Detection method, detection apparatus and terminal device

Abstract

The present application provides a detection method, a detection apparatus and a terminal device. The method comprises: a detection apparatus transmits a first pulse sequence, wherein the first pulse sequence comprises a first pulse signal, the first pulse signal comprises a main pulse signal and a sub-pulse signal, and the amplitude of the sub-pulse signal is smaller than the amplitude of the main pulse signal. In different usage scenarios, the detection apparatus can adaptively select a proper first pulse signal to be comprised in a first pulse sequence, so that the transmitted pulse sequence can fit the usage scenario of the detection apparatus, and a relatively good detection effect can be obtained, thereby improving the detection performance of the detection apparatus.

Description

Detection method, detection device and terminal equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on December 19, 2023, with application number 202311760881.2 and application name “A Detection Method, Detection Device and Terminal Equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of laser detection technology, and in particular to a detection method, a detection device and a terminal device. Background Art

[0004] LiDAR (light detection and ranging) is a radar system that uses laser beams to detect the position, speed, and other characteristic quantities of a target. It works by transmitting a detection signal (such as a laser pulse) to a target (such as a vehicle, aircraft, or pedestrian). The received signal reflected from the target (echo signal) is then compared and processed with the transmitted detection signal to obtain relevant information about the target, such as its distance, direction, altitude, speed, attitude, and even shape, allowing it to detect, track, and identify the target. With the development of LiDAR technology, more and more LiDARs are being used in applications such as advanced driving assistant systems (ADAS), gesture recognition, and three-dimensional (3D) mapping. In the field of intelligent driving, in particular, with the trend of sensor fusion, LiDAR combines imaging, ultrasonic, and millimeter-wave radars to provide vehicles with all-round perception, helping to quickly identify information about the vehicle's surroundings.

[0005] At present, lidar covers a wide range of scenarios, including low-reflectivity targets (such as black cars or tires) and high-reflectivity targets (such as license plates, road signs, or reflective strips). This makes the dynamic changes required for accurate measurement of lidar relatively large (for example, the reflectivity of the detected target changes dynamically between 2% and 100,000%). However, for different targets, the detector in the lidar has different response capabilities to echo signals of different powers (or different waveforms) (such as laser pulse echoes). For example, although a higher transmit power can ensure the lidar's detection performance for long-distance targets, for close-range targets, the echo signal received by the lidar is extremely easy to saturate, so it cannot meet the lidar's dynamic requirements; although a lower transmit power can ensure the lidar's detection performance for close-range targets and help reduce blind spots, the lidar cannot detect long-range targets due to the low transmit power. Therefore, the design scheme for lidar still needs further research.

[0006] Summary of the Invention

[0007] The present application provides a detection method, a detection device, and a terminal device to improve the detection performance of the detection device.

[0008] In a first aspect, the present application provides a detection method, which is applicable to a detection device, and the method includes: the detection device transmits a first pulse sequence, wherein the first pulse sequence includes a first pulse signal, the first pulse signal includes a main pulse signal and a sub-pulse signal, and the amplitude of the sub-pulse signal is smaller than the amplitude of the main pulse signal.

[0009] In this method, the detection device can adaptively select a suitable first pulse signal to be included in the first pulse sequence in different usage scenarios (or environments). This allows the emitted pulse sequence to fit the usage scenario of the detection device and obtain a better detection effect, thereby improving the detection performance of the detection device.

[0010] In a possible design, the main pulse signal and the sub-pulse signal may have different shapes.

[0011] In the above design, by making the main pulse signal and the sub-pulse signal present different shapes, the detection device can obtain a better detection effect by utilizing the characteristics of the first pulse signal.

[0012] In a possible design, the main pulse signal and the sub-pulse signal are adjacent to each other, or the main pulse signal and the sub-pulse signal partially overlap.

[0013] It can be understood that the main pulse signal and the sub-pulse signal being adjacent may mean that the main pulse signal and the sub-pulse signal are adjacent with a certain interval, or may also mean that the main pulse signal and the sub-pulse signal are adjacent with a connection relationship.

[0014] In the above design, different connection relationships between the main pulse signal and the sub-pulse signal (such as adjacent or partially overlapping) can form different first pulse signals. This makes it easier for the detection device to flexibly select a matching first pulse signal for detection (or emission) in different usage scenarios, thereby obtaining better detection effects.

[0015] In a possible design, a minimum point exists at the connection between the main pulse signal and the sub-pulse signal.

[0016] In the above design, there is a minimum point at the connection between the main pulse signal and the sub-pulse signal. This feature can be used to identify whether a pulse signal contained in the first pulse sequence includes the main pulse signal and the sub-pulse signal, thereby helping the auxiliary detection device to timely and accurately select the echo signal corresponding to the pulse signal including the main pulse signal and the sub-pulse signal to perform corresponding operations.

[0017] In one possible design, when the first pulse signal has only one peak, the first pulse signal is divided into three pulse signals using the half-height position of the peak (i.e., the position where half of the peak is located) as the dividing line (or can be understood as the dividing line). Among the three pulse signals, the pulse signal containing the peak is the main pulse signal, and the remaining pulse signals are sub-pulse signals.

[0018] In one possible design, the first pulse sequence also includes a second pulse signal, and the second pulse signal is different from the first pulse signal in at least one of the following parameters: transmission power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge area ratio or falling edge area ratio.

[0019] In the above design, by including different pulse signals in the first pulse sequence for detection, the performance advantages of different pulse signals in different scenarios can be combined to improve the overall performance and scenario coverage capability of the detection device.

[0020] In a possible design, the pulse width of the first pulse signal is greater than the pulse width of the main pulse signal, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

[0021] For example, the amplitude of the main pulse signal can be used as the amplitude of the first pulse signal, and the sum of the main pulse signal width, the sub-pulse signal width, and the interval (or spacing) between the main pulse signal and the sub-pulse signal can be used as the width of the first pulse signal.

[0022] In a possible design, the main pulse signal may be before the sub-pulse signal, or the main pulse signal may be after the sub-pulse signal.

[0023] In the above design, different positional relationships between the main pulse signal and the sub-pulse signal can form different first pulse signals. This makes it easier for the detection device to flexibly select a matching first pulse signal for detection in different usage scenarios, thereby obtaining better detection effects.

[0024] In a possible design, the time interval between the main pulse signal and the sub-pulse signal is smaller than the dead time of the detector, and the width of the first pulse signal is slightly larger than the dead time of the detector.

[0025] In the above design, by utilizing the smaller energy of the sub-pulse, a larger dynamic range can be provided during the stage when the detector recovers its detection capability, and the echo intensity of high-reflectivity targets can be further distinguished.

[0026] In one possible design, the pulse width and amplitude of the sub-pulse signal can be adjusted.

[0027] In the above design, different first pulse signals can be formed by adjusting one or more of the pulse width or amplitude of the sub-pulse signal. This makes it easier for the detection device to flexibly select a matching first pulse signal for detection in different usage scenarios, thereby obtaining better detection effects.

[0028] In a possible design, there are several possible driving modes for the main pulse signal and the sub-pulse signal:

[0029] Method 1: The main pulse signal and the sub-pulse signal can be generated by one or more driving sources driving the same laser.

[0030] Method 2: The main pulse signal can be generated by one driving source driving one laser, and the sub-pulse signal can be generated by one or more driving sources driving one laser.

[0031] Method 3: The main pulse signal can be generated by one driving source driving one laser, and the sub-pulse signal can be generated by multiple driving sources driving corresponding lasers respectively.

[0032] In the above design, the driving modes of the main pulse signal and the sub-pulse signal are flexible and diverse, which can meet the usage requirements of different users or application requirements of different scenarios.

[0033] In one possible design, the method also includes: the detection device can receive a first echo sequence, wherein the first echo sequence includes multiple echo signals, and then the detection device can select a target echo signal that matches the indicator to be measured from the multiple echo signals, and then the detection device can process the target echo signal to obtain a measurement result of the first target.

[0034] For example, the multiple echo signals may include reflection signals corresponding to all detection signals, or may include reflection signals corresponding to only part of the detection signals, or may also include some interference signals, which is not specifically limited.

[0035] In the above design, the detection device can adaptively select appropriate (or matching) target echo signals based on the indicators to be measured (or functional requirements or scenario requirements) to further determine whether the measurement results of the indicators to be measured meet the performance requirements of the detection device, thereby helping to accurately determine whether it is necessary to adjust the pulse sequence for the next transmission, so as to achieve performance coverage of the detection device in different scenarios.

[0036] In a possible design, when the indicator to be measured is intensity, the target echo signal may be an echo signal corresponding to the first pulse signal.

[0037] In the above design, for the indicator to be measured, intensity is measured by preferably selecting the echo signal corresponding to the first pulse signal among multiple echo signals. This helps to more accurately determine whether the measured value of the intensity meets the performance requirements of the detection device, so as to accurately determine whether it is necessary to adjust the pulse sequence for the next emission.

[0038] In a possible design, when the indicator to be measured is distance, the target echo signal may be an echo signal corresponding to a third pulse signal, wherein the transmission power of the third pulse signal is within the transmission power range.

[0039] In the above design, when the indicator to be measured is distance, the distance measurement is achieved by selecting the echo signal corresponding to the third pulse signal among multiple echo signals. This helps to more accurately determine whether the measured value of the distance meets the performance requirements of the detection device, so that it can accurately determine whether it is necessary to adjust the pulse sequence for the next emission.

[0040] In one possible design, when the indicator to be measured is the degree of interference, if there is an echo signal overlap between the first target and the second target, the target echo signal can be the echo signal corresponding to the fourth pulse signal, wherein the pulse width of the fourth pulse signal is less than or equal to the width threshold.

[0041] In the above design, when the indicator to be measured is the interference degree, in the case where there is an overlap of echo signals between the first target and the second target, the interference degree is measured by selecting the echo signal corresponding to the fourth pulse signal among multiple echo signals, which helps to more accurately judge whether the measured value of the interference degree meets the performance requirements of the detection device, so as to accurately judge whether it is necessary to adjust the pulse sequence of the next emission.

[0042] In one possible design, the method further includes: when the measurement result does not meet the measurement requirements, the detection device may emit a second pulse sequence, wherein the second pulse sequence is different from the first pulse sequence.

[0043] For example, the pulse signal (or other form of signal) included in the second pulse sequence differs from the pulse signal (or other form of signal) included in the first pulse sequence in at least one of the following parameters: transmission power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge area ratio or falling edge area ratio.

[0044] For example, taking the parameter of sub-pulse width or sub-pulse amplitude as an example, if the sub-pulse width of the pulse signal included in the second pulse sequence is greater than the sub-pulse width of the pulse signal included in the first pulse sequence, and / or the sub-pulse amplitude of the pulse signal included in the second pulse sequence is greater than the sub-pulse amplitude of the pulse signal included in the first pulse sequence, this can enable the detector in the detection device to obtain a dynamic range, thereby enabling the detection device to dynamically adjust the dynamic range of the detector according to actual scene requirements.

[0045] Alternatively, taking the parameter of rising edge slope as an example, if the rising edge slope of the pulse signal included in the second pulse sequence is smaller than the rising edge slope of the pulse signal included in the first pulse sequence, this can reduce the impact of insufficient sampling accuracy and help improve the measurement accuracy of the detection device under the configuration of low sampling accuracy.

[0046] In the above design, when the measurement results do not meet the measurement requirements, the detection device can adaptively adjust the corresponding parameters of the pulse signal so that the next emitted pulse sequence (such as the second pulse sequence) is different from the first pulse sequence (such as some pulse signals are different or all pulse signals are different). In this way, the detection device can adaptively select the appropriate pulse signal for detection according to the scene, thereby meeting the performance requirements of the detection device in different scenes.

[0047] In a second aspect, the present application provides a detection device for implementing the method of the first aspect or any possible design of the first aspect, and for implementing the steps of the above method. The functions can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0048] In one possible implementation, the detection device may be an independent detection device, or a module used in a detection device, such as a chip or a chip system or a circuit. The beneficial effects can be found in the description of the first aspect above, which will not be repeated here. The detection device may include: an interface circuit and at least one processor. The processor may be configured to support the detection device to execute the method in the above first aspect or any possible design of the above first aspect, and the interface circuit is used to support communication between the detection device and other detection devices and other devices. Among them, the interface circuit can be an independent receiver, an independent transmitter, an input and output port with integrated transceiver functions, etc. Optionally, the detection device may also include a memory, which can be coupled to the processor, and which stores the necessary program instructions and data for the detection device.

[0049] In a third aspect, the present application provides a detection device for implementing the method in the first aspect or any possible design of the first aspect, including corresponding functional modules, respectively used to implement the steps in the above method. The functions can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0050] In a possible embodiment, the detection device may include a transmitting module, a receiving module and a processing module. Optionally, the detection device may further include a control module. The transmitting module is used to perform the operations related to transmission in the above-mentioned first aspect or any possible design of the above-mentioned first aspect, the receiving module is used to perform the operations related to reception in the above-mentioned first aspect or any design of the first aspect, and the processing module is used to perform the operations related to processing in the above-mentioned first aspect or any design of the first aspect, such as for processing the first echo sequence. Optionally, the control module may be used to perform the operations related to control in the above-mentioned first aspect or any design of the first aspect, such as for controlling the transmitting module to perform corresponding transmitting operations, or for controlling the receiving module to perform corresponding receiving operations, or for controlling the processing module to perform corresponding processing operations.

[0051] In another possible embodiment, the detection device may include a processor and a transceiver, and the processor and the transceiver may execute the method in the above-mentioned first aspect or any possible design of the above-mentioned first aspect. Please refer to the detailed description in the method example for details, which will not be repeated here.

[0052] In a fourth aspect, the present application provides a terminal device, comprising a detection device as described in any one of the second to third aspects above. For example, some examples of terminal devices include, but are not limited to: smart home devices (such as televisions, sweeping robots, smart desk lamps, audio systems, smart lighting systems, appliance control systems, home background music, home theater systems, intercom systems, video surveillance, etc.), smart transportation equipment (such as cars, ships, drones, trains, trucks, trucks, etc.), smart manufacturing equipment (such as robots, industrial equipment, smart logistics, smart factories, etc.), smart terminals (mobile phones, computers, tablets, PDAs, desktops, headphones, audio, wearable devices, vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.).

[0053] In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is run, it executes the method in the first aspect or any possible design of the first aspect.

[0054] In a sixth aspect, the present application provides a computer program product, which, when running on a processor, implements the method in the first aspect or any possible design of the first aspect.

[0055] Based on the implementation methods provided in the above aspects, this application can also be further combined to provide more implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] FIG1 exemplarily shows a schematic diagram of a possible application scenario provided by an embodiment of the present application;

[0057] FIG2 exemplarily shows a schematic diagram of the architecture of a detection device provided in an embodiment of the present application;

[0058] FIG3 exemplarily shows a flow chart of a detection method provided in an embodiment of the present application;

[0059] FIG4a exemplarily shows a schematic diagram of a first pulse signal provided in an embodiment of the present application;

[0060] FIG4 b exemplarily shows another schematic diagram of a first pulse signal provided in an embodiment of the present application;

[0061] FIG4c exemplarily shows another schematic diagram of a first pulse signal provided in an embodiment of the present application;

[0062] FIG4d exemplarily shows another schematic diagram of a first pulse signal provided in an embodiment of the present application;

[0063] FIG4e exemplarily shows another schematic diagram of a first pulse signal provided in an embodiment of the present application;

[0064] FIG4f exemplarily shows another schematic diagram of a first pulse signal provided in an embodiment of the present application;

[0065] FIG5a exemplarily shows a schematic diagram of a driving method of a main pulse signal and a sub-pulse signal provided in an embodiment of the present application;

[0066] FIG5 b exemplarily shows another driving method of a main pulse signal and a sub-pulse signal provided in an embodiment of the present application;

[0067] FIG5c exemplarily shows a schematic diagram of another driving method of a main pulse signal and a sub-pulse signal provided in an embodiment of the present application;

[0068] FIG5 d exemplarily shows a schematic diagram of another driving method of a main pulse signal and a sub-pulse signal provided in an embodiment of the present application;

[0069] FIG5e exemplarily shows a schematic diagram of another driving method of a main pulse signal and a sub-pulse signal provided in an embodiment of the present application;

[0070] FIG5 f exemplarily shows a schematic diagram of another driving method of a main pulse signal and a sub-pulse signal provided in an embodiment of the present application;

[0071] FIG6 exemplarily shows a structural diagram of a detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0072] Before introducing the technical solution provided by this application, some of the terms involved in this application are first explained to facilitate understanding by those skilled in the art.

[0073] (1) Pulse signal: It is a discrete signal with various shapes. Compared with ordinary analog signals (such as sine waves), the waveforms are discontinuous on the time axis (there are obvious intervals between waveforms) but have a certain periodicity.

[0074] (2) Dead time: This refers to the period of time after each event occurs during which the system cannot record subsequent events. For example, for a detector, an event is a photon response. During this dead time, the detector cannot detect any new photons.

[0075] (3) Dynamic range: The ability of a detection device to identify the range of the strongest and weakest signals, generally expressed in dB.

[0076] (4) Adhesion: The “blurring” phenomenon between adjacent targets in the point cloud obtained by the detection device (such as LiDAR) can make the targets indistinguishable.

[0077] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0078] The following describes possible application scenarios to which the detection method provided in this application is applicable. It should be noted that these descriptions are for the purpose of facilitating understanding by those skilled in the art and do not limit the scope of protection claimed in this application.

[0079] In one possible implementation, the detection method may be applied to a detection device, which may be mounted on a vehicle. For example, the detection device may be a laser radar (such as a time of flight (TOF) laser radar).

[0080] FIG1 exemplarily shows a schematic diagram of a possible application scenario provided by an embodiment of the present application. In this application scenario, the detection device is installed at the front bumper as an example. The detection device can sense the fan-shaped area shown in the dotted box, and the fan-shaped area can be called the detection area of ​​the detection device. It should be understood that the detection device can also be installed in any direction or multiple directions of the six directions of the front, rear, left, right, top and bottom of the vehicle, such as around the headlights, around the rearview mirrors, near the doors, at the rear bumper, behind the windshield or on the roof, etc., to capture the vehicle's surrounding environment information. When the detection device is installed behind the windshield, its requirements for the risk of no gravel collision are low, and the field of view (FOV) can be aligned, and it will not affect the appearance of the vehicle. In addition, the front windshield itself has window heating and demisting and wiper cleaning functions.

[0081] The detection device operates as follows: it emits a detection signal (such as a laser pulse) into the detection area. If a target is present within the detection area, the target reflects the received detection signal back to the detection device (this reflected detection signal is called an echo signal). The detection device then processes the echo signal to determine the target's associated information. For example, the detection device can acquire real-time or periodic information about the physical environment surrounding the vehicle, such as the relative distance (range), relative velocity (velocity), and relative angles (such as azimuth angle and elevation) between the vehicle and other objects. The device then tracks, identifies, and classifies the target based on this acquired physical environment information, and then fuses this data with vehicle dynamics information. After making appropriate decisions, the device can notify or warn the driver through various means, such as sound, light, and touch, or proactively intervene in the vehicle to ensure safe and comfortable driving and reduce the likelihood of accidents. Currently, vehicles can use millimeter-wave radar to implement advanced driving assistance system (ADAS) functions such as adaptive cruise control, forward collision warning, blind spot detection, parking aid, and lane change assistant, thereby realizing assisted or autonomous driving of the vehicle.

[0082] It should be understood that the above application scenarios are only examples, and the detection device provided in the embodiments of the present application can also be applied to other possible scenarios, and is not limited to the scenarios exemplified above. For example, the detection device can also be installed in a car to dynamically detect living targets in the car. Alternatively, the detection device can also be installed on a roadside traffic radar to detect violations of vehicles passing on surrounding roads, or to monitor the congestion level of the current traffic environment and to evacuate in time, or to communicate with vehicles to achieve intelligent vehicle-road collaborative communication, etc. Alternatively, the detection device can also be installed on an aircraft, such as a drone, a passenger plane, a forest protection aircraft or an aerial survey aircraft, to monitor obstacles in the flight environment and to avoid them in time to reduce the occurrence of accidents. For another example, the detection device can also be installed on a ship as a ship-borne detection device to assist the ship in safe driving. For another example, the detection device can also be applied to a terminal device, or installed in a component of the terminal device. The terminal device can be, for example, a smart home device (e.g., for privacy detection), smart manufacturing equipment (e.g., for monitoring operating status), a robot, or smart transportation equipment. Smart transportation equipment can be, for example, an automated guided vehicle (AGV) or an unmanned transport vehicle. A full list of these is omitted here. An AGV is a transport vehicle equipped with an automatic navigation device, such as an electromagnetic or optical one, capable of traveling along a prescribed navigation path, and possessing safety protection and various transfer functions.

[0083] It should be noted that the application scenarios described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application. The above application scenarios can be applied to fields such as unmanned driving, automatic driving, assisted driving, intelligent driving, networked vehicles, security monitoring, biomedicine or mapping (such as three-dimensional mapping). With the evolution of application scenarios, the detection methods provided in the embodiments of this application are also applicable to similar technical problems, and this application does not make specific limitations on this.

[0084] At this stage, during the operation of the laser radar, the waveform (or form) of the pulse signal emitted is relatively single (or fixed). For example, the waveform of the pulse signal emitted by the laser radar at a relatively low transmission power can ensure the detection performance of the laser radar for close-range targets, but it cannot detect long-range targets. Therefore, it is difficult to meet the detection performance requirements of the laser radar by emitting a pulse signal with a single waveform. In view of this, the present application provides a detection method for realizing adjustable emission of pulse signals, thereby improving the detection performance of the detection device.

[0085] The following first introduces the architecture of a detection device to which the detection method provided in the embodiments of the present application can be applied.

[0086] Figure 2 exemplarily illustrates a schematic diagram of the architecture of a detection device provided in an embodiment of the present application. As shown in Figure 2 , the detection device 200 may include a transmitting module 210 , a receiving module 220 , and a processing module 230 . Optionally, the detection device 200 also includes a control module 240 .

[0087] The transmitting module 210 is used to transmit a pulse sequence (including one or more pulse signals), the receiving module 220 is used to receive an echo sequence corresponding to the pulse sequence (including one or more echo signals corresponding to the pulse signals), and the processing module 230 is used to process the echo sequence.

[0088] For example, the transmitting module 210 may include a laser 211 and a transmitting optical system 212. The receiving module 220 may include a receiving optical system 221 and a detector 222. In the detection device 200, the control module 240 may have signal control capabilities and may be connected to other components of the detection device 200, such as but not limited to the transmitting module 210, the receiving module 220, and the processing module 230, via a controller area network (CAN) bus or other means. The laser 211 is a device capable of emitting laser light, and its type may be any of a semiconductor laser, a gas laser, a fiber laser, a solid-state laser, a dye laser, a diode laser, or an excimer laser. The transmitting optical system 212 and the receiving optical system 221 are systems composed of optical elements, including but not limited to lenses, filters, polarizers, reflectors, beam splitters, prisms, windows, and scatterers. For example, the lens may be a simple spherical lens or an aspheric lens, for example, a concave lens or a convex lens. A single lens can be a convex lens; a lens group can be a combination of a convex lens and a concave lens, or a combination of a concave lens, or a combination of convex lenses. Since convex lenses and concave lenses have many different shapes, for example, convex lenses include biconvex lenses, plano-convex lenses and concave-convex lenses, and concave lenses include biconcave lenses, plano-concave lenses and concave-convex lenses. The specific shapes of convex lenses and concave lenses are not limited here. Any single lens or combination of lenses that can transmit the laser beam from the laser to the detection area as much as possible is applicable to this application. The detector 222 may include but is not limited to an avalanche diode (APD), a single photon avalanche diode (SPAD), a photodiode (positive intrinsic-negative, PIN) and a silicon photomultiplier (SiPM), etc. The processing module 230 may have signal processing capabilities and may be connected to the detector 222 via a CAN bus or other means.

[0089] It should be noted that the control module 240 and the processing module 230 can be integrated into a single device or implemented separately in multiple devices. For example, they can be integrated into a single device, which can be an integrated circuit chip, such as a general-purpose processor, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a network processor (NP), a digital signal processing circuit (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and other integrated chips. The device may include a central processing unit (CPU), a neural-network processing unit (NPU) and a graphics processing unit (GPU), and may also 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, etc., without specific limitation.

[0090] In one example, a detection device includes a transmitting module 210, a receiving module 220, and a processing module 230. The detection signal (e.g., a pulse signal) generated by the laser 211 in the transmitting module 210 is transmitted via the transmitting optical system 212 in the transmitting module 210. After scanning an object in the detection area, the detection signal will be reflected by the object, and the reflected echo signal will be received by the receiving optical system 221 in the receiving module 220 and transmitted to the detector 222 in the receiving module 220. Thereafter, the detector 222 can convert the echo signal into an electrical signal and send (or transmit) it to the processing module 230. The processing module 230 can then analyze the electrical signal to generate point cloud data. The point cloud data can be used to obtain information such as the distance, relative angle, orientation, height, speed, posture, shape, intensity, and interference level of the object, and can also be used in combination with other sensor information of the vehicle to plan the vehicle's autonomous driving or assisted driving.

[0091] In another example, a detection device includes a transmitting module 210, a receiving module 220, a processing module 230, and a control module 240. The control module 240 can control the laser 211 in the transmitting module 210 to emit a detection signal (e.g., a pulse signal) and control the transmitting optical system 212 in the transmitting module 210 to transmit the detection signal from the laser 211. After scanning an object in the detection area, the detection signal is reflected by the object. Under the control of the control module 240, the reflected echo signal is received by the receiving optical system 221 in the receiving module 220 and transmitted to the detector 222 in the receiving module 220. Subsequently, under the control of the control module 240, the detector 222 converts the echo signal into an electrical signal and transmits it to the processing module 230. Then, under the control of the control module 240, the processing module 230 analyzes the electrical signal to generate point cloud data. The point cloud data can be used to obtain information such as the distance, relative angle, orientation, height, speed, posture, shape, intensity, and interference level of an object.

[0092] The following will introduce the specific implementation of the detection method in the embodiment of the present application based on the detection device shown in Figure 2 and combined with specific embodiments. Obviously, the described embodiment is only a part of the embodiments of the present application, not all of the embodiments.

[0093] FIG3 exemplarily shows a flow chart of a detection method provided in an embodiment of the present application. The detection method can be applied to a detection device, such as the detection device 200 shown in FIG2 . As shown in FIG3 , the method includes:

[0094] Step 301: The detection device transmits a first pulse sequence.

[0095] Optionally, the detection device may transmit the first pulse sequence in a specific timing manner, for example, the detection device may transmit the first pulse sequence according to at least one first sequence (for example, a first sequence may include one or more non-zero values) and at least one first time interval, or may also transmit the first pulse sequence in other ways.

[0096] For example, the first pulse sequence may include different pulse signals, or may include some identical pulse signals and some different pulse signals.

[0097] For example, take the example of a first pulse sequence including a first pulse signal. The first pulse signal includes a main pulse signal and a sub-pulse signal, and the amplitude (or energy) of the sub-pulse signal is smaller than the amplitude of the main pulse signal. Optionally, the pulse width of the sub-pulse signal can be adjusted before transmission as needed, and the amplitude of the sub-pulse signal can also be adjusted before transmission as needed. The sub-pulse signal can also be called a tail signal. The main pulse signal and the sub-pulse signal are connected end to end, and can appear as a whole during actual transmission.

[0098] Optionally, when some detectors are provided with a dead time, the time interval between the main pulse signal and the sub-pulse signal included in the first pulse signal is less than the dead time of the detector, and the width of the first pulse signal is slightly greater than the dead time of the detector. When other detectors are not provided with a dead time, the time interval between the main pulse signal and the sub-pulse signal included in the first pulse signal is not limited.

[0099] For example, the number of first pulse signals included in the first pulse sequence may be one or more, and the number of sub-pulse signals included in the first pulse signal may be one or more.

[0100] Optionally, the first pulse sequence may further include a second pulse signal, or may include other forms of signals. For example, the second pulse signal may differ from the first pulse signal in at least one of the following parameters: transmit power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge area ratio, or falling edge area ratio. For example, the second pulse signal may include a main pulse signal and sub-pulse signals, or may include only a main pulse signal, or may be a pulse signal of other forms.

[0101] Exemplarily, the following takes the first pulse signal as an example to introduce relevant features of a pulse signal including a main pulse signal and a sub-pulse signal.

[0102] Example 1: The shape of the main pulse signal and the shape of the sub-pulse signal in the first pulse signal may be different.

[0103] To facilitate understanding, a specific example is given below to illustrate Example 1.

[0104] In one example, see the first pulse signal shown in Figure 4a. When the first pulse signal (or TX (transmit) waveform) shown in Figure 4a has multiple peaks, the first pulse signal is divided into two pulse signals using the minimum point as the dividing line. The pulse signal with the largest peak value is the main pulse signal, and the remaining pulse signal is the sub-pulse signal. As can be seen from the first pulse signal shown in Figure 4a, the main pulse signal has a "tall and thin" shape, while the sub-pulse signal has a "short and narrow" shape.

[0105] In another example, see the first pulse signal shown in Figure 4b. In the case where the first pulse signal shown in Figure 4b has multiple peaks, the first pulse signal is divided into two pulse signals using the minimum point as the dividing line. The pulse signal with the largest peak value is the main pulse signal, and the remaining pulse signal is the sub-pulse signal. As can be seen from the first pulse signal shown in Figure 4b, the main pulse signal has a "shoe" shape, while the sub-pulse signal has a "short and fat" shape.

[0106] In another example, see the first pulse signal shown in Figure 4c. If the first pulse signal shown in Figure 4c has multiple peaks, the first pulse signal is divided into two pulse signals based on the interval between the peaks. The pulse signal with the largest peak value is the main pulse signal, and the remaining pulse signal is the sub-pulse signal. As can be seen from the first pulse signal shown in Figure 4c, the main pulse signal has a "tall and thin" shape, while the sub-pulse signal has a "short and narrow" shape.

[0107] In another example, refer to the first pulse signal shown in Figure 4d. In the case where the first pulse signal shown in Figure 4d has multiple peaks, the first pulse signal is divided into three pulse signals based on the interval between the peaks. Among them, the pulse signal with the largest peak value is the main pulse signal, and the remaining two pulse signals are sub-pulse signals, such as sub-pulse signal d1 and sub-pulse signal d2. As can be seen from the first pulse signal shown in Figure 4d, the main pulse signal has a "tall and thin" shape, while sub-pulse signal 1 and sub-pulse signal 2 have a "short and narrow" shape.

[0108] In another example, please refer to the first pulse signal shown in Figure 4e. In the case that the first pulse signal shown in Figure 4e has only one peak, the first pulse signal is divided into three pulse signals with the half-height position point of the peak (that is, the position point where half of the peak is located) as the dividing line. Among them, the pulse signal containing the peak is the main pulse signal, and the remaining two pulse signals are sub-pulse signals, such as sub-pulse signal e1 and sub-pulse signal e2. It can be seen from the first pulse signal shown in Figure 4e that the main pulse signal is in the shape of a "pencil head", the sub-pulse signal e1 is in the shape of a "right angle", and the sub-pulse signal e2 is in the shape of a "sloping triangle".

[0109] In another example, please refer to the first pulse signal shown in Figure 4f. In the case where the first pulse signal shown in Figure 4f has only one peak, the first pulse signal is divided into three pulse signals with the half-height position of the peak as the dividing line. Among them, the pulse signal containing the peak is the main pulse signal, and the remaining two pulse signals are sub-pulse signals, such as sub-pulse signal f1 and sub-pulse signal f2. It can be seen from the first pulse signal shown in Figure 4f that the main pulse signal is in the shape of a "pencil head", the sub-pulse signal f1 is in the shape of a "sloping triangle", and the sub-pulse signal f2 is in the shape of a "right angle".

[0110] Example 2: The main pulse signal and the sub-pulse signal in the first pulse signal may be adjacent to each other, or the main pulse signal and the sub-pulse signal in the first pulse signal may partially overlap.

[0111] It can be understood that the main pulse signal and the sub-pulse signal being adjacent can mean that the main pulse signal and the sub-pulse signal are adjacent with a certain interval, or it can also mean that the main pulse signal and the sub-pulse signal are connected (or can be understood as adjacent with a connection relationship).

[0112] To facilitate understanding, a specific example is given below to illustrate Example 2.

[0113] In one example, please continue to refer to the first pulse signal shown in Figure 4a. It can be seen from the first pulse signal shown in Figure 4a that the tail of the main pulse signal in the first pulse signal is connected to the head of the sub-pulse signal.

[0114] In another example, please continue to refer to the first pulse signal shown in Figure 4b. It can be seen from the first pulse signal shown in Figure 4b that the main pulse signal and the sub-pulse signal in the first pulse signal overlap (or can be called partially overlapped).

[0115] In yet another example, please continue to refer to the first pulse signal shown in Figure 4c. It can be seen from the first pulse signal shown in Figure 4c that there is a certain interval between the main pulse signal and the sub-pulse signal in the first pulse signal.

[0116] In another example, please continue to refer to the first pulse signal shown in Figure 4d. It can be seen from the first pulse signal shown in Figure 4d that there is a certain interval between the main pulse signal and the sub-pulse signal d1 and the sub-pulse signal d2 in the first pulse signal.

[0117] In another example, please continue to refer to the first pulse signal shown in Figure 4e. It can be seen from the first pulse signal shown in Figure 4e that the main pulse signal in the first pulse signal overlaps with the sub-pulse signal e1 and the sub-pulse signal e2.

[0118] In another example, please continue to refer to the first pulse signal shown in Figure 4f. It can be seen from the first pulse signal shown in Figure 4f that the main pulse signal in the first pulse signal overlaps with the sub-pulse signal f1 and the sub-pulse signal f2.

[0119] Example 3: The pulse width of the first pulse signal is greater than the pulse width of the main pulse signal, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

[0120] To facilitate understanding, a specific example is given below to illustrate Example 3.

[0121] In one example, please continue to refer to the first pulse signal shown in Figure 4a or Figure 4b. It can be seen from the first pulse signal shown in Figure 4a or Figure 4b that the pulse width of the first pulse signal is equal to the sum of the pulse width of the main pulse signal and the pulse width of the sub-pulse signal. Therefore, the pulse width of the first pulse signal is greater than the pulse width of the main pulse signal. In addition, because the amplitude of the first pulse signal is the same as the amplitude of the main pulse signal, the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal. It can be understood that, as can also be seen from the first pulse signal shown in Figure 4a or Figure 4b, the pulse width of the main pulse signal is greater than the pulse width of the sub-pulse signal, and the amplitude of the main pulse signal is greater than the amplitude of the sub-pulse signal.

[0122] In another example, please continue to refer to the first pulse signal shown in Figure 4c. It can be seen from the first pulse signal shown in Figure 4c that the sum of the pulse width of the main pulse signal, the pulse width of the sub-pulse signal, and the distance between the main pulse signal and the sub-pulse signal is used as the pulse width of the first pulse signal. Therefore, the pulse width of the first pulse signal is greater than the pulse width of the main pulse signal. In addition, because the amplitude of the first pulse signal is the same as the amplitude of the main pulse signal, the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal. It can be understood that, as can also be seen from the first pulse signal shown in Figure 4c, the pulse width of the main pulse signal is greater than the pulse width of the sub-pulse signal, and the amplitude of the main pulse signal is greater than the amplitude of the sub-pulse signal.

[0123] In another example, please continue to refer to the first pulse signal shown in Figure 4d. It can be seen from the first pulse signal shown in Figure 4d that the sum of the pulse width of the main pulse signal, the pulse width of the sub-pulse signal d1, the pulse width of the sub-pulse signal d2, the distance between the main pulse signal and the sub-pulse signal d1, and the distance between the main pulse signal and the sub-pulse signal d2 is the pulse width of the first pulse signal. Therefore, the pulse width of the first pulse signal is greater than the pulse width of the main pulse signal. In addition, because the amplitude of the first pulse signal is the same as the amplitude of the main pulse signal, the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal. It can be understood that from the first pulse signal shown in Figure 4d, it can also be seen that the pulse width of the main pulse signal is greater than the pulse widths of the sub-pulse signal d1 and the sub-pulse signal d2, respectively, and the amplitude of the main pulse signal is greater than the amplitude of the sub-pulse signal d1 and the sub-pulse signal d2, respectively.

[0124] In another example, please continue to refer to the first pulse signal shown in Figure 4e. As can be seen from the first pulse signal shown in Figure 4e, the pulse width of the main pulse signal is greater than the pulse width of the sub-pulse signal e1, the amplitude of the main pulse signal is greater than the amplitude of the sub-pulse signal e1, the pulse width of the main pulse signal is less than the pulse width of the sub-pulse signal e2, the amplitude of the main pulse signal is greater than the amplitude of the sub-pulse signal e2, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

[0125] In another example, please continue to refer to the first pulse signal shown in Figure 4f. As can be seen from the first pulse signal shown in Figure 4f, the pulse width of the main pulse signal is smaller than the pulse width of the sub-pulse signal f1, the amplitude of the main pulse signal is larger than the amplitude of the sub-pulse signal f1, the pulse width of the main pulse signal is larger than the pulse width of the sub-pulse signal f2, the amplitude of the main pulse signal is larger than the amplitude of the sub-pulse signal f2, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

[0126] Example 4: There is a minimum point at the connection between the main pulse signal and the sub-pulse signal in the first pulse signal.

[0127] To facilitate understanding, a specific example is given below to illustrate Example 4.

[0128] For example, please continue to refer to the first pulse signal shown in Figure 4a or Figure 4b. It can be seen from the first pulse signal shown in Figure 4a or Figure 4b that there is a minimum point at the connection between the main pulse signal and the sub-pulse signal in the first pulse signal.

[0129] Example 5: There is a gap between the main pulse signal and the sub-pulse signal in the first pulse signal.

[0130] In one example, please continue to refer to the first pulse signal shown in Figure 4c. It can be seen from the first pulse signal shown in Figure 4c that there is a gap between the main pulse signal and the sub-pulse signal.

[0131] In another example, please continue to refer to the first pulse signal shown in Figure 4d. It can be seen from the first pulse signal shown in Figure 4d that there is a gap between the main pulse signal and the sub-pulse signal d1, and there is also a gap between the main pulse signal and the sub-pulse signal d2.

[0132] Example 6: In the first pulse signal, the main pulse signal may be before the sub-pulse signal, or the main pulse signal may be after the sub-pulse signal.

[0133] To facilitate understanding, a specific example is given below to illustrate Example 6.

[0134] In one example, please continue to refer to the first pulse signal shown in Figure 4a, Figure 4b, or Figure 4c. It can be seen from the first pulse signal shown in Figure 4a, Figure 4b, or Figure 4c that the sub-pulse signal in the first pulse signal is after the main pulse signal.

[0135] In another example, please continue to refer to the first pulse signal shown in Figure 4d. As can be seen from the first pulse signal shown in Figure 4d, sub-pulse signal d1 precedes the main pulse signal, and sub-pulse signal d2 follows the main pulse signal. In other words, the main pulse signal is located between sub-pulse signal d1 and sub-pulse signal d2.

[0136] In another example, please continue to refer to the first pulse signal shown in Figure 4e. As can be seen from the first pulse signal shown in Figure 4e, the sub-pulse signal e1 precedes the main pulse signal, and the sub-pulse signal e2 follows the main pulse signal. In other words, the main pulse signal is located between the sub-pulse signal e1 and the sub-pulse signal e2.

[0137] In another example, please continue to refer to the first pulse signal shown in Figure 4f. As can be seen from the first pulse signal shown in Figure 4f, sub-pulse signal f1 precedes the main pulse signal, and sub-pulse signal f2 follows the main pulse signal. In other words, the main pulse signal is located between sub-pulse signal f1 and sub-pulse signal f2.

[0138] It can be understood that any multiple examples from Example 1 to Example 6 above can be combined into different implementations.

[0139] After introducing the relevant features of the first pulse signal, the driving method of the first pulse signal is introduced below.

[0140] Mode 1: The main pulse signal and the sub-pulse signal included in the first pulse signal are generated by one or more driving sources driving the same laser.

[0141] To facilitate understanding, a specific example is given below to illustrate method 1.

[0142] In one example, please refer to the driving method of the main pulse signal and the sub-pulse signal shown in Figure 5a. As shown in Figure 5a, the driving signal generated by the driving source (or can be called a driving circuit) is transmitted to the laser, and the laser generates the main pulse signal and the sub-pulse signal. Afterwards, the laser transmits the main pulse signal and the sub-pulse signal to the transmitting optical system (or can be called an optical module), which is processed by the transmitting optical system into (or combined into or generated or formed into) a first pulse signal for emission. For example, the driving source can be a resistor capacitance (RC) circuit (or called an RC delay circuit) or other forms of circuits, and the embodiments of the present application are not limited to this.

[0143] In another example, see Figure 5b for the driving method of the main pulse signal and sub-pulse signal. As shown in Figure 5b, drive signal 1 and drive signal 2 generated by drive source 1 are transmitted to the laser, which generates the main pulse signal and sub-pulse signal. The laser then transmits the main pulse signal and sub-pulse signal to the transmitting optical system, which processes them into a first pulse signal for transmission.

[0144] In another example, see Figure 5c for the main pulse signal and sub-pulse signal driving method. As shown in Figure 5c, drive signals (e.g., drive signal 1, drive signal 2, ..., drive signal n) generated by n drive sources (e.g., drive source 1, drive source 2, ..., drive source n) are transmitted to a laser, which generates a main pulse signal and sub-pulse signals. The laser then transmits the main pulse signal and sub-pulse signals to a transmitting optical system, which processes them into a first pulse signal for transmission.

[0145] Mode 2: The main pulse signal included in the first pulse signal is generated by one driving source driving one laser, and the sub-pulse signals included in the first pulse signal are generated by one or more driving sources driving one laser.

[0146] To facilitate understanding, a specific example is given below to illustrate the second method.

[0147] In one example, please refer to the driving method of the main pulse signal and sub-pulse signal shown in Figure 5d. As shown in Figure 5d, the driving signal 1 generated by the driving source 1 is transmitted to the laser 1, and the main pulse signal is generated by the laser 1. Thereafter, the laser 1 transmits the main pulse signal to the transmitting optical system. The driving signal 2 generated by the driving source 2 is transmitted to the laser 2, and the sub-pulse signal is generated by the laser 2. Thereafter, the laser 2 transmits the sub-pulse signal to the transmitting optical system. Then, after obtaining the main pulse signal and the sub-pulse signal, the transmitting optical system can process the main pulse signal and the sub-pulse signal into a first pulse signal for transmission.

[0148] In another example, please refer to the driving method of the main pulse signal and the sub-pulse signal shown in Figure 5e. As shown in Figure 5e, the driving signal 1 generated by the driving source 1 is transmitted to the laser 1, and the main pulse signal is generated by the laser 1. Afterwards, the laser 1 transmits the main pulse signal to the transmitting optical system. The driving signals (such as driving signal 2, driving signal 3, ..., driving signal n) respectively generated by n-1 driving sources (such as driving source 2, driving source 3, ..., driving source n) are transmitted to the laser 2, and the sub-pulse signal is generated by the laser 2. Afterwards, the laser 2 transmits the sub-pulse signal to the transmitting optical system. Then, after obtaining the main pulse signal and the sub-pulse signal, the transmitting optical system can process the main pulse signal and the sub-pulse signal into a first pulse signal for transmission.

[0149] Mode 3: The main pulse signal included in the first pulse signal is generated by one driving source driving one laser, and the sub-pulse signals included in the first pulse signal are generated by multiple driving sources driving corresponding lasers respectively.

[0150] To facilitate understanding, a specific example is given below to illustrate method three.

[0151] For example, please refer to the driving method of the main pulse signal and sub-pulse signal shown in Figure 5f. As shown in Figure 5f, the driving signal 1 generated by the driving source 1 is transmitted to the laser 1, and the main pulse signal is generated by the laser 1. Thereafter, the laser 1 transmits the main pulse signal to the transmitting optical system. In addition, the other n-1 driving sources respectively generate driving signals for driving the corresponding lasers to generate sub-pulse signals. For example, the driving signal 2 generated by the driving source 2 is transmitted to the laser 2, and the sub-pulse signal 1 is generated by the laser 2. Thereafter, the laser 2 transmits the sub-pulse signal 1 to the transmitting optical system; the driving signal 3 generated by the driving source 3 is transmitted to the laser 3, and the sub-pulse signal 2 is generated by the laser 3. Thereafter, the laser 3 transmits the sub-pulse signal 2 to the transmitting optical system; ...; the driving signal n generated by the driving source n is transmitted to the laser n, and the sub-pulse signal n-1 is generated by the laser n. Thereafter, the laser n transmits the sub-pulse signal to the transmitting optical system. Then, after obtaining the main pulse signal and n-1 sub-pulse signals, the transmitting optical system can process the main pulse signal and n-1 sub-pulse signals into a first pulse signal for transmission.

[0152] Step 302: The detection device receives a first echo sequence. The first echo sequence is an echo sequence of a first pulse sequence.

[0153] The above step 302 is an optional step.

[0154] For example, the first echo sequence may include multiple echo signals. Exemplarily, the multiple echo signals may include signals in which one or more first pulse signals are reflected and / or scattered by the target, or may also include signals in which one or more second pulse signals are reflected and / or scattered by the target, or may also include signals in which other forms of signals are reflected and / or scattered by the target. Optionally, the multiple echo signals may also include interference signals. Exemplarily, the interference signals may be detection signals emitted by other radars, echo signals corresponding to detection signals emitted by other radars, interference signals formed when the detection signal of this radar is reflected or scattered inside the radar and then transmitted to the receiving optical system, etc.

[0155] Optionally, the detection device can perform target measurement based on the received first echo sequence. For example, the detection device can select a target echo signal that matches the indicator to be measured from the multiple echo signals received. Afterwards, the detection device can process the target echo signal to obtain the measurement result of the first target existing in the current scene. Then, the detection device can determine whether the pulse sequence (such as the second pulse sequence) emitted next time is different from the first pulse sequence based on whether the measurement result of the first target meets the corresponding measurement requirements. For example, the indicator to be measured may include but is not limited to the speed, distance, direction, relative angle, posture, shape, intensity, interference level, etc. of the first target.

[0156] When the measurement result of the first target meets the corresponding measurement requirements, the second pulse sequence emitted by the detection device may be the same as the first pulse sequence. When the measurement result of the first target does not meet the corresponding measurement requirements, the second pulse sequence emitted by the detection device is different from the first pulse sequence. For example, the pulse signal (or other form of signal) included in the second pulse sequence differs from the pulse signal (or other form of signal) included in the first pulse sequence in at least one of the following parameters: transmission power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge area ratio, or falling edge area ratio.

[0157] For example, taking the parameter as transmission power, the first pulse sequence includes pulse signal 1 and the second pulse sequence includes pulse signal 2 as an example. In the case where the transmission power of pulse signal 2 included in the second pulse sequence transmitted next time is less than the transmission power of pulse signal 1 included in the first pulse sequence transmitted last time, this can enable the detection device to detect close-range targets, help to reduce (or avoid) the influence of window stray light, thereby improving the ranging performance and reflectivity performance of the detection device, and can reduce the influence of echo overlap, alleviate point cloud adhesion and multipath problems, so that the detection device can dynamically adjust the detection performance according to the actual scene requirements. In the case where the transmission power of pulse signal 2 included in the second pulse sequence transmitted next time is greater than the transmission power of pulse signal 1 included in the first pulse sequence transmitted last time, this can enable the detection device to detect long-range targets, help to improve the ranging capability of the detection device, so that the detection device can dynamically adjust the detection performance according to the actual scene requirements.

[0158] For another example, taking the parameter as sub-pulse width or sub-pulse amplitude, and the first pulse sequence including pulse signal 1 and the second pulse sequence including pulse signal 2 as an example, if the width of the sub-pulse signal included in pulse signal 2 of the second pulse sequence transmitted next is greater than the width of the sub-pulse signal included in pulse signal 1 of the first pulse sequence transmitted last, or if the amplitude of the sub-pulse signal included in pulse signal 2 is greater than the amplitude of the sub-pulse signal included in pulse signal 1, this can increase the dynamic range of the detector in the detection device, thereby enabling the detection device to dynamically adjust the dynamic range of the detector according to actual scenario requirements.

[0159] For another example, taking the parameter of rising edge slope as an example, the first pulse sequence includes pulse signal 1 and the second pulse sequence includes pulse signal 2. If the rising edge slope of pulse signal 2 included in the second pulse sequence transmitted next is smaller than the rising edge slope of pulse signal 1 included in the first pulse sequence transmitted last, this can reduce the impact of insufficient sampling accuracy, helping to improve the measurement accuracy of the detection device under low sampling accuracy configuration.

[0160] For another example, taking the pulse width parameter as an example, the first pulse sequence includes pulse signal 1 and the second pulse sequence includes pulse signal 2. If the pulse width of pulse signal 2 included in the second pulse sequence transmitted next is smaller than the pulse width of pulse signal 1 included in the first pulse sequence transmitted last, the impact of the sticking scene can be reduced.

[0161] In one example, taking the intensity as an example of the indicator to be measured, the detection device can select an echo signal corresponding to a pulse signal (such as a first pulse signal) containing a main pulse signal and a sub-pulse signal from multiple echo signals. Afterwards, the detection device can process the echo signal corresponding to the first pulse signal to obtain the intensity corresponding to the first target (or can be understood as an intensity index value). Then, the detection device can determine whether the next emitted pulse sequence (such as a second pulse sequence) is different from the first pulse sequence based on whether the intensity corresponding to the first target meets the corresponding measurement requirements.

[0162] If the intensity corresponding to the first target meets the measurement requirements, such as the measurement error of the intensity corresponding to the first target is within the allowable error range, the detection device can continue to transmit according to the pulse sequence transmitted last time (such as the first pulse sequence). If the intensity corresponding to the first target does not meet the measurement requirements, such as the measurement error of the intensity corresponding to the first target exceeds the allowable error range, the detection device can select one or more signals with smaller transmission power (such as the first pulse signal or other forms of pulse signals or other forms of signals) to be included in the pulse sequence transmitted next time when it is determined that the intensity corresponding to the first target is greater than the intensity threshold, so as to improve the intensity estimation capability. Optionally, the detection device can also select one or more signals with larger transmission power (such as the first pulse signal or other forms of pulse signals or other forms of signals) to be included in the pulse sequence transmitted next time when it is determined that the intensity corresponding to the first target is less than the intensity threshold.

[0163] In another example, take the indicator to be measured as distance. The detection device can select the echo signal corresponding to the third pulse signal from multiple echo signals. The transmission power of the third pulse signal is within the transmission power range (such as the range [a, b] with larger transmission power or the range [c, d] with smaller transmission power, where d is less than a). Afterwards, the detection device can process the echo signal corresponding to the third pulse signal to obtain the distance of the first target (or it can be understood as a distance index value). Then, the detection device can determine whether the pulse sequence (such as the second pulse sequence) transmitted next time is different from the first pulse sequence based on whether the distance to the first target meets the corresponding measurement requirements.

[0164] If the distance of the first target meets the measurement requirements, such as the measurement error of the distance of the first target is within the allowable error range, the detection device can continue to transmit according to the pulse sequence transmitted last time (such as the first pulse sequence). If the distance of the first target does not meet the measurement requirements, such as the measurement error of the distance of the first target exceeds the allowable error range, the detection device can select one or more signals with lower transmission power (such as the first pulse signal or other forms of pulse signals or other forms of signals) to be included in the pulse sequence transmitted next time when it is determined that the distance of the first target is less than the distance threshold. This can reduce the effect of window stray light, thereby improving the ranging performance and reflectivity performance of the detection device, and can reduce the effect of echo overlap, alleviate point cloud adhesion and multipath problems. Optionally, the detection device can also select one or more signals with higher transmission power (such as the first pulse signal or other forms of pulse signals or other forms of signals) to be included in the pulse sequence transmitted next time when it is determined that the distance of the first target is greater than the distance threshold. This can improve the ranging capability of the detection device.

[0165] In another example, take the indicator to be measured as the interference level as an example. When there is an overlap of echo signals between the first target and the second target (such as window stray echo, rain fog dust echo or adjacent target echo, etc.) in the current scene, the detection device can select the echo signal corresponding to the fourth pulse signal from multiple echo signals. The pulse width of the fourth pulse signal is less than or equal to the width threshold. For example, the fourth pulse signal can be a pulse signal with a narrow pulse width. Afterwards, the detection device can process the echo signal corresponding to the fourth pulse signal to obtain the interference level corresponding to the first target (or it can be understood as an interference level index value). Then, the detection device can determine whether the pulse sequence emitted next time (such as the second pulse sequence) is different from the first pulse sequence based on whether the interference level corresponding to the first target meets the corresponding measurement requirements.

[0166] If the interference level corresponding to the first target meets the measurement requirements, for example, the interference level corresponding to the first target is less than or equal to the set threshold, the detection device can continue to transmit according to the pulse sequence transmitted last time (for example, the first pulse sequence). If the interference level corresponding to the first target does not meet the measurement requirements, for example, the interference level corresponding to the first target is greater than the set threshold, the detection device can select one or more signals with lower transmission power (for example, the first pulse signal or other forms of pulse signals or other forms of signals) to be included in the pulse sequence transmitted next time, thereby reducing the impact of echo overlap.

[0167] Optionally, in some cases, if the detection device needs to be in a low power consumption mode, the detection device may reduce the number of pulse signals in the transmitted pulse sequence. For example, the detection device may select one or several different pulse signals for transmission.

[0168] It should be pointed out that the term "at least one" in the embodiments of the present application refers to one or more, and "more than one" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. "The following one (or more)" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, one (or more) of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0169] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish between multiple objects and are not used to define the priority or importance of multiple objects. For example, the first pulse signal and the second pulse signal are only used to distinguish different pulse signals and do not indicate the difference in priority or importance of these pulse signals.

[0170] Based on the aforementioned detection method, the present invention also provides a possible detection device. Figure 6 illustrates a schematic structural diagram of a possible detection device provided by the present invention. This detection device 600 can be used to implement the functions of the detection device in the above method embodiment, thereby also achieving the beneficial effects of the above method embodiment.

[0171] Referring to Figure 6 , the detection device 600 includes a processor 601 and a transceiver 602. The control device 600 is configured to implement the functions of the detection device in the method embodiment shown in Figure 3 . Optionally, the detection device 600 may further include a memory 603 , which may be coupled to the processor 601 and store the necessary program instructions and data for the detection device.

[0172] When the detection device 600 is used to implement the functions of the detection device of the method embodiment shown in Figure 3: the processor 601 is used to transmit a first pulse sequence through the transceiver 602. The first pulse sequence includes a first pulse signal, and the first pulse signal includes a main pulse signal and a sub-pulse signal, and the amplitude of the sub-pulse signal is smaller than the amplitude of the main pulse signal. Optionally, the processor 601 is used to receive a first echo sequence through the transceiver 602. The first echo sequence may include multiple echo signals. Thereafter, the processor 601 can be used to select a target echo signal that matches the indicator to be measured from the multiple echo signals, and can be used to process the target echo signal to obtain a measurement result of the first target.

[0173] Among them, when the detection device 600 is used to implement the function of the detection device of the method embodiment shown in Figure 3, a more detailed description of the above-mentioned processor 601 and transceiver 602 can refer to the relevant description of the detection device in the method embodiment shown in Figure 3, which will not be repeated here.

[0174] It should be understood that the processor 601 in the embodiment of the present application can be implemented by a processor or a processor-related circuit module, and the transceiver 602 can be implemented by an interface circuit or an interface circuit-related circuit module.

[0175] Based on the detection solution provided in the embodiments of the present application, embodiments of the present application may also provide a terminal device. The terminal device may include the detection device in any of the above embodiments. Furthermore, optionally, the terminal device may also include a memory for storing programs or instructions. Of course, the terminal device may also include other components, such as a wireless control device.

[0176] Exemplarily, the terminal device can be a vehicle (such as an unmanned vehicle, a smart vehicle, an electric vehicle, or a digital vehicle, etc.), a robot, a surveying and mapping device, a drone, a smart home device (such as a television, a sweeping robot, a smart desk lamp, an audio system, a smart lighting system, an electrical control system, home background music, a home theater system, an intercom system, or video surveillance, etc.), an intelligent manufacturing equipment (such as industrial equipment), an intelligent transportation equipment (such as an AGV, an unmanned transport vehicle, or a truck, etc.), or an intelligent terminal (a mobile phone, a computer, a tablet computer, a PDA, a desktop computer, headphones, audio, wearable devices, vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.), etc.

[0177] According to the detection solution provided by the embodiment of the present application, the embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is run, the method performed by the detection device in the above content is executed.

[0178] According to the detection solution provided in the embodiment of the present application, the embodiment of the present application also provides a computer program product, which, when running on a processor, implements the method performed by the detection device in the above content.

[0179] As used in this specification, the terms "component," "module," "system," and the like are used to refer to computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. By way of illustration, both an application running on a computing device and a computing device can be a component. One or more components can reside in a process and / or an execution thread, and a component can be located on one computer and / or distributed between two or more computers. In addition, these components can be executed from various computer-readable media having various data structures stored thereon. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component across a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0180] Those skilled in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented using electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0181] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0182] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0183] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0184] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0185] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0186] Although the present application has been described with reference to specific features and embodiments thereof, it is apparent that various modifications and combinations thereof may be made without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are intended to be illustrative only of the solutions defined by the appended claims and are to be construed as covering any and all modifications, variations, combinations or equivalents within the scope of the present application.

[0187] Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations.

Claims

1. A detection method, characterized in that: include: A first pulse sequence is emitted, wherein the first pulse sequence includes a first pulse signal, wherein the first pulse signal includes a main pulse signal and a sub-pulse signal, and an amplitude of the sub-pulse signal is smaller than an amplitude of the main pulse signal.

2. The method according to claim 1, characterized in that The main pulse signal and the sub-pulse signal have different shapes.

3. The method according to claim 1 or 2, characterized in that The main pulse signal is adjacent to the sub-pulse signal, or the main pulse signal partially overlaps with the sub-pulse signal.

4. The method according to any one of claims 1 to 3, characterized in that: There is a minimum point at the connection between the main pulse signal and the sub-pulse signal.

5. The method according to any one of claims 1 to 4, characterized in that: The first pulse sequence also includes a second pulse signal, which is different from the first pulse signal in at least one of the following parameters: transmission power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge area ratio or falling edge area ratio.

6. The method according to any one of claims 1 to 5, characterized in that: The pulse width of the first pulse signal is greater than the pulse width of the main pulse signal, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

7. The method according to any one of claims 1 to 6, characterized in that: The main pulse signal is before the sub-pulse signal, or the main pulse signal is after the sub-pulse signal.

8. The method according to any one of claims 1 to 7, characterized in that: The time interval between the main pulse signal and the sub-pulse signal is smaller than the dead time of the detector.

9. The method according to any one of claims 1 to 8, characterized in that The pulse width and amplitude of the sub-pulse signal are adjustable.

10. The method according to any one of claims 1 to 9, characterized in that: The main pulse signal and the sub-pulse signal are generated by one or more driving sources driving the same laser; or, The main pulse signal is generated by one driving source driving one laser, and the sub-pulse signal is generated by one or more driving sources driving one laser; or, The main pulse signal is generated by one driving source driving one laser, and the sub-pulse signal is generated by a plurality of driving sources driving corresponding lasers respectively.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: receiving a first echo sequence, wherein the first echo sequence includes a plurality of echo signals; Selecting a target echo signal that matches the indicator to be measured from the multiple echo signals; The target echo signal is processed to obtain a measurement result of the first target.

12. The method according to claim 11, characterized in that The indicator to be measured is intensity, and the target echo signal is an echo signal corresponding to the first pulse signal.

13. The method according to claim 11 or 12, characterized in that The indicator to be measured is distance, the target echo signal is an echo signal corresponding to the third pulse signal, and the transmission power of the third pulse signal is within the transmission power range.

14. The method according to any one of claims 11 to 13, characterized in that: The indicator to be measured is the interference degree. If there is an overlap of echo signals between the first target and the second target, the target echo signal is the echo signal corresponding to the fourth pulse signal, and the pulse width of the fourth pulse signal is less than or equal to the width threshold.

15. The method according to any one of claims 11 to 14, characterized in that: The method further comprises: When the measurement result does not meet the measurement requirement, a second pulse sequence is transmitted, where the second pulse sequence is different from the first pulse sequence.

16. A detection device, characterized in that: Including launch module; The transmitting module is used to transmit a first pulse sequence, wherein the first pulse sequence includes a first pulse signal, and the first pulse signal includes a main pulse signal and a sub-pulse signal, wherein the amplitude of the sub-pulse signal is smaller than the amplitude of the main pulse signal.

17. The detection device according to claim 16, characterized in that The main pulse signal and the sub-pulse signal have different shapes.

18. The detection device according to claim 16 or 17, characterized in that: The main pulse signal is adjacent to the sub-pulse signal, or the main pulse signal partially overlaps with the sub-pulse signal.

19. The detection device according to any one of claims 16 to 18, characterized in that: There is a minimum point at the connection between the main pulse signal and the sub-pulse signal.

20. The detection device according to any one of claims 16 to 19, characterized in that: The first pulse sequence also includes a second pulse signal, which is different from the first pulse signal in at least one of the following parameters: transmission power, peak power, pulse width, rising edge slope, falling edge slope, sub-pulse width, sub-pulse amplitude, rising edge area ratio or falling edge area ratio.

21. The detection device according to any one of claims 16 to 20, characterized in that: The pulse width of the first pulse signal is greater than the pulse width of the main pulse signal, and the amplitude of the first pulse signal is equal to the amplitude of the main pulse signal.

22. The detection device according to any one of claims 16 to 21, characterized in that: The main pulse signal is before the sub-pulse signal, or the main pulse signal is after the sub-pulse signal.

23. The detection device according to any one of claims 16 to 22, characterized in that: The time interval between the main pulse signal and the sub-pulse signal is smaller than the dead time of the detector.

24. The detection device according to any one of claims 16 to 23, characterized in that: The pulse width and amplitude of the sub-pulse signal are adjustable.

25. The detection device according to any one of claims 16 to 24, characterized in that: The main pulse signal and the sub-pulse signal are generated by one or more driving sources driving the same laser; or, The main pulse signal is generated by one driving source driving one laser, and the sub-pulse signal is generated by one or more driving sources driving one laser; or, The main pulse signal is generated by one driving source driving one laser, and the sub-pulse signal is generated by a plurality of driving sources driving corresponding lasers respectively.

26. The detection device according to any one of claims 16 to 25, characterized in that: The detection device also includes a receiving module and a processing module; The receiving module is used to receive a first echo sequence, where the first echo sequence includes a plurality of echo signals; The processing module is used to select a target echo signal matching the indicator to be measured from the multiple echo signals; The processing module is also used to process the target echo signal to obtain a measurement result of the first target.

27. The detection device according to claim 26, characterized in that The indicator to be measured is intensity, and the target echo signal is an echo signal corresponding to the first pulse signal.

28. The detection device according to claim 26 or 27, characterized in that The indicator to be measured is distance, the target echo signal is an echo signal corresponding to the third pulse signal, and the transmission power of the third pulse signal is within the transmission power range.

29. The detection device according to any one of claims 26 to 28, characterized in that: The indicator to be measured is the interference degree. If there is an overlap of echo signals between the first target and the second target, the target echo signal is the echo signal corresponding to the fourth pulse signal, and the pulse width of the fourth pulse signal is less than or equal to the width threshold.

30. The detection device according to any one of claims 26 to 29, characterized in that: The transmitting module is further used to transmit a second pulse sequence when the measurement result does not meet the measurement requirements, and the second pulse sequence is different from the first pulse sequence.

31. A terminal device, characterized in that: Comprising a detection device as claimed in any one of claims 16-30.

32. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program or instruction. When the computer program or instruction is executed by a computer, the computer is enabled to execute the method according to any one of claims 1 to 15.

33. A computer program product, characterized in that The computer program product comprises a computer program or instructions, and when the computer program or instructions are run on a computer, the computer is caused to perform the method according to any one of claims 1 to 15.

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