Control method and apparatus, LiDAR, and terminal device

Abstract

A control method and apparatus, LiDAR, and terminal device are provided for improving the accuracy of pulse detection in a pulse control field. The method includes controlling a transmission module to transmit a first pulse train and a second pulse train, where the first pulse train includes at least two first type pulses and at least one second type pulse, and the second pulse train includes at least one first type pulse and / or at least one second type pulse, and the power of the first type pulse is greater than the power of the second type pulse. The high-power first type pulse is used to detect a far-field target, and the low-power second type pulse is used to detect a near-field target, so that the accuracy of detecting the far-field target and the near-field target can be effectively improved, and the point cloud quality of the LiDAR can be improved. In addition, at least two first type pulses are transmitted in the first pulse train, so that the far-field target can be detected by using at least two first type pulses, thereby further improving the detection effect of the far-field target and the quality of the far-field point cloud.

Description

[Technical Field]

[0001] The present application relates to the field of sensing technology, in particular to the field of pulse control, and provides a control method and apparatus, a LiDAR, and a terminal device. [Background technology]

[0002] LiDAR (Optical Detection and Ranging) is an optical measurement device. LiDAR works by transmitting a laser signal to an object, receiving a target echo signal reflected by the object, and then comparing the target echo signal with the laser signal to obtain relevant parameters such as the object's distance and speed. LiDAR can accurately scan surrounding objects to form high-resolution images that help quickly identify surrounding objects and make decisions about them, and is widely used in scenarios such as intelligent vehicles, smart transportation, three-dimensional city mapping, and air quality monitoring.

[0003] LiDAR needs to effectively detect all targets in its field of view, including far-field and near-field targets. However, to detect far-field targets, LiDAR usually uses high-power transmission pulses. The high power of the transmission pulses causes strong stray signals in the system and strong echo signals of near-field targets. These signals are likely to exceed the reception range of the LiDAR, which does not lead to improved detection accuracy. Therefore, a control method for improving detection accuracy is currently needed. Summary of the Invention

[0004] The present application provides a control method and apparatus, a LiDAR, and a terminal device for improving detection accuracy.

[0005] According to a first aspect, the present application provides a control method, which is applicable to a control device, and includes: controlling a transmitting module to transmit a first pulse train, the first pulse train including M1 first-type pulses and M2 second-type pulses; and controlling the transmitting module to transmit a second pulse train, the second pulse train including M3 first-type pulses and / or M4 second-type pulses, where the power of the first-type pulses is greater than the power of the second-type pulses, M1 is an integer greater than 1, and M2, M3, and M4 are positive integers. The second pulse train and the first pulse train have different transmission time periods, correspond to different transmitting sub-modules, correspond to different pixels in a detection field of view, correspond to different detection fields of view, or correspond to different receiving sub-modules. According to this design, the high-power first-type pulses in the first pulse train may be used to detect far-field targets, and the low-power second-type pulses may be used to detect near-field targets. The far-field target and the near-field target are detected by using the respective coincident pulses, thereby effectively improving the accuracy of detecting the far-field target and the near-field target, thereby improving the quality of the LiDAR point cloud. In addition, at least two first-type pulses are transmitted in the first pulse train. In one embodiment, the far-field target is detected by using at least two high-power pulses, thereby further improving the detection effect of the far-field target and further improving the quality of the far-field point cloud. In another embodiment, the amount of first-type pulses can be increased, and the amount of time interval included in the first pulse train can be correspondingly increased, so that more accurate pulse position modulation is performed on the at least two first-type pulses based on the increased time interval, thereby effectively improving the anti-interference performance of the first pulse train.In yet another aspect, the problem of distance ambiguity due to a detected target exceeding the ranging range of one detection cycle can be further solved through joint ranging of multiple first-type pulses. In addition, test pulses do not need to be pre-transmitted before the first and second pulse trains are transmitted, thereby improving transmit pulse utilization.

[0006] In a possible design, the first pulse train and the second pulse train may correspond to the same point cloud. In other words, the control device may generate a point cloud based on at least the first pulse train and the second pulse train to obtain more comprehensive information by using the detection results of multiple pulse trains, thereby improving the point cloud construction quality.

[0007] In a possible design, the first pulse train and the second pulse train may correspond to different point clouds. In other words, the control device may separately generate point clouds corresponding to the first pulse train and the second pulse train based on the first pulse train and the second pulse train, thereby improving point cloud construction efficiency.

[0008] In one possible design, the first pulse train belongs to a first pulse train set and a second pulse train set, each of the pulse trains in the first pulse train set includes a first-type pulse, and each of the pulse trains in the second pulse train set includes a second-type pulse, and a time interval between first-type pulses corresponding to any two pulse trains in the first pulse train set may be determined based on a far-field angular resolution, and a time interval between second-type pulses corresponding to any two pulse trains in the second pulse train set may be determined based on a near-field angular resolution.

[0009] For example, in the above design, the time interval of the first-type pulses corresponding to any two pulse trains may be the time interval between the central transmission instants of all the first-type pulses included in any two pulse trains, and the time interval of the second-type pulses corresponding to any two pulse trains may be the time interval between the central transmission instants of all the second-type pulses included in any two pulse trains. For example, assume that there are pulse trains 1 and 2, pulse train 1 includes first-type pulse 1 and first-type pulse 2, the transmission instant of first-type pulse 1 is 5 ns, the transmission instant of first-type pulse 2 is 10 ns, pulse train 2 includes first-type pulse 3, first-type pulse 4, and first-type pulse 5, the transmission instant of first-type pulse 3 is 20 ns, the transmission instant of first-type pulse 4 is 22 ns, and the transmission instant of first-type pulse 5 is 26 ns. In this case, the central transmission instants of the two first-type pulses in pulse train 1 are 7.5 ns, the central transmission instants of the three first-type pulses in pulse train 2 are 23 ns, and the time interval between the first-type pulses corresponding to pulse train 1 and pulse train 2 can be determined to be 23 ns minus 7.5 ns, i.e., 15.5 ns.

[0010] In another example, when the pulses and pulse arrangements included in any two pulse trains in the first pulse train set are the same, the time interval between first-type pulses corresponding to any two pulse trains can alternatively be the time interval between the transmission instants of the I1 first-type pulses in any two pulse trains, and the time interval between second-type pulses corresponding to any two pulse trains can alternatively be the time interval between the transmission instants of the I2 second-type pulses in any two pulse trains, where I1 and I2 are any positive integers less than or equal to the amount of pulses included in any pulse train.

[0011] In the above design, the far-field angular resolution refers to the angular resolution used to detect far-field targets, and the near-field angular resolution refers to the angular resolution used to detect near-field targets. The far-field angular resolution and the near-field angular resolution can be found in the LiDAR's product manual or instruction manual. In some cases, the two angular resolutions are limited by fixed values, and in other cases, the two angular resolutions are each limited by a supported range. When the supported range is used for limitation, the ranges of the far-field angular resolution and the near-field angular resolution may or may not overlap. If the resolution is not specified in the product manual or instruction manual, optionally, the far-field angular resolution and the near-field angular resolution may be the same by default. In this design, the time interval between high-power first-type pulses is limited by using the far-field angular resolution for far-field target detection, thereby satisfying both the remote measurement requirement and the far-field angular resolution requirement. The time interval between the low-power second-type pulses is limited by the near-field angular resolution for near-field target detection, so that the time interval between the low-power second-type pulses satisfies both the dynamic optimization requirement and the near-field angular resolution requirement, which helps the transmitted pulse train meet the actual product requirements of the LiDAR.

[0012] In one possible design, the first pulse train belongs to a third pulse train set, and each pulse train in the third pulse train set includes a first-type pulse and a second-type pulse. When the ratio of the far-field angular resolution to the near-field angular resolution is an integer, the time interval offsets of the first-type pulses and the second-type pulses corresponding to any two pulse trains in the third pulse train set are the same. When the ratio of the far-field angular resolution to the near-field angular resolution is not an integer, the time interval offsets of the first-type pulses and the second-type pulses corresponding to at least two pulse trains in the third pulse train set are different. The time interval offset of the first-type pulses and the second-type pulses corresponding to two pulse trains is the difference between the time interval between the transmission instants of the first-type pulses and the second-type pulses in one pulse train and the transmission instants of the first-type pulses and the second-type pulses in the other pulse train. In a possible example, the transmission instant of a first-type pulse in any pulse train may be the central transmission instant of all first-type pulses in the pulse train, and the transmission instant of a second-type pulse in any pulse train may be the central transmission instant of all second-type pulses in the pulse train. For the calculation method of the central transmission instants, see the above design. In another possible design, when any two pulse trains have the same pulses and pulse arrangements, the transmission instant of a first-type pulse in any pulse train may be the transmission instant of the first first-type pulse in the pulse train, and the transmission instant of a second-type pulse in any pulse train may be the transmission instant of the first second-type pulse in the pulse train; or the transmission instant of a first-type pulse in any pulse train may be the transmission instant of the last first-type pulse in the pulse train, and the transmission instant of a second-type pulse in any pulse train may be the transmission instant of the last second-type pulse in the pulse train. This is not particularly limited.

[0013] For example, in the above design, the “same time interval offset” refers to the sameness in an ideal state. This sameness may further include the sameness with a certain deviation due to environmental or other factors. In other words, as long as the value of the time interval offset falls within a range between a positive deviation and a negative deviation, the time interval offset is considered to be the same in this embodiment of the present application. Correspondingly, the “different time interval offset” refers to a difference in an ideal state. This difference may allow for a certain deviation caused by environmental or other factors. In other words, in this embodiment of the present application, the time interval offset is considered to be different only when the value of the time interval offset falls outside the range between a positive deviation and a negative deviation. In the above design, the time interval offset between the first type pulse and the second type pulse is determined with respect to the ratio of the far-field angular resolution to the near-field angular resolution. Therefore, the relative position of each pulse in the pulse train can be accurately configured based on the actual requirements of the angular resolution. Therefore, each pulse is transmitted based on the detection requirements in each detection cycle, thereby improving the detection effect.

[0014] In the above design, for any one of the first, second, and third pulse train sets, two adjacent pulse trains in a pulse train set may or may not be adjacent if their positions are not irregular. For example, assume that pulse train 1, pulse train 2, pulse train 3, and pulse train 4 are arranged consecutively, where pulse train 1 includes first-type pulses but not second-type pulses, pulse train 2 includes second-type pulses but not first-type pulses, and pulse trains 3 and 4 include first-type and second-type pulses, respectively. In this case, the first pulse train set includes pulse train 1, pulse train 3, and pulse train 4, the second pulse train set includes pulse train 2, pulse train 3, and pulse train 4, and the third pulse train set includes pulse train 3 and pulse train 4. Based on this, pulse train 1 and pulse train 3 are adjacent pulse trains in the first pulse train set. However, when the positions are not random, pulse trains 1 and 3 are non-adjacent pulse trains because they are separated by pulse train 2. Pulse trains 3 and 4 are adjacent pulse trains in the first pulse train set and are also adjacent pulse trains when the positions are not random.

[0015] In a possible design, for the first pulse train, the M first-type pulses include M first pulses with the same power, and the M second-type pulses include K types of second pulses, where the powers of the K types of second pulses are different and the sum of the amounts of the K types of second pulses is M, where K is a positive integer. In this design, the M first pulses with the same power may be used to detect far-field targets to meet the remote measurement requirements of the LiDAR, and the K types of second pulses may be used to detect near-field targets to increase the energy echo range of near-field targets that can be identified by the LiDAR and meet the dynamic optimization requirements of the LiDAR. It can be seen that the first pulse train in this design can meet both the remote measurement requirements and the dynamic optimization requirements of the LiDAR.

[0016] In a possible design, M1 first-type pulses and M2 second-type pulses may be transmitted in multiple detection cycles, and the pulse train transmitted in each detection cycle includes one or more of the first pulses and / or K types of second pulses. One transmission and one reception is referred to as one detection cycle. The duration of each detection cycle in one pulse train may be equal to, for example, 500 ns, or at least two detection cycles may correspond to different durations, for example, the durations of all detection cycles are 500 ns, 1000 ns, 1500 ns, ..., etc. Preferably, the duration of each detection cycle may be set based on the amount, power, etc. of pulses transmitted in the detection cycle. When the power of the transmitted pulses is smaller or the amount of transmitted pulses is smaller, the duration of the detection cycle may also be set to be smaller. In this way, the duration of each detection cycle is controlled so that the total time for transmitting the pulse train can be effectively reduced. In the above design, the controller may comprehensively determine the point cloud by using multiple detection results received in multiple detection cycles, thereby helping to improve the point cloud quality.

[0017] In one possible design, the quantity and type of pulses included in the pulse trains transmitted during any two detection cycles may be the same. In this way, the complexity of controlling pulse transmission may be reduced. In another possible design, the quantity and / or type of pulses included in the pulse trains transmitted during any two detection cycles may be different. In this way, the flexibility of transmitting pulses in each detection cycle may be improved.

[0018] In a possible design, the pulse train transmitted within a detection cycle includes a first pulse and one or more of K types of second pulses, and the time interval between the first pulse and the adjacent second pulse is equal to or greater than the time interval corresponding to the detection blind area of ​​the first pulse, i.e., the time interval between the first pulse and the adjacent second pulse is equal to or greater than the duration from sending the first pulse to receiving the echo signal corresponding to the first pulse. Furthermore, for example, the time interval may be set to the sum of the duration from the moment the first pulse is sent to the moment the echo signal of the first pulse is received and a random jamming duration. The random jamming duration refers to an additional jamming duration caused by uncontrollable factors such as hardware (which may be obtained through experimental verification) or a jamming duration set for a purpose (e.g., adding jamming to improve anti-interference performance). When the first pulse corresponds to one echo signal, the elapsed duration is the duration from sending the first pulse to receiving the echo signal. When the first pulse corresponds to multiple echo signals, the elapsed time is the time from sending the first pulse to receiving the first echo signal among the multiple echo signals. Generally, the duration of the echo signal corresponding to the first type pulse, or the first echo signal, whose pulse width is within 10 ns, is generally between 1 ns and 50 ns. In this design, after controlling the transmitting module to send the first pulse, the control device sends a second pulse after receiving the echo signal corresponding to the first pulse. This effectively prevents the first pulse or the echo signal of the first pulse from affecting the detection process of the second pulse, improving interference prevention between far-field detection and near-field detection.

[0019] In a possible design, any two adjacent pulses other than the first pulse and the adjacent second pulse, such as any two adjacent second pulses in a detection cycle, any two adjacent first pulses in a detection cycle, any two adjacent second pulses in a pulse train, or the time interval between any two adjacent first pulses in a pulse train, the time interval between the start of any pulse train and a first-type pulse in the pulse train, or the time interval between the start of any detection cycle in any pulse train and a first-type pulse in the pulse train, can be obtained through coding. Coding refers to generating random numbers within a numerical range by using a method for generating random numbers as time intervals. For example, when the pulse train is a first pulse train, the time interval between the start of the first pulse train and a first-type pulse in the first pulse train and the time interval between any two adjacent second pulses in the first pulse train can be set to random numbers generated through different coding to improve the anti-interference performance of the first pulse train.

[0020] In a possible design, after sending the first pulse train, the control device may further control the receiving module to receive the first echo signal, and then control the transmitting module to transmit a third pulse train, the third pulse train being different from the first pulse train.

[0021] In this design, after the point cloud corresponding to the first echo signal is determined to be abnormal, the transmitting module may be controlled to transmit a third pulse train. An abnormality in the point cloud corresponding to the first echo signal means that a pixel or field of view on the point cloud corresponding to the first echo signal is displayed as an abnormal state, for example, as an interference point, a noise point, or an empty point, or the distance, intensity, or reflectivity reported by the pixel or field of view is inaccurate through subsequent measurements. In this design, when the point cloud of the first echo signal corresponding to the first pulse train is abnormal, the control device may further adjust the subsequently transmitted pulse train so that the subsequently transmitted pulse train can generate a normal point cloud, thereby improving detection accuracy.

[0022] In a possible design, when the pulses included in the first pulse train are transmitted in multiple detection cycles, the control device can receive sub-echo signals in the multiple detection cycles, and then accumulate successfully detected pulses in the sub-echo signals in the multiple detection cycles to obtain the first echo signal. In this way, the first echo signal is obtained through accumulation, and therefore, all information about the echo signals in all detection cycles of the first pulse train is comprehensively used for subsequent analysis, thereby avoiding multiple analysis by using a small amount of one-sided information, and can help improve the efficiency of the subsequent analysis.

[0023] In a possible design, the third pulse train may include M5 first-type pulses, where M5 is greater than M1. In this way, as the number of pulses included in the pulse train increases, the amount of time interval between pulses included in the pulse train also increases accordingly. Because the time interval between pulses is related to the random number generated by coding, it is equivalent to increasing the amount of time interval included in the pulse train and the value of which is obtained by using the random number, which helps improve the anti-interference performance of the third pulse train. The third pulse train may be generated by increasing the number of detection cycles based on the first pulse train and / or increasing the number of first-type pulses in one or more detection cycles. The newly added detection cycles may be maintained consistent with the detection cycles in the first pulse train, and the interval between the newly added first-type pulse and another pulse may be constrained by certain interference.

[0024] For example, in the above design, upon determining that no valid signal is present in the echo signal corresponding to the first pulse train, the controller may transmit a third pulse train having a greater amount of first-type pulses than the amount of first-type pulses in the first pulse train.

[0025] In a possible design, the time interval between the first-type pulse transmitted in each of the detection cycles in the third pulse train and the start moment of each of the detection cycles may be different from the time interval between the first-type pulse transmitted in each of the detection cycles in the first pulse train and the start moment of each of the detection cycles, and / or the time interval between the first-type pulse and an adjacent second-type pulse transmitted in each of the detection cycles in the third pulse train may be different from the time interval between the first-type pulse and an adjacent second-type pulse transmitted in each of the detection cycles in the first pulse train.

[0026] For example, in the above design, when it determines that there are multiple valid signals in the first echo signal, the control device may transmit a third pulse train, in which the time interval between the start instant of the detection cycle and the first-type pulse is different from that of the first pulse train, so that the anti-interference property between the third pulse train and adjacent pulse trains of the third pulse train is increased by refreshing the time interval of the third pulse train.

[0027] In a possible design, when the control device determines that the point cloud corresponding to the first echo signal is normal, the control device may transmit a third pulse train that is the same as the first pulse train to continue performing detection by using the first pulse train, which has relatively good intra-sequence anti-interference capabilities and relatively good inter-sequence anti-interference capabilities. The normality of the point cloud corresponding to the first echo signal may also be understood as the presence of a single valid signal in the first echo signal.

[0028] In a possible design, after the first pulse train is sent, the received first echo signal may include sub-echo signals corresponding to the first pulse train and may further include sub-echo signals corresponding to the interference pulses. Therefore, the control device may perform the following analysis on each of the sub-echo signals in the first echo signal to determine whether the point cloud corresponding to the first echo signal is anomalous:

[0029] Comparing time intervals in pulse trains: The control device may compare the time interval between any two adjacent pulses in any detection cycle in the first pulse train with the time interval between any two adjacent pulses in each of the sub-echo signals. If the comparison is successful, it indicates that the sub-echo signal can perfectly match the first pulse train, and further indicates that the sub-echo signal is a sub-echo signal corresponding to the first pulse train and that the point cloud corresponding to the sub-echo signal is normal. If the comparison is unsuccessful, it indicates that the sub-echo signal cannot perfectly match the first pulse train, and further indicates that the sub-echo signal may be an abnormal echo signal. For example, the sub-echo signal may be a sub-echo signal corresponding to an interference pulse, or may be a sub-echo signal corresponding to the first pulse train but with a slight deviation. In this case, the control device may label the sub-echo signal as a "potential interference signal."

[0030] Comparing time intervals between pulse trains: After all sub-echo signals in the first echo signal have been compared, the control device calculates, for each sub-echo signal labeled as a "potential interference signal," a difference between the time interval between each first-type pulse of the sub-echo signal labeled as a "potential interference signal" and the start moment of the sub-echo signal and the time interval between each first-type pulse in adjacent echo signals of the first echo signal and the start moment of the adjacent echo signal, and calculates a difference between the time interval between each first-type pulse in the first pulse train and the start moment of the first pulse train and the time interval between each first-type pulse in adjacent pulse trains of the first pulse train and the start moment of the first pulse train. The control device calculates the difference between the time interval between the start of the pulse train and the time interval between the start of the first ...

[0031] Point cloud confirmation: After all sub-echo signals labeled as "potential interference signals" are analyzed, if the labels of not all sub-echo signals are corrected, it indicates that the first echo signal does not contain a valid signal and the point cloud corresponding to the first echo signal is abnormal; or, if the label of only one sub-echo signal is corrected to "valid signal," it indicates that the first echo signal contains a single valid signal and the point cloud corresponding to the first echo signal is normal. If the labels of at least two sub-echo signals are corrected to "valid signal," the interference signal may also be matched as a valid signal due to an error in the above matching process. Theoretically, the matching result is inaccurate. However, since the point cloud displays at least two sub-echo signals labeled as "valid signals," the point cloud corresponding to the first echo signal is also abnormal.

[0032] It should be noted that in the above design, labeling the sub-echo signals is merely an example of an identification scheme. The present application does not limit any implementation for identifying potential interfering signals or valid signals, provided that the LiDAR can identify the sub-echo signals determined as potential interfering signals or valid signals through matching.

[0033] In the above design, whether there is an effective signal in the echo signal and whether there is one effective signal or multiple effective signals in the echo signal are comprehensively determined from two perspectives, namely, the perspective within the pulse train and the perspective between the pulse trains, which helps to make the adjusted pulse train better fit the actual situation by referring to the result and effectively improve the accuracy of the pulse adjustment.

[0034] According to a second aspect, the present application provides a control method. The method is applicable to a control device and includes the following: the control device controls a transmitting module to transmit a fourth pulse train, a fifth pulse train, and a sixth pulse train, where the fourth pulse train includes M1 first-type pulses, the fifth pulse train includes M2 second-type pulses, and the sixth pulse train includes M1 first-type pulses, or the fourth pulse train includes M2 second-type pulses, the fifth pulse train includes M1 first-type pulses, and the sixth pulse train includes M2 second-type pulses, where the power of the M1 first-type pulses is greater than the power of the M2 second-type pulses, M1 is an integer greater than 1, and M2 is a positive integer. According to this design, the control device can not only improve the detection effect of far-field targets by transmitting at least two first-type pulses in one pulse train, but also obtain the missing detection result in the fifth pulse train in a differential manner by using the detection result of the fourth pulse train and the detection result of the sixth pulse train, thereby improving the point cloud construction precision.

[0035] It should be noted that the design in the first embodiment is also applicable to the second embodiment, and the details will not be described again in this application.

[0036] According to a third aspect, the present application provides a control device including at least one processor and an interface circuit, wherein the interface circuit is configured to provide data or code instructions to the at least one processor, and wherein the at least one processor is configured to implement a method according to any one of the first or second aspects by using logic circuitry or executing the code instructions.

[0037] According to a fourth aspect, the present application provides a chip including a processor and an interface, wherein the processor is configured to read instructions by using the interface to perform a method according to either the first or second aspect.

[0038] According to a fifth aspect, there is provided a LiDAR including a control device and a transmission module, wherein the control device is configured to implement the control method according to any one of the first or second aspects, and the transmission module is configured to send a pulse train under control of the control device.

[0039] In a possible design, the LiDAR further includes a scanning mechanism, which includes one or more of a multi-faceted rotating mirror, a pendulum mirror, a micro-electro-mechanical system (MEMS) scanning mirror, or a prism.

[0040] In a possible design, the LiDAR further includes a receiving module, the receiving module configured to receive the echo signals, and the control device further configured to determine target features based on the echo signals.

[0041] According to a sixth aspect, the present application provides a terminal device, including a LiDAR according to any design of the fifth aspect. For example, examples of the terminal device include, but are not limited to, smart home devices (such as televisions, floor cleaning robots, smart desk lamps, sound systems, intelligent lighting systems, electrical control systems, home background music, home theater systems, intercom systems, and video surveillance systems), intelligent transportation devices (such as cars, ships, unmanned aerial vehicles, trains, cargo vehicles, and trucks), intelligent manufacturing devices (such as robots, industrial devices, intelligent logistics, and smart factories), and intelligent terminals (such as mobile phones, computers, tablet computers, palmtop computers, desktop computers, headsets, acoustic devices, wearable devices, vehicle-mounted devices, virtual reality devices, and augmented reality devices).

[0042] According to a seventh aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed, performs a method according to either the first or second aspect.

[0043] According to an eighth aspect, the present application provides a computer program product, which when run on a processor implements a method according to any one of the first or second aspects.

[0044] For the beneficial effects of the second to eighth aspects, please refer to the technical effects that can be achieved by the corresponding designs in the first aspect, and the details will not be described again in this specification. [Brief explanation of the drawings]

[0045] [Figure 1] FIG. 1 illustrates an example of a schematic diagram of an application scenario for LiDAR according to an embodiment of the present application. [Figure 2] FIG. 1 illustrates an example of a schematic diagram of the internal architecture of a LiDAR according to an embodiment of the present application. [Figure 3] FIG. 10 illustrates an example of a schematic interaction flowchart corresponding to a control method according to an embodiment of the present application. [Figure 4] 1A and 1B illustrate examples of schematic diagrams of detection fields according to embodiments of the present application. [Figure 5] 1A-1C show examples of schematic diagrams of various pulse train presentations according to embodiments of the present application. [Figure 6] 10A-10C show examples of schematic diagrams of presentations of pulse trains sent during a detection cycle according to embodiments of the present application. [Figure 7] FIG. 10 illustrates an example of a schematic diagram of time intervals for transmitting pulse trains according to an embodiment of the present application. [Figure 8] FIG. 1 illustrates an example of a schematic flowchart of a method for adjusting transmit pulses according to an embodiment of the present application. [Figure 9]3A-3C show examples of schematic diagrams of presentations of a first pulse train and a first echo signal according to embodiments of the present application; [Figure 10] FIG. 10 illustrates an example of a schematic flow chart of comparing time intervals between pulse trains according to an embodiment of the present application. [Figure 11] FIG. 10 illustrates an example of a schematic diagram of an implementation of adding a first type pulse according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0046] The control method disclosed in this application may be applied to a terminal device having pulse transmission capability, and is particularly applicable to a terminal device having laser transmission capability. The terminal device may be an intelligent device having pulse transmission capability, including, but not limited to, smart home devices such as televisions, floor-cleaning robots, smart desk lamps, sound systems, intelligent lighting systems, electrical control systems, home background music, home theater systems, intercom systems, and video surveillance systems; intelligent transportation devices such as cars, ships, unmanned aerial vehicles, trains, cargo vehicles, and trucks; and intelligent manufacturing devices such as robots, industrial devices, intelligent logistics, and smart factories. Alternatively, the terminal device may be a computer device having pulse transmission capability, such as a desktop computer, personal computer, or server. It should be further understood that the terminal device may alternatively be a portable electronic device having pulse transmission capability, such as a mobile phone, tablet computer, palmtop computer, headset, acoustic device, wearable device (such as a smart watch), vehicle-mounted device, virtual reality device, or augmented reality device. Examples of portable electronic devices include, but are not limited to, portable electronic devices having an iOS® operating system, an Android® operating system, a Microsoft® operating system, a Harmony® operating system, or another operating system. The portable electronic device may alternatively be, for example, a laptop computer (laptop) having a touch-sensitive surface (e.g., a touch panel).

[0047] DETAILED DESCRIPTION OF THE INVENTION The following describes in detail the technical solutions in the embodiments of the present application with reference to certain accompanying drawings.

[0048] In a specific application scenario, the control method may be applied to a LiDAR. FIG. 1 shows an example of a schematic diagram of an application scenario of a LiDAR according to an embodiment of the present application. In this example, the LiDAR 100 is installed on a vehicle and is therefore also referred to as a vehicle-mounted LiDAR. In addition to vehicle-mounted LiDARs, LiDARs also include ship-mounted LiDARs installed on ships and machine-mounted LiDARs installed on machinery. In a possible example, as shown in FIG. 1, the LiDAR 100 may be specifically installed at the head position of the vehicle. During the vehicle's movement process, the LiDAR 100 may send a laser signal. The laser signal is irradiated onto an object in front of the vehicle and then reflected by the object. The reflected echo signal may be received by the LiDAR 100. Then, the LiDAR 100 detects information about an obstacle in front of the vehicle, such as the size and distance of the obstacle, based on the echo signal, and uses this obstacle information to implement vehicle driving functions, including, but not limited to, autonomous driving or assisted driving.

[0049] It should be noted that the LiDAR 100 may be one of a mechanical LiDAR, a liquid LiDAR, a pure solid-state LiDAR, or a hybrid solid-state LiDAR (also called a semi-solid-state LiDAR), or may be another type of LiDAR, which is not particularly limited in the embodiments of the present application.

[0050] Further, for example, FIG. 2 shows a schematic diagram of the internal architecture of a LiDAR according to an embodiment of the present application. As shown in FIG. 2, in this example, the LiDAR 100 may include a control unit 110, a transmitting module 120, a scanning mechanism 130, and a receiving module 140. The transmitting module 120 includes a laser 121 and a transmitting optical system 122, and the receiving module 140 includes a receiving optical system 141 and a detector 142. In the LiDAR 100, the control unit 110 may have signal control and processing capabilities and may be connected to other components in the LiDAR 100 by using a controller area network (CAN) bus or in another manner. The laser 121 is a device capable of transmitting a laser and may be any one of a semiconductor laser, a gas laser, an optical fiber laser, a solid-state laser, a dye laser, a diode laser, or an excimer laser. The transmitting optical system 122 and the receiving optical system 141 are systems including optical elements. The optical elements include, but are not limited to, lenses, optical filters, polarizers, reflectors, beam-splitting mirrors, prisms, windows, scattering elements, etc. The scanning mechanism 130 may include one or more of a multi-faceted rotating mirror, a pendulum mirror, a micro-electro-mechanical system (MEMS) scanning mirror, or a prism. The detector 142 may include, but is not limited to, an avalanche photodiode (APD), a single photon avalanche diode (SPAD), a photodiode (positive intrinsic-negative (PIN)), a silicon photomultiplier (SiPM), etc.

[0051] In an implementation, the controller 110 may control the laser 121 to emit a laser pulse, control the transmitting optical system 122 to transmit the laser pulse from the laser 121, and further control the scanning mechanism 130 to scan and traverse the detection area by using the laser pulse. Note that the scanning mechanism 130 is not a required component, and the traversal function that can be implemented by the scanning mechanism 130 can essentially be implemented by using an array design in the transmitting module and the receiving module and an array controller. Furthermore, after the laser pulse is scanned over an object in the detection area, it is reflected by the object, and the reflected echo signal is received by the receiving optical system 141 under the control of the controller 110 and transmitted to the detector 142. Thereby, the detector 142, under the control of the controller 110, presents an optical spot corresponding to the echo signal, generates an electrical signal corresponding to the optical spot, and transmits the electrical signal to the controller 110. The control device 110 then analyzes the electrical signals to generate a point cloud, which may be used to obtain target information such as the distance, orientation, height, speed, posture, and even shape of the object, which may then be further used to plan autonomous or assisted driving of the vehicle by referencing other sensor information of the vehicle.

[0052] It should be noted that the control and processing capabilities of controller 110 may be integrated into one component for implementation, or may be implemented separately in multiple components. For example, controller 110 may be, among other things, an integrated circuit chip, such as a general-purpose processor, a field programmable gate array (FPGA), or an application-specific integrated circuit. circuitThe controller 110 may be an application specific integrated circuit (ASIC), a system on chip (SoC), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or another programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or another integrated chip. processing The processor may include, but is not limited to, a central processing unit (CPU), a neural-network processing unit (NPU), and a graphics processing unit (GPU), and may further include an application processor (AP), a modem processor, an image signal processor (ISP), a video codec, a digital signal processor (DSP), and / or a baseband processor.

[0053] In the above implementation, laser pulses play an important role in object detection within the detection area. Generally, the boundary point between near-field targets and far-field targets is 20 m. The detection area is assumed to include three objects shown in FIG. 1: a pedestrian a located 8 m away from the vehicle head, a signpost b located 10 m away from the vehicle head, and a cargo vehicle c located 30 m away from the vehicle head. The distance between pedestrian a and the LiDAR 100 installed at the vehicle head and the distance between signpost b and the LiDAR 100 are both within 20 m, while the distance between cargo vehicle c and the LiDAR 100 installed at the vehicle head is greater than 20 m. Therefore, pedestrian a and signpost b are near-field targets, and cargo vehicle c is a far-field target. It can be seen that both the near-field target and the far-field target exist within the detection area of ​​the LiDAR 100. The near-field target needs to be detected using a low-power laser pulse, and the far-field target needs to be detected using a high-power laser pulse. Currently, in the industry, laser pulses are typically configured with relatively high power to ensure that both near-field and far-field targets can be detected. However, as the power of the laser pulse increases, the energy of the clutter signals generated through the reflection of the laser pulse by each component in the LiDAR 100 also increases, and the power of the echo signals reflected back by the near-field targets also increases. In one aspect, strong clutter signals and strong near-field echo signals overlap with each other, which degrades the detection effect of near-field targets and further reduces the point cloud quality of the LiDAR 100. In another aspect, the receiving module 140 can only receive echo signals within a certain power range. If the power of the near-field echo signal is too large, the receiving module 140 will not be able to receive or identify the near-field echo signal because the power exceeds the upper limit of the power that can be received by the receiving module 140.As a result, the point cloud quality of the LiDAR 100 is further reduced. Therefore, how the laser pulse should be configured plays an important role in accurately detecting far-field and near-field targets and obtaining high-quality point clouds.

[0054] A commonly used control solution for accurately detecting far-field and near-field targets and obtaining high-quality point clouds is as follows: The control device first controls the transmission module to transmit a test pulse, and then the transmit pulse is transmitted based on the detection effect of the echo signal corresponding to the test pulse. For example, when the point cloud quality of the echo signal is not high, a transmit pulse with a lower power than that of the test pulse is transmitted to reduce the power of the transmit pulse, thereby reducing the clutter signals detected in the near field and improving the point cloud quality. Although this control solution can adaptively determine a transmit pulse suitable for the current detection area, it is a type of post-feedback, and untimely feedback may cause untimely adjustment, resulting in an inability to effectively improve detection accuracy. In addition, this control solution requires that the subsequently transmitted transmit pulse be determined based on the echo signal. When the echo signal has a certain error or the adjustment process has a certain error, the adjustment result will be inaccurate, and as a result, the detection accuracy will be further reduced. In addition, extra test pulses are sent, which obviously does not lead to an improvement in the utilization rate of the transmit pulse. It can be seen that the control solutions currently provided in the industry cannot effectively improve the accuracy of detecting far-field and near-field targets and cannot improve the utilization rate of the transmitted pulses.

[0055] In view of this, the present application provides a control method for improving the accuracy of detecting far-field and near-field targets and improving the utilization of transmitted pulses.

[0056] It should be noted that the control method in the present application may be applied to a LiDAR or to another apparatus, device, or chip other than a LiDAR. For example, it may be applied to another intelligent terminal having a pulse transmission function other than a LiDAR, or to a component of another intelligent terminal. The component may include, but is not limited to, another sensor, such as a controller, a chip, or a camera, and another component. Alternatively, the control method in the present application may be applied to the above-mentioned driving scenario or to another imaging system other than the above-mentioned driving scenario, such as a three-dimensional building modeling system, a terrain mapping system, or a rendezvous and docking system. In addition, with the development of system architectures and the emergence of new scenarios, the control method provided in the present application may also be applied to similar technical problems. This is not particularly limited in the present application.

[0057] In the following, specific implementations of the control method in the present application will be described with reference to specific embodiments. It is clear that the described embodiments are only some embodiments of the present application, and are not limited to all embodiments of the present application.

[0058] It should be noted that the terms "system" and "network" in the embodiments of the present application may be used interchangeably. "Multiple" means two or more than two. "And / or" describes an association relationship between related objects and indicates that three relationships may exist. For example, A and / or B may represent the presence of only A, the presence of both A and B, and the presence of only B, where A and B may be singular or plural. "One or more of the following items (moieties)" or similar expressions refer to any combination of these items, including any combination of singular items (moieties) or plural items (moieties). For example, one or more of a, b, or c may represent a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be singular or plural.

[0059] Additionally, unless otherwise specified, ordinal numbers such as "first" and "second" used in the embodiments of the present application are used to distinguish between multiple objects, but not to limit the priority or importance of the multiple objects. For example, the first pulse train, the second pulse train, the third pulse train, the fourth pulse train, the fifth pulse train, and the sixth pulse train are used only to distinguish between different pulse trains, and do not indicate different priorities, importance, etc. of these pulse trains. [Embodiment 1]

[0060] Based on the LiDAR 100 shown in FIG. 2 , FIG. 3 shows an example of a schematic interaction flowchart corresponding to a control method according to an embodiment of the present application. As shown in FIG. 3 , the method includes: a control device controls a transmission module to transmit N pulse trains, any one of the N pulse trains including at least one first-type pulse and / or at least one second-type pulse, the power of the first-type pulse being greater than the power of the second-type pulse, and N is a positive integer. The control device may control the transmission module to send the N pulse trains in one or more transmissions based on a scanning mode. For example, when the scanning mode is point spot scanning, the control device may control the transmission module to send N pulse trains in N transmissions, sending one pulse train in the N pulse trains each time, to detect one pixel on an object. When the scanning mode is line spot scanning, the control device may control the transmission module to send multiple pulse trains in a linear area corresponding to a current line spot each time, to detect a linear area on an object. When the scanning method is planar array scanning, the control device can control the transmitting module to transmit multiple pulse trains each time in a planar area corresponding to the current planar array to detect a planar area on the object.

[0061] Based on the above implementation, some possible pulse train transmission schemes are described by using examples.

[0062] In an example, the control device may control the transmission module to transmit a first pulse train, the first pulse train including M1 first-type pulses and M2 second-type pulses, and control the transmission module to transmit a second pulse train, the second pulse train including M3 first-type pulses and / or M4 second-type pulses. M1 is a positive integer greater than or equal to 2, M2, M3, and M4 are positive integers, the values ​​of M1 and M3 may be the same or different, and the values ​​of M2 and M4 may be the same or different. This is not particularly limited. In this example, the high-power first-type pulses in the first pulse train may be used to detect far-field targets, and the low-power second-type pulses may be used to detect near-field targets. The far-field and near-field targets are detected by using the respective matched pulses, thereby effectively improving the accuracy of detecting the far-field and near-field targets, thereby improving the quality of the LiDAR point cloud. In addition, at least two first-type pulses are transmitted in the first pulse train. In one embodiment, a far-field target is detected by using at least two high-power pulses, thereby further improving the detection effect of the far-field target and the quality of the far-field point cloud. In another embodiment, the amount of first-type pulses can be increased, and the amount of time interval included in the first pulse train can be correspondingly increased. Thus, more accurate pulse position modulation is performed on the at least two first-type pulses based on the increased time interval, thereby effectively improving the anti-interference performance of the first pulse train. In yet another embodiment, the problem of distance ambiguity because the detected target exceeds the ranging range of one detection cycle can be further solved through joint ranging of multiple first-type pulses. In addition, a test pulse does not need to be transmitted in advance before the first pulse train and the second pulse train are transmitted, thereby improving the transmission pulse utilization rate.

[0063] In another example, the control device may control the transmitting module to transmit a fourth pulse train, a fifth pulse train, and a sixth pulse train. The fourth pulse train includes M1 first-type pulses, the fifth pulse train includes M2 second-type pulses, and the sixth pulse train includes M1 first-type pulses, or the fourth pulse train includes M2 second-type pulses, the fifth pulse train includes M1 first-type pulses, and the sixth pulse train includes M2 second-type pulses. M1 is a positive integer greater than 2, and M2, M3, and M4 are positive integers. In this example, in addition to transmitting at least two first-type pulses in one pulse train to improve the detection effect of far-field targets, the missing detection result in the fifth pulse train can be obtained in a differential manner by using the detection result of the fourth pulse train and the detection result of the sixth pulse train. For example, when the fourth pulse train includes M1 first-type pulses, the fifth pulse train includes M2 second-type pulses, and the sixth pulse train includes M1 first-type pulses, the fourth pulse train and the sixth pulse train are used to detect far-field targets, and the fifth pulse train is used to detect near-field targets. Even if the fifth pulse train does not include high-power first-type pulses and cannot directly detect far-field targets, the difference value between the far-field detection results of the fourth pulse train and the sixth pulse train adjacent to the fifth pulse train can be used as the detection result of the fifth pulse train to complement the far-field detection result of the fifth pulse train and improve the construction precision of the far-field point cloud. On the contrary, when the fourth pulse train includes M2 second-type pulses, the fifth pulse train includes M1 first-type pulses, and the sixth pulse train includes M2 second-type pulses, the difference value of the near-field detection results of the fourth pulse train and the sixth pulse train adjacent to the fifth pulse train can be used as the detection result of the fifth pulse train to complement the near-field detection result of the fifth pulse train and improve the construction precision of the near-field point cloud.

[0064] In yet another example, to improve the construction precision of both the far-field point cloud and the near-field point cloud, the control device may alternatively control the transmitting module to transmit pulse train 1 including M1 first-type pulses, pulse train 2 including M2 second-type pulses, pulse train 3 including M1 first-type pulses, and pulse train 4 including M2 second-type pulses, and obtain the far-field detection result of pulse train 2 in a differential manner by using pulse train 1 and pulse train 3, and obtain the near-field detection result of pulse train 3 in a differential manner by using pulse train 2 and pulse train 4, thereby improving the overall point cloud quality of the LiDAR. Alternatively, the control device may control the transmitting module to transmit a pulse train 5 including M2 second-type pulses, a pulse train 6 including M1 first-type pulses, a pulse train 7 including M2 second-type pulses, and a pulse train 8 including M1 first-type pulses, to obtain a near-field detection result of the pulse train 6 in a differential manner by using the pulse train 5 and the pulse train 7, and to obtain a far-field detection result of the pulse train 7 in a differential manner by using the pulse train 6 and the pulse train 8, thereby improving the overall point cloud quality of the LiDAR.

[0065] In the above two examples involving a difference operation, it should be noted that the difference operation of the pulse trains can be flexibly configured based on the point cloud construction precision requirements of the LiDAR system. For example, when the current pulse train configuration reaches the point cloud construction precision requirements for all time periods, the entire field of view, and all frames, difference processing may not be performed. However, when the pulse train configuration for all or some time periods, all or some field of view, or all or some frames in the current pulse train configuration fails to satisfy the point cloud construction precision requirements for the corresponding time periods, corresponding field of view, or corresponding frames, difference processing may be performed on the corresponding time periods, corresponding field of view, or corresponding frames to satisfy the point cloud construction precision requirements for all time periods, the entire field of view, and all frames.

[0066] In a possible implementation, any two of the N pulse trains may satisfy one or more of the following conditions:

[0067] Condition 1: The transmission time periods of the two pulse trains are different. In other words, the two pulse trains are transmitted in sequence, and the transmission time periods of the two pulse trains are sequential. For example, when a line spot is used to scan an object, the laser is first driven to emit light based on one of the two pulse trains to generate a line spot for scanning an area of ​​the object, and then the laser is driven to emit light based on the other of the two pulse trains to generate another line spot for scanning another area of ​​the object.

[0068] Condition 2: The two pulse trains correspond to different transmitting sub-modules. For example, when a line spot is used to scan an object, multiple transmitting sub-modules simultaneously emit their corresponding pulse trains, and these simultaneously emitted pulse trains drive the laser tube to emit light, thereby presenting a line spot for scanning a specific area of ​​the object.

[0069] Condition 3: The two pulse trains correspond to different pixels in the same detection field of view. The detection field of view is an area of ​​an object that can be scanned in one detection, or a pixel area that is correspondingly presented to a detector in one detection. For example, FIG. 4 shows an example of a schematic diagram of a detection field of view according to an embodiment of the present application. In this example, the LiDAR scans an object by using a line spot. When the line spot is parallel to the Y axis and the object is scanned along the X axis, the detection field of view is a vertical strip area marked by diagonal lines in FIG. 4. The vertical strip area includes multiple pixels, each of which corresponds to a respective pulse train, and the pulse trains corresponding to different pixels may be the same or different. This is not particularly limited.

[0070] Condition 4: The two pulse trains correspond to different detection fields. For example, FIG. 4 is still used as an example. The pixel areas corresponding to the two pulse trains belong to different vertical strip areas. For example, one pulse train corresponds to pixels in the vertical strip area marked with diagonal lines in FIG. 4, and the other pulse train corresponds to pixels in the area not marked with diagonal lines in FIG. 4.

[0071] Condition 5: The two pulse trains correspond to different receiving sub-modules. The receiving sub-modules can be detectors or detector groups in the receiving module. A detector group is used as an example. The receiving module includes multiple detectors, which can be divided into at least two detector groups, each of which corresponds to a pixel area and is configured to present a light spot transmitted to the pixel area. When the receiving sub-modules are detectors, the two receiving sub-modules corresponding to the two pulse trains can belong to the same detector group or different detector groups. When the receiving sub-modules are detector groups, the two receiving sub-modules corresponding to the two pulse trains belong to different detector groups.

[0072] In the above implementation, the control device sets the association relationship between pulse trains based on one or more factors including the transmission time period, the transmitting sub-module, the detection field of view, the pixel, or the receiving sub-module, thereby helping to improve the flexibility of setting pulse trains and adapting the control method to various pulse train configuration scenarios.

[0073] In a possible implementation, the control device may generate a point cloud based on one or more pulse trains among the N pulse trains. For example, transmitting a first pulse train and a second pulse train is used as an example. In one approach, the control device may generate a point cloud based on echo signals corresponding to at least the first pulse train and the second pulse train (e.g., based on the first pulse train and the second pulse train, or based on the first pulse train, the second pulse train, and another pulse train among the N pulse trains). In this way, more comprehensive information can be obtained by using the detection results of multiple pulse trains, and the point cloud construction quality can be improved. In another approach, the control device may generate a first point cloud based on echo signals corresponding to at least the first pulse train and generate a second point cloud based on echo signals corresponding to at least the second pulse train. The first point cloud is different from the second point cloud. In this way, by allowing pulse trains to correspond to different point clouds, the point cloud construction efficiency can be improved.

[0074] In this embodiment of the present application, for a pulse train in an N-pulse train that includes at least one first-type pulse, the at least one first-type pulse in the pulse train may be the same, e.g., the amount, power, pulse width, and duration of the first-type pulse are the same, or the at least one first-type pulse in the pulse train is different from one another, e.g., at least one of the amount, power, pulse width, or duration of the first-type pulse is different. Correspondingly, for a pulse train in an N-pulse train that includes at least one second-type pulse, the at least one second-type pulse in the pulse train may be the same, e.g., the amount, power, pulse width, and duration of the second-type pulse are the same, or the at least one second-type pulse in the pulse train is different from one another, e.g., at least one of the amount, power, pulse width, or duration of the second-type pulse is different.

[0075] In a possible implementation, the power and quantity (or other information such as pulse width or duration) of the at least one first-type pulse may be determined based on remote measurement requirements, and the power and quantity (or other information such as pulse width or duration) of the at least one second-type pulse may be determined based on dynamic optimization requirements. The remote measurement requirements are requirements for detecting far-field targets, including, but not limited to, the distance to the farthest far-field target expected to be measured, the reliability of measuring the far-field target, etc. For example, when the expected maximum distance to the far-field target that can be measured becomes larger and the reliability of measuring the far-field target becomes higher, the power of the at least one first-type pulse may be configured to be larger, and the quantity of the at least one first-type pulse may be configured to be larger. In this way, by sending higher-power first-type pulses and using higher power, higher detection reliability and longer detection distances can be implemented. Correspondingly, the dynamic optimization requirements are requirements for detecting near-field targets, including, but not limited to, the echo signal strength of the nearest near-field target expected to be measured, the success rate of measuring the near-field target, and the characteristics of stray light. When a stronger echo signal strength of the near-field target can be measured, a higher success rate of measuring the near-field target can be obtained, and stronger stray light of the near-field target is expected to be detected, this indicates that a larger dynamic requirement is required, a wider power range of the at least one second-type pulse can be configured, and a larger quantity of the at least one second-type pulse can be configured, so that a higher detection success rate and a wider dynamic range can be implemented by sending lower-power pulses and using a higher power range. It should be understood that in addition to configuring the power and quantity of the pulse, other information such as pulse width and duration can also be configured. This is not particularly limited in the present application.

[0076] For example, when only far-field targets need to be detected, the pulse train may include first-type pulses but no second-type pulses. When only near-field targets need to be detected, the pulse train may include second-type pulses but no first-type pulses. When both far-field and near-field targets need to be detected, the pulse train may include both first-type and second-type pulses.

[0077] In a possible implementation, the type and quantity of pulses actually included in each of the N pulse trains can be determined by referring to the limitations of the LiDAR's repetition rate, far-field angular resolution, and near-field angular resolution. The LiDAR's repetition rate refers to the amount of time the LiDAR can transmit pulses per unit time. For example, if the LiDAR's repetition rate is 40 Hz, this means that the LiDAR can transmit 40 pulses per unit time. The unit time herein may generally be set to 1 s. The far-field angular resolution refers to the angular resolution used to detect far-field targets, and the near-field angular resolution refers to the angular resolution used to detect near-field targets. The far-field angular resolution and near-field angular resolution can be found in the LiDAR's product manual or instruction manual. In some cases, the two angular resolutions are limited by fixed values, and in other cases, the two angular resolutions are each limited by a supported range. When the supported range is used for the limitation, the ranges of the far-field angular resolution and the near-field angular resolution may or may not overlap. If the resolution is not specified in the product manual or instruction manual, the far-field angular resolution and the near-field angular resolution may optionally be the same by default. In addition, the frame frequency, field of view, distance, etc. of the LiDAR may be specified in the product manual. These factors jointly determine the limit of the repetition frequency of the LiDAR. For example, if it is determined based on remote measurement requirements and dynamic optimization requirements that M1 first-type pulses and M2 second-type pulses need to be configured in each pulse train, see FIG. 5. FIG. 5 shows an example of a schematic diagram of various pulse train presentation forms according to an embodiment of the present application.

[0078] Case 1: When the quantity M1 of first-type pulses and the quantity M2 of second-type pulses are not limited by the repetition frequency of the LiDAR (i.e., the sum of the quantity of first-type pulses and the quantity of second-type pulses that need to be transmitted per unit time is equal to or less than the quantity of pulses that can be transmitted by the LiDAR per unit time), it means that the repetition frequency capability of the LiDAR supports transmitting M1 first-type pulses and M2 second-type pulses during a time period corresponding to one pulse train. In this case, as shown in FIG. 5A, each pulse train may include M1 first-type pulses and M2 second-type pulses, and thus both the far-field angular resolution and the near-field angular resolution can reach the preset or configured optimal angular resolution. The N pulse trains determined based on the remote measurement requirements and dynamic optimization requirements may include M1 first-type pulses and M2 second-type pulses, M3 first-type pulses and M4 second-type pulses, ..., and M 2N-1 Type 1 pulses and M 2N It should be understood that if the sum of the amount of pulses included in each of the pulse trains is not limited by the repetition frequency of the LiDAR, the presentation form of the N pulse trains can be shown in FIG. 5B. 2N-1 The values ​​of M2, M4, ..., and M 2N The values ​​of may be the same or different.

[0079] Case 2: When the amount M1 of first-type pulses and the amount M2 of second-type pulses are limited by the repetition frequency of the LiDAR (i.e., the sum of the amount of first-type pulses and the amount of second-type pulses that need to be transmitted per unit time is greater than the amount of pulses that can be transmitted by the LiDAR per unit time), and the degree of limitation is not higher than the first preset degree, the capability of the repetition frequency of the LiDAR cannot transmit M1 first-type pulses and M2 second-type pulses during the time period of one pulse train, but the degree of limitation of the repetition frequency of the LiDAR is relatively small. In this case, as shown in (C) of FIG. 5, the control device may configure at least one of the N pulse trains to include M1 first-type pulses but not M2 second-type pulses, and all other pulse trains except for at least one pulse train to include M1 first-type pulses and M2 second-type pulses, respectively, to match the repetition rate capability of the LiDAR by reducing the near-field angular resolution and ensure optimal far-field angular resolution, thereby ensuring far-field point cloud quality.

[0080] Case 3: When the quantity M1 of the first-type pulses and the quantity M2 of the second-type pulses are limited by the repetition rate of the LiDAR, and the degree of limitation is higher than the first preset degree, it means that the degree of limitation of the repetition rate of the LiDAR is relatively large, and the capability of the repetition rate of the LiDAR cannot be matched by only abandoning the near-field angular resolution. In this case, as shown in FIG. 5D, the control device may be configured so that at least three adjacent pulse trains among the N pulse trains are arranged in the form of M1 first-type pulses, M2 second-type pulses, and M1 first-type pulses, or in the form of M2 second-type pulses, M1 first-type pulses, and M2 second-type pulses, and another pulse train other than the at least three adjacent pulse trains includes M1 first-type pulses and / or M2 second-type pulses. 5D, from left to right, the first pulse train, the second pulse train, and the third pulse train are arranged in the following order: M1 first-type pulses, M2 second-type pulses, and M1 first-type pulses. Therefore, the far-field detection result of the second pulse train can be obtained through interpolation by using the detection results of the first and third pulse trains. In this way, when the far-field angular resolution cannot be guaranteed, an interpolated far-field angular resolution can be implemented. Similarly, as shown in FIG. 5D, from left to right, the second pulse train, the third pulse train, and the fourth pulse train are arranged in the following order: M2 second-type pulses, M1 first-type pulses, and M2 second-type pulses. Therefore, the near-field detection result of the third pulse train can be obtained through interpolation by using the detection results of the second and fourth pulse trains. In this way, when the near-field angular resolution cannot be guaranteed, an interpolated near-field angular resolution can be implemented in an interpolated manner.

[0081] Note that when the far-field angular resolution and the near-field angular resolution are presented in a range form, sacrificing the near-field angular resolution or the far-field angular resolution does not guarantee that the near-field angular resolution or the far-field angular resolution will satisfy the maximum value within the range, but will ultimately be greater than or equal to the minimum value within the range, and thus a pulse train adjusted based on the repetition frequency situation can still meet the minimum angular resolution requirements of the LiDAR.

[0082] In a possible implementation, the power of the first type of pulse may be the same or different, and the power of the second type of pulse may be the same or different. For example, the power of the first type of pulse may be set to be the same, and the power of the second type of pulse may be set to be different. In this way, the complexity of processing the far-field detection pulses performed by the LiDAR in the transmission process can be simplified, and the dynamic range of the near-field detection can be increased. For example, the configuration process of the first pulse train is used as an example. In the implementation, the control device may determine the power and quantity of the first type of pulse that satisfies the remote detection requirement based on the remote detection requirement. M1 first pulses Tx1 are determined, each assumed to have a power of P1. In addition, the type, power, and quantity of the second type of pulse that satisfy the dynamic optimization requirement are determined based on the dynamic optimization requirement. For example, a second pulse Tx21 of type 1 with a power of P 21 is first configured, where P 21 <P1. It is determined whether the second pulse Tx21 of type 1 is sufficient to satisfy the dynamic optimization requirement. If not, a second pulse Tx22 of type 2 with a power of P 22 is configured, where P 22 <P 21 <P1 or P 21 <P 22It is P1. It is determined whether the second pulse Tx21 of type 1 and the second pulse Tx22 of type 2 are sufficient to meet the dynamic optimization requirements. If not, until K types of second pulses Tx21 to Tx2K that meet the dynamic optimization requirements are found, P 23 The second pulse Tx23 of type 3 with the power of P 23 <P 22 <P 21 <P1, or P 23 <P 21 <P 22 <P1, or P 22 <P 21 <P 23 <P1, or P 22 <P 23 <P 21 <P1, or P 21 <P 22 <P 23 <P1, or P 21 <P 23 <P 22 <P1, etc. The total amount of K types of second pulses Tx21 to Tx2K is M2, and K is a positive integer. In this way, after the first pulse sequence is configured, the M1 first-type pulses in the first pulse sequence include M1 first pulses with the same power, and the M2 second-type pulses in the first pulse sequence include K types of second pulses with different powers. The sum of the amounts of K types of second pulses is M2, and K is a positive integer.

[0083] Furthermore, for example, pulses included in a first pulse train may be transmitted in multiple detection cycles, and the pulse train transmitted in each detection cycle may include a first pulse Tx1 and / or one or more of K types of second pulses Tx21 to Tx2K. One transmission and one reception is referred to as one detection cycle. In this manner, the control device may comprehensively determine a point cloud by using multiple detection results received in multiple detection cycles, thereby helping to improve point cloud quality. The duration of each detection cycle in one pulse train may be equal to, for example, 500 ns, or at least two detection cycles may correspond to different durations, for example, the durations of all detection cycles may be 500 ns, 1000 ns, 1500 ns, ..., etc. Preferably, the duration of each detection cycle may be set based on the amount, power, etc. of pulses transmitted in the detection cycle. When the power of the transmitted pulses is smaller or the amount of transmitted pulses is smaller, the duration of the detection cycle may also be set to be smaller. In this way, the duration of each of the detection cycles is controlled so that the total time to transmit the pulse train can be effectively reduced.

[0084] In one possible manner, the pulse trains transmitted in any two detection cycles may include the same number of pulses and may also be the same pulse type. In this way, the complexity of controlling pulse transmission can be reduced. In another possible manner, the number and / or type of pulses included in the pulse trains transmitted in at least two detection cycles are different. In this way, the flexibility of transmitting pulses in each detection cycle can be improved. For example, if the second type pulse includes a second pulse Tx21 of type 1 and a second pulse Tx22 of type 2, but does not include another second pulse, the pulse train sent in any detection cycle can be one of the presentation forms shown in FIG. 6.

[0085] Presentation form 1: The pulse train sent in the detection cycle includes a first pulse Tx1, a second pulse Tx21 of type 1, and a second pulse Tx22 of type 2. The transmission manner can be as follows: the first pulse Tx1, the second pulse Tx21 of type 1, and the second pulse Tx22 of type 2 are transmitted consecutively as shown in (A) of FIG. 6, or the first pulse Tx1, the second pulse Tx22 of type 2, and the second pulse Tx21 of type 1 are transmitted consecutively as shown in (B) of FIG. 6, or the second pulse Tx22 of type 2, the first pulse Tx1, and the second pulse Tx21 of type 1 are transmitted consecutively as shown in (C) of FIG. 6, or Alternatively, the second pulse Tx22 of Type 2, the second pulse Tx21 of Type 1, and the first pulse Tx1 are transmitted consecutively as shown in FIG. 6(D), or the second pulse Tx21 of Type 1, the first pulse Tx1, and the second pulse Tx22 of Type 2 are transmitted consecutively as shown in FIG. 6(E), or the second pulse Tx21 of Type 1, the second pulse Tx22 of Type 2, and the first pulse Tx1 are transmitted consecutively as shown in FIG. 6(F).

[0086] Presentation form 2: The pulse train sent in the detection cycle includes one of a first pulse Tx1, a second pulse Tx21 of type 1, or a second pulse Tx22 of type 2. For example, as shown in (G) of Fig. 6, the first pulse Tx1 may be included, but the second pulse Tx21 of type 1 and the second pulse Tx22 of type 2 may not be included, or as shown in (H) of Fig. 6, the second pulse Tx21 of type 1 may be included, but the first pulse Tx1 and the second pulse Tx22 of type 2 may not be included, or as shown in (I) of Fig. 6, the second pulse Tx22 of type 2 may be included, but the first pulse Tx1 and the second pulse Tx21 of type 1 may not be included.

[0087] Presentation form 3: The pulse train sent in the detection cycle includes a second pulse Tx21 of type 1 and a second pulse Tx22 of type 2. The transmission manner can be as follows: as shown in (J) of Fig. 6, the second pulse Tx22 of type 2 and the second pulse Tx21 of type 1 are transmitted consecutively, or as shown in (K) of Fig. 6, the second pulse Tx21 of type 1 and the second pulse Tx22 of type 2 are transmitted consecutively.

[0088] Presentation 4: The pulse train sent during the detection cycle is x 1, and the second pulse T of Type 1 x 21 and Type 2 second pulse T x 22. The transmission scheme can be as follows: As shown in FIG. 6(L), the first pulse T x 1 and the second pulse Tx21 of type 1 are transmitted consecutively or, as shown in (M) of FIG. 6, the first pulse T x The second pulse Tx21 of type 1 and the second pulse Tx22 of type 2 are transmitted consecutively, or as shown in (N) of FIG. 6, the second pulse Tx21 of type 1 and the first pulse Tx x 1 are transmitted continuously, or as shown in (O) of FIG. 6, the second pulse Tx22 of Type 2 and the first pulse T x 1 is transmitted continuously.

[0089] In the following, some possible pulse implementations of the N pulse train in FIG. 5 will be described as an example, based on the pulse train presentation corresponding to the detection cycle shown in FIG.

[0090] In the N pulse trains shown in Figure 5A or 5B, each pulse train includes a first type pulse and a second type pulse. In this case, any pulse train can be implemented by using one or a combination of the following configurations: any one of Figures 6A through 6F, Figures 6G and 6J, Figures 6G and 6K, Figures 6G, 6H, and 6I, Figures 6L and 6I, Figures 6M and 6H, Figures 6N and 6I, and Figures 6O and 6H. A smaller amount of pulses in a detection cycle indicates a smaller total duration of the detection cycle. Three pulses are transmitted in each of the detection cycles of (A) through (F) of Figure 6, two pulses are transmitted in each of the detection cycles of (J) through (O) of Figure 6, and one pulse is transmitted in each of the detection cycles of (G) through (I) of Figure 6. Thus, using any of the pulse trains of (A) through (F) of Figure 6 may result in the shortest detection time, using (G), (H), and (I) of Figure 6 may result in the longest detection time, and using (G) and (J) of Figure 6, (G) and (K) of Figure 6, (L) and (I) of Figure 6, (M) and (H) of Figure 6, (N) and (I) of Figure 6, or (O) and (H) of Figure 6 may result in a medium detection time.

[0091] In the N pulse train shown in FIG. 5C, the pulse train including first-type pulses and second-type pulses may be implemented according to one or a combination of the above configurations, and the pulse train including first-type pulses but no second-type pulses may be implemented according to FIG. 6G.

[0092] In the N pulse trains shown in FIG. 5(D), a pulse train that includes a first type pulse but no second type pulse may be implemented according to FIG. 6(G), and a pulse train that includes a second type pulse but no first type pulse may be implemented according to one or a combination of FIG. 6(H) and (I), FIG. 6(J), and FIG. 6(K).

[0093] In this embodiment of the present application, pulse trains including first-type pulses (including pulse trains including first-type pulses but not second-type pulses, and pulse trains including first-type and second-type pulses) are grouped into a first pulse train set, pulse trains including second-type pulses (including pulse trains including second-type pulses but not first-type pulses, and pulse trains including first-type and second-type pulses) are grouped into a second pulse train set, and pulse trains including first-type and second-type pulses are grouped into a third pulse train set. There may be an intersection set between the first and second pulse train sets, or there may be no intersection set between the first and second pulse train sets, and there may be an intersection set between the third pulse train set and the first pulse train set or between the third and second pulse train sets. Additionally, for any one of the first, second, and third pulse train sets, two adjacent pulse trains in a pulse train set may or may not be adjacent if their positions are not irregular. For example, assume that pulse train 1, pulse train 2, pulse train 3, and pulse train 4 are consecutively arranged, where pulse train 1 includes first-type pulses but not second-type pulses, pulse train 2 includes second-type pulses but not first-type pulses, and pulse trains 3 and 4 include first-type and second-type pulses, respectively. In this case, the first pulse train set includes pulse train 1, pulse train 3, and pulse train 4, the second pulse train set includes pulse train 2, pulse train 3, and pulse train 4, and the third pulse train set includes pulse train 3 and pulse train 4. Based on this, pulse train 1 and pulse train 3 are adjacent pulse trains in the first pulse train set. However, when the positions are not random, pulse trains 1 and 3 are non-adjacent pulse trains because they are separated by pulse train 2. Pulse trains 3 and 4 are adjacent pulse trains in the first pulse train set and are also adjacent pulse trains when the positions are not random.Based on this, the following describes, by using examples, several possible ways of setting the time interval between any two pulses included in each pulse train and the time interval between two pulses in any two pulse trains. The time interval between two pulses is the time interval between the transmission times of the two pulses. The control device can generate each pulse train based on the determined time interval corresponding to each pulse train.

[0094] Time intervals in a pulse train

[0095] After the LiDAR emits a first-type pulse, a stray light signal may be generated in the LiDAR. The duration of the stray light signal is related to factors such as the pulse width and power of the first-type pulse, and the maximum duration is generally determined by the pulse width of the first-type pulse. The duration of the stray light signal generated by a first-type pulse, whose pulse width is generally within 10 ns, generally ranges between 1 ns and 50 ns. The duration of the stray light signal is the time from when the first-type pulse is transmitted to when the stray light signal is received. In a LiDAR in which a stray light signal exists, the first echo signal corresponding to the first-type pulse is usually the stray light signal. Based on this, in this application, the time duration from when the first-type pulse is transmitted to when the first echo signal corresponding to the first-type pulse is received is referred to as the time interval corresponding to the detection blind area of ​​the first-type pulse. Furthermore, for any pulse train in the third pulse train set, the pulse train includes a first-type pulse and a second-type pulse. When setting the time interval between a first-type pulse and an adjacent second-type pulse, the LiDAR may design the time interval by referring to the time interval corresponding to the detection blind area of ​​the first-type pulse. For example, the time interval between a first-type pulse and an adjacent second-type pulse in a pulse train may be set to be equal to or greater than the time interval corresponding to the detection blind area of ​​the first-type pulse. For example, the time interval may be set to the sum of the time interval corresponding to the detection blind area of ​​the first-type pulse and the random jamming duration. For example, the time interval between the first pulse Tx1 and the second pulse Tx22 of Type 2 in the detection cycle shown in FIG. 6A is set to the sum of the time interval corresponding to the detection blind area of ​​the first pulse Tx1 and the random jamming duration. The random jamming duration refers to an additional jamming duration caused by uncontrollable factors such as hardware (which may be obtained through experimental verification) or a jamming duration set for a purpose (e.g., adding jamming to improve anti-interference performance).In this way, when the transmitting module is controlled to send a pulse train, after sending a first-type pulse, the control device sends a second-type pulse after receiving an echo signal corresponding to the first-type pulse, thereby effectively preventing the first-type pulse or the echo signal of the first-type pulse from affecting the detection process of the second-type pulse, and improving the anti-interference performance between far-field detection and near-field detection.

[0096] It should be noted that in this embodiment of the present application, the pulse width, power, etc. of the second-type pulse are specially designed so that the stray light signal generated by the second-type pulse is relatively weak and negligible, thereby avoiding the generation of a detection blind area corresponding to the second-type pulse. However, if the second-type pulse in the LiDAR actually has a corresponding detection blind area due to some factors, the time interval between the second-type pulse and the adjacent first-type pulse may be further set with reference to the time interval corresponding to the detection blind area of ​​the second-type pulse, for example, set to the sum of the time interval corresponding to the detection blind area of ​​the second-type pulse and the random interference duration. For the relevant content of the time interval corresponding to the detection blind area of ​​the second-type pulse, please refer to the relevant description of the time interval corresponding to the detection blind area of ​​the first-type pulse. Details will not be described again in this specification.

[0097] Furthermore, the time interval between any two adjacent pulses other than a first-type pulse and an adjacent second-type pulse, for example, any two adjacent second-type pulses in any pulse train in the third pulse train set, any two adjacent first-type pulses in a pulse train including a first-type pulse but not a second-type pulse in the first pulse train set, or any two adjacent second-type pulses in a pulse train including a second-type pulse but not a first-type pulse in the second pulse train set, as well as the time interval between the start of any detection cycle in any pulse train and the first-type pulse in the detection cycle, can be obtained through coding. Coding means that a random number is generated within a value range by using a method for generating random numbers as the time interval. For example, the detection cycle shown in FIG. 6A is used as an example. The control device generates a random number through coding, sets this random number as the time interval between the start of the detection cycle and the first pulse Tx1, generates another random number through coding, and sets the time interval between the second pulse Tx2 of Type 2 and the second pulse Tx1 of Type 1. x This other random number may be set as the time interval between 21 and 22. These two random numbers are randomly generated and may be the same or different, and this is not particularly limited.

[0098] time interval between pulse trains

[0099] In one possible example, the time interval between first-type pulses corresponding to any two pulse trains in the first pulse train set can be determined based on the far-field angular resolution. The time interval between first-type pulses corresponding to any two pulse trains can be the time interval between the central transmission instants of all first-type pulses included in the two pulse trains. For example, assume that pulse train 1 and pulse train 2 exist, pulse train 1 includes first-type pulse 1 and first-type pulse 2, the transmission instant of first-type pulse 1 is 5 ns and the transmission instant of first-type pulse 2 is 10 ns, and pulse train 2 includes first-type pulse 3, first-type pulse 4, and first-type pulse 5, the transmission instant of first-type pulse 3 is 20 ns, the transmission instant of first-type pulse 4 is 22 ns, and the transmission instant of first-type pulse 5 is 26 ns. In this case, the central transmission instants of the two first-type pulses in pulse train 1 are 7.5 ns and the central transmission instants of the three first-type pulses in pulse train 2 are 23 ns, and the time interval between the first-type pulses corresponding to pulse train 1 and pulse train 2 can be determined to be 23 ns minus 7.5 ns, or 15.5 ns. In another example, if the pulses and pulse placement schemes included in any two pulse trains in the first pulse train set are the same, the time interval between the first-type pulses corresponding to any two pulse trains can alternatively be the time interval between the transmission instants of the I1 first-type pulses in any two pulse trains, where I1 is any positive integer less than or equal to the amount of pulses included in any pulse train.

[0100] In a possible example, the time interval between first-type pulses corresponding to any two pulse trains in the first pulse train set may be the ratio of the far-field angular resolution to the scanning speed. The scanning speed may be a preset parameter in the LiDAR or may be obtained through calculation based on another parameter in the LiDAR. This other parameter may include, but is not limited to, the frame frequency and repetition frequency of the LiDAR. In addition, the scanning speed may be implemented by using a scanning mechanism in the LiDAR or by using an array design and an array control device in the transmitting or receiving module of the LiDAR. For example, when the far-field angular resolution is 1° and the scanning speed is 1° / ms, the time interval between first-type pulses corresponding to any two adjacent pulse trains may be 1 ms. When the time interval is the time interval between the central transmission instants of all first-type pulses included in any two adjacent pulse trains, if the central transmission instants of all first-type pulses in the former pulse train are 7.5 ms, the central transmission instants of all first-type pulses in the latter pulse train are 8.5 ms. When the time interval is the time interval between the transmission instants of the first first-type pulses included in any two adjacent pulse trains, if the transmission instant of the first first-type pulse in the former pulse train is 5 ns, the transmission instant of the first first-type pulse in the latter pulse train is 1 ms + 5 ns. In addition, since the far-field angular resolution remains a fixed value after being selected, the time intervals of the first-type pulses corresponding to any two adjacent pulse trains in the first pulse train set are the same, i.e., the time intervals between the transmission instants of the first-type pulses corresponding to any two adjacent pulse trains are the same. The "same time interval" refers to the sameness in an ideal state. This sameness may further include the sameness with certain deviations caused by environmental or other factors. In other words, as long as the value of the time interval falls within a range between a positive deviation and a negative deviation, the time interval is considered to be the same in this embodiment of the present application.

[0101] In one possible example, the time interval between second-type pulses corresponding to any two pulse trains in the second pulse train set is determined based on the near-field angular resolution, e.g., the ratio of the near-field angular resolution to the scanning speed. For example, if the scanning speed of the LiDAR is 1° / ms and the near-field angular resolution is 3°, the time interval between second-type pulses corresponding to any two adjacent pulse trains may be 3 ms. The time interval between second-type pulses corresponding to any two pulse trains may be the time interval between the central transmission instants of all second-type pulses included in the two pulse trains. Alternatively, when the pulses and pulse arrangements included in the two pulse trains are the same, the time interval between first-type pulses corresponding to any two pulse trains may alternatively be the time interval between the transmission instants of the 12th second-type pulse in the two pulse trains. 12 is any positive integer less than or equal to the number of pulses included in any pulse train. In addition, since the near-field angular resolution remains a fixed value after being selected, the time intervals between second-type pulses corresponding to any two adjacent pulse trains in the second pulse train set are the same.

[0102] In one possible example, when the ratio of the far-field angular resolution to the near-field angular resolution is an integer, the time interval offset of the first-type pulses and the second-type pulses corresponding to any two pulse trains in the third pulse train set is the same, and the time interval offset of the first-type pulses and the second-type pulses corresponding to the two pulse trains is the difference between the time interval between the moment of transmission of the first-type pulse and the moment of transmission of the second-type pulse in the first pulse train and the time interval between the moment of transmission of the first-type pulse and the moment of transmission of the second-type pulse in the second pulse train. For example, the transmission moment of a first-type pulse in any pulse train may be the central transmission moment of all first-type pulses in the pulse train, and the transmission moment of a second-type pulse in any pulse train may be the central transmission moment of all second-type pulses in the pulse train, or when the pulses and pulse arrangements included in any two pulse trains are the same, the transmission moment of a first-type pulse in any pulse train may be the transmission moment of the first first-type pulse in the pulse train, and the transmission moment of a second-type pulse in any pulse train may be the transmission moment of the first second-type pulse in the pulse train, or the transmission moment of a first-type pulse in any pulse train may be the transmission moment of the last first-type pulse in the pulse train, and the transmission moment of a second-type pulse in any pulse train may be the transmission moment of the last second-type pulse in the pulse train, etc. This is not particularly limited.

[0103] In the above example, the "same time interval offset" refers to the sameness in an ideal state. This sameness may also include the sameness with certain deviations caused by environmental or other factors. In other words, as long as the value of the time interval offset falls within a range between a positive deviation and a negative deviation, the time interval offset is considered to be the same in this embodiment of the present application. The time interval offsets of the first-type pulses and the second-type pulses corresponding to two pulse trains may be set based on an integer relationship between the far-field angular resolution and the near-field angular resolution. For example, based on the correlation between the far-field angular resolution and the time intervals of the first-type pulses and the near-field angular resolution and the time intervals of the second-type pulses in the above example, when the scan speed is 1° / ms, the far-field angular resolution is 1°, and the near-field angular resolution is 3°, the time interval between the first-type pulses in any two adjacent pulse trains is 1 ms, and the time interval between the second-type pulses in any two adjacent pulse trains is 3 ms. See FIG. 7A for a specific arrangement scheme. Every 3×M1 first-type pulses may correspond to 1×M2 second-type pulses, and each pulse train including M1 first-type pulses and M2 second-type pulses may be configured with reference to Configuration 1 in FIG. 7A, and each pulse train including M1 first-type pulses but not M2 second-type pulses may be configured with reference to Configuration 2 in FIG. 7A. It can be seen that when the time intervals of the first-type pulses and the second-type pulses in any two adjacent pulse trains have multiple relationships, the positional relationship between the first-type pulses and the second-type pulses in any two adjacent pulse trains is the same, i.e., the time interval offsets of the first-type pulses and the second-type pulses corresponding to any two pulse trains are the same, i.e., the positional relationship between the second-type pulses and the first-type pulses in different pulse trains shown in FIG. 7A is fixed.

[0104] In a possible example, when the ratio of the far-field angular resolution to the near-field angular resolution is not an integer, the time interval offsets of the first-type pulses and the second-type pulses corresponding to at least two pulse trains in the third pulse train set are different. Corresponding to the "same time interval offset," "different time interval offsets" also represent a difference in an ideal state. This difference may allow for certain deviations caused by environmental or other factors. In other words, in this embodiment of the present application, the time interval offsets are considered to be different only when the value of the time interval offset is outside the range between positive and negative deviations. Based on the correlation between the far-field angular resolution and the time intervals of the first-type pulses and the near-field angular resolution and the time intervals of the second-type pulses in the above example, when the scan speed is 1° / ms, the far-field angular resolution is 1°, and the near-field angular resolution is 1.8°, the time interval between the first-type pulses in any two adjacent pulse trains is 1 ms, and the time interval between the second-type pulses in any two adjacent pulse trains is 1.8 ms. For a specific arrangement scheme, see FIG. 7B. Every 1.8×M1 first-type pulses may correspond to 1×M2 second-type pulses, and each pulse train including M1 first-type pulses and M2 second-type pulses may be configured with reference to configuration 3 in FIG. 7B, and each pulse train including M1 first-type pulses but not M2 second-type pulses may be configured with reference to configuration 2 in FIG. 7B. When the time intervals of the first-type pulses and the second-type pulses in any two adjacent pulse trains are not related in a plurality of ways, it can be understood that the non-integer ratio makes it impossible for the first-type pulses in different pulse trains to be aligned in time sequence. As a result, the time interval offsets of the first-type pulses and the second-type pulses in some pulse trains are different, i.e., the ratios of tg to tr in the different pulse trains shown in FIG. 7B are different.

[0105] It should be noted that the above configuration 1 uses a combination of two pulse configurations, (G) and (J) in FIG. 6, and the above configuration 3 uses a combination of two pulse configurations, (G) and (A) in FIG. 6. This is just an example of a configuration scheme. In another example, other pulses shown in FIG. 6 may be used as substitutes for the combined configuration, provided that the time intervals shown in FIG. 7 are met. The details will not be listed one by one in this application.

[0106] In the above implementation, the time interval between the first type pulses and / or the second type pulses is determined with reference to the far-field angular resolution and / or the near-field angular resolution, and therefore the relative position of each pulse in the pulse train can be accurately configured based on the actual requirements of the angular resolution, and therefore each pulse is transmitted based on the detection requirements in each detection cycle, thereby improving the detection effect.

[0107] The above embodiment 1 describes a specific implementation process of a transmission pulse control method. The present application further provides a transmission pulse adjustment method. In the following, the first pulse train in the above embodiment 1 is used as an example for explanation, and another pulse train may be implemented with reference to the first pulse train. [Embodiment 2]

[0108] 8 shows an example of a schematic flowchart of a transmit pulse adjusting method according to an embodiment of the present application. As shown in FIG. 8, the method includes the following steps:

[0109] Step 801: The control device controls the transmitting module to transmit a first pulse train, where the first pulse train includes M1 first-type pulses and M2 second-type pulses, the power of the first-type pulses is greater than the power of the second-type pulses, M1 is a positive integer greater than 1, and M2 is a positive integer.

[0110] Step 802: The control device controls the receiving module to receive a first echo signal.

[0111] In an optional implementation, Figure 9 shows an example of a schematic diagram of the presentation of the first pulse train and the first echo signal according to an embodiment of the present application. In this example, it is assumed that the pulses included in the first pulse train are transmitted in R detection cycles (R is a positive integer equal to or greater than 2), and the amount, type, and time interval of the pulses transmitted in any two of the R detection cycles are the same. For example, the pulses transmitted in each of the detection cycles are the first pulse T x 1, 2nd pulse T x 22, and the first second pulse T x 21, including the first pulse T x 1 and 2nd pulse T x The time interval between the second pulse T22 is Δt1. x 22 and the first second pulse T x 21 is Δt2. In this case, the control device can control the receiving module to continuously receive the sub-echo signals during R detection cycles, and then accumulate successfully detected pulses in the sub-echo signals during the R detection cycles to obtain the first echo signal. In this way, the first echo signal is acquired through accumulation, and therefore, all information regarding the echo signals in all detection cycles of the first pulse train can be comprehensively analyzed, and there is no need to perform the analysis multiple times by using a small amount of one-sided information, which helps improve the efficiency of subsequent analysis.

[0112] Step 803: The control device determines whether the point cloud corresponding to the first echo signal is abnormal; if no, perform step 804; or if yes, perform step 805.

[0113] In step 803 above, the point cloud corresponding to the first echo signal being abnormal means that the pixel or field of view on the point cloud corresponding to the first echo signal is displayed as an abnormal state, for example, as an interference point, a noise point, or an empty point, or the distance, intensity, or reflectivity reported by the pixel or field of view is inaccurate throughout subsequent measurements.

[0114] In a possible implementation, after the first pulse train is sent, the received first echo signal may include sub-echo signals corresponding to the first pulse train and may further include sub-echo signals corresponding to the interference pulses. Therefore, the control device may perform the following analysis on each of the sub-echo signals in the first echo signal to determine whether the point cloud corresponding to the first echo signal is anomalous:

[0115] Comparing time intervals in pulse trains

[0116] In comparing the time intervals in the pulse trains, for each sub-echo signal in the first echo signal, the control device may compare the time interval between any two adjacent pulses in any detection cycle in the first pulse train with the time interval between any two adjacent pulses in each sub-echo signal. If the comparison is successful, this indicates that the sub-echo signal can perfectly match the first pulse train, and further indicates that the sub-echo signal is a sub-echo signal corresponding to the first pulse train and that the point cloud corresponding to the sub-echo signal is normal. If the comparison is unsuccessful, this indicates that the sub-echo signal cannot perfectly match the first pulse train, and further indicates that the sub-echo signal may be an abnormal echo signal. For example, the sub-echo signal may be a sub-echo signal corresponding to an interference pulse, or a sub-echo signal corresponding to the first pulse train but with a slight deviation. In this case, the control device may label the sub-echo signal as a "potential interference signal."

[0117] For example, the first pulse train and the first echo signal shown in FIG. 9 are still used as an example. It is assumed that the first pulse train corresponds only to the first echo signal shown in FIG. 9 and does not correspond to another echo signal. In this case, after acquiring the first echo signal through accumulation, the control device can calculate the time interval between any two adjacent pulses in the first echo signal. The time interval between the first pulse and the second pulse in the first echo signal is Δt 31 and the time interval between the second and third pulses is Δt 41 In this case, the control device compares the time interval between any two adjacent pulses in any detection cycle in the first pulse train with the time interval between any two adjacent pulses in the first echo signal, i.e., the first pulse T in any detection cycle of the first pulse train x 1 and 2nd pulse T x 22, and the time interval Δt between the first pulse and the second pulse in the first echo signal. 31 and the second pulse T in any detection cycle of the first pulse train is compared with x 22 and the first second pulse T x The time interval Δt between the second and third pulses in the first echo signal is 41If the time intervals in the two comparisons are the same, it indicates that the time interval between pulses in the first echo signal is the same as the time interval between pulses in the first pulse train, the first echo signal can perfectly match the first pulse train, the first echo signal is a valid echo signal corresponding to the first pulse train, and the point cloud corresponding to the first echo signal is normal. Conversely, if the time intervals in at least one of the two comparisons are different, it indicates that the time interval between at least two pulses in the first echo signal is different from the time interval between at least two pulses in the first pulse train, and the first echo signal cannot perfectly match the first pulse train. In this case, the label "potential interference signal" may be added to the first echo signal, and then whether the first echo signal is a valid echo signal or an interference signal needs to be determined by comparing the time intervals between the pulse trains.

[0118] It should be noted that in the above design, labeling as a potentially interfering signal is merely an example of an identification scheme. The present application does not limit any implementation of identifying a potentially interfering signal, provided that the LiDAR can identify the sub-echo signal determined as a potentially interfering signal through matching.

[0119] Comparing the time intervals between pulse trains

[0120] After comparing all the sub-echo signals in the first echo signal, the control device may perform a time interval comparison between pulse trains for each of the sub-echo signals labeled as a "suspected interference signal." The specific process is as follows:

[0121] The control device calculates a difference between the time interval between each of the first type pulses in each of the sub-echo signals labeled as a "potential interference signal" and the start moment of the sub-echo signal and the time interval between each of the first type pulses in adjacent echo signals of the first echo signal and the start moment of the adjacent echo signal, calculates a difference between the time interval between each of the first type pulses in the first pulse train and the start moment of the first pulse train and the time interval between each of the first type pulses in adjacent pulse trains of the first pulse train and the start moment of the adjacent pulse train, and calculates the difference between the two differences to be a preset When the difference between the first and second deviation thresholds is not exceeded, the control device may compare the time interval between each of the first-type pulses in each of the sub-echo signals labeled as a "potentially interfering signal" and the start of the sub-echo signal with the time interval between each of the first-type pulses in the first pulse train and the start of the first pulse train (or compare the time interval between each of the first-type pulses in adjacent echo signals of the first echo signal and the start of the adjacent echo signal with the time interval between each of the first-type pulses in adjacent pulse trains of the first pulse train and the start of the adjacent pulse train). If the difference between these two time intervals does not exceed a preset second deviation threshold, the control device modifies the label of the sub-echo signal to a "valid signal." Note that in this operation, if the adjacent echo signal includes only one sub-echo signal, only one sub-echo signal of the adjacent echo signal needs to be compared, or if the adjacent echo signal includes multiple sub-echo signals, each of the sub-echo signals of the adjacent echo signal needs to be compared. As long as the difference between the sub-echo signals does not exceed a preset first deviation threshold and a preset second deviation threshold, the label can be corrected. The preset first deviation threshold and the preset second deviation threshold may be the same or different, and may be set by a person skilled in the art based on experience or determined experimentally. This is not particularly limited.

[0122] For example, it is assumed that the control device continuously transmits pulse train 1 and pulse train 2, the echo signal corresponding to pulse train 1 includes sub-echo signal 1 and sub-echo signal 2, and the echo signal corresponding to pulse train 2 includes only sub-echo signal 3. In this case, for sub-echo signal 1, the control device calculates the difference between the time interval between each of the first-type pulses in sub-echo signal 1 and the start instant of sub-echo signal 1 and the time interval between each of the first-type pulses in sub-echo signal 3 and the start instant of sub-echo signal 3, and calculates the difference between the time interval between each of the first-type pulses in pulse train 1 and the start instant of pulse train 1 and the time interval between each of the first-type pulses in pulse train 2 and the start instant of pulse train 2. If either of the two differences is greater than or equal to a preset first deviation threshold, the time interval between each of the first-type pulses in sub-echo signal 1 and the start of sub-echo signal 1 is compared with the time interval between each of the first-type pulses in pulse train 1 and the start of pulse train 1 (or the time interval between each of the first-type pulses in sub-echo signal 3 and the start of sub-echo signal 3 is compared with the time interval between each of the first-type pulses in pulse train 2 and the start of pulse train 2). If the difference between the two does not exceed a preset second deviation threshold, the label of sub-echo signal 1 is modified to "valid signal." Note that the comparison process for sub-echo signal 2 is the same as that for sub-echo signal 1, and will not be described in detail again here.

[0123] Furthermore, for example, the first pulse train and the first echo signal shown in FIG. 9 are still used as an example. The label "potential interference signal" is attached to the first echo signal according to the above-described method for comparing time intervals in pulse trains, and both the preset first deviation threshold and the preset second deviation threshold are assumed to be 6 ns. FIG. 10 shows an example of a schematic flowchart of time interval comparison between pulse trains according to an embodiment of the present application. As shown in FIG. 10, in implementation, the control device may first acquire adjacent echo signals of the first echo signal. The adjacent echo signals include a previous echo signal (corresponding to the last pulse train transmitted before the first pulse train) formed by the last batch of sub-echo signals received before the first echo signal, and a next echo signal (corresponding to the first pulse train transmitted after the first pulse train) formed by the first batch of sub-echo signals received after the first echo signal. Then, the control device calculates the time interval Δt between each of the first-type pulses in the first echo signal and the start moment of the first echo signal. 51 and the time interval between each of the first type pulses in any adjacent echo signal and the start moment of the adjacent echo signal (if the adjacent echo signal is the previous echo signal, the difference is Δt 51 -Δt 52 or if the adjacent echo signal is the next echo signal, the difference is Δt 51 -Δt 53(where, ≠ 0.01 ... Furthermore, the control device may further compare the time interval between each first-type pulse in the first echo signal and the start of the first echo signal with the time interval between each first-type pulse in the transmit pulse train corresponding to the first echo signal and the start of the transmit pulse train (or compare the time interval between each first-type pulse in adjacent echo signals corresponding to the first echo signal and the start of the adjacent echo signal with the time interval between each first-type pulse in adjacent pulse trains in the transmit pulse train corresponding to the first echo signal and the start of the adjacent pulse train). That is, the control device may compare the 50 ns time interval between the first-type pulse in the first echo signal and the start of the first echo signal with the 55 ns time interval between the first-type pulse in the transmit pulse train corresponding to the first echo signal and the start of the transmit pulse train. The difference between the two time intervals can be found to be 5 ns, which is less than 6 ns. Therefore, it is determined that the two time intervals do not exceed the preset second deviation threshold. Therefore, the control device may modify the label of the first echo signal to "valid signal."

[0124] It should be noted that in the above design, labeling the valid signal is merely an example of an identification scheme. The present application does not limit any implementation of identifying the valid signal, provided that the LiDAR can identify the sub-echo signal determined as the valid signal through matching.

[0125] Point cloud confirmation

[0126] If all sub-echo signals labeled as "potential interfering signals" are not corrected after being compared and analyzed based on the time intervals between the pulse trains, this indicates that the first echo signal does not contain a valid signal and cannot be matched to the first pulse train. This indicates that the anti-interference effect of the first pulse train is insufficient, and as a result, the echo signal corresponding to the first pulse train is theoretically covered by an interfering signal. In this case, the point cloud corresponding to the first echo signal is displayed as an abnormal state. If the label of only one sub-echo signal is corrected to "valid signal," this indicates that the first echo signal contains a single valid signal, further indicating that the first echo signal can be closely matched to the first pulse train. In this case, the point cloud corresponding to the first echo signal is displayed as a normal state. If the label of at least two sub-echo signals is corrected to "valid signal," an interfering signal may also be matched as a valid signal due to an error in the matching process. Theoretically, the matching result is inaccurate. Since the point cloud displays at least two sub-echo signals labeled as "valid signals," the point cloud corresponding to the first echo signal is also displayed as an abnormal condition.

[0127] Step 804: The control device controls the transmitting module to continue transmitting the first pulse train, and then performs step 802.

[0128] In step 804, if the point cloud corresponding to the first echo signal is normal, for example, if there is a single valid signal in the first echo signal, it indicates that the time interval of the first pulse train is properly set and essentially no echo signal interference is caused. In this case, the control device may then continue to transmit the first pulse train and receive the echo signal again after transmitting the first pulse train. If the point cloud of the echo signal remains normal, the control device may continue to transmit the first pulse train.

[0129] Step 805: The control device controls the transmitting module to transmit a third pulse train, where the third pulse train is different from the first pulse train, and then performs step 802.

[0130] In step 805, if the point cloud corresponding to the first echo signal is abnormal, for example, if the first echo signal has no valid signal or multiple valid signals, it indicates that the time interval of the first pulse train is not set properly and more severe echo signal interference is generated. In this case, the control device may then transmit a third pulse train different from the first pulse train, and receive an echo signal after transmitting the third pulse train. If the point cloud of the echo signal is still abnormal, the control device may continue to adjust the transmitted pulse train until an echo signal with a normal point cloud is received. In this way, the transmitted pulse train is adjusted to help find a transmitted pulse train that can generate a normal point cloud and improve detection accuracy.

[0131] In a possible implementation, when there is no valid signal in the first echo signal, the control device may increase the amount of first-type pulses included in the transmitted pulse train to correspondingly increase the amount of time intervals between pulses included in the pulse train, in order to improve the anti-interference performance of the transmitted pulse train. Since the time intervals between pulses are related to the random numbers generated during coding, this is equivalent to increasing the amount of time intervals included in the pulse train and obtained by using the random numbers, which helps improve the anti-interference performance of the transmitted pulse train. For example, when the first pulse train includes M1 first-type pulses and M2 first-type pulses, the third pulse train transmitted under the control of the control device may include M5 first-type pulses and M2 first-type pulses, where M5 is greater than M1. The third pulse train may be generated by increasing the amount of detection cycles based on the first pulse train and / or by increasing the amount of first-type pulses in one or more detection cycles. The newly added detection cycles may be maintained consistent with the detection cycles in the first pulse train, and the interval between the newly added first-type pulse and another pulse may be constrained by certain interference. For example, FIG. 11 shows an example of a schematic diagram of an implementation of adding first-type pulses according to an embodiment of the present application. (A) of FIG. 11 shows the first pulse train. The first pulse train can be understood to include three detection cycles, each of which includes one first-type pulse and two second-type pulses. (B) of FIG. 11 shows a third pulse train generated by increasing the amount of detection cycles. The third pulse train can be understood to include four detection cycles, each of which includes one first-type pulse and two second-type pulses. 11C shows a third pulse train generated by increasing the amount of first-type pulses included in one or more detection cycles. The third pulse train still includes three detection cycles, but the first and third detection cycles each include two first-type pulses and two second-type pulses, and the second detection cycle still includes one first-type pulse.

[0132] In a possible implementation, when there are multiple valid signals in the first echo signal, the control device may refresh the time interval between the first-type pulse in any detection cycle corresponding to the first pulse train and the start of the detection cycle, for example, refresh the time interval between the first-type pulse in any detection cycle of the first pulse train and any of the adjacent pulse trains of the first pulse train and the start of the detection cycle to generate the third pulse train and the adjacent pulse trains of the third pulse train. Furthermore, for example, three random numbers may be re-determined in a coding manner, and one of the random numbers may be determined based on the time interval between the first-type pulse in any detection cycle of the previous pulse train and the start of the detection cycle (Δt shown in FIG. 10 when the previous echo signal and the previous pulse train have the same time interval). 52 10) to obtain the pulse train before the third pulse train, and another random number is assigned to the time interval between the first type pulse in any detection cycle of the first pulse train and the start of the detection cycle (when the first echo signal and the first pulse train have the same time interval Δt shown in FIG. 10). 51 The third pulse train is obtained by assigning a time interval (corresponding to Δt) between the first type pulse in one of the detection cycles of the next pulse train and the start of the detection cycle (when the next echo signal and the next pulse train have the same time interval, as shown in FIG. 10). 53 The control device then assigns a time interval (corresponding to the time interval corresponding to the third pulse train) to acquire the next pulse train of the third pulse train. In this way, by using the third pulse train and adjacent pulse trains of the third pulse train whose time intervals are then refreshed, the control device can continue to perform detection until it finds a target pulse train whose echo signal can perfectly match the transmitted pulse train.

[0133] It should be noted that when a detection cycle includes multiple first-type pulses, the control device may refresh the time interval between any one or more first-type pulses in the detection cycle and the start of the detection cycle. For example, the control device may refresh only the time interval between a first-type pulse (e.g., the first first-type pulse) in the detection cycle and the start of the detection cycle. In this way, the time interval between a first-type pulse in the detection cycle and the start of the detection cycle changes, but the time interval between any two other pulses remains unchanged, thus changing the time interval between each first-type pulse in the detection cycle and the start of the detection cycle. In addition, the time intervals in the detection cycle include the time interval between a first-type pulse in the detection cycle and the start of the detection cycle, the time interval between a first-type pulse in the detection cycle and an adjacent second-type pulse in the detection cycle, and the time interval between a second-type pulse in the detection cycle and the start of the detection cycle. After the time interval between the first-type pulse and the start of the detection cycle is refreshed, the time interval between the first-type pulse and the start of the detection cycle changes, but the time interval between the second-type pulse and the start of the detection cycle remains unchanged. Therefore, the time interval between the first-type pulse and the adjacent second-type pulse in the detection cycle also changes. That is, when there are multiple valid signals in the first echo signal, the time interval between the first-type pulse transmitted in each detection cycle in the third pulse train and the start of each detection cycle may be different from the time interval between the first-type pulse transmitted in each detection cycle in the first pulse train and the start of each detection cycle, and / or the time interval between the first-type pulse and the adjacent second-type pulse transmitted in each detection cycle in the third pulse train may be different from the time interval between the first-type pulse and the adjacent second-type pulse transmitted in each detection cycle in the first pulse train.

[0134] In the above embodiment 2, when the point cloud of the first echo signal corresponding to the first pulse train is abnormal, the subsequently transmitted pulse train is adjusted so that the subsequently transmitted pulse train can generate a normal point cloud, thereby improving the detection accuracy. In addition, by performing intra-train time interval comparison and inter-train time interval comparison on the echo signal, the intra-train anti-interference performance and inter-train anti-interference performance of the transmitted pulse train can be accurately determined, and the subsequently transmitted pulse train can be adjusted with reference to the intra-train anti-interference performance and inter-train anti-interference performance, so that the subsequently transmitted pulse train achieves better intra-train anti-interference effect and better inter-train anti-interference effect, thereby effectively improving the detection accuracy and the quality of the subsequently constructed point cloud.

[0135] It should be understood that the control method provided in this application can be further extended to any information system that needs to accurately detect objects. It should be understood that all technical solutions for implementing accurate detection by using the control solution provided in this application fall within the protection scope of this application and will not be listed one by one in this application.

[0136] According to the control solution provided in the embodiments of the present application, the present application further provides a control device including at least one processor and an interface circuit, wherein the interface circuit is configured to provide data or code instructions to the at least one processor, and the at least one processor is configured to implement the method performed by the control device by using logic circuits or executing the code instructions.

[0137] According to the control solution provided in the embodiment of the present application, the present application further provides a LiDAR, including a control device and a transmitting module, wherein the control device is configured to implement the control method implemented by the above control device, and the transmitting module is configured to send a pulse train under the control of the control device.

[0138] In a possible design, the LiDAR further includes a scanning mechanism, which includes one or more of a multi-faceted rotating mirror, a pendulum mirror, a MEMS scanning mirror, or a prism.

[0139] In a possible design, the LiDAR further includes a receiving module, the receiving module configured to receive the echo signals, and the control device further configured to determine target features based on the echo signals.

[0140] According to the control solution provided in the embodiments of the present application, the present application further provides a terminal device including the LiDAR described above. Examples of the terminal device include, but are not limited to, smart home devices (such as televisions, floor cleaning robots, smart desk lamps, sound systems, intelligent lighting systems, electrical control systems, home background music, home theater systems, intercom systems, and video surveillance systems), intelligent transportation devices (such as cars, ships, unmanned aerial vehicles, trains, cargo vehicles, and trucks), intelligent manufacturing devices (such as robots, industrial devices, intelligent logistics, and smart factories), and intelligent terminals (such as mobile phones, computers, tablet computers, palmtop computers, desktop computers, headsets, acoustic devices, wearable devices, vehicle-mounted devices, virtual reality devices, and augmented reality devices).

[0141] According to the control solution provided in the embodiment of the present application, the present application further provides a computer-readable storage medium, which stores a computer program, which, when executed, performs the method implemented by the control device in the above content.

[0142] According to the control solution provided in the embodiments of the present application, the present application further provides a computer program product, which, when run on a processor, implements the method performed by the control device in the above content.

[0143] As used herein, terms such as “component,” “module,” and “system” are used to refer to computer-related entities, hardware, firmware, a combination of hardware and software, software, or software being executed. For example, a component may be, but is not limited to, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and / or a computer. As illustrated through the use of diagrams, both computing devices and applications running on computing devices may be components. One or more components may reside within a process and / or thread of execution, and components may be located on one computer and / or distributed among two or more computers. Additionally, these components may be executed by various computer-readable media that store various data structures. Components may communicate through the use of local and / or remote processing and based on, for example, signals having one or more data packets (e.g., data from two components interacting with another component using signals, in a local system, in a distributed system, and / or over a network such as the Internet to interact with other systems).

[0144] Those skilled in the art may realize that, in combination with the illustrative logical blocks described in the embodiments disclosed herein, the steps may be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether a function is implemented 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 functions described for each specific application, but the implementation should not be considered to go beyond the scope of this application.

[0145] For the sake of convenience and simplicity, those skilled in the art can clearly understand that for the detailed work processes of the above systems, devices and units, please refer to the corresponding processes in the above method embodiments, and the details will not be described again in this specification.

[0146] In some embodiments provided in this application, it should be understood that 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 through some interfaces. Indirect couplings or communication connections between devices or units may be implemented in electrical, mechanical, or other forms.

[0147] 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 location or distributed over multiple network units. Some or all of the units may be selected based on actual requirements to achieve the objectives of the solutions of the embodiments.

[0148] In addition, the functional units in the embodiments of the present application may be integrated into one processing unit, each of the units may exist physically alone, or two or more units may be integrated into one unit.

[0149] 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, or a portion contributing to the prior art, or a portion of the technical solution, may be implemented 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, or a network device) to perform all or part of the steps of the method described in the embodiments of the present application. The above storage medium includes any medium that can store program code, such as a USB flash drive, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0150] The above description is merely a specific implementation 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 thought of 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 should be subject to the scope of protection of the claims.

Claims

1. A control method for controlling a LiDAR, the control method comprising: controlling a transmission module to transmit a first pulse train, the first pulse train having M pulses per unit time corresponding to a repetition frequency of the LiDAR; １ number of first type pulses and M ２ number of second-type pulses, １ is an integer greater than 1, and M ２ is a positive integer, and controlling the transmitting module to transmit a second pulse train, the second pulse train being M pulses per unit time; ３ number of first-type pulses and / or M ４ number of second-type pulses, ３ and M ４ is a positive integer, and Including, The power of the first-type pulses is greater than the power of the second-type pulses, and the second pulse train and the first pulse train have different transmission time periods, or correspond to different transmitting sub-modules, or correspond to different pixels in a detection field of view, or correspond to different detection fields of view, or correspond to different receiving sub-modules; the first pulse train belongs to a first pulse train set and a second pulse train set, each pulse train in the first pulse train set includes the first type pulse, and each pulse train in the second pulse train set includes the second type pulse; a time interval between first-type pulses corresponding to any two pulse trains in the first pulse train set is determined based on a far-field angular resolution; a time interval between second-type pulses corresponding to any two pulse trains in the second pulse train set is determined based on a near-field angular resolution; Control method.

2. The control method includes: generating a point cloud based on at least the first pulse train and the second pulse train; wherein the first pulse train and the second pulse train correspond to different point clouds. The control method according to claim 1 .

3. the first pulse train belongs to a third pulse train set, and each pulse train in the third pulse train set includes the first type pulse and the second type pulse; when the ratio of the far-field angular resolution to the near-field angular resolution is an integer, the time interval offsets of the first-type pulses and the second-type pulses corresponding to any two pulse trains in the third pulse train set are the same; or When the ratio of the far-field angular resolution to the near-field angular resolution is not an integer, the time interval offsets of the first-type pulses and the second-type pulses corresponding to at least two pulse trains in the third pulse train set are different. The control method according to claim 1 or 2.

4. For the first pulse train, １ The first type pulses are M pulses with the same power. １ number of first pulses, ２ The second type pulses include K types of second pulses, and the powers of the K types of second pulses are different, and the sum of the amounts of the K types of second pulses is M ２ 4. The control method according to claim 1, wherein K is a positive integer.

5. Said M １ number of first-type pulses and the M ２ 5. The control method of claim 4, wherein the K second-type pulses are transmitted in a plurality of detection cycles, and the pulse train transmitted in each detection cycle includes the first pulse and / or one or more of the K second-type pulses.

6. 6. The control method of claim 5, wherein the pulse trains transmitted in any two detection cycles are the same.

7. 7. The control method according to claim 5 or 6, wherein when a pulse train transmitted in any detection cycle includes the first pulse and one or more of the K types of second pulses, the time interval between the first pulse and an adjacent second pulse is equal to or greater than the time interval corresponding to a detection blind area of ​​the first pulse.

8. The control method includes: controlling a receiving module to receive a first echo signal; controlling the transmitter module to transmit a third pulse train, the third pulse train being different from the first pulse train; The control method according to claim 1 , further comprising:

9. The third pulse train is M per unit time. ５ number of first-type pulses, M ５ The value of M １ The control method of claim 8, wherein the value of

10. the time interval between the first-type pulse transmitted in each detection cycle in the third pulse train and the start of the detection cycle is different from the time interval between the first-type pulse transmitted in each detection cycle in the first pulse train and the start of the detection cycle; and / or The time interval between a first-type pulse and an adjacent second-type pulse transmitted in each detection cycle in the third pulse train is different from the time interval between a first-type pulse and an adjacent second-type pulse transmitted in each detection cycle in the first pulse train.

10. The control method according to claim 8 or 9.

11. Prior to the step of controlling the transmitting module to transmit a third pulse train, the control method further comprises: determining that the first echo signal contains zero or more valid signals; The control method according to any one of claims 8 to 10, further comprising:

12. 12. A control method according to any one of claims 8 to 11, wherein the time interval between a first type pulse of the first pulse train and the start moment of the first pulse train is obtained through coding.

13. 13. A control device comprising at least one processor and an interface circuit, wherein the interface circuit is configured to provide data or code instructions to the at least one processor, and wherein the at least one processor is configured to implement the control method of any one of claims 1 to 12 by using logic circuits or by executing the code instructions.

14. 13. A LiDAR comprising a control device and a transmission module, wherein the control device is configured to implement the control method of any one of claims 1 to 12, and the transmission module is configured to transmit a pulse train under the control of the control device.

15. 15. The LiDAR of claim 14, further comprising a scanning mechanism, the scanning mechanism comprising one or more of a multi-faceted rotating mirror, a pendulum mirror, a micro-electro-mechanical system (MEMS) scanning mirror, or a prism.

16. The LiDAR of claim 14 or 15, further comprising a receiving module configured to receive echo signals, and the control device further configured to determine target features based on the echo signals.

17. A terminal device comprising a LiDAR according to any one of claims 14 to 16.

18. A computer-readable storage medium storing a computer program that, when executed, performs the control method according to any one of claims 1 to 12.

19. A computer program comprising instructions which, when executed by a processor, cause the processor to carry out a control method according to any one of claims 1 to 12.

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