Lidar-based scanning method and apparatus

Abstract

This application provides a scanning method and apparatus based on lidar, wherein the lidar includes an OPA module, the OPA module includes a transmitting antenna and a receiving antenna, and the method includes: acquiring the initial distance of a target object within a detection area; adjusting the phase of the transmitting antenna and the receiving antenna in the OPA module according to the initial distance of the target object to obtain a matching wavefront; and scanning the target object using the matching wavefront. This application solves the problem of inconsistent detection performance of the OPA module at different distances in related technologies, achieving high-precision target detection of lidar in complex environments and improving the overall performance of lidar.

Description

Technical Field

[0001] This application relates to the field of lidar, and more specifically, to a lidar-based scanning method and apparatus. Background Technology

[0002] In the field of lidar technology, especially in integrated coherent lidar systems, optical phased arrays (OPAs) are commonly used as devices for transmitting and receiving optical signals. OPA modules can control the laser beam to be emitted and received in specific directions. This technology has wide applications in fields such as autonomous driving, robot navigation, and terrain mapping.

[0003] In related technologies, the working mode of OPA modules is usually fixed, which makes it impossible to guarantee the detection accuracy of target objects at different distances. Summary of the Invention

[0004] This application provides a scanning method and apparatus based on lidar to at least solve the technical problem in related technologies that cannot guarantee the detection accuracy of target objects at different distances.

[0005] According to one aspect of the embodiments of this application, a scanning method based on a lidar is provided, the lidar including an OPA module, the OPA module including a transmitting antenna and a receiving antenna, the method including:

[0006] Obtain the initial distance to the target object within the detection area;

[0007] Based on the initial distance to the target object, the phases of the transmitting and receiving antennas in the OPA module are adjusted to obtain a matching wavefront;

[0008] The target object is scanned using the matched wavefront.

[0009] According to another aspect of the embodiments of this application, a scanning device based on a lidar is also provided. The lidar includes an OPA module, the OPA module including a transmitting antenna and a receiving antenna, and the device includes:

[0010] The acquisition unit is used to acquire the initial distance of the target object within the detection area;

[0011] An adjustment unit is used to adjust the phase of the transmitting antenna and the receiving antenna in the OPA module according to the initial distance of the target object, so as to obtain a matching wavefront;

[0012] The first scanning unit is used to scan the target object using the matched wavefront.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] This application obtains the initial distance of the target object within the detection area. Based on the initial distance of the target object, the phases of the transmitting and receiving antennas in the OPA module are adjusted to obtain a matching wavefront. The matching wavefront is then used to scan the target object. This achieves dynamic adjustment of the phase distribution of the OPA module based on the initial distance of the target object, solving the problem of inconsistent detection performance of the OPA module at different distances in related technologies. This enables high-precision target detection of lidar in complex environments and improves the overall performance of lidar. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating an application scenario of a LiDAR-based scanning method according to an embodiment of this application;

[0018] Figure 2 This is a schematic flowchart of an optional LiDAR-based scanning method according to an embodiment of this application;

[0019] Figure 3 This is a schematic diagram of an optional near-range detection and far-range detection according to an embodiment of this application;

[0020] Figure 4 This is a schematic diagram of another optional near-range detection and far-range detection according to an embodiment of this application;

[0021] Figure 5 This is a schematic diagram of an optional planar wavefront according to an embodiment of this application;

[0022] Figure 6This is a schematic diagram of an optional convex wavefront according to an embodiment of this application;

[0023] Figure 7 This is a schematic diagram of an optional concave wavefront according to an embodiment of this application;

[0024] Figure 8 This is a schematic diagram of an optional lidar system according to an embodiment of this application;

[0025] Figure 9 This is a schematic diagram of an optional scanning target object according to an embodiment of this application;

[0026] Figure 10 This is a structural block diagram of an optional lidar-based scanning device according to an embodiment of this application;

[0027] Figure 11 This is a computer system architecture block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] According to one aspect of the embodiments of this application, a scanning method based on lidar is provided. Optionally, in this embodiment, the above-described lidar-based scanning method may be applied, but is not limited to, to applications such as... Figure 1The hardware environment shown includes terminal device 102 and server 104. Server 104 can be connected to terminal device 102 via a network and can be used to provide services (e.g., application services, etc.) to terminal device 102 or clients installed on terminal device 102. A database can be set up on server 104 or independently of server 104 to provide data storage services for server 104.

[0031] The aforementioned network may include, but is not limited to, at least one of the following: wired network and wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: wide area network (WAN), metropolitan area network (MAN), and local area network (LAN). The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity) and Bluetooth. Terminal device 102 may be, but is not limited to, PC (Personal Computer), mobile phone, tablet computer, etc. Server 104 may be, but is not limited to, cloud server, server cluster, or other server types.

[0032] The LiDAR-based scanning method of this application embodiment can be executed by server 104, terminal device 102, or jointly by server 104 and terminal device 102. Alternatively, the LiDAR-based scanning method of this application embodiment can be executed by a client installed on the terminal device 102.

[0033] Taking the scanning method based on LiDAR in this embodiment as an example, which is executed by terminal device 102, the LiDAR includes an OPA module, which includes a transmitting antenna and a receiving antenna. Figure 2 This is a schematic flowchart of an optional LiDAR-based scanning method according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this method may include the following steps:

[0034] Step S202: Obtain the initial distance of the target object within the detection area;

[0035] Step S204: Based on the initial distance to the target object, adjust the phase of the transmitting antenna and receiving antenna in the OPA module to obtain the matching wavefront;

[0036] Step S206: Scan the target object using the matched wavefront.

[0037] The LiDAR-based scanning method in this embodiment can be applied to the field of LiDAR, and is particularly suitable for scenarios where autonomous vehicles need to perform high-precision target detection in complex road environments.

[0038] In related technologies, lidar systems often adopt a fixed working mode, and the phase distribution of the emitted and received laser beams of their OPA modules is not adjustable. This results in inconsistent detection performance at different distances. Lidar systems in this fixed mode cannot guarantee the detection accuracy of target objects at different distances.

[0039] To at least partially solve the above-mentioned technical problems, in this embodiment, the phase distribution of the transmitting and receiving antennas in the OPA module is dynamically adjusted according to the initial distance of the target object, thereby obtaining a wavefront that matches the current detection distance. The target object is scanned using the matching wavefront, which optimizes the detection performance of the target object at different distances to a certain extent. This solves the problem in related technologies that cannot guarantee the detection accuracy of the target object at different distances, and significantly improves the detection accuracy of the lidar for the target object at different distances in complex road environments.

[0040] It should be noted that the OPA (Optical Phased Array) module is a device in a lidar system used to transmit and receive light waves. The transmitting antenna can be a set of antenna elements in the OPA module used to emit laser beams, and the receiving antenna can be a set of antenna elements in the OPA module used to receive reflected laser signals. The detection area refers to the range that the lidar can detect, including but not limited to the road in front of the vehicle and obstacles in the surrounding environment. The target object refers to any entity within the detection area that the lidar needs to identify and measure the distance to, such as pedestrians, vehicles, and trees.

[0041] The initial distance can be a preliminary estimate of the distance between the target object and the lidar. Optionally, the initial distance can be obtained through a preliminary scan or other methods.

[0042] The matched wavefront can be an optimized wavefront shape obtained by adjusting the phase distribution of the transmitting and receiving antennas in the OPA module to adapt the emission and reception characteristics of the light beam to the detection distance of the target object. Optionally, the matched wavefront can be a convex wavefront, a concave wavefront, or a planar wavefront.

[0043] For example, in the detection area of ​​the lidar, if a target object is identified, the initial distance of the target object is obtained through preliminary scanning or other means. Based on the initial distance of the target object, the phase of the transmitting antenna and the receiving antenna in the OPA module is adjusted to obtain a matching wavefront, thereby using the matching wavefront to scan the target object.

[0044] In one example, such as a LiDAR system in an autonomous vehicle, the vehicle needs to accurately detect targets at different distances ahead while driving. It can obtain an initial distance to the target, for instance, detecting a pedestrian 5 meters ahead. Based on the initial distances to the pedestrian and vehicle, the phase distribution of the transceiver antennas in the OPA module is adjusted. The adjusted OPA module then transmits and receives beams, forming a wavefront that matches the target detection distance, enabling precise scanning and obtaining more accurate target information.

[0045] In another example, such as during topographic mapping, lidar needs to simultaneously detect both near and far terrain. Specifically, a global scan can first be performed to acquire targets at different distances, such as nearby vegetation and distant mountains. The phase distribution of the OPA module is then dynamically adjusted. For near vegetation, the phase distribution of the OPA module is adjusted to enhance near-range detection capabilities; for distant mountains, the phase distribution of the OPA module is adjusted to reduce the divergence angle for long-range detection. This allows for scanning of targets at different distances using the adjusted wavefront, obtaining more detailed terrain information and improving the overall accuracy and scope of topographic mapping.

[0046] The embodiments provided in this application obtain the initial distance of the target object within the detection area. Based on the initial distance of the target object, the phases of the transmitting and receiving antennas in the OPA module are adjusted to obtain a matching wavefront. The matching wavefront is then used to scan the target object. This achieves dynamic adjustment of the phase distribution of the OPA module based on the initial distance of the target object, solving the problem of inconsistent detection performance of the OPA module at different distances in related technologies. This enables high-precision target detection of lidar in complex environments and improves the overall performance of lidar.

[0047] In an exemplary embodiment, step S204 includes: when the initial distance to the target object is less than a first distance threshold, adjusting the phases of the transmitting and receiving antennas in the OPA module using a set of first preset phases to obtain a matching convex wavefront; when the initial distance to the target object is within a first preset distance range, adjusting the phases of the transmitting and receiving antennas in the OPA module using a set of second preset phases to obtain a matching planar wavefront, wherein the minimum value of the first preset distance range is the first distance threshold, and the maximum value of the first preset distance range is the second distance threshold; when the initial distance to the target object is greater than the second distance threshold, adjusting the phases of the transmitting and receiving antennas in the OPA module using a set of third preset phases to obtain a matching concave wavefront.

[0048] It should be noted that the first distance threshold can be used to determine whether a target object is within the close-range detection range of the lidar. When the initial distance of the target object is less than this threshold, a phase adjustment strategy optimized for close-range detection will be adopted. A set of first preset phases can be used to adjust the transmitting and receiving antennas in the OPA module when the initial distance of the target object is less than the first distance threshold, thereby forming a convex wavefront and optimizing the target detection effect at close range. The convex wavefront is an optical wavefront shape; a convex wavefront helps to increase the spot coverage area and improve the detection accuracy of close-range targets.

[0049] The minimum value of the first preset distance range can be a first distance threshold, and the maximum value can be a second distance threshold. When the initial distance of the target object is within this range, a plane wavefront phase adjustment strategy will be adopted. A second preset phase can be a set of pre-set phase values, used to adjust the transmitting and receiving antennas in the OPA module to form a plane wavefront when the initial distance of the target object is within the first preset distance range, so as to maintain stable target detection performance within the first preset distance range. The plane wavefront can provide a stable beam distribution within the mid-range, maintaining target detection accuracy.

[0050] The second distance threshold is used to determine whether a target object is within the long-range detection range of the lidar. When the initial distance to the target object is greater than the second distance threshold, an optimized phase adjustment strategy for long-range detection is employed. A third preset phase can be a set of pre-defined phase values ​​used to adjust the transmitting and receiving antennas in the OPA module to form a concave wavefront when the initial distance to the target object is greater than the second distance threshold, thereby optimizing the detection effect of long-range targets. The concave wavefront refers to the optical wavefront shape formed by the transmitting and receiving antennas under the third preset phase. The concave wavefront helps reduce the divergence angle of the long-range beam, enhances the detection signal strength of long-range targets, and improves the detection accuracy of long-range targets.

[0051] Specifically, the magnitudes of the first distance threshold, the second distance threshold, a set of first preset phases, a set of second preset phases, and a set of third preset phases can be determined based on a series of system-level and application-level performance tests to ensure that the lidar system can achieve optimal or most satisfactory performance indicators at different detection distances.

[0052] In one example, such as in a lidar system for an autonomous vehicle, preliminary distance information of a target object ahead is acquired, assuming initial distances of 3m, 15m, and 50m. For a target at 3m (less than a first distance threshold), a first preset phase is used to adjust the transmitting and receiving antennas of the OPA module to form a convex wavefront, thereby expanding the near-range spot coverage and improving near-range detection accuracy. For a target at 15m (within the first preset distance range), a second preset phase is used to adjust the transmitting and receiving antennas of the OPA module to form a planar wavefront, maintaining stable detection performance for mid-range targets. For a target at 50m (greater than a second distance threshold), a third preset phase is used to adjust the transmitting and receiving antennas of the OPA module to form a concave wavefront, reducing the divergence angle of the long-range beam, enhancing the detection signal strength for long-range targets, and improving long-range detection accuracy.

[0053] In this embodiment, for targets smaller than a first distance threshold, a first preset phase is used to form a convex wavefront, increasing the spot coverage area and effectively improving the detection accuracy of the lidar for near-range targets while reducing near-end blind zones. For targets within the first preset distance range, a second preset phase is used to form a planar wavefront, maintaining stable detection performance for mid-range targets and ensuring the accuracy of target information within this distance range. Furthermore, by differentiating the operating modes for different distance ranges, limited resources can be rationally allocated, avoiding wasted detection energy in unnecessary areas and improving overall detection efficiency and point cloud quality.

[0054] In an exemplary embodiment, step S204 includes: when the initial distance to the target object is less than a third distance threshold, calculating a first phase adjustment value for each transmitting antenna and each receiving antenna in the OPA module based on the position information of each transmitting antenna and each receiving antenna in the OPA module, the currently set wavelength, and the initial distance to the target object; adjusting the phase of each transmitting antenna and each receiving antenna based on the first phase adjustment value to obtain a matching convex wavefront; and when the initial distance to the target object is within a second preset distance range, adjusting the phase of each transmitting antenna and each receiving antenna to a target phase to obtain a matching planar wavefront, wherein the target phase is determined based on the initial distance to the target object. The minimum value of the second preset distance range is the third distance threshold, and the maximum value of the second preset distance range is the fourth distance threshold. When the initial distance of the target object is greater than the fourth distance threshold, the second phase adjustment value of each transmitting antenna and each receiving antenna is calculated based on the position information of each transmitting antenna and each receiving antenna, the current set wavelength, and the initial distance of the target object. Based on the second phase adjustment value of each transmitting antenna and each receiving antenna, the phase of each transmitting antenna and each receiving antenna is adjusted to obtain a matching concave wavefront. The current set wavelength is the laser wavelength used by the OPA module when scanning, and the position information of each transmitting antenna and each receiving antenna is used to indicate the relative position of each transmitting antenna and each receiving antenna to the preset center point.

[0055] It should be noted that the currently set wavelength can be the laser wavelength used by the OPA module when performing lidar scanning. This wavelength is typically selected based on system design and specific application requirements, and it has a significant impact on the calculation of the phase adjustment value. The position information of each transmitting antenna and each receiving antenna can be used to indicate the relative position of each transmitting and receiving antenna in the OPA module relative to a preset center point. This is a crucial parameter for calculating the phase adjustment value, ensuring precise beam control and accurate target detection.

[0056] The third distance threshold is used to determine whether a target object is within the range of close-range detection. When the initial distance of the target object is less than the third distance threshold, a close-range detection optimization strategy is adopted. This involves calculating a first phase adjustment value to adjust the phase of the transmitting and receiving antennas in the OPA module, forming a convex wavefront to improve the detection effect of close-range targets. The convex wavefront is the optical wavefront shape formed by the transmitting and receiving antennas of the OPA module under the first phase adjustment value. A convex wavefront helps to increase the spot coverage area and improve the detection accuracy of close-range targets. Specifically, the first phase adjustment value is a phase value calculated based on the initial distance of the target object, the position information of each transmitting and receiving antenna, and the currently set wavelength. The calculation of the first phase adjustment value can be as follows:

[0057]

[0058] Where x represents the antenna's position information, and the antenna can be a transmitting antenna or a receiving antenna; f represents the initial distance to the target object; and λ represents the currently set wavelength.

[0059] The minimum value of the second preset distance range can be a third distance threshold, and the maximum value can be a fourth distance threshold. When the initial distance of the target object is within the second preset distance range, a phase adjustment strategy based on the target phase will be adopted to form a plane wavefront, thereby maintaining stable target detection performance within the mid-range. The target phase can be determined based on the phase value of the initial distance of the target object and used to adjust the transmitting and receiving antennas in the OPA module to form a plane wavefront, ensuring the target detection effect within the second preset distance range. The plane wavefront can provide a stable beam distribution within the mid-range, maintaining target detection accuracy. Specifically, when the wavefront is a plane wavefront, the phase difference between the transmitting and receiving antennas in the corresponding OPA module can be 0, i.e., the same phase is used. Optionally, a phase preset table can be set, which includes each preset phase under each preset initial distance. When the initial distance of the target object is within the second preset distance range, the preset phase corresponding to the preset initial distance can be obtained from the phase preset table based on the initial distance, and used as the target phase to adjust the phase of the transmitting and receiving antennas in the OPA module.

[0060] The fourth distance threshold is used to determine whether a target object is within the range of long-range detection. When the initial distance to the target object is greater than the fourth distance threshold, a long-range detection optimization strategy is adopted. This involves calculating a second phase adjustment value to adjust the phase of the transmitting and receiving antennas in the OPA module, forming a concave wavefront to improve the detection effect of long-range targets. The concave wavefront refers to the optical wavefront shape formed by the transmitting and receiving antennas of the OPA module under the second phase adjustment value. The concave wavefront helps reduce the divergence angle of the long-range beam, enhances the detection signal strength of long-range targets, and improves the detection accuracy of long-range targets. Current set wavelength: The laser wavelength used by the OPA module during lidar scanning, typically selected based on system design and specific application requirements, has a significant impact on the calculation of the phase adjustment value. Position information of each transmitting and receiving antenna: Indicates the relative position of each transmitting and receiving antenna in the OPA module relative to a preset center point. This is a crucial parameter for calculating the phase adjustment value, ensuring precise beam control and accurate target detection. Specifically, the second phase adjustment value is a phase value calculated based on the initial distance to the target object, the position information of each transmitting and receiving antenna, and the current set wavelength. The second phase adjustment value can be calculated as follows:

[0061]

[0062] Where x represents the antenna's position information, and the antenna can be a transmitting antenna or a receiving antenna; f represents the initial distance to the target object; and λ represents the currently set wavelength.

[0063] Specifically, the values ​​of the third and fourth distance thresholds can be determined based on a series of system-level and application-level performance tests to ensure that the lidar system can achieve optimal or most satisfactory performance indicators at different detection distances. Optionally, the first distance threshold can be the same as or different from the third distance threshold; the second distance threshold can be the same as or different from the fourth distance threshold.

[0064] Specifically, refer to Figure 3 , Figure 3 This is a schematic diagram of an optional near-range detection and far-range detection embodiment of this application.

[0065] Among them, such as Figure 3 As shown, Figure 3 The vertical axis shows the phase values ​​that should be set for antenna elements at different positions in the OPA module under the two detection modes of near-field detection and far-field detection. These phase values ​​are calculated based on the position of the antenna elements, the set wavelength, and the above formulas (1) and (2). Figure 3 The left side shows the phase distribution as concave in remote detection mode; Figure 3 On the right, in near-end detection mode, the phase distribution exhibits a convex shape. This adjustment of the phase distribution alters the focusing characteristics of the OPA emitted beam, thereby affecting the beam divergence angle and spot coverage at different distances, thus optimizing the lidar's detection performance for both long-range and short-range targets.

[0066] In practice, considering the physical limitations of phase shifters, their phase adjustment range is typically between 0 and 2π. Specifically, refer to... Figure 4 , Figure 4 This is a schematic diagram of another optional near-range detection and far-range detection in an embodiment of this application. Figure 4 x-coordinate and Figure 3 The x-axis represents the position coordinate of the antenna element in the OPA module. Antenna elements at different positions have different phase adjustment requirements depending on their location in the array. The y-axis represents the adjusted antenna phase. Similarly, Figure 4 The left side shows the phase distribution as concave in remote detection mode; Figure 4 The right side shows a convex phase distribution in near-end detection mode. However, compared to... Figure 3 The difference is, Figure 4The phase value has been moduloed according to the actual phase adjustment range (0-2π) of the OPA phase shifter. That is, if the calculated phase value exceeds the physical range of the phase shifter, it will be subtracted by an integer multiple of 2π until it falls within the 0-2π range. This is done to ensure that each antenna element in the OPA module can perform actual phase adjustment according to the calculated phase value without exceeding the physical limitations of the hardware, thus affecting the actual wavefront shape and beam divergence characteristics.

[0067] To better understand the beam divergence characteristics of the OPA module operating under different wavefront shapes in the embodiments of this application, refer to Figures 5 to 7 This demonstrates how planar wavefronts, convex wavefronts, and concave wavefronts affect beam divergence and focusing. Specifically, Figure 5 This is a schematic diagram of an optional planar wavefront according to an embodiment of this application. Figure 6 This is a schematic diagram of an optional convex wavefront according to an embodiment of this application. Figure 7 This is a schematic diagram of an optional concave wavefront according to an embodiment of this application. The first distance is set to 10 meters, and the second distance to 30 meters. The TX (Transmitter) antenna is used to emit the transmitted laser beam; the RX (Receiver) antenna is used to receive the laser signal.

[0068] exist Figure 5 In the process, a plane wavefront is used, which causes the received and emitted light spots to not overlap at the first distance (10m), resulting in a near-end blind zone; at the second distance (30m), the received and emitted light spots overlap, but the degree of overlap is not high.

[0069] exist Figure 6 In the process, a convex wavefront is used so that the light and light spots at the first distance (10m) partially overlap, and the overlap is relatively high, which can reduce the near-end blind zone to a certain extent; at the second distance (30m), the light and light spots partially overlap, but the overlap is not high.

[0070] exist Figure 7 In the process, a concave wavefront is used so that the received and emitted light spots partially overlap at the first distance (10m), but the overlap is not high. Compared with using only a planar wavefront, this reduces the near-end blind zone to some extent. At the second distance (30m), the received and emitted light spots overlap, which can detect distant objects.

[0071] In practice, experiments have shown that using different wavefront modes can also improve the detection range of lidar to some extent.

[0072] In one example, within an advanced driver assistance system (ADAS), the lidar needs to perform high-precision detection of targets at different distances in front of the vehicle to ensure driving safety and the accurate execution of driver assistance functions. Specific steps include: First, an initial scan is performed to obtain preliminary distance information of the target object ahead, assuming initial distances of 2m, 10m, and 60m, with a third distance threshold set to 5m and a fourth distance threshold set to 50m. For a target at 2m (less than the third distance threshold), based on the position information of each transmitting and receiving antenna, the currently set wavelength (1550nm), and the target's initial distance, a first phase adjustment value is calculated. The transmitting and receiving antennas in the OPA module are then adjusted to form a convex wavefront, expanding the near-range spot coverage and improving near-range detection accuracy. For a target at 10m (within a second preset distance range), based on the target's initial distance, the target phase is determined. The transmitting and receiving antennas in the OPA module are then adjusted to form a planar wavefront, maintaining stable detection performance for mid-range targets and ensuring the accuracy of target information within this distance range. For a target at 60m (greater than the fourth distance threshold), based on the position information of each transmitting and receiving antenna, the current set wavelength (set to 1550nm), and the initial distance of the target, the second phase adjustment value is calculated, and the transmitting and receiving antennas in the OPA module are adjusted to form a concave wavefront, reduce the divergence angle of the long-distance beam, enhance the detection signal strength of the long-distance target, and improve the long-distance detection accuracy.

[0073] In this embodiment, for targets smaller than the third distance threshold, calculating the first phase adjustment value and forming a convex wavefront significantly increases the near-range spot coverage, effectively improving the detection accuracy of the lidar for near-range targets and reducing near-end blind zones. For targets within the second preset distance range, determining the target phase and forming a planar wavefront maintains stable detection performance for mid-range targets, ensuring the accuracy of target information within this distance range. For targets larger than the fourth distance threshold, calculating the second phase adjustment value and forming a concave wavefront reduces the divergence angle of the far-range beam, increasing the detection signal strength for far-range targets, thereby enhancing the effect and accuracy of long-range detection. Furthermore, by differentiating the operating modes under different distance ranges, limited point frequency resources can be rationally allocated, avoiding wasting detection energy in unnecessary areas and improving overall detection efficiency and point cloud quality.

[0074] In one exemplary embodiment, the lidar includes a scanning device with a lens module disposed thereon; after adjusting the phases of the transmitting and receiving antennas in the OPA module according to the initial distance to the target object to obtain a matching wavefront, the method further includes:

[0075] When the matched wavefront is a planar wavefront and the initial distance is greater than the fifth distance threshold, the target object is scanned by the lens module; when the matched wavefront is a concave wavefront and the initial distance is greater than the sixth distance threshold, the target object is scanned by the lens module.

[0076] It should be noted that the lidar includes a scanning device. The scanning device can be used to control the direction of laser emission and the direction of received light signals. Common scanning methods include mechanical scanning, optical scanning, and electronic scanning. In this embodiment, the scanning device may also be equipped with a lens module, which can further optimize the divergence and focusing of the laser beam.

[0077] A lens module refers to a lens or lens assembly included in a scanning device, used to control the divergence angle and focusing characteristics of a laser beam. A lens module can be a fixed-focal-length lens or a variable-focal-length lens system. The parameters of the lens module are adjusted to optimize beam performance according to different operating modes and target distances.

[0078] The fifth distance threshold and the sixth initial distance can be used to evaluate whether to use a lens module. These two thresholds depend on the performance specifications of the lidar, target detection requirements, and system design parameters, and are not limited herein.

[0079] Optionally, in this embodiment, only the phase of the OPA's transceiver antenna can be adjusted, or only a lens module can be used to improve the wavefront, thereby optimizing the beam. When the current wavefront is planar and the initial distance is greater than the seventh distance threshold, the target object is scanned using the lens module; when the current wavefront is concave and the initial distance is greater than the eighth distance threshold, the target object is scanned using the lens module. The seventh distance threshold and the eighth initial distance can be used to evaluate whether to use a lens module. These two thresholds depend on the performance specifications of the lidar, target detection requirements, and system design parameters, and are not limited herein.

[0080] In one example, such as a lidar system, the OPA module and scanning device are integrated into a single device, and the lens module allows for adjustment of the beam's focus and divergence over a wide range of distances. The fifth distance threshold is set to 10 meters, and the sixth distance threshold is set to 30 meters.

[0081] When the target is located between 10 and 30 meters, the initial distance to the target is identified, and the phase distribution of the transmitting antenna in the OPA module is adjusted to form a planar wavefront. At the same time, the lens module is set to a medium divergence mode to ensure that the beam can uniformly cover the target within this distance range, completing the initial detection.

[0082] When the target is more than 30 meters away, the phase distribution of the transmitting antenna in the OPA module is adjusted to form a concave wavefront. At this time, the lens module is adjusted to a more focused mode to reduce the divergence angle of the beam and improve the signal strength and accuracy of long-distance target detection.

[0083] In this embodiment, by combining a lens module with an OPA module, the wavefront shape and lens module are automatically adjusted according to the initial distance of the target object, which can significantly improve the detection performance of the lidar.

[0084] In an exemplary embodiment, step S206 includes: emitting a detection signal to the region where the target object is located using an adjusted wavefront, and receiving a reflected signal reflected back by the target object; performing beat frequency analysis on the local oscillator signal and the reflected signal corresponding to the detection signal to obtain a beat frequency signal; performing frequency analysis on the beat frequency signal, and determining the scanning result of the target object based on the analyzed signal frequency, wherein the scanning result includes at least one of the following information: distance information, velocity information.

[0085] It should be noted that the detection signal is the laser pulse signal emitted by the lidar, used to detect target objects. The detection signal may contain specific frequency and time information; it will be reflected upon encountering the target object, and the lidar receiver will capture these reflected signals. The local oscillator signal is a signal with a frequency close to the emitted detection signal but staggered in time. Typically, the local oscillator signal is generated by the laser source inside the lidar system and is used for beat frequency processing with the received reflected signal. Beat frequency processing is a signal processing technique that mixes two signals of different frequencies to produce a signal with a frequency equal to the difference between the two frequencies. In a lidar system, the beat frequency process involves superimposing the received reflected signal with the local oscillator signal, generating a beat frequency signal through interference. The frequency of this beat frequency signal is related to the distance and velocity of the target object. Frequency analysis refers to the process of extracting the frequency information from the beat frequency signal. This is usually achieved through techniques such as spectral analysis or Fast Fourier Transform (FFT), which converts the beat frequency signal into frequency domain information, facilitating subsequent calculations of distance and velocity information.

[0086] Specifically, refer to Figure 8 , Figure 8 This is a schematic diagram of an optional lidar system according to an embodiment of this application. Figure 8In this process, a continuously frequency-modulated laser signal generated by an external FMCW laser source is coupled into the input waveguide via an edge coupler, ready to be input to the transmitting OPA (TX OPA). The signal input to the TX OPA (Optical Phased Array) is split into two paths. One path continues through the antenna array of the TX OPA, forming a beam with a specific phase distribution, and is emitted onto the target object. The other path is introduced into a local oscillator (LO) as a reference signal for receiving signal processing. When the emitted beam hits the target object, a portion of the beam is reflected back and received by the antenna array of the RX OPA (Receiving Phased Array). The received echo signal is mixed with the reference signal from the LO in a coherent receiver to generate a beat frequency signal. The beat frequency signal is amplified and converted to digital by a TIA+ADC (Transimpedance Amplifier + Analog-to-Digital Converter) to obtain the scanning result of the target object.

[0087] Through this embodiment, by using beat frequency and frequency analysis technology, the distance and velocity information of the target object can be accurately calculated, thereby improving the detection accuracy and data reliability of the system.

[0088] In an exemplary embodiment, frequency analysis is performed on the beat frequency signal, and the scanning result of the target object is determined based on the analyzed signal frequency, including: performing digital processing and modulation processing on the beat frequency signal to obtain the round-trip time corresponding to the beat frequency signal; and determining the distance information of the target object based on the round-trip time corresponding to the beat frequency signal.

[0089] And / or,

[0090] Doppler frequency analysis is performed on the beat frequency signal to obtain the Doppler frequency shift corresponding to the beat frequency signal; based on the Doppler frequency shift of the beat frequency signal, the velocity information of the target object is determined.

[0091] Digital processing is the process of converting analog beat frequency signals into digital signals to facilitate subsequent signal processing and analysis. Digital processing typically includes steps such as sampling, quantization, and encoding. After digital processing, the signal is modulated to enhance its characteristics, facilitating the measurement of time delay or frequency. Modulation may include frequency modulation, phase modulation, or amplitude modulation.

[0092] The round-trip time can be defined as the time difference between transmitting the detection signal and receiving the reflected signal. Since the speed of light is constant, the round-trip time is proportional to the target distance; therefore, the target distance can be calculated by measuring the round-trip time.

[0093] When there is relative motion between the light source and the observer, the frequency of the observed signal changes. In a lidar system, the relative velocity of the target object can be calculated by analyzing the Doppler shift of the beat frequency signal.

[0094] In this embodiment, by extracting the round-trip time through digital processing and modulation processing, and determining the Doppler frequency shift through Doppler frequency analysis, the lidar can accurately obtain the distance and velocity information of the target object, thus improving the detection accuracy.

[0095] In an exemplary embodiment, step S202 includes: scanning the detection area using a current wavefront that matches the current phase of the transmitting antenna and the receiving antenna in the OPA module to obtain the initial distance of the target object within the detection area, wherein the current wavefront is one of the following: a concave wavefront, a convex wavefront, or a planar wavefront.

[0096] It should be noted that the current wavefront can be one of the following: concave wavefront, convex wavefront, or planar wavefront. When the lidar system is running, a wavefront mode can be selected as the preset mode, or the wavefront used in the previous scan can be directly used to scan the detection area to obtain the initial distance of the target object within the detection area.

[0097] For example, in the initial stage of a lidar system, a plane wavefront is used for scanning to quickly determine the approximate location of a target object within the detection area. After detecting targets at different distances, the phase distribution of the transmitting and receiving antennas is dynamically adjusted according to the target's distance to generate a wavefront of the corresponding shape for detailed scanning.

[0098] In practical applications, in real-world ranging scenarios, due to the limitations of point frequency, uniformly distributing scan points across all angles within a single frame is an uneconomical scanning method (since areas without target objects do not require scanning). Areas with target objects, especially nearby ones, require focused scanning to create a point cloud that more closely reflects reality. According to this embodiment, the approximate locations of target objects within the detection area are first scanned, and then, based on the initial distances corresponding to different obstacles, a refined scan of the target objects at different locations is performed. Specifically, refer to... Figure 9 , Figure 9 This is a schematic diagram of an optional scanning target object according to an embodiment of this application. For example... Figure 9 As shown, vehicle A is driving on the road, and the lidar in vehicle A can scan for different target objects (represented by cuboids in the figure).

[0099] In this embodiment, by dynamically adjusting the wavefront shape, the divergence characteristics of the beam can be optimized for targets at different distances, thereby improving ranging accuracy.

[0100] In an exemplary embodiment, the lidar communicates with a vision processing module, which includes an image acquisition device; step S202 includes: acquiring an image acquired by the image acquisition device to obtain a first image to be identified, wherein the image to be identified includes a target object; and based on the first image to be identified, obtaining the initial distance of the target object within the detection area.

[0101] It should be noted that the vision processing module typically includes image acquisition equipment and image processing algorithms, used to capture and analyze environmental image data to extract useful information such as object recognition, distance measurement, and motion detection. In a LiDAR system, the vision processing module can assist the LiDAR in distance estimation. The image acquisition equipment is used to capture the visual scene, usually referring to a camera. It can be a monocular camera or a stereo camera, used to generate image data, which is then provided to the vision processing module for analysis. The first image to be identified can refer to the image captured by the image acquisition equipment that contains the target object. Based on the first image to be identified, the initial distance of the target object within the detection area can be obtained.

[0102] In one example, the LiDAR system is integrated with a vision processing module for environmental perception in autonomous vehicles. While the vehicle is in motion, the vision processing module first captures images of the road ahead using an installed camera, obtaining a first image to be identified. This image contains multiple target objects on the road, such as pedestrians, vehicles, and traffic signs. Using image analysis algorithms, the outline and position of each object are identified. Then, based on the size and proportion of the object in the image, the initial distance between the object and the camera is preliminarily calculated, i.e., the initial distance to the target object.

[0103] In this embodiment, through the collaboration between the lidar and the vision processing module, visual information can be used to provide the lidar with preliminary position and distance information of the target object, thereby optimizing the lidar's ranging strategy and improving the detection accuracy of the target object.

[0104] In one exemplary embodiment, the lidar communicates with a target recognition module, which includes a target recognition model, which is a model for recognizing target objects in an input image; the method further includes:

[0105] A second image to be identified is obtained by acquiring an image through an image acquisition device; the second image to be identified is input into a target recognition model to obtain an image recognition result output by the target recognition model, wherein the image recognition result is used to indicate whether a target object is identified from the second image to be identified.

[0106] It's important to note that the target recognition module in a LiDAR system is responsible for identifying and classifying environmental targets. It typically includes a pre-trained target recognition model that extracts features from images, performs type identification, and locates the target object. The target recognition model is based on machine learning or deep learning and can be used to identify targets in input images. Common model types include Convolutional Neural Networks (CNN), YOLO (You Only LookOnce), and SSD (Single Shot MultiBox Detector), which can quickly and accurately identify objects in images.

[0107] In one example, such as within an Advanced Driver Assistance System (ADAS), LiDAR works in conjunction with a target recognition module. First, an image acquisition device (such as an in-vehicle camera) captures images of the scene ahead of the vehicle, obtaining a second image to be recognized. These images are transmitted in real-time to the target recognition module via a data link, where the target recognition model immediately processes them. The target recognition model uses deep learning techniques to analyze the second image to identify target objects, such as pedestrians, other vehicles, and roadside signs. The recognition process may involve feature extraction, bounding box localization, and object type classification. The model's output image recognition result includes the location information and type label for each identified object. Based on the image recognition result output by the target recognition model, its scanning strategy can be adjusted, prioritizing the scanning of target objects confirmed by the target recognition module, improving the targeting and efficiency of detection. For example, when the model identifies a pedestrian ahead, the LiDAR can increase the scanning density in the pedestrian's area, ensuring timely and accurate acquisition of the pedestrian's distance and movement status information, providing crucial information for the vehicle's driving decisions.

[0108] Through this embodiment, the target recognition module can quickly identify target objects from complex visual scenes, providing accurate target positioning information for the LiDAR system, helping the LiDAR to optimize scanning strategies, and improving the detection accuracy and efficiency of target objects.

[0109] 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.

[0110] 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.

[0111] According to another aspect of the embodiments of this application, a LiDAR-based scanning device is also provided. This LiDAR-based scanning device can be used to implement the LiDAR-based scanning method provided in the above embodiments, and details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0112] Figure 10 This is a structural block diagram of an optional lidar-based scanning device according to an embodiment of this application, such as... Figure 11 As shown, the lidar includes an OPA module, which includes a transmitting antenna and a receiving antenna. The lidar-based scanning device includes:

[0113] The acquisition unit 1002 is used to acquire the initial distance of the target object within the detection area;

[0114] The adjustment unit 1004 is used to adjust the phase of the transmitting antenna and the receiving antenna in the OPA module according to the initial distance of the target object to obtain a matching wavefront;

[0115] The first scanning unit 1006 is used to scan the target object using a matched wavefront.

[0116] It should be noted that the acquisition unit 1002 in this embodiment can be used to perform the above step S202, the adjustment unit 1004 in this embodiment can be used to perform the above step S204, and the first scanning unit 1006 in this embodiment can be used to perform the above step S206.

[0117] The embodiments provided in this application obtain the initial distance of the target object within the detection area. Based on the initial distance of the target object, the phases of the transmitting and receiving antennas in the OPA module are adjusted to obtain a matching wavefront. The matching wavefront is then used to scan the target object. This achieves dynamic adjustment of the phase distribution of the OPA module based on the initial distance of the target object, solving the problem of inconsistent detection performance of the OPA module at different distances in related technologies. This enables high-precision target detection of lidar in complex environments and improves the overall performance of lidar.

[0118] In an exemplary embodiment, the adjustment unit 1004 is further configured to: when the initial distance to the target object is less than a first distance threshold, use a set of first preset phases to adjust the phases of the transmitting antenna and the receiving antenna in the OPA module to obtain a matching convex wavefront; when the initial distance to the target object is within a first preset distance range, use a set of second preset phases to adjust the phases of the transmitting antenna and the receiving antenna in the OPA module to obtain a matching planar wavefront, wherein the minimum value of the first preset distance range is the first distance threshold, and the maximum value of the first preset distance range is the second distance threshold; when the initial distance to the target object is greater than the second distance threshold, use a set of third preset phases to adjust the phases of the transmitting antenna and the receiving antenna in the OPA module to obtain a matching concave wavefront.

[0119] In an exemplary embodiment, the adjustment unit 1004 is further configured to: when the initial distance to the target object is less than a third distance threshold, calculate a first phase adjustment value for each transmitting antenna and each receiving antenna in the OPA module based on the position information of each transmitting antenna and each receiving antenna in the OPA module, the current set wavelength, and the initial distance to the target object; adjust the phase of each transmitting antenna and each receiving antenna based on the first phase adjustment value of each transmitting antenna and each receiving antenna to obtain a matching convex wavefront; when the initial distance to the target object is within a second preset distance range, adjust the phase of each transmitting antenna and each receiving antenna to a target phase to obtain a matching planar wavefront, wherein the target phase is determined based on the initial distance to the target object. The minimum value of the second preset distance range is the third distance threshold, and the maximum value of the second preset distance range is the fourth distance threshold. When the initial distance of the target object is greater than the fourth distance threshold, the second phase adjustment value of each transmitting antenna and each receiving antenna is calculated based on the position information of each transmitting antenna and each receiving antenna, the current set wavelength, and the initial distance of the target object. Based on the second phase adjustment value of each transmitting antenna and each receiving antenna, the phase of each transmitting antenna and each receiving antenna is adjusted to obtain a matching concave wavefront. The current set wavelength is the laser wavelength used by the OPA module when scanning, and the position information of each transmitting antenna and each receiving antenna is used to indicate the relative position of each transmitting antenna and each receiving antenna to the preset center point.

[0120] In one exemplary embodiment, the lidar includes a scanning device with a lens module disposed thereon; the lidar-based scanning device further includes:

[0121] The second scanning unit is used to scan the target object through the lens module when the matched wavefront is a planar wavefront and the initial distance is greater than the fifth distance threshold; and to scan the target object through the lens module when the matched wavefront is a concave wavefront and the initial distance is greater than the sixth distance threshold.

[0122] In an exemplary embodiment, the first scanning unit 1006 is further configured to: emit a detection signal to the area where the target object is located using an adjusted wavefront, and receive a reflected signal reflected back by the target object; perform beat frequency analysis on the local oscillator signal and the reflected signal corresponding to the detection signal to obtain a beat frequency signal; perform frequency analysis on the beat frequency signal, and determine the scanning result of the target object based on the analyzed signal frequency, wherein the scanning result includes at least one of the following information: distance information and velocity information.

[0123] In an exemplary embodiment, the first scanning unit 1006 is further configured to: perform digital processing and modulation processing on the beat frequency signal to obtain the round-trip time corresponding to the beat frequency signal; and determine the distance information of the target object based on the round-trip time corresponding to the beat frequency signal.

[0124] And / or, perform Doppler frequency analysis on the beat frequency signal to obtain the Doppler frequency shift corresponding to the beat frequency signal; based on the Doppler frequency shift of the beat frequency signal, determine the velocity information of the target object.

[0125] In an exemplary embodiment, the acquisition unit 1002 is further configured to: scan the detection area using a current wavefront that matches the current phase of the transmitting antenna and the receiving antenna in the OPA module, and obtain the initial distance of the target object within the detection area, wherein the current wavefront is one of the following: a concave wavefront, a convex wavefront, or a planar wavefront.

[0126] In an exemplary embodiment, the lidar communicates with a vision processing module, which includes an image acquisition device; the acquisition unit 1002 is further configured to: acquire an image acquired by the image acquisition device to obtain a first image to be identified, wherein the image to be identified includes a target object; and based on the first image to be identified, acquire the initial distance of the target object within the detection area.

[0127] In one exemplary embodiment, the lidar communicates with a target recognition module, which includes a target recognition model, which is a model for recognizing target objects in an input image.

[0128] The LiDAR-based scanning device further includes: a recognition unit, used to acquire images captured by an image acquisition device to obtain a second image to be recognized; inputting the second image to be recognized into a target recognition model to obtain an image recognition result output by the target recognition model, wherein the image recognition result is used to indicate whether a target object is recognized from the second image to be recognized.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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 1109, and / or installed from removable medium 1111. When the computer program is executed by central processing unit 1101, 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.

[0135] Figure 11 A schematic block diagram of a computer system architecture for implementing embodiments of the present application is shown. Figure 11 As shown, the computer system 1100 includes a CPU (Central Processing Unit) 1101, which can perform various appropriate actions and processes based on programs stored in ROM 1102 or programs loaded into RAM 1103 from storage section 1108. Random access memory 1103 also stores various programs and data required for system operation. The CPU 1101, ROM 1102, and RAM 1103 are interconnected via bus 1104. An I / O (Input / Output) interface 1105 is also connected to bus 1104.

[0136] The following components are connected to I / O interface 1105: an input section 1106 including a keyboard, mouse, etc.; an output section 1107 including CRT (Cathode Ray Tube), LCD (Liquid Crystal Display), etc., and speakers, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN card, modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to I / O interface 1105 as needed. Removable media 1111, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1110 as needed so that computer programs read from them can be installed into storage section 1108 as needed.

[0137] 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 1109, and / or installed from removable medium 1111. When the computer program is executed by central processing unit 1101, it performs various functions defined in the system of this application.

[0138] It should be noted that, Figure 11 The computer system 1100 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.

[0139] 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.

[0140] 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 scanning method based on lidar, characterized in that, The lidar includes an OPA module, the OPA module includes a transmitting antenna and a receiving antenna, and the method includes: Obtain the initial distance to the target object within the detection area; Based on the initial distance to the target object, the phases of the transmitting and receiving antennas in the OPA module are adjusted to obtain a matching wavefront; The target object is scanned using the matched wavefront.

2. The method according to claim 1, characterized in that, The step of adjusting the phases of the transmitting and receiving antennas in the OPA module based on the initial distance to the target object to obtain a matching wavefront includes: When the initial distance to the target object is less than a first distance threshold, a set of first preset phases is used to adjust the phases of the transmitting and receiving antennas in the OPA module to obtain a matching convex wavefront. When the initial distance of the target object is within a first preset distance range, a set of second preset phases is used to adjust the phases of the transmitting antenna and the receiving antenna in the OPA module to obtain a matching plane wavefront, wherein the minimum value of the first preset distance range is a first distance threshold and the maximum value of the first preset distance range is a second distance threshold. If the initial distance to the target object is greater than the second distance threshold, a third preset phase is used to adjust the phase of the transmitting and receiving antennas in the OPA module to obtain a matching concave wavefront.

3. The method according to claim 1, characterized in that, The step of adjusting the phases of the transmitting and receiving antennas in the OPA module based on the initial distance to the target object to obtain a matching wavefront includes: If the initial distance to the target object is less than the third distance threshold, the first phase adjustment value of each transmitting antenna and each receiving antenna in the OPA module is calculated based on the position information of each transmitting antenna and each receiving antenna in the OPA module, the current set wavelength, and the initial distance to the target object; the phase of each transmitting antenna and each receiving antenna is adjusted based on the first phase adjustment value of each transmitting antenna and each receiving antenna to obtain a matched convex wavefront; When the initial distance of the target object is within a second preset distance range, the phase of each transmitting antenna and each receiving antenna is adjusted to the target phase to obtain a matching plane wavefront. The target phase is determined based on the initial distance of the target object, the minimum value of the second preset distance range is the third distance threshold, and the maximum value of the second preset distance range is the fourth distance threshold. If the initial distance to the target object is greater than the fourth distance threshold, the second phase adjustment value of each transmitting antenna and each receiving antenna is calculated based on the position information of each transmitting antenna and each receiving antenna, the current set wavelength, and the initial distance to the target object; the phase of each transmitting antenna and each receiving antenna is adjusted based on the second phase adjustment value of each transmitting antenna and each receiving antenna to obtain a matching concave wavefront; Wherein, the currently set wavelength is the laser wavelength used by the OPA module when scanning, and the position information of each transmitting antenna and each receiving antenna is used to indicate the relative position of each transmitting antenna and each receiving antenna with respect to the preset center point.

4. The method according to claim 1, characterized in that, The lidar includes a scanning device, on which a lens module is mounted; after adjusting the phases of the transmitting and receiving antennas in the OPA module according to the initial distance of the target object to obtain a matching wavefront, the method further includes: When the matched wavefront is a planar wavefront and the initial distance is greater than the fifth distance threshold, the target object is scanned by the lens module; When the matched wavefront is a concave wavefront and the initial distance is greater than the sixth distance threshold, the target object is scanned by the lens module.

5. The method according to claim 1, characterized in that, The step of scanning the target object using the matched wavefront includes: The system uses an adjusted wavefront to send a detection signal to the area where the target object is located, and receives the reflected signal reflected back by the target object. Beat frequency signals are obtained by performing beat frequency analysis on the local oscillator signal corresponding to the detection signal and the reflected signal; The beat frequency signal is analyzed for frequency, and the scanning result of the target object is determined based on the analyzed signal frequency. The scanning result includes at least one of the following information: distance information and speed information.

6. The method according to claim 5, characterized in that, The step of performing frequency analysis on the beat frequency signal and determining the scanning result of the target object based on the analyzed signal frequency includes: The beat frequency signal is digitally processed and modulated to obtain the round-trip time corresponding to the beat frequency signal; Based on the round-trip time corresponding to the beat frequency signal, the distance information of the target object is determined; And / or, Doppler frequency analysis is performed on the beat frequency signal to obtain the Doppler frequency shift corresponding to the beat frequency signal; The velocity information of the target object is determined based on the Doppler frequency shift of the beat frequency signal.

7. The method according to claim 1, characterized in that, The process of obtaining the initial distance to the target object within the detection area includes: The detection area is scanned using the current wavefront that matches the current phase of the transmitting and receiving antennas in the OPA module to obtain the initial distance of the target object within the detection area. The current wavefront is one of the following: concave wavefront, convex wavefront, or planar wavefront.

8. The method according to claim 1, characterized in that, The lidar communicates with the vision processing module, which includes an image acquisition device. The process of obtaining the initial distance to the target object within the detection area includes: The first image to be identified is obtained by acquiring an image captured by the image acquisition device, wherein the image to be identified includes the target object; Based on the first image to be identified, the initial distance of the target object within the detection area is obtained.

9. The method according to claim 8, characterized in that, The lidar communicates with the target recognition module, which includes a target recognition model. The target recognition model is a model used to recognize the target object in the input image. The method further includes: The second image to be identified is obtained by acquiring the image captured by the image acquisition device; The second image to be identified is input into the target recognition model to obtain the image recognition result output by the target recognition model, wherein the image recognition result is used to indicate whether the target object is identified from the second image to be identified.

10. A scanning device based on lidar, characterized in that, The lidar includes an OPA module, the OPA module includes a transmitting antenna and a receiving antenna, and the device includes: The acquisition unit is used to acquire the initial distance of the target object within the detection area; An adjustment unit is used to adjust the phase of the transmitting antenna and the receiving antenna in the OPA module according to the initial distance of the target object to obtain a matching wavefront; The first scanning unit is used to scan the target object using the matched wavefront.

Images