data, wherein each data group includes at least one received data, and there are two data groups among the N data groups that have at least partially identical received data, where N is an integer greater than or equal to 2; and determining the ranging result corresponding to each data group based on the received data of each data group among the N data groups. It can be seen that, in the embodiments of this application, when processing the data, since there are two adjacent data groups with at least partially identical received data, the density of the radar output point cloud or the dynamic range of the receiving unit can be flexibly configured or improved by adjusting the number of identical data in the two adjacent data groups, thereby enhancing the radar's ranging capability. Attached Figure Description

[0016] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are not intended to limit the embodiments, and elements having the same reference numerals in the drawings are designated as similar elements.

[0017] Figure 1 This is a schematic diagram of an application scenario for the lidar system provided in the embodiments of this application;

[0018] Figure 2 This is the flowchart of the ranging method provided in the embodiments of this application. Figure 1 ;

[0019] Figure 3 This is a schematic diagram of the receiving module, received data, and data group provided in the embodiments of this application;

[0020] Figure 4 This is the flowchart of the ranging method provided in the embodiments of this application. Figure 2 ;

[0021] Figure 5 This is the flowchart of the ranging method provided in the embodiments of this application. Figure 3 ;

[0022] Figure 6 This is provided by the embodiments of this application. Figure 1 A schematic diagram of one embodiment of step 202 is shown in the figure;

[0023] Figure 7 This is provided by the embodiments of this application. Figure 1 A schematic diagram of one embodiment of step 203 is shown in the figure;

[0024] Figure 8 This is a schematic diagram of the structure of the data processing module provided in the embodiments of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and thoroughly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0026] It should be noted that when an element is described as "connected" to another element, it can be directly connected to the other element, or there can be one or more intermediate elements between them.

[0027] Furthermore, the technical features involved in the various embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0028] In a specific application scenario, this ranging method can be applied to a lidar system. Figure 1 This illustration shows an application scenario diagram of a lidar system provided in an embodiment of this application. In this example, the lidar system 100 is installed on a vehicle, and therefore it is called a vehicle-mounted lidar system. However, the lidar system can also be installed on other mobile devices, such as mobile robots or ships. This application does not impose a unique limitation on the type of mobile device.

[0029] LiDAR can be mechanical, solid-state, or semi-solid-state, etc. This application does not impose a single limitation on it.

[0030] In this application, the lidar includes a control module and a data processing module. The control module controls the lidar to emit detection lasers. The data processing module processes the echo data received by the lidar and outputs response detection data.

[0031] The control module and data processing module can be integrated into a single device or implemented separately in multiple devices. For example, they can be integrated into a single device, which can be an integrated circuit chip, such as a general-purpose processor, a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other integrated units (neural-network processing unit, NPU) and graphics processing units (GPU), and may also include an application processor (AP), a modem processor, a digital signal processor (DSP), and / or a baseband processor, etc., without specific limitations.

[0032] Please refer to Figure 2 , Figure 2 This is a flowchart of a ranging method provided in an embodiment of this application. The ranging method is applied to a data processing module of a sensor, which can be a lidar sensor. The data processing module is coupled to a receiving module and is responsible for processing the received raw data (in this embodiment, the received data output by the receiving module) to extract useful information, such as the distance to the target object. It is understood that this data processing module can be integrated into the sensor or located outside the sensor. Figure 2 As shown, the ranging method includes the following steps:

[0033] Step 201: Based on the echo signal received by the receiving module, determine multiple received data, wherein the echo signal is the signal reflected by the target object after the transmitting module emits a laser pulse to the target object, and the multiple received data are determined based on the electrical signal output by the receiving module after responding to the echo signal.

[0034] This method is applied to the data processing module of a lidar system, which includes a transmitting module and a receiving module. The transmitting module transmits a detection signal, and the receiving module receives the echo signal corresponding to the detection signal. The lidar system also includes a control module and a data processing module, which are coupled to the transmitting and receiving modules. The data processing module processes the electrical signal output from the receiving module to obtain point cloud data or lidar detection information (e.g., distance information or reflectivity information of the target object).

[0035] Furthermore, the lidar may also include a scanning device, which may be a rotating mirror, a tilting mirror, a galvanometer, a prism, or a combination of both.

[0036] The receiving module can be a receiving unit, which can be a SPAD (Single-Photon Avalanche Diode). In some embodiments, when the receiving module is a single receiving unit, the specific process of determining multiple received data based on the echo signals received by the receiving module includes: determining multiple received data based on the multiple echo signals received by the receiving unit. These multiple echo signals can be obtained by a single transmitting module emitting laser pulses at different times, which are then reflected by the target object, or by multiple transmitting modules emitting laser pulses at different times, which are then reflected by the target object. This application does not impose a unique restriction on whether the transmitting units corresponding to the multiple echoes received by the receiving unit are the same transmitting unit. Each time a receiving unit receives an echo signal, it outputs an electrical signal. When a receiving unit receives echo signals at multiple times (i.e., receives multiple echo signals), it can output multiple electrical signals. After receiving multiple electrical signals, the data processing module can determine multiple received data based on these signals. The data processing module can determine one received data based on one electrical signal or multiple electrical signals, depending on the actual application scenario.

[0037] In some implementations, the receiving module can be a receiving array, which may include multiple receiving units. Specifically, the receiving array can be a SPAD (Single-Photon Avalanche Diode) array or a SIPM (Silicon Photomultiplier). Taking a SPAD array as an example, the SPAD array includes multiple SPAD units, and the multiple SPAD units are integrated into a two-dimensional array, which is a SPAD area array. As an example, such as... Figure 3As shown in section (a1), the receiving array includes nine receiving units, namely receiving units D1 to receiving units D9. Optionally, each receiving unit may include multiple pixels, such as... Figure 3 In (a1), D1 includes 9 pixels (e.g., LD1-LD9). It is understood that the number of pixels included in D1 and the arrangement of the pixels are not uniquely limited; for example, the multiple pixels can be arranged in a square or a circle. This application does not impose a unique limitation in this regard. Subsequently, in some embodiments, when the receiving module is a receiving array, the specific implementation process of determining multiple received data based on the echo signal received by the receiving module includes: determining one received data based on the echo signal received by each receiving unit or each group of receiving units in the receiving array, and obtaining multiple received data based on the receiving array; wherein the receiving array includes multiple receiving units or the receiving array includes multiple groups of receiving units; each group of receiving units includes at least one receiving unit. The data processing module is coupled to the receiving array. The data processing module can determine one received data based on one electrical signal, or it can determine one received data based on two or more electrical signals, depending on the actual application scenario.

[0038] It is understood that when the receiving module is a receiving array, it can determine multiple received data based on a single echo or multiple echoes. As an example, when the receiving array determines multiple received data based on a single echo, specifically: when the divergence angle of the echo laser from one emitted laser covers multiple receiving units or multiple groups of receiving units (i.e., in the system design, one transmitting unit corresponds to multiple receiving units or multiple groups of receiving units), then that single echo can be received by multiple receiving units, and thus one echo can correspond to multiple received data. As another example, when the receiving array determines multiple received data based on multiple echoes, specifically: when the divergence angle of the echo laser from one emitted laser covers one receiving unit or one group of receiving units (i.e., in the system design, one transmitting unit corresponds to one receiving unit or one group of receiving units), then that single echo corresponds to one receiving unit, and thus one echo will correspond to one received data; multiple echoes determine multiple received data. Understandably, when the receiving module is a receiving array, whether it determines multiple received data based on a single echo or multiple echoes depends on the correspondence between the transmitting units in the transmitting module and the receiving units in the receiving module. When one transmitting unit corresponds to multiple receiving units, one echo can determine multiple received data; when one transmitting unit corresponds to one receiving unit, one echo can determine one received data. To obtain multiple received data, multiple echoes are required.

[0039] In some embodiments, the transmitting module is a VCSEL (Vertical-Cavity Surface-Emitting Laser) array or a VCSEL unit. Optionally, the transmitting module may also be an EEL (Edge-Emitting Laser) array or an EEL unit. This application does not impose a unique limitation on the specific type of transmitting units included in the transmitting module.

[0040] This application does not impose a unique restriction on the correspondence between the transmitting module and the receiving module. Specifically, for example: one transmitting module is used to emit a detection laser and one receiving module is used to receive the echo signal; or, one transmitting module is used to emit a detection laser and multiple receiving modules are used to receive the echo signal; or, multiple transmitting modules are used to emit a detection laser and one receiving module is used to receive the echo signal; or, multiple transmitting modules are used to emit a detection laser and multiple receiving modules are used to receive the echo signal.

[0041] In each application scenario, the specific transmission method of the transmitting module (e.g., multiple transmitting modules simultaneously emitting detection lasers or sequentially emitting detection lasers) and the specific reception method of the receiving module (e.g., multiple receiving modules simultaneously receiving echo lasers or sequentially receiving echo lasers; or all receiving units in the receiving module simultaneously receiving echo signals or some receiving units receiving echo signals) can be set according to the actual application scenario. This application embodiment does not impose specific limitations on this. For example, in some specific implementations, where the transmitting module includes multiple transmitting units, and each transmitting unit corresponds to a group of receiving units, the multiple transmitting units of the transmitting module can be driven to emit lasers in a time-division manner, but the receiving units of the receiving array simultaneously receive the echo. In other specific implementations, for application scenarios where multiple transmitting modules are used to emit detection lasers and one receiving module is used to receive echo signals, multiple transmitting modules emit detection lasers simultaneously, and different receiving units in the receiving module receive echo signals in a time-division manner. In other specific implementations, where the transmitting module includes multiple transmitting units, and each transmitting unit corresponds to a group of receiving units, each transmitting unit and its corresponding group of receiving units can be activated simultaneously.

[0042] Specifically, the transmitting module can emit pulsed detection lasers, which are projected onto the target object and reflected by it. The signal reflected by the target object is the echo signal. The receiving units in the receiving array receive the echo signal and generate received data. For ease of explanation, in the embodiments of this application, the receiving module is taken as a receiving array, and all receiving units in the receiving array receive the echo signal. The data processing module acquires the received data and processes it to obtain the distance between the receiver and the target object.

[0043] In some embodiments, when the receiving module is a receiving array, the specific implementation process of determining multiple received data based on the echo signal received by the receiving module includes: determining one received data based on the echo signal received by each receiving unit or each group of receiving units in the receiving array, and obtaining multiple received data based on the receiving array; wherein, the receiving array includes multiple receiving units or the receiving array includes multiple groups of receiving units; each group of receiving units includes at least one receiving unit, etc.

[0044] Specifically, taking a receiving array comprising J receiving units as an example, where J is an integer greater than or equal to 1, when one receiving array corresponds to one echo signal from a probe laser, each receiving unit outputs one received data point for each received echo signal, resulting in a total of J received data points output by the receiving array. The data processing module receives the received data output by each receiving unit. As an example, such as... Figure 3 As shown in section (a1), the receiving array includes nine receiving units, namely receiving units D1 to receiving units D9, which can determine nine received data points corresponding to one echo signal. Specifically, when the receiving array receives an echo signal, the received data DA1 can be determined based on the echo signal received by receiving unit D1; the received data DA2 can be determined based on the echo signal received by receiving unit D2; the received data DA3 can be determined based on the echo signal received by receiving unit D3; the received data DA4 can be determined based on the echo signal received by receiving unit D4; the received data DA5 can be determined based on the echo signal received by receiving unit D5; the received data DA6 can be determined based on the echo signal received by receiving unit D6; the received data DA7 can be determined based on the echo signal received by receiving unit D7; the received data DA8 can be determined based on the echo signal received by receiving unit D8; and the received data DA9 can be determined based on the echo signal received by receiving unit D9.

[0045] As an example, consider a receiving array comprising J receiving units, where J is an integer greater than or equal to 1. The J receiving units define K receiving unit groups. For each echo signal received by the receiving array, each receiving unit group outputs one received data point, thus the data processing module can obtain K received data points. Here, J and K are integers greater than or equal to 1.

[0046] In some embodiments, the specific implementation process of determining multiple received data based on the echo signal received by the receiving module in step 201 includes: determining one received data based on one echo signal received by each receiving unit group in the receiving array, wherein the receiving array includes at least one receiving unit group, and the receiving unit group includes at least one receiving unit. Specifically, the number of multiple received data is related to the number of selected receiving unit groups. It is understood that, in the embodiments of this application, the receiving units capable of outputting electrical signals are all receiving units that have received echo signals and have been selected.

[0047] Each receiving unit group can include one or more receiving units. Specifically, for example, each receiving unit group can include 3 receiving units, 4 receiving units, 9 receiving units, etc.

[0048] The number of receiving units corresponding to each received data can be the same or different. For example, one received data can be determined based on two receiving units, or it can be determined based on three receiving units. For example, ... Figure 3 In section (a1), the receiving array includes nine receiving units. When the receiving array receives an echo signal, it can simultaneously select D1 and D2 for reception, and then superimpose the received data from D1 and D2 as a single received data output to the data processing module. Optionally, it can also simultaneously select D1, D2, and D3 for reception, and then superimpose the received data from D1, D2, and D3 as a single received data output to the data processing module.

[0049] Secondly, for each echo signal received by the receiving array, multiple received data points can be determined based on all receiving units in the array, or based on a subset of receiving units. The specific units selected for determining multiple received data points can be configured according to the actual application scenario. For example... Figure 3 As shown in (a1), when the receiving array receives an echo signal, multiple received data can be determined based on all receiving units in the receiving array (including receiving units D1 to D9); multiple received data can also be determined based on some receiving units in the receiving array (such as receiving units D2 to D5).

[0050] Furthermore, when determining a received data each time based on the received data output by multiple receiving units, a received data can be determined by means of the average value, median value, maximum value, or minimum value among the received data output by multiple receiving units (this application embodiment does not specifically limit this).

[0051] Step 202: Based on multiple received data, determine N data groups, where each data group includes at least one received data, and there are two data groups among the N data groups that have at least partially identical received data, where N is an integer greater than or equal to 2.

[0052] Step 203: Based on the received data of each of the N data groups, determine the ranging result corresponding to each data group.

[0053] The number N of received data in each data group can be set based on the actual application scenario, and this application embodiment does not impose specific limitations on this. The existence of two data groups with at least partially identical received data among N data groups includes: only two data groups among the N data groups have at least partially identical received data, while the other data groups do not have identical received data; or, three or more data groups among the N data groups have at least partially identical received data; or, each data group among the N data groups has at least partially identical received data.

[0054] For example, such as Figure 3 As shown in section (a2), when the receiving array receives an echo signal, based on the reception of the echo signal by the 9 receiving units (D1-D9), the 9 received data can be determined as received data DA1, received data DA2, received data DA3, received data DA4, received data DA5, received data DA6, received data DA7, received data DA8, and received data DA9. At this time, the resulting 4 data groups (N=4) are data group DA11, data group DA12, data group DA13, and data group DA14. Data group DA11 includes received data DA1 and received data DA2; data group DA12 includes received data DA2, received data DA3, and received data DA4; data group DA13 includes received data DA3, received data DA4, and received data DA5; data group DA14 includes received data DA5, received data DA6, received data DA7, received data DA8, and received data DA9. Data group DA11 and data group DA12 have one identical received data (i.e., received data DA2); data group DA12 and data group DA13 have two identical received data (i.e., received data DA3 and received data DA4); data group DA13 and data group DA14 have one identical received data (i.e., received data DA5).

[0055] It is understood that the rules for the data processing module to determine the data group may be pre-stored by the radar system according to the application scenario or system settings. Optionally, the rules may also be set by the radar system based on the results of the previous frame scan. This application does not limit this to a single rule.

[0056] The rules for establishing data groups are primarily related to detection accuracy and energy consumption requirements. For example, rules for determining data groups can be established based on the detection needs of different areas within the radar's field of view. It's understandable that for the radar's central or target field of view, each data group can contain more data and / or the overlap between adjacent data groups can be higher (i.e., adjacent data groups can contain more of the same amount of data), and / or the total number of data groups within the corresponding area of ​​the central or target field of view can be greater. It's understood that a larger data group results in a wider dynamic range and more accurate detection results; a larger amount of the same data in adjacent data groups indicates higher angular resolution of the points included in those groups, improving detection accuracy; and a greater total number of data groups within the area corresponding to the central or target field of view indicates more points in that area, resulting in higher point cloud density and improved detection accuracy in that area.

[0057] In this embodiment, when determining the ranging results using data groups DA11, DA12, DA13, and DA14, different data groups have different amounts of data. Data groups with high requirements for center field-of-view detection accuracy can have more received data for calculation, which helps improve the echo signal-to-noise ratio (SNR) and thus enhances ranging capability. The echo signal-to-noise ratio (SNR) represents the ratio of the received target echo signal intensity to the background noise intensity. Improving the SNR makes the target signal stronger relative to the background noise, making it easier to detect and process, thereby improving ranging capability. Furthermore, in the above ranging process, there is no need to adjust the transmission power of the transmitting module or the detection efficiency of the receiving module, which is cost-effective, easy to implement, and provides strong application flexibility, enabling more effective improvement of ranging capability.

[0058] Understandable Figure 3 Section (a2) in the text only illustrates one way of determining the N data groups. In other embodiments, other methods of determination may also be used.

[0059] For example, such as Figure 3As shown in section (a3), when the receiving array receives an echo signal, the four data groups (N=4) obtained from the nine received data determined by the nine receiving units (D1-D9) are data group DA21, data group DA22, data group DA23, and data group DA24. Data group DA21 includes received data DA1 and received data DA2; data group DA22 includes received data DA2, received data DA3, and received data DA4; data group DA23 includes received data DA5 and received data DA6; and data group DA24 includes received data DA6, received data DA7, received data DA8, and received data DA9. Data groups DA21 and DA22 share one identical received data (i.e., received data DA2); data groups DA23 and DA24 share one identical received data (i.e., received data DA6). In this example, DA21 and DA22 include the same data, DA23 and DA24 have the same data, and DA22 and DA23 do not have the same data. By setting the number of identical data points between adjacent data groups, ranging capabilities can be improved while meeting computing resource requirements, allowing for flexible configuration of detection data output based on needs.

[0060] In summary, for two data groups, the number of identical received data points can be zero (e.g., data groups DA22 and DA23), one (e.g., data groups DA21 and DA22), or multiple (e.g., data groups DA12 and DA13). The specific number can be set based on actual application requirements. Specifically, when the amount of data in two data groups is the same or similar, the more identical data points in the two data groups, the higher the angular resolution of the output point cloud, which can improve detection accuracy. When the amount of data in the first data group is greater than that in the second data group, and the first data group includes all the data from the second data group, the dynamic range of different data groups can be adjusted by varying the amount of data they contain, thereby adjusting the detection accuracy corresponding to different data groups. For any two different data groups, the identical received data in each group can be the same or different. For example, if data groups DA21 and DA22 have 1 identical received data point, then the number of identical received data points in each group is the same. However, if data groups DA21 and DA22 have 1 identical received data point, and data groups DA12 and DA13 have 2 identical received data points, then the number of identical received data points in each of these two adjacent data groups is different. Furthermore, N data groups can be determined based on all received data from multiple received data sets, or based on a portion of the received data from multiple received data sets. For example, ... Figure 3As shown in part (a2) or (a3), four data groups are determined based on all nine received data; alternatively, as shown in... Figure 3 As shown in section (a4), four data groups are determined based on only a portion of the received data (i.e., received data D2 to received data D8) out of the nine data groups. Among them, data group DA31 includes received data DA2 and received data DA3; data group DA32 includes received data DA2, received data DA3 and received data DA4; data group DA33 includes received data DA5 and received data DA6; and data group DA34 includes received data DA6, received data DA7 and received data DA8.

[0061] Furthermore, in practical applications, the number of identical received data items in two data groups can be increased or decreased according to actual needs. For example, in a specific embodiment, increasing the number of identical received data items in two data groups can be achieved by... Figure 3 As shown in (a2), the number of identical received data in data groups DA12 and DA13 increases from two (data DA3 and data DA4) to three (data DA2, data DA3 and data DA4). Thus, data group DA13 increases from having 3 data points for calculation to having 4 data points for calculation, which is beneficial to improving ranging capability. By reducing the number of identical received data in two adjacent data groups according to detection requirements, it is beneficial to save the computing resources of the data processing module.

[0062] In some embodiments, such as Figure 4 As shown, the ranging method also includes the following steps:

[0063] Step 401: In one detection cycle, multiple received data are obtained based on multiple echo signals received by a receiving unit in a time-division manner, and two data groups are determined based on the multiple received data.

[0064] Step 402: Configure the number of data received in the first data group to be A, and configure the number of data received in the second data group to be B, where A and B are both integers greater than or equal to 1, and A and B are not equal.

[0065] As an example, a receiving unit receives one echo signal and outputs one electrical signal. When the receiving unit receives multiple echo signals in a time-division multiplexing manner within one detection period, it can output multiple electrical signals. As another example, each electrical signal can be input as received data to a data processing module, which then divides the multiple received data into two data groups; the number of received data in these two data groups are A and B, respectively, and A and B are not equal, i.e., A is greater than B or A is less than B.

[0066] Taking A less than B as an example, a receiving unit can receive a total of B echoes. The first A echoes can be used as the first data group, and the total B echoes as the second data group. Data superposition calculation is performed based on the first data group to obtain the detection information corresponding to the first data group. Superposition calculation is also performed based on the second data group to obtain the detection information corresponding to the second data group. It can be understood that the second data group contains more echo information; therefore, superposition calculation based on the second data group enables detection at a longer distance. The first data group contains less echo information, so it can be used for short-range detection. Thus, through the above process, an alternating measurement process between long and short distances can be achieved. Furthermore, this process achieves both strong ranging capability at long distances and low power consumption (due to saving computational resources in the data processing module) and high accuracy at short distances.

[0067] Understandably, the multiple echo information corresponding to a single receiving unit can be divided into more data groups, such as 3, 4, or 5 data groups. The number of data groups included in the echo information corresponding to a receiving unit is positively correlated with application requirements; the more application requirements the receiving unit needs to meet, the more data groups it will have. Furthermore, the more data groups there are, the more flexible the detection becomes.

[0068] Understandably, as an example, the power of the transmitted signal corresponding to the multiple echoes of this receiving unit is different.

[0069] In this system, the transmitted signals corresponding to multiple echoes received by a receiving unit can have different transmission powers. It is understood that the transmission powers of the transmitted signals corresponding to multiple echoes can be completely different, or the transmission powers of the transmitted signals corresponding to multiple echoes can be partially the same. As an example, the transmitting unit can be controlled to transmit C signals at a first power and D detection signals at a second power, where C and D can be equal, C can be less than D, or C can be greater than D. The specific number of C and D is related to the radar's detection requirements. The echo signals corresponding to the signals transmitted by the transmitting unit can be divided into two data groups. The detection signals transmitted by the transmitting unit are received by its corresponding receiving unit or receiving unit group. After receiving the corresponding echo signals, the receiving unit or receiving unit group can output multiple electrical signals. As an example, each electrical signal can be input as received data to the data processing module, which then determines the multiple received data into two data groups; where the number of received data in these two data groups are E and F, respectively. In this context, it can be understood that the E signals corresponding to the first data group represent the first power, and the F signals corresponding to the second data group include echo signals from both the first and second powers. When the first power is less than the second power, the first data group achieves the superposition of multiple low-power detection signals, enabling short-range detection. The second data group includes multiple detections of both low and high power; therefore, by superimposing echoes from different transmission powers, measurements with different dynamic ranges can be achieved, resulting in higher accuracy for long-range measurements. Thus, by grouping and superimposing multiple echo signals received by the receiving unit, more detection information can be obtained. As an example, the laser signal emitted by the transmitting unit can include multiple transmission powers, and the number of detection data in the first data group is less than the number of detection data in the second data group. It can be understood that the more echoes included in a data group, the wider the corresponding dynamic range of detection. Therefore, different detection requirements can be met by adjusting the number of echoes included in different data groups.

[0070] It is understood that when the lidar includes multiple receiving units, i.e., when the lidar includes a receiving array, the number of transmissions and the transmission strategy of the corresponding transmitting unit are determined based on the position of the receiving unit in the receiving array. Simultaneously, the number of groups of echo signals received by the receiving unit is determined based on its position in the receiving array. For example, when the receiving unit corresponds to the edge of the lidar's field of view, the echo data corresponding to that receiving unit is divided into one data group, which reduces the computational load of the data processing module and thus reduces energy consumption. When the detection field of view corresponding to the receiving unit corresponds to the center of the lidar's field of view, the echo data corresponding to that receiving unit is divided into at least two data groups, thereby improving the detection accuracy of the center field of view while saving computational power. As an example, when the vertical field of view of the lidar is -15° to 15° and the horizontal field of view is -60° to 60°, the vertical edge field of view can be, for example, -15° to -10° and / or 10° to 15°, and the vertical center field of view is -10° to 10°. The horizontal edge field of view can be, for example, -60° to -50° and / or 50° to 60°, and the horizontal center field of view can be -50° to 50°.

[0071] In some embodiments, such as Figure 5 As shown, the ranging method also includes the following steps:

[0072] Step 501: In one detection cycle, each receiving unit or each group of receiving units receives two echoes; configure the receiving array to configure the data group according to the received data obtained from the echoes received by each receiving unit or each group of receiving units each time.

[0073] It is understood that each receiving unit group may include at least one receiving unit, such as two, three, four, or nine receiving units. Specifically, this application does not impose any specific limitations. It is understood that when each receiving unit group receives an echo, the entire receiving unit group can simultaneously start receiving the echo signal and convert it into an electrical signal to output a single received data to the data processing module. Optionally, when each receiving unit group receives an echo, it can also partially select the echo signal to determine a single received data output to the data processing module. The specific selection rule can be based on the beam offset; this application does not impose a unique limitation on the partial selection rule for each receiving module.

[0074] Step 502: Configure the receiving array to have C identical received data in two data groups corresponding to multiple received data determined by the first echo of each receiving unit or each receiving unit group, and configure the receiving array to have D identical received data in two data groups corresponding to multiple received data determined by the second echo of each receiving unit or each receiving unit group, where C and D are both integers greater than or equal to 1, and C and D are not equal.

[0075] The two echo signals mentioned above can be output by the same transmitting module or different transmitting modules. Taking the example that each receiving unit or each group of receiving units corresponds to one transmitting unit group, where each transmitting unit group includes multiple transmitting units, each transmitting unit group can be fully or partially selected for each transmission. Specifically, for example, some transmitting units in the transmitting unit group can be selected during the first transmission, and all transmitting units in the transmitting unit group can be selected during the second transmission. By setting different numbers of transmitting units to be selected for each transmission, the energy of the emitted laser for each transmission can be adjusted, thus adapting to different application requirements. For example, low-power transmission can be used for short distances, and high-power transmission can be used for long distances.

[0076] The two echo signals mentioned above can correspond to different transmission powers. For example, the first one corresponds to low-power transmission, enabling short-range detection; the second one corresponds to high-power transmission, enabling long-range detection.

[0077] The receiving array determines multiple received data points based on the first echo received by each receiving unit or group of receiving units. Each received data point is an electrical signal output from the echo signal received by one of the receiving units or groups of receiving units. The number of received data points determined by the receiving array corresponds to the number of receiving units or groups of receiving units included in the array. The receiving array can output the corresponding received data to the data processing module in a time-division multiplexing manner based on the time each receiving unit or group of receiving units receives the echo. Optionally, the receiving array can also output all received data to the data processing module simultaneously; this application does not impose a unique limitation on this. The data processing module configures the multiple received data points determined by the first echo received by the receiving array into multiple data groups according to preset rules. The number of identical received data points between two data groups is C. It can be understood that it can be confirmed that any adjacent data groups in a data group have C identical received data points, or that some adjacent data groups in a data group have C identical received data points. This application does not impose a unique limitation on this.

[0078] The receiving array determines multiple received data based on the second echo corresponding to each receiving unit or group of receiving units. Each received data is an electrical signal output from the echo signal received by one of the receiving units or groups of receiving units. The number of received data determined by the receiving array corresponds to the number of receiving units or groups of receiving units included in the array. The receiving array can output the corresponding received data to the data processing module in a time-division multiplexing manner based on the time each receiving unit or group of receiving units receives the second echo. Optionally, the receiving array can also output all received data to the data processing module simultaneously; this application does not impose a unique limitation on this. The data processing module configures the multiple received data determined by the second echo received by the receiving array into multiple data groups according to preset rules. The number of identical received data points between two data groups is D. It can be understood that it can be confirmed that any adjacent data groups in a data group have D identical received data points, or that some adjacent data groups in a data group have D identical received data points. This application does not impose a unique limitation on this.

[0079] As an example, C and D are both integers greater than or equal to 1, and C and D are not equal, that is, C is greater than D or C is less than D.

[0080] Taking C less than D as an example, in the data groups corresponding to the multiple received data determined in the first instance, two adjacent data groups are as follows: Figure 3 The data groups DA21 and DA23 shown in section (a3) ​​do not have the same received data, i.e., C is 0; the two adjacent data groups corresponding to the multiple received data determined in the second round are as follows. Figure 2In section (a3), data groups DA21 and DA22 are shown. At this point, the number of identical received data points between data groups DA21 and DA22 is 1, meaning D is 1. Therefore, relatively speaking, the second set of multiple received data points has a larger number of identical received data points between two adjacent data groups, resulting in higher angular resolution and stronger ranging capability for the point cloud data determined by the two adjacent data groups, suitable for long-range ranging applications. Conversely, the first set of multiple received data points has a smaller number of identical received data points between two adjacent data groups, resulting in a larger relative angular interval between the point clouds corresponding to the adjacent data groups, suitable for short-range ranging applications. Thus, through the above process, by setting the radar system to fire two missiles within a detection cycle, with different processing and output methods for the received data each time, the requirements for both high and low-range measurement accuracy can be met while reducing overall power consumption. This process achieves both strong ranging capability at long ranges and low power consumption at short ranges (due to saving computational resources in the data processing module).

[0081] In some embodiments, for applications where the receiving module is a receiving array, the following can be performed simultaneously: Figure 4 The steps shown and as Figure 5 The steps shown refer to first performing the following on the receiving units or groups of receiving units in the receiving array: Figure 4 The steps shown are then performed on the receiving array as follows: Figure 5 The steps shown are used to simultaneously superimpose multiple echoes received by the receiving unit to improve the detection accuracy of the receiving unit, and to simultaneously perform the data superposition process of the receiving array to improve the detection accuracy of the receiving array, thereby further improving the ranging capability and ranging accuracy of the radar system.

[0082] In some embodiments, such as Figure 6 As shown, the specific implementation process of determining N data groups based on multiple received data in step 202 includes:

[0083] Step 601: Determine N initial received data from multiple received data sets, where the initial received data is the first received data in the corresponding data set;

[0084] Step 602: Determine the number of received data in the data group corresponding to each of the N initial received data;

[0085] Step 603: Determine N data groups based on N initial received data and the number of received data in the data group corresponding to each initial received data.

[0086] by Figure 3The following explanation uses part (a2) as an example. First, when the receiving array receives an echo signal, based on the reception of the echo signal by the 9 receiving units (D1-D9), 9 received data (received data DA1, received data DA2, received data DA3, received data DA4, received data DA5, received data DA6, received data DA7, received data DA8 and received data DA9) can be determined. Based on the 4 initial received data among the 9 received data, the 4 initial received data are received data DA1, received data DA2, received data DA3 and received data DA5 respectively. Simultaneously, it is determined that the number of received data acquired starting from the first starting data (i.e., received data DA1) is two, and data group DA11 is determined; it is determined that the number of received data acquired starting from the second starting data (i.e., received data DA2) is three, and data group DA12 is determined; it is determined that the number of received data acquired starting from the third starting data (i.e., received data DA3) is four, and data group DA13 is determined; it is determined that the number of received data acquired starting from the fourth starting data (i.e., received data DA5) is five, and data group DA14 is determined.

[0087] The starting data reception can be determined based on the coordinates of the receiving unit or receiving unit group; or based on the correspondence between the receiving time and the receiving unit or receiving unit group. Optionally, the starting data reception can also be determined based on the transmission time and the correspondence between the transmitting unit and the receiving unit or receiving unit group. This application does not impose a unique limitation on this.

[0088] Next, starting with the first initial data set, received data is acquired and the number of received data sets is counted, starting from 0 and incrementing by 1 for each additional received data set. When the amount of received data equals the amount of data included in the data group determined by the data processing module, the data group is defined, and the data in that data group is processed to output the corresponding point cloud data or detection information. Simultaneously, the starting data for the next data group is acquired, and received data is acquired based on the next starting data set, with the number of received data sets being counted to define the next data group, until all data groups are defined.

[0089] by Figure 3Taking part (a2) as an example, the starting unit D1 is determined, and the received data DA1 is acquired. The received data acquired later is counted. When the count value is 2, the counting of this data group ends, and data group DA11 is determined. It can be seen that data group DA11 includes received data DA1 and received data DA2. Starting from the second starting data DA2, the received data is acquired, and the number of received data is counted. The count value starts from 0, and the count value increases by 1 for each additional received data. When the count value is 3, the counting ends, and data group DA12 is determined. It can be seen that data group DA12 includes received data DA2, received data DA3, and received data DA4. Starting from the third starting data, the received data is acquired... The system receives data and counts the number of received data points, starting from 0 and incrementing by 1 for each received data point. The counting stops when the count reaches 3, at which point data group DA13 is determined, comprising received data DA3, DA4, and DA5. Starting from the fourth data point, the system receives and counts the number of received data points, again starting from 0 and incrementing by 1 for each received data point. The counting stops when the count reaches 5, at which point data group DA14 is determined, comprising received data DA5, DA6, DA7, DA8, and DA9. This completes the process of determining each data group.

[0090] Again Figure 3 The following explanation uses part (a3) ​​as an example. First, when the receiving array receives an echo signal, based on the reception of the echo signal by the 9 receiving units (D1-D9), 9 received data (received data DA1, received data DA2, received data DA3, received data DA4, received data DA5, received data DA6, received data DA7, received data DA8, and received data DA9) can be determined. Four starting received data are then determined from these 9 received data. As an example, the four starting received data are received data DA1, received data DA2, received data DA5, and received data DA6. Simultaneously, the number of received data corresponding to each starting received data is obtained. As an example, the number of received data obtained starting from the first starting data (i.e., received data DA1) is determined to be two; the number of received data obtained starting from the second starting data (i.e., received data DA2) is determined to be three; the number of received data obtained starting from the third starting data (i.e., received data DA5) is determined to be two; and the number of received data obtained starting from the fourth starting data (i.e., received data DA6) is determined to be four.

[0091] Next, starting with the first initial data, receive data and count the number of received data points, starting from 0. The count increments by 1 for each received data point, ending when the count reaches 2. At this point, data group DA21 is determined, comprising received data DA1 and received data DA2. Then, starting with the second initial data, receive data and count the number of received data points, starting from 0. The count increments by 1 for each received data point, ending when the count reaches 3. At this point, data group DA22 is determined, comprising received data DA2, received data DA3, and received data DA4. From the second initial data... Starting with the third starting data, data is acquired and received, and the number of received data points is counted, starting from 0. The count increments by 1 for each received data point, ending when the count reaches 2. At this point, data group DA23 is determined, comprising received data DA5 and DA6. Starting with the fourth starting data, data is acquired and received, and the number of received data points is counted, starting from 0. The count increments by 1 for each received data point, ending when the count reaches 4. At this point, data group DA24 is determined, comprising received data DA6, DA7, DA8, and DA9. This completes the process of determining each data group.

[0092] In some embodiments, such as Figure 7 As shown, the specific implementation process of determining the ranging result corresponding to each data group based on the received data of each of the N data groups in step 203 includes the following steps:

[0093] Step 701: Configure the corresponding weighting coefficient for the received data of each data group.

[0094] Step 702: Based on the superposition result of the product of the received data of each data group and the corresponding weighting coefficient, determine the ranging result corresponding to each data group.

[0095] by Figure 3 Taking data group DA11 as an example. Assuming the superposition result corresponding to data group DA11 is add11, then add11 = coe1*D1 + coe2*D2, where coe1 is the weighting coefficient corresponding to received data D1, and coe2 is the weighting coefficient corresponding to received data D2. The values ​​of weighting coefficients coe1 and coe2 can be set according to the actual application scenario or actual needs. For example, in some implementations, the values ​​of weighting coefficients coe1 and coe2 can be set according to whether the receiving unit is located in the middle or the edge of the receiving array.

[0096] In some embodiments, an amplitude adjustment coefficient can be further set to facilitate the adjustment of the weighting coefficients. Taking data group DA11 as an example, add11 = (coe1*D1 + coe2*D2)*amp_coe can be set, where amp_coe is the amplitude adjustment coefficient. Then, by adjusting the amplitude adjustment coefficient amp_coe, the weighting coefficient ultimately used when superimposing received data D1 and received data D2 can be adjusted. By adjusting the amplitude adjustment coefficient amp_coe in real time according to the actual situation, the ranging results can maintain high accuracy.

[0097] In addition, in other embodiments, other methods can be used to superimpose the received data in each data group. For example, a histogram can be used, in which each received data in any data group is represented by a histogram, and then the histograms corresponding to each received data are superimposed. The resulting histogram is the superposition result corresponding to that data group.

[0098] In some embodiments, the ranging method further includes the following steps: adjusting the weighting coefficients corresponding to the received data of the (K+1)th data group based on the ranging result corresponding to the Kth data group, where K is an integer greater than or equal to 1 and less than or equal to N.

[0099] Specifically, based on the ranging results corresponding to the first data group, the weighting coefficients corresponding to the received data of the second data group are adjusted; based on the ranging results corresponding to the second data group, the weighting coefficients corresponding to the received data of the third data group are adjusted; ...; based on the ranging results corresponding to the (N-1)th data group, the weighting coefficients corresponding to the received data of the Nth data group are adjusted. Thus, the weighting coefficients can be adjusted in real time according to the currently obtained ranging results to maintain high accuracy in the ranging results.

[0100] Then, based on the superposition results corresponding to each data group, the ranging result for each data group can be determined. Specifically, firstly, based on the superposition results corresponding to each data group, the echo duration for each data group is determined, where the echo duration is the time between the emission of the laser pulse by the transmitting module and the receipt of the corresponding echo signal by the receiving array. Then, by combining the speed of light and the echo duration for each data group, the ranging result for each data group can be determined.

[0101] In some implementations, each receiving unit includes multiple pixels, and the received data of the corresponding receiving unit can be determined based on these multiple pixels. The processing method for each pixel when determining the received data output by each receiving unit can also refer to... Figure 1The method shown involves dividing all pixels into multiple pixel combinations, each pixel combination including at least two pixels, and among the multiple pixel combinations, there are two pixel combinations that have at least some identical pixels; then, based on each pixel in each pixel combination, the data corresponding to each pixel combination is determined, and based on the data corresponding to each pixel combination, the received data output by the receiving unit is determined. In this case, Figure 2 The portion (a1) shown includes 9 receiving units, wherein receiving unit D1 includes 9 pixels. The subsequent implementation process can be referred to the above embodiment. Figures 1-6 The explanation will not be repeated here. Using the methods described above, relatively accurate received data can be obtained.

[0102] Please refer to Figure 8 , Figure 8 This is a schematic diagram of the structure of a data processing module provided in an embodiment of this application. Figure 8 As shown, the data processing module 800 includes one or more processors 801 and a memory 802. Wherein, Figure 7 Take the 801 processor as an example.

[0103] The processor 801 and the memory 802 can be connected via a bus or other means. Figure 8 Taking the example of a connection between China and Israel via a bus.

[0104] The memory 802, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 801 executes various functional applications and data processing of the terminal interaction device by running the non-volatile software programs, instructions, and modules stored in the memory 802, thereby implementing the ranging method in the above method embodiments.

[0105] Memory 802 may include at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 802 includes memory remotely located relative to processor 801, which can be connected to processor 801 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0106] The program instructions / modules are stored in the memory 802. When executed by one or more processors 801, they implement the ranging method in any of the above method embodiments, for example, executing the above-described method. Figure 2 , Figures 4-7 The steps shown.

[0107] This application also provides a non-volatile computer-readable storage medium storing computer-executable instructions, which, when executed, implement the ranging method in any embodiment of this application.

[0108] This application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions, which, when executed by a computer, cause the computer to perform the ranging method in any embodiment of this application.

[0109] This application also provides an electronic device, which includes a transmitting module, a receiving module, and a data processing module 800 in any embodiment of this application. The transmitting module is used to transmit laser pulses; the receiving module is used to determine multiple received data based on the echo signal of the laser pulses; the data processing module is electrically connected to the receiving module to acquire the received data output by the receiving module and process the received data to determine the distance to a target object.

[0110] In some embodiments, the electronic device is a lidar system, which can be applied to any device requiring laser detection, such as a car. Lidar can detect parameters such as the distance and speed of the car relative to obstacles. The vehicle uses the lidar system to detect nearby moving or approaching obstacles, such as taller vehicles, stationary objects on the roadside, or suddenly approaching hovering objects, enabling the vehicle to plan a path to avoid these obstacles and prevent collisions. The vehicle can be an autonomous vehicle or a regular vehicle; this application does not limit the scope of the application.

[0111] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0112] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

[0113] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A distance measurement method, characterized in that, Applied to a data processing module coupled to a receiving module, the method includes: Based on the echo signal received by the receiving module, multiple received data are determined, wherein the echo signal is the signal reflected by the target object after the transmitting module emits a laser pulse towards the target object, and the multiple received data are determined based on the electrical signal output by the receiving module after responding to the echo signal; Based on the multiple received data, N data groups are determined, wherein each data group includes at least one received data, and there are two data groups among the N data groups that have at least partially identical received data, where N is an integer greater than or equal to 2. Based on the received data of each of the N data groups, the ranging result corresponding to each data group is determined.

2. The method according to claim 1, characterized in that, The receiving module is a receiving array or a receiving unit; The step of determining multiple received data based on the echo signals received by the receiving module includes: determining multiple received data based on the echo signals received by the receiving array, or determining multiple received data based on the multiple echo signals received by the receiving unit.

3. The method according to claim 2, characterized in that, The determination of multiple received data based on the echo signal received by the receiving array includes: A received data is determined based on the echo signal received by each receiving unit or group of receiving units in the receiving array, and multiple received data are obtained based on the receiving array; wherein, the receiving array includes multiple receiving units or multiple groups of receiving units, and each group of receiving units includes at least one receiving unit.

4. The method according to claim 3, characterized in that, The method further includes: During one detection cycle, each receiving unit or group of receiving units receives two echoes; The receiving array is configured to have C identical received data in two data groups among the multiple received data determined by the first echo of each receiving unit or each receiving unit group, and to have D identical received data in two data groups among the multiple received data determined by the second echo of each receiving unit or each receiving unit group, where C and D are both integers greater than or equal to 1, and C and D are not equal.

5. The method according to claim 1, characterized in that, The step of determining N data groups based on the multiple received data includes: Determine N initial received data points from the plurality of received data points; wherein, the initial received data point is the first received data point in the corresponding data group; Determine the number of received data in the data group corresponding to each of the N initial received data; The N data groups are determined based on the N initial received data and the number of received data in the data group corresponding to each initial received data.

6. The method according to claim 1, characterized in that, The step of determining the ranging result corresponding to each data group based on the received data of each of the N data groups includes: Configure corresponding weighting coefficients for the received data of each data group; The ranging result for each data group is determined by superimposing the product of the received data and the corresponding weighting coefficient.

7. The method according to claim 6, characterized in that, The method further includes: Based on the ranging results corresponding to the Kth data group, adjust the weighting coefficients corresponding to the received data of the (K+1)th data group, where K is an integer greater than or equal to 1 and less than or equal to N.

8. A data processing module, characterized in that, include: At least one processor and memory; The memory is coupled to the processor and is used to store instructions or programs that, when executed by the at least one processor, cause the at least one processor to perform the ranging method as described in any one of claims 1-7.

9. An electronic device, characterized in that, include: The transmitting module is used to emit laser pulses; A receiving module is used to determine multiple received data based on the echo signal of the laser pulse; And, the data processing module as described in claim 8.

10. A computer storage medium, characterized in that, The computer storage medium stores instructions or programs that, when executed by at least one processor, cause the at least one processor to perform the ranging method as described in any one of claims 1-8.

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