Detection methods and related devices

Abstract

This application provides a detection method and related devices, relating to the field of optoelectronic technology. The method includes the steps of receiving an echo beam, where the echo beam is emitted to a first pixel of a detector, the first pixel including N subpixels; determining N first optical subsignals based on the N subpixels, where N is a positive integer; determining N first echo parameters based on the N first optical subsignals, where the first echo parameters represent signal intensities of the first optical subsignals; and determining a first optical signal based on the N first echo parameters, where the first optical signal corresponds to the echo beam. This solution can avoid a situation where the optical spot distribution of the echo beam on the detector is non-uniform, resulting in a change in the optical spot distribution when the optical spot shifts, resulting in inaccurate error compensation of target parameters calculated by the lidar system. This helps improve the accuracy of the error compensation.

Description

[Technical Field]

[0001] This application relates to the field of optoelectronic technology, and more particularly to detection methods and related devices. [Background technology]

[0002] Lidar (light detection and ranging) is characterized by high resolution and strong resistance to active jamming, and is therefore widely used in various technical fields. In a Lidar system, the Lidar emits a laser beam toward the target to be detected. After reaching the target, the laser beam is reflected and then received by a signal detector in the form of an echo beam. The echo beam is emitted to the pixel array of the signal detector to form a light spot, and the pixel array converts the echo beam from an optical signal to an electrical signal. Several parameters are then determined based on the electrical signal, and target parameters such as the current distance between the Lidar and the target and the target's reflectivity are calculated to perform functions such as target ranging and target recognition.

[0003] In a LiDAR system, errors usually exist during calculation of target parameters corresponding to a specified light spot distribution based on the returned echo signal. Therefore, error compensation can be performed on the target parameters corresponding to the light spot distribution based on an error compensation table. However, the light spot distribution usually changes due to aging of the system devices, changes in the temperature of the system devices, and changes in the distance between the target and the laser. Therefore, if the target parameters are still compensated based on the error compensation table, the accuracy of compensating the target parameters cannot be ensured. Summary of the Invention

[0004] Therefore, how to perform error compensation on the target parameters calculated by the lidar system and improve the accuracy of the error compensation as much as possible is an urgent problem to be solved. [Means for solving the problem]

[0005] The embodiments of the present application provide a detection method and related apparatus to avoid the case where the light spot distribution of the echo beam on the detector is non-uniform, resulting in a change in the light spot distribution when the light spot shifts, resulting in inaccurate error compensation of the target parameters calculated by the lidar system, which helps to improve the accuracy of the error compensation.

[0006] According to a first aspect, there is provided a detection method applied to a detector, the method comprising the steps of receiving an echo beam, the echo beam being emitted to a first pixel of the detector, the first pixel including N sub-pixels, determining N first optical sub-signals based on the N sub-pixels, where N is a positive integer, determining N first echo parameters based on the N first optical sub-signals, the first echo parameters representing signal intensities of the first optical sub-signals, and determining a first optical signal based on the N first echo parameters, the first optical signal corresponding to the echo beam.

[0007] For example, the echo beam is ultimately presented in the form of a light spot on the pixel array of the detector. Thus, when the light spot occupies multiple pixels, the light signal determined based on the echo beam corresponds to a portion of the light spot. When the light spot occupies only the first pixel, the light signal determined based on the echo beam corresponds to the entire light spot.

[0008] For example, a first pixel is used as an example. The first pixel may be divided into N sub-pixels with the same geometric parameters. The specific geometric parameters are not limited in the embodiments of the present application. In addition, the first pixel may alternatively be divided into N sub-pixels with different geometric parameters, or the first pixel may be divided into a portion of sub-pixels with a first geometric parameter, a portion of sub-pixels with a second geometric parameter, etc.

[0009] For example, in a pixel array, the manner in which each pixel of the pixel array is divided can be adjusted in real time based on the current light spot distribution so that the light spot distribution on each sub-pixel is uniform, thereby improving the accuracy of subsequent error compensation.

[0010] It should be understood that the first optical signal is an optical signal obtained after compensation is performed based on the first echo parameters corresponding to each first optical sub-signal, and the target parameters contained in the first optical signal can be accurately compensated.

[0011] Based on the aforementioned technical solution, a first pixel is divided into N subpixels. Because the subpixels are very small, the light spot distribution on each subpixel is uniform or nearly uniform. Once the object distance or the object reflectivity is detected, the light spot distribution on each subpixel remains unchanged regardless of changes in factors such as the object distance and the laser temperature. This method therefore helps avoid the problem of errors that cannot be accurately compensated for using a single compensation table due to changes in the light spot distribution. In other words, this method allows accurate compensation to be obtained using a single compensation table, assuming that the geometric parameters of the N subpixels are the same. This improves the accuracy of error compensation and simplifies implementation.

[0012] Referring to the first aspect, in some implementation forms of the first aspect, a first sub-histogram is determined based on a first optical sub-signal, the first sub-histogram including a change trend of the signal intensity of the first optical sub-signal over a plurality of unit time periods, and a first echo parameter is determined based on the first sub-histogram.

[0013] According to the above technical solution, a first echo parameter representing the signal intensity of the first optical sub-signal is calculated based on the first sub-histogram. This method is easy to implement.

[0014] Referring to the first aspect, in some implementation forms of the first aspect, N first compensation sub-amounts are determined based on the N first echo parameters, the first compensation amount is determined based on the N first compensation sub-amounts, and the first compensation amount is used to determine the compensation amount of the first optical signal.

[0015] For example, the first compensation amount may be determined by searching a compensation table. The compensation table may be determined in advance through experimentation. Different subpixel geometric parameters correspond to different compensation tables. Based on this, when the geometric parameters of N subpixels are the same, the first compensation amount can be determined based on one compensation table.

[0016] For example, for different compensation amounts, the method for determining the first compensation amount is accordingly different. Weighted accumulation may be performed on the N first compensation sub-amounts. The weighted accumulation may include two cases. In one case, the weight is 1. In this case, the weighted accumulation process is actually a direct accumulation process. In other cases, the weight is not 1. In addition, the N first compensation sub-amounts may alternatively be accumulated to obtain an average value.

[0017] Based on the above technical solution, the N first echo parameters are determined based on the N first optical sub-signals received by the N sub-pixels, and the sub-pixels are very small. Therefore, even if the optical spot corresponding to the echo beam shifts, for the N sub-pixels, when N is sufficiently large, the distribution of the optical spot portions on the sub-pixels is approximately uniform. Therefore, regardless of whether the optical spot shifts, the distribution of the optical spot portions corresponding to the N sub-pixels remains uniform, and the N first compensation sub-quantities determined based on the N first echo parameters are accurate, and therefore the first compensation quantity is accurate. This improves the accuracy of error compensation.

[0018] Referring to the first aspect, in some implementation forms of the first aspect, a corresponding first compensation table is obtained through screening based on a geometric parameter of a subpixel, the first compensation table is searched based on a first echo parameter to determine a first compensation sub-amount corresponding to the first echo parameter, the first compensation table is determined in advance through experiments, and the first compensation table includes a mapping relationship between the first echo parameter and the first compensation sub-amount.

[0019] Based on the above technical solution, under the premise that the geometric parameters of the N sub-pixels are the same, the first compensation amount can be determined based on a compensation table, which improves the accuracy of error compensation and makes it easier to implement.

[0020] Referring to the first aspect, in some implementations of the first aspect, the geometric parameters of the subpixel include a shape and / or an area of ​​the subpixel.

[0021] Based on the above technical solution, the shape and / or area of ​​the subpixel is used as the geometric parameter of the subpixel, so that the first compensation table corresponding to different subpixels can be properly determined, which helps to ensure the accuracy of error compensation.

[0022] Referring to the first aspect, in some implementation forms of the first aspect, the first echo parameter includes at least one of an echo area, an echo peak value, and an echo pulse width of the first optical sub-signal, and a rising edge gradient of a curve image of the first sub-histogram.

[0023] According to the above technical solution, the first compensation amount can be determined based on at least one of the echo area, the echo peak value, and the echo pulse width of the first optical sub-signal, and the rising edge gradient of the curve image of the first sub-histogram, which provides multiple ways to determine the compensation amount and thereby improves the flexibility of the solution.

[0024] Referring to the first aspect, in some implementation forms of the first aspect, a first result value is determined based on a second optical signal, where the second optical signal is an original optical signal determined based on an echo beam, and the first result value is compensated based on a first compensation amount to determine a first target parameter value, where the first target parameter value corresponds to the aforementioned first optical signal.

[0025] For example, the first result value may be the object distance or the energy value of the second optical signal used to calculate the object reflectance, but the first result value is an uncompensated result value.

[0026] According to the above technical solution, the first result value is compensated based on the first compensation amount determined according to the above method, which helps to improve the accuracy of the first target parameter value.

[0027] Referring to the first aspect, in some implementation forms of the first aspect, a first histogram is determined based on a second optical signal, the first histogram includes a change trend of the signal intensity of the second optical signal over a plurality of unit time periods, and the first result value is determined based on the first histogram.

[0028] For example, based on the first histogram, the echo area, echo pulse width, and echo peak value of the second optical signal, as well as the rising edge gradient of the curve image in the first histogram, may be determined.

[0029] For example, the echo area may be the integral value of the curve image in the first histogram, and the echo pulse width may be classified into a first pulse width and a second pulse width. The first pulse width, also called the full pulse width, is the difference between the horizontal coordinates of the start and end points of the curve image in the first histogram. The second pulse width is the pulse width corresponding to a specific percentage threshold, i.e., the pulse width extracted horizontally at a preset position of the curve image in the first histogram. The preset position may be an appropriate position, such as 1 / 2 (in this case, the second pulse width is also called the full-width-at-half-maximum pulse width) or 1 / 3 of the curve image. For example, when the preset position is 1 / 2 of the curve image, the vertical coordinate of the peak point of the curve image is y. In this case, the vertical coordinate of the two endpoints of the full-width-at-half-maximum pulse width is y / 2, the difference between the horizontal coordinates of the two endpoints is the full-width-at-half-maximum pulse width, and the echo peak value is the vertical coordinate of the peak point of the curve image in the first histogram. The signal intensity of the second optical signal may be represented based on any one of the echo area, the echo pulse width, and the echo peak value of the second optical signal.

[0030] For example, in order to more accurately determine the signal strength of the second optical signal, the background light value of the current environment needs to be further determined, and the error of the background light value relative to the signal strength of the second optical signal needs to be eliminated.

[0031] It should be understood that since the first optical sub-signal is a part of the second optical signal, the curve trend of the first sub-histogram basically coincides with the curve trend of the first histogram. Therefore, the first echo parameter may alternatively be determined based on the first sub-histogram, and the first echo parameter may include at least one of an echo area, an echo pulse width, and an echo peak value of the first optical sub-signal.

[0032] For example, a first histogram may be extracted based on a first detection threshold, with a first result value calculated based on a portion of the image that exceeds the first detection threshold. The first detection threshold is a suitable preset value. Correspondingly, the first sub-histogram is obtained by shrinking the first histogram by a corresponding proportion, so that the first sub-histogram may alternatively correspond to a second detection threshold, with the second detection threshold being obtained by proportionally shrinking the first detection threshold. Alternatively, the start and end moments of the first histogram may be determined based on the first histogram and the first detection threshold, with the start and end moments also corresponding to the start and end moments of the first sub-histogram. Thus, the first sub-histogram can be extracted without determining a second detection threshold.

[0033] Based on the above technical solution, the first result value can be intuitively and simply determined based on the first histogram corresponding to the second optical signal, which is helpful to improve calculation efficiency.

[0034] Referring to the first aspect, in some implementations of the first aspect, when the first result value is a distance from the object, the moment at which the laser beam is emitted to the object is determined as the first moment, the second moment is determined based on the first histogram, the time of flight corresponding to the second optical signal is determined based on the time difference between the second moment and the first moment, and the first result value is determined based on the speed of light and the time of flight.

[0035] Based on the above technical solution, the second moment is determined based on the first histogram, so that the second moment is easily obtained, which helps to improve the efficiency of calculating the first result value.

[0036] Referring to the first aspect, in some implementation forms of the first aspect, a starting moment at which the second optical signal is detected is determined as the second moment based on the first histogram, or a peak moment of the first histogram is used as the second moment based on the first histogram, or the second moment is determined based on the first histogram through constant fraction timing (CFD), or an echo time corresponding to the second optical signal is determined based on the first histogram, and then the second moment is determined according to a centroid algorithm based on the echo time corresponding to the second optical signal.

[0037] Based on the foregoing technical solutions, multiple methods are provided for obtaining the second moment, thereby improving the flexibility of the method.

[0038] Referring to the first aspect, in some implementation forms of the first aspect, when the first result value is an energy value of the second optical signal, the echo area and / or echo peak value of the second optical signal is determined based on the first histogram, the signal intensity of the second optical signal is determined based on the echo area and / or echo peak value of the second optical signal, and the first result value is determined based on the signal intensity of the second optical signal.

[0039] According to the above technical solution, the signal strength of the second optical signal is determined based on the first histogram. This method is simple and helps to improve the efficiency of calculating the first result value.

[0040] Referring to the first aspect, in some implementation forms of the first aspect, before the first compensation amount is determined based on the N first echo parameters, a first compensation table is determined, and the method includes the steps of: acquiring a second target parameter value and a geometric parameter of the subpixel, where the second target parameter value is an accurate target parameter value; determining a first optical subsignal acquired based on the subpixel; determining a second result value based on the first echo parameter corresponding to the first optical subsignal, where the second result value is a result value that needs to be compensated; determining the first compensation subamount based on the second result value and the second target parameter value; recording the first echo parameter corresponding to the first optical subsignal to determine a mapping relationship between the first echo parameter and the first compensation subamount; and adding the mapping relationship to the first compensation table corresponding to the geometric parameter of the subpixel.

[0041] For example, when the second target parameter value is the object distance, the object distance is a pre-measured accurate distance value. When the second target parameter value is the energy value of the second optical signal corresponding to the echo beam reflected by the object, the energy value is a pre-measured accurate energy value.

[0042] For example, the geometric parameters of the sub-pixels may be determined in the process of determining how to divide the first pixel, and may be stored in a memory.

[0043] For example, when the second result value is an uncompensated object distance, it can be understood from the description of the corresponding embodiment above that the second result value can be obtained through a calculation based on the time of flight of the first optical sub-signal. When the second result value is an uncompensated energy value of the first optical sub-signal, it can be understood from the description of the corresponding embodiment above that the second result value can be obtained through a calculation based on the signal intensity of the first optical sub-signal.

[0044] For example, when the first compensation subamount is a distance compensation subamount, the distance compensation subamount may be determined by calculating the difference between the second target parameter value and the second result value. When the first compensation subamount is an energy compensation subamount of the first optical sub-signal, the energy compensation subamount may be estimated based on the second target parameter value and the second result value.

[0045] For example, the second target parameter value is modified, the experiment mentioned in the above method is repeated, and multiple determined mapping relationships are added to the first compensation table to continuously expand the first compensation table, thereby continuously improving the first compensation table.

[0046] Based on the above technical solution, corresponding first compensation tables are determined for subpixels with different geometric parameters through a preliminary experiment. In this way, when a first pixel is divided into multiple subpixels with the same geometric parameters, the distance compensation amount can be accurately compensated based on the first compensation tables determined through the above experiment. Even if the first pixel is divided into multiple subpixels with different geometric parameters, for example, two different geometric parameters, only two first compensation tables are required to accurately compensate the distance compensation amount. This solves the problem of difficulty in accurately performing error compensation in the prior art.

[0047] Referring to the first aspect, in some implementations of the first aspect, the N sub-pixels are obtained through single-photon avalanche diode SPAD-based division of the pixel array.

[0048] For example, a SPAD includes a pixel activation area. Each pixel in the pixel activation area may be preset based on the initial parameters of the SPAD. The pixel is divided into multiple subpixels. The initial parameters include geometric parameters of each subpixel, such as the length and width of each pixel. Each subpixel is numbered. Additionally, each pixel may also be numbered. In this way, several optical signals corresponding to each subpixel can be distinguished.

[0049] Based on the aforementioned technical solution, the first pixel is divided based on SPAD, which provides the necessary prerequisite for the subsequent compensation solution based on sub-pixels, which is the basis for accurate error compensation.

[0050] Referring to the first aspect, in some implementations of the first aspect, the echo beam is emitted onto a pixel array to form a light spot, and a portion of the light spot on each sub-pixel is uniformly distributed.

[0051] Based on the above technical solution, regardless of whether the light spot shifts or disperses, it can be ensured that the portion of the light spot on the sub-pixel is uniformly distributed, so that the accuracy of subsequent error compensation can be further improved.

[0052] According to a second aspect, there is provided a detection apparatus for use in a detector, the apparatus including: a receiving unit configured to receive an echo beam, where the echo beam is emitted to a first pixel of the detector, the first pixel including N sub-pixels; and a determining unit configured to determine N first optical sub-signals based on the N sub-pixels, where N is a positive integer, determine N first echo parameters based on the N first optical sub-signals, the first echo parameters representing signal intensities of the first optical sub-signals, and determine a first optical signal based on the N first echo parameters, where the first optical signal corresponds to the echo beam.

[0053] Based on the aforementioned technical solution, a first pixel is divided into N subpixels. Because the subpixels are very small, the light spot distribution on each subpixel is uniform or nearly uniform. Once the object distance or the object reflectivity is detected, the light spot distribution on each subpixel remains unchanged regardless of changes in factors such as the object distance and the laser temperature. This method therefore helps avoid the problem of errors that cannot be accurately compensated for using a single compensation table due to changes in the light spot distribution. In other words, this method allows accurate compensation to be obtained using a single compensation table, assuming that the geometric parameters of the N subpixels are the same. This improves the accuracy of error compensation and simplifies implementation.

[0054] Referring to the second aspect, in some implementation forms of the second aspect, the determination unit is particularly configured to determine a first sub-histogram based on the first optical sub-signal, the first sub-histogram including a change trend of the signal intensity of the first optical sub-signal over a plurality of unit time periods, and to determine a first echo parameter based on the first sub-histogram.

[0055] According to the above technical solution, a first echo parameter representing the signal intensity of the first optical sub-signal is calculated based on the first sub-histogram. This method is easy to implement.

[0056] Referring to the second aspect, in some implementation forms of the second aspect, the determination unit is further configured to determine N first compensation sub-amounts based on the N first echo parameters, determine a first compensation amount based on the N first compensation sub-amounts, and the first compensation amount is used to determine a compensation amount of the first optical signal.

[0057] Based on the above technical solution, the N first echo parameters are determined based on the N first optical sub-signals received by the N sub-pixels, and the sub-pixels are very small. Therefore, even if the optical spot corresponding to the echo beam shifts, for the N sub-pixels, when N is sufficiently large, the distribution of the optical spot portions on the sub-pixels is approximately uniform. Therefore, regardless of whether the optical spot shifts, the distribution of the optical spot portions corresponding to the N sub-pixels remains uniform, and the N first compensation sub-quantities determined based on the N first echo parameters are accurate, and therefore the first compensation quantity is accurate. This improves the accuracy of error compensation.

[0058] Referring to the second aspect, in some implementation forms of the second aspect, the determination unit obtains a corresponding first compensation table through screening based on a geometric parameter of the subpixel, and searches the first compensation table based on the first echo parameter to determine a first compensation sub-amount corresponding to the first echo parameter, where the first compensation table is determined in advance through experiments, and the first compensation table is specifically configured to include a mapping relationship between the first echo parameter and the first compensation sub-amount.

[0059] Based on the above technical solution, under the premise that the geometric parameters of the N sub-pixels are the same, the first compensation amount can be determined based on a compensation table, which improves the accuracy of error compensation and makes it easier to implement.

[0060] Referring to the second aspect, in some implementations of the second aspect, the geometric parameters of the subpixel include the shape and / or area of ​​the subpixel.

[0061] Based on the above technical solution, the shape and / or area of ​​the subpixel is used as the geometric parameter of the subpixel, so that the first compensation table corresponding to different subpixels can be properly determined, which helps to ensure the accuracy of error compensation.

[0062] Referring to the second aspect, in some implementation forms of the second aspect, the first echo parameter includes at least one of an echo area, an echo peak value, and an echo pulse width of the first optical sub-signal, and a rising edge gradient of a curve image of the first sub-histogram.

[0063] According to the above technical solution, the first compensation amount can be determined based on at least one of the echo area, the echo peak value, and the echo pulse width of the first optical sub-signal, and the rising edge gradient of the curve image of the first sub-histogram, which provides multiple ways to determine the compensation amount and thereby improves the flexibility of the solution.

[0064] Referring to the second aspect, in some implementation forms of the second aspect, the determination unit is further configured to determine a first result value based on a second optical signal, where the second optical signal is an original optical signal determined based on the echo beam, and to compensate the first result value based on a first compensation amount to determine a first target parameter value, where the first target parameter value corresponds to the aforementioned first optical signal.

[0065] According to the above technical solution, the first result value is compensated based on the first compensation amount determined according to the above method, which helps to improve the accuracy of the first target parameter value.

[0066] Referring to the second aspect, in some implementation forms of the second aspect, the determination unit is particularly configured to determine a first histogram based on the second optical signal, the first histogram including a change trend of the signal intensity of the second optical signal over a plurality of unit time periods, and determine a first result value based on the first histogram.

[0067] Based on the above technical solution, the first result value can be intuitively and simply determined based on the first histogram corresponding to the second optical signal, which is helpful to improve calculation efficiency.

[0068] Referring to the second aspect, in some implementation forms of the second aspect, when the first result value is a distance from the object, the determination unit is particularly configured to determine a moment at which the laser beam is radiated to the object as the first moment, determine a second moment based on the first histogram, determine a time of flight corresponding to the second optical signal based on a time difference between the second moment and the first moment, and determine the first result value based on the speed of light and the time of flight.

[0069] Based on the above technical solution, the second moment is determined based on the first histogram, so that the second moment is easily obtained, which helps to improve the efficiency of calculating the first result value.

[0070] Referring to the second aspect, in some implementation forms of the second aspect, the determination unit is particularly configured to determine a start moment at which the second optical signal is detected as the second moment based on the first histogram, or use a peak moment of the first histogram as the second moment based on the first histogram, or determine the second moment based on the first histogram through constant fraction timing CFD, or determine an echo time corresponding to the second optical signal based on the first histogram, and then determine the second moment based on the echo time corresponding to the second optical signal according to a centroid algorithm.

[0071] Based on the foregoing technical solutions, multiple methods are provided for obtaining the second moment, thereby improving the flexibility of the method.

[0072] Referring to the second aspect, in some implementation forms of the second aspect, when the first result value is an energy value of the second optical signal, the determination unit is particularly configured to determine an echo area and / or an echo peak value of the second optical signal based on the first histogram, determine a signal intensity of the second optical signal based on the echo area and / or the echo peak value of the second optical signal, and determine the first result value based on the signal intensity of the second optical signal.

[0073] According to the above technical solution, the signal strength of the second optical signal is determined based on the first histogram. This method is simple and helps to improve the efficiency of calculating the first result value.

[0074] Referring to the second aspect, in some implementation forms of the second aspect, before the determination unit determines the first compensation amount based on the N first echo parameters, the determination unit is further configured to determine a first compensation table, which includes: obtaining a second target parameter value and a geometric parameter of the subpixel, the second target parameter value being an accurate target parameter value; determining a first light subsignal obtained based on the subpixel; determining a second result value based on the first echo parameter corresponding to the first light subsignal, the second result value being a result value that needs to be compensated; determining the first compensation subamount based on the second result value and the second target parameter value; recording the first echo parameter corresponding to the first light subsignal; determining a mapping relationship between the first echo parameter and the first compensation subamount; and adding the mapping relationship to the first compensation table corresponding to the geometric parameter of the subpixel.

[0075] Based on the above technical solution, corresponding first compensation tables are determined for subpixels with different geometric parameters through a preliminary experiment. In this way, when a first pixel is divided into multiple subpixels with the same geometric parameters, the distance compensation amount can be accurately compensated based on the first compensation tables determined through the above experiment. Even if the first pixel is divided into multiple subpixels with different geometric parameters, for example, two different geometric parameters, only two first compensation tables are required to accurately compensate the distance compensation amount. This solves the problem of difficulty in accurately performing error compensation in the prior art.

[0076] Referring to the second aspect, in some implementations of the second aspect, the N sub-pixels are obtained through single-photon avalanche diode SPAD-based division of the pixel array.

[0077] Based on the aforementioned technical solution, the first pixel is divided based on SPAD, which provides the necessary prerequisite for the subsequent compensation solution based on sub-pixels, which is the basis for accurate error compensation.

[0078] Referring to the second aspect, in some implementations of the second aspect, the echo beam is emitted onto a pixel array to form a light spot, and a portion of the light spot on each sub-pixel is uniformly distributed.

[0079] Based on the above technical solution, regardless of whether the light spot shifts or disperses, it can be ensured that the portion of the light spot on the sub-pixel is uniformly distributed, so that the accuracy of subsequent error compensation can be further improved.

[0080] According to a third aspect, there is provided a detection device including a processor and a memory, the processor being connected to the memory, the memory being configured to store program code, and the processor being configured to call the program code to execute a method according to any one of the possible implementations of the method design in the first aspect.

[0081] According to a fourth aspect, a chip system is provided. The chip system is used in an electronic device. The chip system includes one or more interface circuits and one or more processors. The interface circuits and the processors are interconnected through lines. The interface circuits are configured to receive signals from a memory of the electronic device and transmit signals to the processor. The signals include computer instructions stored in the memory. When the processor executes the computer instructions, the electronic device performs a method according to any one of the possible implementations of the method design in the first aspect.

[0082] According to a fifth aspect, a computer-readable storage medium is provided, storing a computer program or instructions for use in implementing a method according to any one of the possible implementations of the method design in the first aspect.

[0083] According to a sixth aspect, there is provided a computer program product, the computer program code or instructions, when executed on a computer, enabling the computer to perform a method according to any one of the possible implementations of the method design in the first aspect.

[0084] According to a seventh aspect, an embodiment of the present application provides a vehicle, the vehicle including an apparatus according to any one of the possible implementation forms of the second and third aspects. [Brief explanation of the drawings]

[0085] [Figure 1] FIG. 1 is a diagram of a Lidar system according to an embodiment of the present application. [Figure 2] FIG. 10 is a diagram of the relationship between light spot offset and object distance according to an embodiment of the present application. [Figure 3] 1 is a schematic flow chart of a detection method according to an embodiment of the present application; [Figure 4] FIG. 2 is a diagram of pixel division according to an embodiment of the present application. [Figure 5] FIG. 2 is a diagram of a first histogram according to an embodiment of the present application. [Figure 6] FIG. 10 is a diagram of a first sub-histogram according to an embodiment of the present application. [Figure 7] FIG. 2 is a diagram of a method for determining a first histogram according to an embodiment of the present application. [Figure 8] 1 is a schematic flowchart of a method for determining a first result value according to an embodiment of the present application. [Figure 9] 10 is a schematic flowchart of another method for determining a first result value according to an embodiment of the present application. [Figure 10] 10 is a schematic flowchart of yet another method for determining a first compensation table according to an embodiment of the present application. [Figure 11(a)] FIG. 10 is a diagram of a relationship between a first compensation sub-amount and a first echo parameter determined through experiments, according to an embodiment of the present application. [Figure 11(b)] FIG. 10 is a diagram of a relationship between a first compensation sub-amount and a first echo parameter determined through experiments, according to an embodiment of the present application. [Figure 11(c)] FIG. 10 is a diagram of a relationship between a first compensation sub-amount and a first echo parameter determined through experiments, according to an embodiment of the present application. [Figure 11(d)] FIG. 10 is a diagram of a relationship between a first compensation sub-amount and a first echo parameter determined through experiments, according to an embodiment of the present application. [Figure 12] 1 is a diagram of a detection system according to an embodiment of the present application. [Figure 13] FIG. 13 is a block diagram of a detection device 1300 according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0086] The following describes the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may refer to A or B. In this specification, "and / or" only describes a related relationship to describe related objects and indicates that three relationships may exist. For example, A and / or B may refer to the following three cases: when only A exists, when both A and B exist, and when only B exists.

[0087] The prefix words "first," "second," etc. in the embodiments of the present application are merely intended to distinguish between different objects and do not impose any restrictions on the position, order, priority, quantity, content, etc. of the described objects. In the embodiments of the present application, the use of prefix words, such as ordinal numbers, used to distinguish between described objects does not constitute a restriction on the described objects. Please refer to the claims or the context description in the embodiments for a description of the described objects. The use of such prefix words should not constitute a redundant restriction. In addition, in the description of the embodiments, unless otherwise specified, "plurality" means two or more than two.

[0088] As an active sensor, Lidar is an essential part of fields such as autonomous driving, robotics, and unmanned aerial vehicles.

[0089] 1 is a diagram of a Lidar system according to one embodiment of the present application. A Lidar typically includes a controller, a modulator, a signal transmitter, a signal detector, a processor, and a memory.

[0090] The controller may be configured to control the modulator and signal transmitter to emit a laser beam with a particular signal intensity, or may be configured to control the signal detector to receive an echo beam, or may be configured to control the processor to process and calculate relevant parameters contained in the echo beam.

[0091] The modulator is configured to modulate the laser beam so that the lidar can emit the laser beam at a specified signal strength.

[0092] A signal transmitter typically includes a light source (also called a laser) and an emission optical lens configured to refract the laser beam emitted by the light source and transmit the laser beam to the target based on a specified optical path.

[0093] The signal detector typically includes a detector (also called a receiver) and a receiving optical lens, and is configured to detect and receive the echo beam, convert the echo beam from an optical signal to an electrical signal, and determine the signal strength of the echo beam for each time period to generate a histogram of the echo beam. It can be understood that the histogram may represent the signal strength of the echo beam for each time period. The receiving optical lens is configured to refract the echo beam reflected from the object and refract the echo beam to a specified position on the detector.

[0094] In some possible embodiments, the detector may be a single photon avalanche diode (SPAD) detector. The SPAD is included in a pixel array of the detector. The pixel array is configured to receive the echo beam. A light spot is formed on one or more pixels of the pixel array. Additionally, the pixel array converts the echo beam from an optical signal to an electrical signal.

[0095] The processor is configured to process the echo beam, determine relevant parameters, perform error compensation on the relevant parameters, and finally calculate first target parameter values, which may include distance from the object, reflectivity of the object, etc.

[0096] The memory is configured to store intermediate results in the signal processing process.

[0097] In some possible embodiments, the distance between the object and the laser can be detected based on the Lidar of the above-mentioned architecture. For ease of explanation, in the embodiments of this application, the distance is abbreviated to object distance. The operating principle of measuring object distance is as follows.

[0098] The signal transmitter irradiates a laser beam onto the object. The laser beam is reflected by the object and reflected to the signal detector in the form of an echo beam. In response, a light spot is formed on one or more pixels of the pixel array of the signal detector, and the echo beam is converted from an optical signal to an electrical signal. The processor then determines the time difference between the moment the transmission signal begins to be transmitted and the moment the transmission signal is finally received based on an internal timer (e.g., a system clock), thereby determining the signal's time of flight, and can obtain the object distance through calculations based on the time of flight and the speed of light.

[0099] In some possible embodiments, the reflectivity of an object can be detected based on the Lidar of the aforementioned architecture. The operation principle of the Lidar of the aforementioned architecture is as follows.

[0100] The signal transmitter irradiates a laser beam onto an object. The laser beam is reflected by the object and reflected to the signal receiver in the form of an echo beam, forming a light spot on the pixel array of the signal receiver. The signal detector then detects the echo beam and responds to the echo beam to determine the signal strength, i.e., the energy value corresponding to the echo beam. In addition, the object distance needs to be determined. The processor then determines the reflectivity of the object based on the energy value and the object distance. Objects with different surface materials are classified into different categories. Therefore, the reflectivity of the object can be used to identify the object category.

[0101] For example, the target parameters are the object distance and the object reflectivity. The target parameters are detected based on calculations performed after the light spot of the echo beam on the pixel array of the detector is finally converted into an electrical signal. If the imaging position of the light spot on the pixel array is the target receiving position, the light spot will not shift. The target receiving position may be the focal spot plane for receiving the light spot, and the light spot will not disperse on the pixel array. In this case, the light spot distribution will not change. When these prerequisites are met, the target parameters calculated based on the electrical signal corresponding to the light spot are accurate.

[0102] Light spot shift is the shift of the light spot position on the plane of the pixel array. Because the receiving range of the pixel array is fixed, some light signals cannot be received after the light spot shift. Light spot dispersion means that the light spot imaging position is not on the plane of the pixel array. After the light spot dispersion, there will be a discrepancy between the reported light signal intensity and the actual light signal intensity.

[0103] A lidar system is used as an example. FIG. 2 is a diagram of the relationship between the light spot offset of an off-axis lidar and the object distance according to one embodiment of the present application. It can be seen that for an off-axis lidar, when the distance between the object and the laser changes, the light spot shifts horizontally accordingly. The shorter the distance between the lidar and the object, the larger the light spot offset. Although the light spot offset is only at the micron level, a micron-level shift will cause a large error in the final calculation of the object distance. Therefore, error compensation must be performed on the calculation result.

[0104] In the case of off-axis lidar, the lidar's transmit and receive paths do not coincide. If the target is far enough away from the lidar, the lidar's transmit and receive paths may be two nearly parallel paths. In this case, the degree of light spot dispersion and shift of the light spot on the pixel array is very low and may even be negligible. If the target is close to the lidar, the lidar's transmit and receive paths are two non-parallel paths, resulting in large dispersion and large shift of the light spot on the pixel array. However, calculating the target parameters based on the electrical signals corresponding to the dispersed and shifted light spot introduces errors. Therefore, further error compensation must be performed on the calculation results.

[0105] In addition, factors such as thermal expansion and contraction of components inside the lidar and aging degradation of the components can cause deformation of the radar transmitter lens and shift the imaging position of the light spot on the pixel array. Because the receiving position and response range of the pixel array are fixed, after the position at which the light spot is received on the pixel array shifts, some light signals cannot be received by the pixel array. It can be seen that errors are introduced when target parameters are calculated based on the shifted light spot. Therefore, error compensation must be further performed on the calculation results.

[0106] In some possible embodiments, error compensation may be performed on the aforementioned calculation results based on a specific error compensation table, such as a distance compensation table or an energy compensation table used to calculate the reflectivity. The corresponding error compensation value is found in the error compensation table based on the echo signal parameters returned by the pixel array. However, this is based on the assumption that the light spot distribution does not change. Generally, the light spots imaged on the pixel array are non-uniform. When the light spots imaged on the pixel array are non-uniformly distributed, the light spot distribution changes when the light spot positions shift or the light spots disperse. However, after the light spot distribution changes, the error compensation performed based on the error compensation table corresponding to the aforementioned light spot distribution will also be inaccurate. The following provides an explanation using specific embodiments.

[0107] Ranging is used as an example. The compensation process according to the above method can be divided into two parts, which are specifically as follows:

[0108] (1) Compensation for errors due to changes in object distance. For example, the current actual target distance is 15 m. In this case, the overall distribution of the light spots corresponding to the echo beam becomes uneven, and the light spots are dispersed and shifted. As a result, the light spot distribution changes and the detected target distance becomes 14.8 m. Assume that the system stores Distance Compensation Table 1, and the error in the current case can be accurately compensated based on Distance Compensation Table 1. In this case, the error value corresponding to the current echo beam signal strength, i.e., 0.2 m, is searched in Distance Compensation Table 1. This corrects the error in the detected target distance.

[0109] However, when the target is detected a second time, the actual target distance changes to 10 m. In this case, the light spots are further dispersed, and the light spot distribution changes again. As a result, the detected target distance is 9.5 m. If Distance Compensation Table 1 for the previous error compensation is still used for this light spot distribution, the error value found in Distance Compensation Table 1 corresponding to the signal strength of the current echo beam is usually inaccurate, for example, 0.4 m. If accurate compensation is required, Distance Compensation Table 2 for the current light spot distribution must be additionally stored to ensure the accuracy of the error compensation.

[0110] (2) Compensation for errors caused by temperature changes in the lidar. For example, the current temperature of the lidar is 10°C, and the actual target distance is 200 m. In this case, the light spot position does not shift depending on the target distance. However, in this case, the light spot position shifts due to the temperature of the lidar. As a result, the light spot distribution changes, and the detected target distance becomes 198 m. The system is assumed to store a distance compensation table 3, and the error in the current case can be accurately compensated based on the distance compensation table 3. The distance compensation table 3 searches for an error value corresponding to the signal strength of the current echo beam, i.e., 2 m. This corrects the error in the detected target distance.

[0111] However, when the target is detected a second time, the actual target distance remains unchanged, but the LIDAR temperature changes by 25°C. Thermal expansion and contraction cause the LIDAR transmitter or receiver lens to shift. In this case, the light spot position shifts again, and the light spot distribution changes again. As a result, the detected target distance is 196 m. If Distance Compensation Table 3 for the previous error compensation is still used for this light spot distribution, the error value found in Distance Compensation Table 3 corresponding to the signal strength of the current echo beam is usually inaccurate—for example, 3 m. If accurate compensation is required, Distance Compensation Table 4 for the current light spot distribution must be stored additionally to ensure the accuracy of the error compensation. Otherwise, there may be problems with insufficient or overcompensation.

[0112] When reflectance detection is performed on an object according to the above-mentioned method, the above-mentioned problems also occur.

[0113] Based on the cases mentioned above, it can be understood that the changes in light spot distribution are diverse, and accurate compensation cannot be achieved based on a single error compensation table. Therefore, error compensation tables corresponding to a large number of different light spot distributions need to be stored. This causes a waste of resources and makes it difficult to achieve accurate error compensation in actual application.

[0114] In consideration of this, one embodiment of the present application provides a detection method for further dividing each pixel of a pixel array to receive a light spot. Each pixel is divided into a plurality of subpixels. Because the subpixels are very small, the light spot distribution within the subpixel range is uniform or nearly uniform. Next, a compensation amount corresponding to each subpixel is determined based on an error compensation table determined in advance through experiments. This ensures that the compensation amount corresponding to each subpixel is accurate. Next, a compensation amount for the entire pixel is determined based on the compensation amount corresponding to each subpixel. Because the compensation amount corresponding to each subpixel is accurate, the compensation amount for the entire pixel determined in this way is also accurate. In this way, error compensation is performed on the target parameters calculated by the lidar system, and the accuracy of the error compensation is also improved.

[0115] It should be understood that when the geometric parameter of the light spot is less than or equal to one pixel and is of a pixel, and the compensation amount obtained through calculation by the above-mentioned method is accurate, the target parameter result obtained subsequently through calculation is also accurate.When the geometric parameter of the light spot is multiple pixels, the compensation amount of each pixel obtained through calculation by the above-mentioned method is accurate, so that weighted addition is performed based on the compensation amount of the pixel, and the target parameter result is compensated based on the result of the weighted addition, so that the target parameter result obtained subsequently through calculation is also accurate.

[0116] FIG. 3 is a schematic flow chart of a detection method according to one embodiment of the present application.

[0117] This method is applied to a detector. Before this method is performed, a laser beam must be further emitted to an object, and an echo beam (also called an echo signal) formed by the laser beam being reflected by the object is received.

[0118] S310: Receive an echo beam, where the echo beam is emitted to a first pixel of a detector, where the first pixel includes N sub-pixels.

[0119] In some possible embodiments, the echo beam may be emitted onto a pixel array of a detector.

[0120] In some possible embodiments, the echo beam is ultimately presented in the form of a light spot on the pixel array. Thus, when the light spot occupies multiple pixels, the light signal determined based on the echo beam corresponds to a portion of the light spot. When the light spot occupies only the first pixel, the light signal determined based on the echo beam corresponds to the entire light spot.

[0121] It should be understood that the first pixel may be pre-divided into N sub-pixels, where N is a positive integer.

[0122] FIG. 4 is a diagram of pixel division according to one embodiment of the present application.

[0123] In some possible embodiments, a first pixel is used as an example. The first pixel may be divided into N sub-pixels with the same geometric parameters. The specific geometric parameters are not limited in the embodiments of the present application. In addition, the first pixel may alternatively be divided into N sub-pixels with different geometric parameters, or the first pixel may be divided into a portion of sub-pixels with a first geometric parameter, a portion of sub-pixels with a second geometric parameter, etc.

[0124] It should be understood that the larger the amount N by which the first pixel is divided, the smaller the area of ​​the subpixels, resulting in a nearly uniform distribution of the portions of the light spot (also called sub-light spots) corresponding to each subpixel. In addition, in the aforementioned pixel division process, the light spot is also divided, and the complete light spot is divided into several sub-light spots. Furthermore, it is ensured that each sub-light spot is uniformly distributed across the pixel array. Therefore, for the uniformly distributed sub-light spots corresponding to each subpixel, regardless of whether the light spots on the pixel array shift and disperse, the distribution of the sub-light spots corresponding to the subpixels remains unchanged and maintained as a uniform distribution. Because the distribution of the sub-light spots remains unchanged, when the geometric parameters of the subpixels are consistent, error compensation can be accurately performed on the target parameters obtained by solving the echo signals corresponding to the sub-light spots based on a single error compensation table.

[0125] In some possible embodiments, in the pixel array, the division method of each pixel of the pixel array can be adjusted in real time based on the current light spot distribution, so that the light spot distribution on each sub-pixel is uniform. Based on this technical solution, the accuracy of subsequent error compensation can be further improved.

[0126] In some possible embodiments, the first pixel may be divided based on the SPADs of the pixel array. The SPADs include a pixel activation area. Each pixel in the pixel activation area may be preset based on the initial parameters of the SPADs. The pixel is divided into multiple subpixels. The initial parameters include geometric parameters of each subpixel, such as the length and width of each pixel. Each subpixel is numbered. Additionally, each pixel may also be numbered. In this way, several optical signals corresponding to each subpixel are distinguished.

[0127] For example, the first pixel is used as an example. The shape geometric parameters of the first pixel may be a 1*1 pixel square, and the related information of each sub-pixel may be described in the following manner: Pixel 01:Son-Pixel 01={”Length”:”0.5Pixel”,”Width”:”0.5Pixel”}; Pixel 01:Son-Pixel 01={”Length”:”0.5Pixel”,”Width”:”0.5Pixel”}; Pixel 01:Son-Pixel 01={”Length”:”0.5Pixel”,”Width”:”0.5Pixel”}; Pixel 01:Son-Pixel 01={”Length”:”0.5Pixel”,”Width”:”0.5Pixel”};

[0128] It can be seen that the first pixel is divided into four sub-pixels of the same shape, and the shape geometric parameter of each sub-pixel is a square of 0.5*0.5 pixels.

[0129] S320: Determine N first optical sub-signals based on the N sub-pixels.

[0130] S330: Determine N first echo parameters based on the N first optical sub-signals, where the first echo parameters represent signal intensities of the first optical sub-signals.

[0131] In some possible embodiments, the first echo parameters include at least one of an echo area, an echo peak value, and an echo pulse width of the first optical sub-signal, and a rising edge slope of the curve image of the first sub-histogram.

[0132] In some possible embodiments, a first echo parameter may be determined based on a first sub-histogram corresponding to a first optical sub-signal.

[0133] S340: Determine a first optical signal based on the N first echo parameters, where the first optical signal corresponds to an echo beam.

[0134] It should be understood that the first optical signal is determined based on the first echo parameters corresponding to each first optical sub-signal, and the target parameters corresponding to the first optical signal are compensated accordingly.

[0135] Based on the aforementioned technical solution, a first pixel is divided into N subpixels. Because the subpixels are very small, the light spot distribution on each subpixel is uniform or nearly uniform. Once the object distance or the object reflectivity is detected, the light spot distribution on each subpixel remains unchanged regardless of changes in factors such as the object distance and the laser temperature. This method therefore helps avoid the problem of errors that cannot be accurately compensated for using a single compensation table due to changes in the light spot distribution. In other words, this method allows accurate compensation to be obtained using a single compensation table, assuming that the geometric parameters of the N subpixels are the same. This improves the accuracy of error compensation and simplifies implementation.

[0136] It should be understood that when the light spot formed on the detector by the echo beam shifts, if the corresponding target parameter is directly calculated based on the optical signal determined based on the echo beam and the target parameter is compensated, such compensation is usually inaccurate. This is because the light spot shift causes a change in the light spot distribution, and each type of light spot distribution corresponds to a compensation table. However, the change in the light spot distribution is often a dynamic process, so compensating the target parameter based on only one compensation table is inaccurate. Therefore, this embodiment of the present application provides a solution for performing compensation based on the first optical sub-signal.

[0137] In some possible embodiments, after S340 is executed, a prerequisite for determining a light spot parameter corresponding to the first pixel for accurate compensation is provided. The detection method provided in this embodiment of the present application may further include the following steps: determining N first compensation sub-amounts based on the N first echo parameters, determining a first compensation amount based on the N first compensation sub-amounts, and the first compensation amount is used to determine a compensation amount of the first optical signal.

[0138] In some possible embodiments, the first compensation subquantity may be determined by searching a compensation table. The compensation table may be determined in advance through experiments, and the compensation table records a mapping relationship between the first echo parameter and the first compensation subquantity, such as a mapping relationship between the echo area of ​​the first optical subsignal and the first compensation subquantity, a mapping relationship between the echo pulse width of the first optical subsignal and the first compensation subquantity, or a mapping relationship between the echo peak value of the first optical subsignal and the first compensation subquantity. Next, a weighted sum is performed on the N first compensation subquantities determined by searching the table to determine the first compensation quantity. Based on this technical solution, when the geometric parameters of the N subpixels are the same, the first compensation quantity can be determined based on a single compensation table. This improves the accuracy of error compensation and facilitates implementation.

[0139] In some possible embodiments, for different compensation amounts, the specific method for determining the first compensation amount varies accordingly. For example, weighted accumulation may be performed on the N first compensation sub-amounts. The weighted accumulation may include two cases. In one case, the weight is 1. In this case, the weighted accumulation process is actually a direct accumulation process. In other cases, the weight is not 1. In addition, the N first compensation sub-amounts may alternatively be accumulated to obtain an average value.

[0140] Based on the above technical solution, the N first echo parameters are determined based on the N first optical sub-signals received by the N sub-pixels, and the sub-pixels are very small. Therefore, even if the optical spot corresponding to the echo beam shifts, for the N sub-pixels, when N is sufficiently large, the distribution of the optical spot portions on the sub-pixels is approximately uniform. Therefore, regardless of whether the optical spot shifts, the distribution of the optical spot portions corresponding to the N sub-pixels remains uniform, and the N first compensation sub-quantities determined based on the N first echo parameters are accurate, and therefore the first compensation quantity is accurate. This improves the accuracy of error compensation.

[0141] In some possible embodiments, the first result value may be determined based on a second optical signal. The second optical signal is the original optical signal determined based on the echo beam, and the first result value may be the object distance or the energy value of the second optical signal used to calculate the object's reflectivity. However, the first result value is an uncompensated result value. Therefore, a first compensation amount may be determined according to the method provided in the previous embodiment, and the first result value is then compensated based on the first compensation amount to determine a first target parameter value. The first target parameter value corresponds to the first optical signal.

[0142] Based on the above technical solutions, the accuracy of the first target parameter value is improved.

[0143] In some possible embodiments, the first result value may be determined based on a first histogram corresponding to the second optical signal. The first histogram includes a change trend of the signal intensity of the second optical signal responded to by the first pixel over a plurality of unit time periods. Furthermore, based on the first histogram, the echo area, echo pulse width, and echo peak value of the second optical signal, as well as the rising edge gradient of the curve image in the first histogram, may be determined. The first histogram is shown in FIG. 5 below.

[0144] 5 is a diagram of a first histogram according to an embodiment of the present application. The horizontal coordinate of the first histogram is a number of unit time periods, and the vertical coordinate of the first histogram is the signal intensity of the second optical signal responded by the first pixel in the number of unit time periods. Therefore, the first histogram intuitively presents the change trend of the signal intensity of the second optical signal over time.

[0145] In some possible embodiments, the echo area is the integral value of the curve image in the first histogram, and the echo pulse width may be classified into a first pulse width and a second pulse width. The first pulse width, also called the full pulse width, is the difference between the horizontal coordinates of the start and end points of the curve image in the first histogram. The second pulse width is the pulse width corresponding to a specific percentage threshold, i.e., the pulse width extracted horizontally at a preset position of the curve image in the first histogram. The preset position may be an appropriate position, such as 1 / 2 (in this case, the second pulse width is also called the full-width-at-half-maximum pulse width) or 1 / 3 of the curve image. For example, when the preset position is 1 / 2 of the curve image, the vertical coordinate of the peak point of the curve image is y. In this case, the vertical coordinate of the two endpoints of the full-width-at-half-maximum pulse width is y / 2, the difference between the horizontal coordinates of the two endpoints is the full-width-at-half-maximum pulse width, and the echo peak value is the vertical coordinate of the peak point of the curve image in the first histogram. The signal intensity of the second optical signal may be represented based on any one of the echo area, the echo pulse width, and the echo peak value of the second optical signal.

[0146] In some possible embodiments, in order to more accurately determine the signal strength of the second optical signal, the background light value of the current environment needs to be further determined, and the error of the background light value relative to the signal strength of the second optical signal needs to be eliminated. Based on this technical solution, the accuracy of error compensation can be further improved.

[0147] In some possible embodiments, a first echo parameter may be determined based on a first subhistogram corresponding to a first optical subsignal. According to a method similar to that for determining the first histogram in the previous embodiment, the first subhistogram may be determined based on the first optical subsignal. The first subhistogram includes the change trend of the signal intensity of the first optical subsignal responded to by the subpixel over a plurality of unit time periods. Furthermore, the echo area, echo pulse width, and echo peak value of the first optical subsignal, as well as the rising edge gradient of the curve image of the corresponding first subhistogram, may also be determined based on the first subhistogram, all of which belong to the first echo parameter. The first subhistogram is shown in FIG. 6.

[0148] 6 is a diagram of a first sub-histogram according to an embodiment of the present application. The horizontal and vertical coordinates of the first sub-histogram have the same meaning as those of the first histogram. Similarly, the first sub-histogram represents the change trend of the signal intensity of the first optical sub-signal over time.

[0149] 6, it can be seen that the curve trend of the first sub-histogram basically coincides with the curve trend of the first histogram because the first optical sub-signal is part of the second optical signal. Therefore, the first echo parameter may alternatively be determined based on the first sub-histogram, and the first echo parameter may include at least one of the echo area, echo pulse width, and echo peak value of the first optical sub-signal. The meanings of the echo area, echo pulse width, echo peak value, etc. have been described in the corresponding embodiments above, and will not be described in detail again herein.

[0150] Based on the above technical solution, a first echo parameter representing the signal strength of the first optical sub-signal is calculated based on the first sub-histogram. This method is easy to implement and has high flexibility. Any of the echo area, echo pulse width, and echo peak value parameters can represent the signal strength of the first optical sub-signal.

[0151] In some possible embodiments, the first histogram may be extracted based on a first detection threshold, such that the first result value is calculated based on the portion of the image that exceeds the first detection threshold, the first detection threshold being a suitable preset value.

[0152] Correspondingly, the first sub-histogram may alternatively correspond to a second detection threshold, since the first sub-histogram is obtained by shrinking the first histogram by a corresponding proportion, and the second detection threshold is obtained by proportionally shrinking the first detection threshold. Alternatively, the start and end moments of the first histogram may be determined based on the first histogram and the first detection threshold, and the start and end moments also correspond to the start and end moments of the first sub-histogram. Thus, the first sub-histogram can be extracted without determining a second detection threshold.

[0153] Based on the above technical solution, only a portion of the histogram data that is larger than the detection threshold can be analyzed. In addition, provided that the threshold is set appropriately, the accuracy of the histogram analysis will not be affected. This helps to improve the efficiency of the histogram analysis.

[0154] In some possible embodiments, a corresponding first histogram may be further determined based on the N first sub-histograms. Figure 7 is a diagram of a method for determining a first histogram according to an embodiment of the present application.

[0155] A first pixel is used as an example. The first pixel is divided into four sub-pixels with the same geometric parameters. Correspondingly, each sub-pixel receives a first optical sub-signal and then detects the four first optical sub-signals to determine four first sub-histograms, namely, first sub-histogram 1, first sub-histogram 2, first sub-histogram 3, and first sub-histogram 4. The memory is configured to store parameters required to generate the first sub-histograms and to store data of the determined first sub-histograms. Next, the multiple first sub-histograms are accumulated through an accumulator to determine the first histogram.

[0156] In some possible embodiments, the process of determining the first sub-histogram may be completed in the detector or in the signal processing module, which is not limited to the embodiments of the present application.

[0157] For ease of understanding, the following describes in detail the detection method provided in the embodiments of the present application.

[0158] For example, the first result value is the object distance. The first result value may be determined in the following manner.

[0159] FIG. 8 is a schematic flowchart of a method for determining a first result value according to an embodiment of the present application.

[0160] S810: The moment at which the laser beam is radiated to the object is determined as a first moment.

[0161] S820: Determine a second moment based on the first histogram.

[0162] In some possible embodiments, the starting moment at which the second optical signal (i.e., the echo signal) is detected may be used as the second moment based on the first histogram, or the peak moment of the first histogram may be directly used as the second moment, or the second moment may be determined through CFD based on the first histogram, or the second moment may be determined according to a centroid algorithm based on the first histogram and the following equation (1): Equation (1) is used to calculate the echo time corresponding to the second optical signal. Specifically, equation (1) is as follows:

number

[0163] In this specification, t represents the echo time, a represents the start position of the first histogram, b represents the end position of the first histogram, bin represents the horizontal coordinate of each point in the first histogram, and A(bin) represents the vertical coordinate of each point in the first histogram.

[0164] S830: Determine a time of flight corresponding to the second optical signal based on the time difference between the second moment and the first moment.

[0165] S840: Determine a first result value based on the speed of light and the time of flight.

[0166] In some possible embodiments, the speed of light and the time of flight are multiplied and the product is divided by two to obtain the object distance, i.e., the first result value. However, in the process of changing the object distance, the signal intensity of the second optical signal also changes, and the corresponding light spot shifts and / or disperses accordingly. It can be understood that the first result value is inaccurate. Therefore, after the first result value is determined, a first compensation amount needs to be determined based on the first optical sub-signal corresponding to each sub-pixel. The first echo parameter of the first optical sub-signal includes the echo area of ​​the first optical sub-signal. The first compensation amount can be determined according to the following method:

[0167] In some possible embodiments, a first compensation table may be searched based on the echo areas of the N first optical sub-signals to determine N first compensation sub-quantities corresponding to the echo areas of the N first optical sub-signals. The N first compensation sub-quantities are distance compensation quantities obtained through calculation based on the N first optical sub-signals. From the corresponding descriptions of the foregoing embodiments, it can be understood that the first compensation table may be a table that is determined in advance through experiments and used to record the mapping relationship between the echo areas of different first optical sub-signals and the first compensation sub-quantities. Then, a weighted accumulation is performed on the N first compensation sub-quantities to determine the first compensation quantity.

[0168] For example, the first result value is the energy value of the second optical signal. The first result value may be determined in the following manner.

[0169] FIG. 9 is a schematic flowchart of another method for determining a first result value according to an embodiment of the present application.

[0170] S910: Determine an echo area and / or a peak value of the second optical signal based on the first histogram.

[0171] S920: Determine the signal intensity of the second optical signal based on the echo area and / or the peak value of the second optical signal.

[0172] S930: Determine a first result value based on the signal strength of the second optical signal.

[0173] In some possible embodiments, when the radar transmitter lens is deformed or the target distance changes, the corresponding light spot shifts and / or disperses accordingly. It may be understood that the first result value is inaccurate. Therefore, after the first result value is determined, a first compensation amount needs to be determined based on the first light sub-signal corresponding to each sub-pixel. The first echo parameter of the first light sub-signal includes the echo area of ​​the first light sub-signal. The first compensation amount may be determined according to the following method:

[0174] In some possible embodiments, a first compensation table may be searched based on the echo areas of the N first optical sub-signals to determine N first compensation sub-amounts corresponding to the echo areas of the N first optical sub-signals. The N first compensation sub-amounts are energy compensation amounts obtained through calculation based on the N first optical sub-signals. From the corresponding descriptions of the foregoing embodiments, it can be understood that the first compensation table may be a table that is determined in advance through experiments and used to record the mapping relationship between the echo areas of different first optical sub-signals and the first compensation sub-amounts. Then, the first compensation amounts are determined based on the N first compensation sub-amounts.

[0175] In practical application, when a first compensation sub-amount corresponding to a first echo parameter of a first optical sub-signal needs to be determined, it can be understood that a mapping relationship between the first echo parameter and the first compensation sub-amount needs to be recorded and a table mentioned in the above embodiment needs to be determined in advance. In this embodiment of the present application, the table is defined as a first compensation table.

[0176] FIG. 10 is a schematic flowchart of a method for determining a first compensation table according to an embodiment of the present application.

[0177] In some possible embodiments, the first compensation table may be determined in the following experimental manner.

[0178] S1010: Obtain a second target parameter value and a sub-pixel geometric parameter, where the second target parameter value is an accurate target parameter value.

[0179] In some possible embodiments, when the second target parameter value is an object distance, the object distance is a pre-measured accurate distance value, and when the second target parameter value is an energy value of the second optical signal reflected by the object, the energy value is a pre-measured accurate energy value.

[0180] In some possible embodiments, the geometric parameters of the sub-pixels are determined in the process of determining how to divide the first pixel. The geometric parameters of the sub-pixels may be stored in memory.

[0181] In some possible embodiments, the geometric parameters of the sub-pixel include the shape and / or area of ​​the sub-pixel.

[0182] In some possible embodiments, for sub-pixels with different geometric parameters, different first compensation tables need to be determined correspondingly.

[0183] S1020: Determine a first optical sub-signal acquired based on the sub-pixels.

[0184] It should be understood that the first optical sub-signal is a portion of the second optical signal that is reflected by the object after the laser beam is emitted onto the object.

[0185] S1030: Determine a second result value based on the first optical sub-signal, where the second result value is the result value that needs to be compensated.

[0186] It should be understood that when the second result value is an uncompensated object distance, it can be understood from the description of the corresponding embodiment above that the second result value can be obtained through a calculation based on the time of flight of the first optical sub-signal. When the second result value is an uncompensated energy value of the first optical sub-signal, it can be understood from the description of the corresponding embodiment above that the second result value can be obtained through a calculation based on the signal intensity of the first optical sub-signal.

[0187] S1040: Determine a first compensation sub-amount based on the second target parameter value and the second result value.

[0188] In some possible embodiments, when the first compensation subamount is a distance compensation subamount, the distance compensation subamount may be determined by calculating the difference between the second target parameter value and the second result value. When the first compensation subamount is an energy compensation subamount of the first optical sub-signal, the energy compensation subamount may be estimated based on the second target parameter value and the second result value.

[0189] S1050: In this case, record a first echo parameter corresponding to a first optical sub-signal, and determine a mapping relationship between the first echo parameter and a first compensation sub-amount.

[0190] S1060: Add a mapping relationship to the first compensation table corresponding to the geometric parameters of the sub-pixels.

[0191] In some possible embodiments, the second target parameter value is modified, the experiment is repeated in the aforementioned manner, and multiple determined mapping relationships are added to the first compensation table to continuously expand the first compensation table, thereby continuously improving the first compensation table.

[0192] Based on the above technical solution, corresponding first compensation tables are determined for subpixels with different geometric parameters through a preliminary experiment. In this way, when a first pixel is divided into multiple subpixels with the same geometric parameters, the distance compensation amount can be accurately compensated based on the first compensation tables determined through the above experiment. Even if the first pixel is divided into multiple subpixels with different geometric parameters, for example, two different geometric parameters, only two first compensation tables are required to accurately compensate the distance compensation amount. This solves the problem of difficulty in accurately performing error compensation in the prior art.

[0193] In some possible embodiments, after the first compensation table is determined, when the first result value is an object distance and the first compensation amount is a distance compensation amount correspondingly, the first compensation sub-amount may be searched in the following manner, and a compensated first result value is determined.

[0194] First, the geometric parameters of the sub-pixel are determined to select the corresponding first compensation table.

[0195] Next, the parameters of the first echo collected by the sub-pixel are determined.

[0196] Then, based on the first echo parameter, a first compensation table is searched for a corresponding first compensation sub-amount.

[0197] Finally, a first compensation amount is determined based on the plurality of first compensation sub-amounts, and a compensated object distance is obtained through calculation based on the first result value and the first compensation amount.

[0198] In some possible embodiments, when the first compensation amount is a distance compensation amount, the first compensation amount may be determined according to the following equation (2):

number

[0199] In this specification, Δ x is the first compensation amount, and in this embodiment, the first compensation amount is a distance compensation amount, N represents the number of sub-pixels into which the first pixel is divided, corresponding to N first sub-histograms, and area n represents the echo area of ​​the n-th first sub-histogram among the N first sub-histograms, and Δx n represents a first compensation sub-amount corresponding to the echo area of ​​the n-th first sub-histogram among the N first sub-histograms and obtained by searching the first compensation table. In this embodiment, the first compensation sub-amount is also referred to as a distance compensation sub-amount.

[0200] In some possible embodiments, the echo area of ​​the echo signal may be determined according to the following equation (3):

number

[0201] In this specification, area is the echo area of ​​the echo signal, and Δ t is the duration of the unit time period during which the first pixel responds to the echo signal, which may be the second optical signal or the first optical sub-signal.

[0202] In some possible embodiments, the object distance is determined based on the speed of light and the time of flight corresponding to the second optical signal. Therefore, the distance compensation amount may be a delay compensation amount. Correspondingly, the distance compensation sub-amount may alternatively be a delay compensation sub-amount. After the delay compensation amount is determined, the distance compensation amount may be determined by multiplying the delay compensation amount by the speed of light.

[0203] In some possible embodiments, the distance compensation amount may be calculated based on the echo areas of the N first optical sub-signals. Specifically, the above-mentioned formulas (1) to (3) are used. In addition, the distance compensation amount may alternatively be calculated based on the echo peak values, echo pulse widths, etc. of the N first optical sub-signals. The specifically used formulas may be different from the above-mentioned formulas (1) to (3), but the principle is the same. Details will not be described again in this specification.

[0204] In some possible embodiments, after the first compensation table is determined, when the first result value is the energy value of the second optical signal and the first compensation amount is the energy compensation amount correspondingly, the first compensation sub-amount may be searched in the following manner, and the compensated first result value is determined.

[0205] First, the object distance is determined.

[0206] In some possible embodiments, the object distance may be the object distance obtained after compensation has been performed according to the corresponding method provided in the previous embodiments.

[0207] Next, the geometric parameters of the sub-pixel are determined to select the corresponding first compensation table.

[0208] Next, the parameters of the first echo collected by the sub-pixel are determined.

[0209] Then, based on the first echo parameter, a first compensation table is searched for a corresponding first compensation sub-amount.

[0210] Finally, a first compensation amount is determined based on the plurality of first compensation sub-amounts. Because the first result value and the first compensation amount are energy values, after the first result value and the first compensation amount are determined, a compensated reflectance of the object needs to be further obtained through calculation with reference to the object distance.

[0211] In some possible embodiments, the mapping relationship between the echo area of ​​the first optical sub-signal and the distance compensation amount and the mapping relationship between the echo area of ​​the first optical sub-signal and the energy compensation amount may be recorded in different compensation tables, or may be recorded in one compensation table, for example, in the first compensation table, which is not limited to the embodiments of the present application.

[0212] When the first compensation amount is an energy compensation amount, the first compensation amount may be determined according to the following equation (4).

number

[0213] In this specification, peakest n represents the first compensation sub-amount corresponding to the echo area of ​​the nth first sub-histogram obtained by searching the first compensation table, in this embodiment, the first compensation sub-amount is also called the energy compensation sub-amount, and peakest represents the first compensation amount, in this embodiment, the first compensation amount is also called the energy compensation amount.

[0214] In some possible embodiments, the first compensation table may further include a mapping relationship between the echo pulse width or echo peak value of a different first optical sub-signal and the first compensation sub-quantity. The echo pulse width or echo peak value of the first optical sub-signal belongs to the first echo parameter. Based on this, the first compensation table may be further searched based on the echo pulse width or echo peak value of the first optical sub-signal to determine the first compensation sub-quantity. The experimental method for determining the mapping relationship between the echo pulse width or echo peak value of a different first optical sub-signal and the echo pulse width or echo peak value is the same as the experimental method in the corresponding embodiment described above, and the details will not be repeated herein.

[0215] Based on the above technical solution, when a first pixel is divided into multiple sub-pixels with the same geometric parameters, the distance compensation amount can be accurately calculated based on the first compensation table determined through the above experiment. Even if the first pixel is divided into multiple sub-pixels with different geometric parameters, for example, two different geometric parameters, only two first compensation tables are required to accurately calculate the distance compensation amount. This solves the problem of the difficulty in accurately performing error compensation in the prior art.

[0216] 11(a) to 11(d) are diagrams illustrating experimentally determined relationships between a first compensation sub-amount and a first echo parameter, according to an embodiment of the present application: FIG. 11(a) is a diagram illustrating the relationship between a distance compensation sub-amount corresponding to a first optical sub-signal and an echo area; FIG. 11(b) is a diagram illustrating the relationship between an energy compensation sub-amount corresponding to a first optical sub-signal and an echo area; FIG. 11(c) is a diagram illustrating the relationship between an energy compensation sub-amount corresponding to a first optical sub-signal and an echo pulse width; and FIG. 11(d) is a diagram illustrating the relationship between an energy compensation sub-amount corresponding to a first optical sub-signal and an echo peak value.

[0217] In some possible embodiments, the aforementioned operation of determining the first compensation sub-amount by searching the first compensation table is complex and requires high resource overhead. It can be seen from Figures 11(a) to 11(d) that there is a linear trend in the relationship between the first echo parameter and the first compensation sub-amount. Therefore, the mapping relationship recorded in the first compensation table can be fitted using a linear regression method to determine the first function. Once the first echo parameter of the first optical sub-signal is determined, the first echo parameter is input into the first function to determine the first compensation sub-amount.

[0218] Based on the above technical solutions, the efficiency of determining the first compensation sub-amount can be further improved, and the problems of low table lookup operation efficiency and high resource overhead can be effectively avoided.

[0219] 12 is a diagram of a detection system according to one embodiment of the present application. The system includes a controller, a modulator, a signal transmitter, a signal detector, and a signal processor.

[0220] The functions of the controller and the modulator are the same as those of the controller and the modulator in the embodiment corresponding to Fig. 1. For details, please refer to the corresponding contents of the previous embodiment. The details will not be described again in this specification.

[0221] In addition to the laser and the emitting optical lens, the signal transmitter further includes a scanning mirror. The scanning mirror is configured to reflect the laser beam emitted by the laser and scan the laser beam on the object, so that the echo beam reflected by the object can contain overall related information of the object, for example, the light spot imaged on the pixel array by the echo beam. According to the detection method provided in the above embodiment, a target parameter value such as the reflectivity of the object can be determined.

[0222] The signal detector includes a pixel array, and each pixel of the pixel array is divided into a plurality of sub-pixels based on the SPAD. For example, a first pixel may be divided into N sub-pixels.

[0223] In addition, the signal detector may perform signal preprocessing on the optical signal received by the pixel array. The first pixel is used as an example. After receiving the echo beam, the first pixel may determine a second optical signal, then generate a first histogram based on the second optical signal, perform a filtering process on the first histogram through a finite impulse response (FIR) filter, and perform echo detection on the second optical signal to obtain a first result value. For N sub-pixels, N first sub-histograms may be correspondingly generated based on the N first optical sub-signals received by the total N sub-pixels, and corresponding filtering processes are performed on the N first sub-histograms. In addition, echo detection is separately performed on the N first optical sub-signals to obtain N first echo parameters.

[0224] The signal processor may be configured to determine the N first compensation sub-amounts based on the first compensation table and the first echo parameters corresponding to the N sub-pixels, respectively. Alternatively, the N first echo parameters may be input separately to the first function to determine the N first compensation sub-amounts. In addition, an operation such as weighted accumulation may be performed on the N first compensation sub-amounts to determine the first compensation amount corresponding to the entire first pixel. Then, error compensation is performed on the first compensated amount based on the first compensation amount to determine the target result value.

[0225] In some possible embodiments, the signal detector and the signal processor may alternatively be integrated into one device, which is not limited to the embodiments of the present application.

[0226] Based on the aforementioned technical solution, a first pixel is divided into N subpixels. Because the subpixels are very small, the light spot distribution on each subpixel is uniform or nearly uniform. When the object distance or the object reflectivity is detected, the light spot distribution on each subpixel remains unchanged regardless of changes in factors such as the object distance, the laser temperature, and the detector temperature. This effectively avoids the problem of errors that cannot be accurately compensated for using a single compensation table due to changes in the light spot distribution. According to this method, when the geometric parameters of the N subpixels are the same, the first compensation amount can be determined based on a single compensation table. This improves the accuracy of error compensation and simplifies implementation.

[0227] In some possible embodiments, in order to prevent jitter in the optical signal from affecting object detection, in the process of detecting the object, the laser beam may be emitted to the object multiple times, and echo detection may be performed multiple times based on the reflected echo beam. In this way, multiple groups of first echo parameters are obtained. Then, the multiple groups of first echo parameters are accumulated to determine a group of second echo parameters, and then the detection parameters of the object may be obtained through calculation based on the second echo parameters.

[0228] In some possible embodiments, to prevent jitter in the optical signal from affecting object detection, in the process of detecting the object, a laser beam may be emitted to the object multiple times, and multiple first histograms may be determined multiple times based on the reflected echo beam. Then, the multiple first histograms may be superimposed to determine a second histogram, and corresponding parameters may then be determined based on the second histogram to obtain the detection parameters of the object through calculation. Similarly, to process the multiple determined first sub-histograms, the first sub-histograms may also be superimposed.

[0229] Based on the above technical solutions, the accuracy of detecting the object is further improved.

[0230] In addition, an embodiment of the present application further provides an apparatus configured to implement any one of the aforementioned methods. For example, a detection apparatus is provided. The apparatus includes a unit (or means) configured to implement any one of the aforementioned detection methods.

[0231] 13 is a block diagram of a detection device 1300 according to an embodiment of the present application. As shown in FIG. 13, the device 1300 includes: a receiving unit 1310 configured to receive an echo beam, the echo beam being emitted to a first pixel of a detector, the first pixel including N sub-pixels; a determining unit 1320 configured to determine N first optical sub-signals based on the N sub-pixels, where N is a positive integer; determine N first echo parameters based on the N first optical sub-signals, where the first echo parameters represent signal intensities of the first optical sub-signals; and determine a first optical signal based on the N first echo parameters, where the first optical signal corresponds to an echo beam; Includes.

[0232] In some possible embodiments, the determination unit 1320 is specifically configured to determine a first sub-histogram based on the first optical sub-signal, the first sub-histogram including a change trend of the signal intensity of the first optical sub-signal over a plurality of unit time periods, and to determine a first echo parameter based on the first sub-histogram.

[0233] In some possible embodiments, the determining unit 1320 is particularly configured to determine N first compensation sub-amounts based on the N first echo parameters, determine a first compensation amount based on the N first compensation sub-amounts, and the first compensation amount is used to determine a compensation amount of the first optical signal.

[0234] In some possible embodiments, the determining unit 1320 obtains a corresponding first compensation table through screening based on a geometric parameter of the subpixel, and searches the first compensation table based on the first echo parameter to determine a first compensation sub-amount corresponding to the first echo parameter, where the first compensation table is determined in advance through experiments, and the first compensation table is specifically configured to include a mapping relationship between the first echo parameter and the first compensation sub-amount.

[0235] In some possible embodiments, the geometric parameters of the sub-pixel include the shape and / or area of ​​the sub-pixel.

[0236] In some possible embodiments, the first echo parameters include at least one of an echo area, an echo peak value, and an echo pulse width of the first optical sub-signal, and a rising edge slope of the curve image of the first sub-histogram.

[0237] In some possible embodiments, the determination unit 1320 is further configured to determine a first result value based on a second optical signal, where the second optical signal is the original optical signal determined based on the echo beam, and compensate the first result value based on a first compensation amount to determine a first target parameter value, where the first target parameter value corresponds to the aforementioned first optical signal.

[0238] In some possible embodiments, the determining unit 1320 is specifically configured to determine a first histogram based on the second optical signal, the first histogram including a change trend of the signal intensity of the second optical signal over a plurality of unit time periods, and to determine a first result value based on the first histogram.

[0239] In some possible embodiments, when the first result value is a distance from the object, the determining unit 1320 is particularly configured to determine a moment at which the laser beam is radiated to the object as the first moment, determine a second moment based on the first histogram, determine a time of flight corresponding to the second optical signal based on the time difference between the second moment and the first moment, and determine the first result value based on the speed of light and the time of flight.

[0240] In some possible embodiments, the determining unit 1320 is particularly configured to determine a start moment at which the second optical signal is detected as the second moment based on the first histogram, or use a peak moment of the first histogram as the second moment based on the first histogram, or determine the second moment based on the first histogram through constant fraction timing CFD, or determine an echo time corresponding to the second optical signal based on the first histogram, and then determine the second moment based on the echo time of the second optical signal according to a centroid algorithm.

[0241] In some possible embodiments, when the first result value is an energy value of the second optical signal, the determining unit 1320 is particularly configured to determine an echo area and / or an echo peak value of the second optical signal based on the first histogram, determine a signal intensity of the second optical signal based on the echo area and / or the echo peak value of the second optical signal, and determine the first result value based on the signal intensity of the second optical signal.

[0242] In some possible embodiments, before the determining unit determines the first compensation amount based on the N first echo parameters, the determining unit 1320 is further configured to determine a first compensation table, including: obtaining a second target parameter value and a geometric parameter of the subpixel, the second target parameter value being an accurate target parameter value; determining a first light subsignal obtained based on the subpixel; determining a second result value based on the first echo parameter corresponding to the first light subsignal, the second result value being a result value that needs to be compensated; determining the first compensation subamount based on the second result value and the second target parameter value; recording the first echo parameter corresponding to the first light subsignal; determining a mapping relationship between the first echo parameter and the first compensation subamount; and adding the mapping relationship to the first compensation table corresponding to the geometric parameter of the subpixel.

[0243] In some possible embodiments, the N sub-pixels are obtained through single photon avalanche diode SPAD-based division of the pixel array.

[0244] In some possible embodiments, the echo beam is emitted onto the pixel array to form a light spot, with a portion of the light spot on each sub-pixel being uniformly distributed.

[0245] In addition, an embodiment of the present application further provides a vehicle, the vehicle including the above-mentioned device 1300.

[0246] Those skilled in the art may recognize that, in combination with the examples described in the embodiments disclosed herein, the units and algorithm steps may be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0247] For the sake of convenience and conciseness, it can be clearly understood by those skilled in the art that the detailed working processes of the aforementioned systems, devices and units should refer to the corresponding processes of the aforementioned method embodiments, and the details will not be described again in this specification.

[0248] It should be understood that in some embodiments provided in this application, the disclosed systems, devices, and methods may be implemented in other manners. For example, the described device embodiments are merely examples. For example, the division into units is merely a logical division of function, and other divisions may be used in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the shown or described mutual couplings or direct couplings or communication connections may be implemented via some interfaces. Indirect couplings or communication connections between devices or units may be implemented in electronic, mechanical, or other forms.

[0249] The units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units, and may be located in one place or distributed over multiple network units. Some or all of the units may be selected according to actual requirements to achieve the objectives of the solutions of the embodiments.

[0250] In addition, the functional units in the embodiments of the present application may be integrated into one processing unit, or each of the units may exist physically alone, or two or more units may be integrated into one unit.

[0251] When a function is implemented in the form of a software functional unit and sold or used as an independent product, the function may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may essentially, or a portion contributing to the prior art, or some of the technical solutions may be embodied in the form of a software product. The software product is stored in a storage medium and includes some instructions for instructing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or some of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes any medium capable of storing program code, such as a USB flash drive, a removable hard disk drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, etc.

[0252] The above description is merely a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. Any variations or replacements that can be easily conceived by those skilled in the art within the technical scope disclosed in the present application shall fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be governed by the scope of protection of the claims. [Explanation of symbols]

[0253] 1300 Detector 1310 receiving unit 1320 Decision Unit

Claims

1. 1. A detection method applied to a detector, said method comprising: receiving an echo beam, the echo beam being emitted onto a first pixel of the detector, the first pixel comprising N sub-pixels; determining N first optical sub-signals based on the N sub-pixels, where N is a positive integer; determining N first echo parameters based on the N first optical sub-signals, the first echo parameters representing signal intensities of the first optical sub-signals; determining a first optical signal based on the N first echo parameters, the first optical signal corresponding to the echo beam; A method comprising:

2. determining N first echo parameters based on the N first optical sub-signals; determining a first sub-histogram based on the first optical sub-signal, the first sub-histogram comprising a change trend of the signal intensity of the first optical sub-signal over a plurality of unit time periods; determining the first echo parameter based on the first sub-histogram; The method of claim 1 , comprising:

3. determining a first optical signal based on the N first echo parameters; determining N first compensation sub-amounts based on the N first echo parameters; determining a first compensation amount based on the N first compensation sub-amounts, wherein the first compensation amount is used to determine a compensation amount for the first optical signal; The method of claim 1 or 2, comprising:

4. determining N first compensation sub-amounts based on the N first echo parameters; obtaining a corresponding first compensation table through screening based on the geometric parameters of the sub-pixels; searching the first compensation table based on the first echo parameter to determine a first compensation sub-amount corresponding to the first echo parameter, the first compensation table being determined in advance through experiments, and the first compensation table having a mapping relationship between the first echo parameter and the first compensation sub-amount; The method of claim 3, comprising:

5. The method of claim 4 , wherein the geometric parameters of the sub-pixels comprise the shape and / or area of ​​the sub-pixels.

6. 6. The method of claim 1, wherein the first echo parameter comprises at least one of an echo area, an echo peak value, and an echo pulse width of the first optical sub-signal, and a rising edge gradient of a curve image of the first sub-histogram.

7. The method comprises: determining a first result value based on a second optical signal, the second optical signal being the original optical signal determined based on the echo beam; compensating the first result value based on the first compensation amount to determine a first target parameter value, the first target parameter value corresponding to the first optical signal; 7. The method of claim 1, further comprising:

8. determining a first result value based on the second optical signal; determining a first histogram based on the second optical signal, the first histogram comprising a change trend of signal strength of the second optical signal over a plurality of unit time periods; determining the first result value based on the first histogram; The method of claim 7, comprising:

9. When the first result value is a distance from the object, the step of determining the first result value based on the first histogram comprises: determining a moment at which the laser beam is emitted to the object as a first moment; determining a second moment based on the first histogram; determining a time of flight corresponding to the second optical signal based on a time difference between the second moment and the first moment; determining the first result value based on the speed of light and the time of flight; The method of claim 8, comprising:

10. determining a second moment based on the first histogram; determining a starting moment at which the second optical signal is detected as the second moment based on the first histogram; or using the peak moment of the first histogram as the second moment based on the first histogram; or determining the second moment based on the first histogram through a constant fraction timing CFD; or determining an echo time corresponding to the second optical signal based on the first histogram, and then determining the second moment based on the echo time corresponding to the second optical signal according to a centroid algorithm. The method of claim 9, comprising:

11. When the first result value is an energy value of the second optical signal, the step of determining the first result value based on the first histogram includes: determining an echo area and / or an echo peak value of the second optical signal based on the first histogram; determining the signal intensity of the second optical signal based on the echo area and / or the echo peak value of the second optical signal; determining the first result value based on the signal strength of the second optical signal; The method of claim 8, comprising:

12. Prior to the step of determining a first compensation amount based on the N first echo parameters, the method further comprises: obtaining a second target parameter value and the geometric parameter of the sub-pixel, the second target parameter value being a precise target parameter value; determining the first optical sub-signal obtained based on the sub-pixels; determining a second result value based on the first echo parameter corresponding to the first optical sub-signal, the second result value being a result value that needs to be compensated; determining the first compensation sub-amount based on the second result value and the second target parameter value; recording the first echo parameter corresponding to the first optical sub-signal to determine the mapping relationship between the first echo parameter and the first compensation sub-amount; adding the mapping relationship to the first compensation table corresponding to the geometric parameter of the sub-pixel; determining the first compensation table, Further provided with 12. The method according to any one of claims 1 to 11.

13. 13. The method according to claim 1, wherein the N sub-pixels are obtained through single-photon avalanche diode SPAD-based division of a pixel array.

14. 14. The method according to claim 1, wherein the echo beam is emitted onto the pixel array to form a light spot, and a portion of the light spot on each sub-pixel is uniformly distributed.

15. 1. A detection device for use in a detector, said device comprising: a receiving unit configured to receive an echo beam, the echo beam being emitted onto a first pixel of the detector, the first pixel comprising N sub-pixels; a determining unit configured to determine N first optical sub-signals based on the N sub-pixels, where N is a positive integer; determine N first echo parameters based on the N first optical sub-signals, where the first echo parameters represent signal intensities of the first optical sub-signals; and determine a first optical signal based on the N first echo parameters, where the first optical signal corresponds to the echo beam; An apparatus comprising:

16. The decision unit: determining a first sub-histogram based on the first optical sub-signal, the first sub-histogram comprising a change trend of the signal intensity of the first optical sub-signal over a plurality of unit time periods; determining the first echo parameter based on the first sub-histogram; 16. The device according to claim 15, specifically adapted to:

17. The decision unit: determining N first echo parameters based on the N first optical sub-signals, wherein the first echo parameters represent the signal intensities of the first optical sub-signals; determining N first compensation sub-amounts based on the N first echo parameters; determining a first compensation amount based on the N first compensation sub-amounts, wherein the first compensation amounts are used to determine a compensation amount for the first optical signal; 17. Apparatus according to claim 15 or 16, specifically adapted to:

18. The decision unit: Obtaining a corresponding first compensation table through screening according to the geometric parameters of the sub-pixels; searching the first compensation table based on the first echo parameter to determine a first compensation sub-amount corresponding to the first echo parameter, the first compensation table being determined in advance through an experiment, and the first compensation table having a mapping relationship between the first echo parameter and the first compensation sub-amount; 18. The device according to claim 17, specifically adapted to:

19. 20. The apparatus of claim 18, wherein the geometric parameters of the sub-pixels comprise a shape and / or an area of ​​the sub-pixels.

20. 20. The apparatus of claim 15, wherein the first echo parameter comprises at least one of an echo area, an echo peak value, and an echo pulse width of the first optical sub-signal, and a rising edge gradient of a curve image of the first sub-histogram.

21. The decision unit: determining a first result value based on the second optical signal, the second optical signal being the original optical signal determined based on the echo beam; compensate the first result value based on the first compensation amount to determine a first target parameter value, the first target parameter value corresponding to the first optical signal; 21. The apparatus of claim 15, further configured to:

22. The decision unit: determining a first histogram based on the second optical signal, the first histogram comprising a change trend of the signal intensity of the second optical signal over a plurality of unit time periods; determining the first result value based on the first histogram; 22. The device of claim 21, specifically configured to:

23. When the first result value is a distance from the object, the determining unit: determining a first moment at which the laser beam is radiated onto the object; determining a second moment based on the first histogram; determining a time of flight corresponding to the second optical signal based on a time difference between the second moment and the first moment; determining the first result value based on the speed of light and the time of flight; 23. The device of claim 22, specifically configured to:

24. The decision unit: determining a starting moment at which the second optical signal is detected as the second moment based on the first histogram; or using the peak moment of the first histogram as the second moment based on the first histogram; or determining the second moment based on the first histogram through a constant fraction timing CFD; or determining an echo time corresponding to the second optical signal based on the first histogram, and then determining the second moment based on the echo time corresponding to the second optical signal according to a centroid algorithm; 24. The device of claim 23, specifically configured to:

25. When the first result value is an energy value of the second optical signal, the determining unit: determining an echo area and / or an echo peak value of the second optical signal based on the first histogram; determining the signal intensity of the second optical signal based on the echo area and / or the echo peak value of the second optical signal; determining the first result value based on the signal strength of the second optical signal; 23. The device of claim 22, specifically configured to:

26. Before the determining unit determines the first compensation amount based on the N first echo parameters, the determining unit: obtaining a second target parameter value and the geometric parameter of the sub-pixel, the second target parameter value being a precise target parameter value; determining the first optical sub-signal obtained based on the sub-pixels; determining a second result value based on the first echo parameter corresponding to the first optical sub-signal, the second result value being a result value that needs to be compensated; determining the first compensation sub-amount based on the second result value and the second target parameter value; recording the first echo parameter corresponding to the first optical sub-signal to determine the mapping relationship between the first echo parameter and the first compensation sub-amount; adding the mapping relationship to the first compensation table corresponding to the geometric parameter of the sub-pixel; determining the first compensation table further configured as follows:

26. Apparatus according to any one of claims 15 to 25.

27. 27. The device of claim 15, wherein the N sub-pixels are obtained through single-photon avalanche diode SPAD-based division of a pixel array.

28. 28. The apparatus of claim 15, wherein the echo beam is emitted onto the pixel array to form a light spot, and a portion of the light spot on each sub-pixel is uniformly distributed.

29. 15. A detection device comprising a processor and a memory, the processor connected to the memory, the memory configured to store program code, and the processor configured to call the program code to perform the method of any one of claims 1 to 14.

30. A chip system for use in an electronic device, the chip system comprising one or more interface circuits and one or more processors, the interface circuits and the processors being interconnected through lines, the interface circuits receiving signals from a memory of the electronic device and transmitting the signals to the processor, the signals comprising computer instructions stored in the memory, and execution of the computer instructions by the processor causing the electronic device to perform the method of any one of claims 1 to 14. The chip system is configured as follows.

31. 15. A computer-readable storage medium storing a computer program, the computer program being executed by a processor to implement the method of any one of claims 1 to 14.

32. A computer program product, wherein said computer program code or instructions, when executed on a computer, enable said computer to carry out the method according to any one of claims 1 to 14.

33. A vehicle comprising the device according to any one of claims 15 to 29.

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