Detection system and terminal device

Abstract

A detection system and a terminal device, which relate to the technical field of detection, and are used for reducing the power consumption of the detection system. The detection system comprises at least one first detection apparatus and a second detection apparatus, wherein the at least one first detection apparatus and the second detection apparatus perform communication by means of a serializer / deserializer (SerDes), and the second detection apparatus comprises a centralized processing unit; the at least one first detection apparatus is used for performing detection on least one first field of view so as to obtain at least one first echo signal, and sending the at least one first echo signal to the second detection apparatus by means of the SerDes; and the second detection apparatus is used for performing detection on a second field of view so as to obtain a second echo signal, and identifying a target by means of the centralized processing unit and on the basis of the first echo signal and the second echo signal. By means of using the SerDes to realize the communication between the at least one first detection apparatus and the second detection apparatus, communication loss can be reduced, and the power consumption of the detection system is saved on; and by means of providing the centralized processing unit in the second detection apparatus to process echo signals in a centralized manner, the power consumption can be further saved on, and the cost can also be reduced.

Description

Detection system and terminal device Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a detection system and terminal equipment. Background Art

[0002] With the advancement of science and technology, intelligent devices such as smart transportation equipment, smart home appliances, industrial equipment, robots, and vehicles are gradually becoming part of people's daily lives. Because detection devices can sense their surroundings, identify and track moving targets based on this sensed environment, and perform route planning in conjunction with navigation and map data, they are increasingly being used in intelligent devices and playing an increasingly important role.

[0003] Based on the different application needs of smart terminals, there are currently different requirements for the layout of detection devices. Traditional smart terminals use a single detection device architecture. Although they can identify targets within a certain range, the recognition range is relatively limited, and it is prone to false alarms and missed detections. In order to solve this technical problem, a distributed detection system architecture has been proposed. A distributed detection system refers to a detection system with two or more detection devices, each with its own recognition range. The recognition ranges of multiple detection devices are combined to ensure the multi-directional visibility of surrounding targets by the smart terminal. However, the current mainstream distributed detection system has high power consumption, especially when the distance between different detection devices is far. Very large power is required to complete data transmission, which poses a challenge to the low-power design of the detection system.

[0004] In summary, how to reduce the power consumption of distributed detection systems is a technical problem that needs to be solved urgently.

[0005] Summary of the Invention

[0006] The present application provides a detection system and a terminal device for reducing the power consumption of a detection system (such as a distributed detection system).

[0007] In a first aspect, the present application provides a detection system comprising at least one first detection device and a second detection device, wherein the at least one first detection device and the second detection device communicate via a serializer / deserializer (SerDes), and the second detection device includes a centralized processing unit. The at least one first detection device is configured to detect at least one first field of view, obtain at least one first echo signal, and transmit the at least one first echo signal to the second detection device via the SerDes. The second detection device is configured to detect a second field of view, obtain a second echo signal, and the centralized processing unit identifies a target based on the first echo signal and the second echo signal.

[0008] In the above solution, communication between at least one first detection device and a second detection device is achieved through SerDes. This utilizes the high-speed serial transmission and low-loss performance of SerDes to increase the speed of echo signal transmission from the at least one first detection device to the second detection device, while reducing transmission loss of the echo signal and saving power consumption in the detection system. Furthermore, by integrating a centralized processing unit in the second detection device to centrally process the echo signals from the at least one first detection device and the second detection device, it is no longer necessary to install a processing unit in all detection devices or to connect to an external processing unit via optical fiber. This further reduces power consumption and achieves a cost reduction.

[0009] In one possible design, either the first or second detection device can be installed in any of the following locations: the roof, front, rear, near the headlights, near the doors, near the rearview mirrors, near the wheels, on the front bumper, on the rear bumper, or inside the windshield. For example, the second detection device can be installed on the roof, and at least one first detection device can be installed near the headlights; or, the second detection device can be installed on the front bumper, and at least one first detection device can be installed below the rearview mirror.

[0010] Through the above design, at least one first detection device and a second detection device can be installed at locations that meet the requirements according to actual scene requirements, so as to improve the flexibility and versatility of the detection system.

[0011] In one possible design, the second detection device can be arranged on the roof near the windshield, and the detection system includes two first detection devices, one first detection device is arranged between the left front headlight and the left wheel, and the other first detection device is arranged between the right front headlight and the right wheel.

[0012] Through the above design, the two first detection devices can be used to detect targets on the left and right sides of the vehicle, and the second detection device can be used to detect targets in front of the vehicle. The two first detection devices are combined with the second detection device to achieve multi-directional detection around the vehicle with a minimum number of detection devices.

[0013] In one possible design, a serializer is provided in the first detection device, and at least one deserializer is provided in the at least one second detection device. The serializer and the at least one deserializer are connected via a coaxial cable or a shielded twisted pair cable.

[0014] Through the above design, the serializer, deserializer, coaxial cable or shielded twisted pair cable can form a high-speed serial link, allowing data to be transmitted at high speed between two detection devices in the form of a serial signal, saving transmission time. In addition, the coaxial cable or shielded twisted pair cable is composed of a central copper wire, a plastic insulator, a mesh conductive layer, and a wire sheath. When transmitting the echo signal, the echo signal emitted by the central copper wire is isolated by the mesh conductive layer, so the echo signal is not scattered to the outside of the cable in large quantities. This can reduce the intensity attenuation of the echo signal during transmission, thereby reducing the transmission loss of the echo signal and effectively saving the transmission power consumption of the detection system.

[0015] In one possible design, the SerDes may be gigabit multimedia serial links (GMSL).

[0016] Through the above design, GMSL has the advantages of high transmission rate, long transmission distance and strong anti-interference, which can improve the transmission performance of the detection system.

[0017] In one possible design, the second detection device can also send at least one of the following information to any first detection device through SerDes: configuration information, used to configure at least one of the following contents of the first detection device: lighting mode, lighting time, detection mode or detection time; synchronization information, used to indicate frame synchronization or wave position synchronization between the first detection device and the second detection device; clock information, used to maintain time consistency between the first detection device and the second detection device.

[0018] Through the above design, the same SerDes link can be used to transmit configuration information, synchronization information or clock information between two detection devices. In other words, by dividing the interface of the SerDes link, the same SerDes link can be used to transmit different data to reduce the cost of the detection system.

[0019] In a possible design, the second detection device is further configured to: supply power to the at least one first detection device via a SerDes.

[0020] Through the above design, the SerDes link can also be used for power supply. In this way, only one power supply can be set in the second detection device, and there is no need to set power supplies in all detection devices. This can further save costs and reduce the size of the detection system.

[0021] In a possible design, at least one first detection device and a second detection device have different detection distance ranges.

[0022] Through the above design, at least one first detection device and a second detection device are combined to detect targets within at least two distance ranges. The detection device with a long detection range can be used for long-distance measurement, while the detection device with a short detection range can be used for blind spot filling. In this way, the effect of short-distance blind spot filling can be achieved while measuring long distances.

[0023] In a possible design, at least one of the first detection device and the second detection device has a different wavelength.

[0024] Through the above design, the echo signals of at least one first detection device and the second detection device can be more easily distinguished according to wavelength, which helps to reduce the probability of signal crosstalk.

[0025] In a possible design, at least one of the first detection device and the second detection device has a different field of view angle range.

[0026] Through the above design, at least one first detection device and a second detection device can be used to detect targets in different directions respectively, thereby achieving multi-directional and comprehensive detection of the target.

[0027] In one possible design, when the second detection device is a long-range radar, at least one first detection device may be a medium-range radar or a short-range radar, or, when the second detection device is a medium-range radar, at least one first detection device may be a long-range radar or a short-range radar, or, when the second detection device is a short-range radar, at least one first detection device may be a long-range radar or a medium-range radar.

[0028] Through the above design, the radar types of at least one first detection device and the second detection device are different, so the crosstalk probability of the at least one first detection device and the second detection device working in coordination can be reduced.

[0029] In a possible design, the centralized processing unit is further used to: generate point cloud data.

[0030] Through the above design, point cloud construction, such as three-dimensional point cloud construction, can be achieved.

[0031] In a possible design, the second detection device and the domain controller can communicate via Ethernet.

[0032] Through the above design, the second detection device can centrally process the echo signals of at least one first detection device and the second detection device, and then send the processing results to the domain controller via Ethernet, so that the domain controller can decide the next working method based on the processing results.

[0033] In a possible design, the second detection device sends a detection signal at each wave position, and multiple first detection devices send detection signals at different wave positions.

[0034] With the above design, by having multiple first detection devices emit detection signals at different wavelengths, the detection signals of the multiple first detection devices can be separated in time (also called time separation). In this way, even if the multiple first detection devices have the same wavelength, only one first detection device will emit a detection signal at a wavelength, and there will not be multiple first detection devices emitting detection signals at the same time. This can avoid crosstalk between the detection signals emitted by different first detection devices. In addition, since the second detection device will illuminate and detect at each wavelength, there will be a second detection device and a first detection device simultaneously illuminating and detecting at a wavelength. The detection signal emitted by the second detection device has a different wavelength from the detection signal emitted by the first detection device, and the probability of mutual interference is low. Therefore, the detection result of the second detection device can be used as a benchmark to compare with the detection result of the first detection device illuminating at each wavelength, so as to jointly achieve noise filtering of the overlapping area between the second detection device and the first detection device illuminating at each wavelength.

[0035] In a possible design, within one wave position, the second detection device sends the same number of detection signals as the first detection device that sends the detection signal, and the time when the first detection device sends the detection signal is later than the time when the second detection device sends the detection signal.

[0036] Through the above design, since the first detection device delays the lighting compared to the second detection device in the same wavelength, the return time of the first echo signal corresponding to the first detection device and the second echo signal corresponding to the second detection device can be staggered with each other, so that the first detection device and the second detection device can both receive their own echo signals within their corresponding time, so as to reduce the crosstalk between the first detection device and the second detection device working simultaneously in the same wavelength.

[0037] In one possible design, at least one first field of view at least partially overlaps with the second field of view.

[0038] Through the above design, the target in the overlapping area can be detected simultaneously by at least one first detection device and the second detection device. Combining the detection results of at least one first detection device and the second detection device on the same target, the target can be identified more accurately.

[0039] In one possible design, before identifying the target, the second detection device may also delete the interference signal in at least one first echo signal and the second echo signal based on the echo signal of the corresponding overlapping area in at least one first echo signal and the second echo signal.

[0040] Through the above design, the first echo signal and the second echo signal corresponding to the overlapping area can be combined to delete the noise and achieve the interference suppression effect.

[0041] In a further possible design, the centralized processing unit is specifically used to: determine the target position of any first echo signal; when the target position is located in the overlapping area of ​​the second field of view and the first field of view corresponding to the first echo signal, and there is a second echo signal among multiple second echo signals with the same target position and the same reflectivity as the first echo signal, then the first echo signal is determined to be a non-interference signal.

[0042] With the above design, the first echo signal corresponding to the target can be quickly located according to whether the first echo signal and the second echo signal are echo signals reflected by the same target in the overlapping area, thereby improving the efficiency of interference suppression.

[0043] In a further possible design, the centralized processing unit is further configured to: determine that the first echo signal is an interference signal if, among the multiple second echo signals, there is no second echo signal having the same target location and reflectivity as the first echo signal, but among the multiple suspected interference signals of the second echo signals, there is a suspected interference signal having the same target location and reflection intensity as the first echo signal, wherein the suspected interference signal among the multiple second echo signals is a second echo signal among the multiple second echo signals that has a different target location or a different reflectivity than the first echo signal.

[0044] Through the above design, the first echo signal corresponding to the noise point can be accurately located according to the correlation between the target position and reflection intensity of the suspected interference first echo signal and the suspected interference second echo signal, so as to achieve noise filtering.

[0045] In a further possible design, the centralized processing unit is also used for: if there is no suspected interference signal with the same target position and the same reflection intensity as the first echo signal among the suspected interference signals of multiple second echo signals, but the first echo signal is spatially continuous with the first echo signal of the adjacent wave position detected in the same frame, and the first echo signal is temporally continuous with the first echo signal of the same wave position detected in different frames, then the first echo signal is determined to be a non-interference signal; otherwise, the first echo signal is determined to be an interference signal.

[0046] Through the above design, the continuity in time and space of the first echo signal and the adjacent first echo signal or other first echo signals at the same wave position can be combined to determine whether the first echo signal is the echo signal corresponding to the detection signal emitted by the first detection device, and then it can be accurately determined whether the first echo signal is a non-interference signal.

[0047] In a second aspect, the present application provides a terminal device, comprising the detection system in the above-mentioned first aspect or any one of the designs of the above-mentioned first aspect.

[0048] The technical effects that can be achieved in the second aspect can be referred to the description of the beneficial effects in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] FIG1a is a schematic diagram showing an exemplary horizontal field of view;

[0050] FIG1b is a schematic diagram showing an exemplary vertical field of view;

[0051] FIG1c exemplarily shows a timing diagram of the association between a frame, a slot and a shot;

[0052] FIG2 exemplarily shows a schematic diagram of a possible application scenario provided by the present application;

[0053] FIG3 a exemplarily shows a schematic diagram of the architecture of a distributed detection system provided by the industry;

[0054] FIG3 b exemplarily shows a schematic diagram of the architecture of another distributed detection system provided by the industry;

[0055] FIG3c exemplarily shows a schematic diagram of the architecture of another distributed detection system provided by the industry;

[0056] FIG4 exemplarily shows a schematic diagram of the architecture of a detection system provided by the present application;

[0057] FIG5 exemplarily shows a schematic diagram of the architecture of a SerDes communication provided by the present application;

[0058] FIG6 exemplarily shows an interface circuit diagram of a SerDes provided by the present application;

[0059] FIG7 a exemplarily shows a schematic diagram of possible installation positions of a detection device provided by the present application;

[0060] FIG7 b exemplarily shows a schematic diagram of possible installation positions of another detection device provided by the present application;

[0061] FIG7c exemplarily shows a schematic diagram of possible installation positions of another detection device provided by the present application;

[0062] FIG8 exemplarily shows a partial exploded view of a terminal device provided by the present application;

[0063] FIG9a exemplarily shows a diagram showing the overlapping relationship of the fields of view of a detection device provided by the present application;

[0064] FIG9b exemplarily shows a diagram showing the overlapping relationship of fields of view of another detection device provided by the present application;

[0065] FIG10 exemplarily shows an interactive flow chart of a joint detection provided by the present application;

[0066] FIG11 exemplarily shows a lighting timing diagram of a detection device provided by the present application;

[0067] FIG12 exemplarily shows a timing diagram of lighting of a first detection device and a second detection device provided by the present application within one wavelength;

[0068] FIG13 exemplarily shows a flow chart for determining an interference signal provided in the present application. DETAILED DESCRIPTION

[0069] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0070] The following is an explanation of some of the terms used in this application. It should be noted that these explanations 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.

[0071] 1. SerDes

[0072] SerDes is a time-division multiplexing (TDM) peer-to-peer (P2P) serial communication technology. At the transmitter, SerDes converts multiple low-speed parallel signals into high-speed serial signals, transmits them via a transmission medium (such as a cable) to the receiver, and then converts the high-speed serial signals back into low-speed parallel signals at the receiver. SerDes fully utilizes the channel capacity of the transmission medium, reduces the number of transmission channels and device pins required, and increases signal transmission speed, thereby significantly reducing communication costs.

[0073] 2. Field of view (FOV)

[0074] The field of view, also known as the visual field, refers to the visible range of objects observed by the visual system. Simply put, it can be understood as the range covered by the detection signal emitted by the radar within the detection area. The field of view is typically characterized by the field of view angle, which can be divided into horizontal and vertical field of view angles. The horizontal field of view angle refers to the angular range that the radar can observe in the horizontal direction. See α1 in Figure 1a, where the xoy plane is the horizontal plane. The vertical field of view angle refers to the angular range that the radar can observe in the vertical direction. See α2 in Figure 1b, where the yoz plane is the vertical plane, which passes through the optical axis and is perpendicular to the horizontal plane.

[0075] 3. Slot

[0076] Wavelength is the abbreviation of beam position or beam center position. A radar usually requires multiple wavelengths to detect one frame of the detection space. The number of wavelengths is related to the angular range of the scanning component's single scan. For example, if the radar's pitch range is 0-20° and the scanning component's angular range is 5° each time, then to cover the entire pitch range, the scanning component must rotate at least four times, which requires four wavelengths. Within each wavelength, the laser emits multiple laser signals to detect the area corresponding to the current wavelength. After the detection is completed, the scanning component changes the scanning angle and switches to the next wavelength. The laser then emits multiple laser signals again to detect the area corresponding to the next wavelength. This process is repeated until the entire detection area is detected.

[0077] As can be understood, since multiple detection signals are emitted within a single beam position, a beam position can be divided into multiple shots, with each shot corresponding to a single detection signal. For example, see Figure 1c, which shows a timing diagram relating frames, slots, and shots. F_SYNC, as shown, refers to the on-time sequence per frame. During the detection duration of a frame, F_SYNC may remain on for a long period before being turned off and remaining on until the end of the frame. In contrast, S_SYNC refers to the on-time sequence per slot. During the F_SYNC on-time period in each frame, S_SYNC may be turned on multiple times, with each on-time duration corresponding to the detection of a single slot. For example, the diagram illustrates a frame corresponding to two slots (i.e., slot 1 and slot 2). Each time the scanning component rotates to a slot, S_SYNC is turned on for a period of time to receive and sense the echo signal in that slot. S_SYNC is then turned off until the scanning component rotates to another slot, at which point it is turned back on to complete the detection of the current slot. During the S_SYNC activation period in each slot, the detection device will activate multiple times, each time in units of a shot. Each activation period corresponds to the emission of a detection signal. For example, the diagram illustrates a slot corresponding to m shots (i.e., shot 1, shot 2, ..., shot m, where m is a positive integer). Assuming the detection signal is a laser, the detection device will first fire a laser shot in each slot, then wait for a period before firing the next laser shot. After firing m laser shots, detection for the current slot is terminated.

[0078] 4. Frame synchronization and wave position synchronization.

[0079] Frame synchronization means that multiple detection devices are activated in the same frame. This means that all detection devices will send detection signals and receive echo signals within the same frame. Similarly, wave position synchronization means that multiple detection devices are activated in the same wave position. This means that all detection devices will send detection signals and receive echo signals within the same wave position.

[0080] The previous text introduced some of the terms involved in this application. The following text introduces the possible application scenarios of this application.

[0081] In one possible implementation, the detection system provided by the present application can be integrated into a vehicle. The detection system can be a distributed detection system, for example, it can include at least two detection devices, and the detection devices can include but are not limited to laser radars. Please refer to Figure 2, which exemplifies a possible application scenario of the present application. In this application scenario, the detection system includes two detection devices, and the two detection devices are respectively installed at the front bumper and the roof of the vehicle. It can be understood that the vehicle can also be installed with two or more detection devices in any number, and any detection device can be installed at any position of the vehicle, such as around the headlights, around the rearview mirrors, near the doors, at the front bumper, 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, it has a lower requirement for no gravel collision risk, and will not affect the appearance of the vehicle. In addition, the front windshield itself has window heating, demisting and wiper cleaning functions.

[0082] Taking the detection system installed on a vehicle as an example, refer to Figure 2. The detection system operates as follows: at least two detection devices transmit detection signals to their respective detection areas. If a target exists within the detection area, the target will reflect the received light beam back to the detection device (also known as an echo signal). The detection system then uses the echo signals from the at least two detection devices to jointly determine relevant information about the target. Specifically, based on the echo signals from the at least two detection devices, the detection system can obtain the vehicle's latitude and longitude, speed, and direction, or relevant information (such as the distance to the target, the speed of the target, and / or the posture of the target) within a certain range (such as other surrounding vehicles, pedestrians, or obstacles) in real time or periodically. Furthermore, the detection system can optionally transmit this acquired information to a control unit in the vehicle, so that the control unit can perform route planning, braking, or starting operations based on this acquired information. For example, the vehicle's longitude and latitude can be used to determine the vehicle's location, its speed and direction can be used to determine the vehicle's future travel direction and destination, or the distance to surrounding objects can be used to determine the number and density of obstacles around the vehicle. Furthermore, optionally, the functions of an advanced driving assistant system (ADAS) can be combined to realize assisted driving or automatic driving of the vehicle.

[0083] It should be understood that the above application scenarios are only examples, and the detection system provided in this application can also be applied to other possible scenarios, not limited to the scenarios exemplified above. For example, the detection system can also be installed in a roadside unit (RSU) as a roadside traffic detection system for realizing intelligent vehicle-road cooperative communication, etc. For another example, the detection system can also be applied to other means of transportation as an information collection source for path planning to assist the driver in achieving or automatically achieving safe driving. Other means of transportation may include but are not limited to ships, airplanes, drones, trains, subways, automated guided vehicles (AGVs) or unmanned transport vehicles, etc. For another example, the detection system can also be applied to terminal devices or components provided in terminal devices. Terminal devices may be, for example, smartphones, smart home devices, smart manufacturing equipment, medical equipment, industrial equipment, and robots, etc. They are not listed here one by one. It should be noted that the application scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application.

[0084] In addition, the above application scenarios can be applied to unmanned driving, assisted driving, intelligent driving, autonomous driving, connected vehicles, optical communications, security monitoring, biomedicine, surveying and mapping (such as three-dimensional mapping, remote sensing mapping), meteorological research, biomass and vegetation research, air quality monitoring, and aviation and aerospace applications.

[0085] As described in the background, existing detection systems consume significant power. This is due to the use of optical fibers to connect the various detection devices. For example, referring to Figure 3a, to achieve omnidirectional detection of a vehicle, existing detection systems install multiple radars at the front and rear of the vehicle and run optical fibers inside the vehicle body, connecting the front and rear radars. Thus, during omnidirectional detection, radar 1 at the rear of the vehicle can transmit detection-related information to other radars 2-5 via optical fibers, instructing radars 2-5 to perform joint detection with radar 1. However, with this architectural design, the optical fibers are stretched very long throughout the vehicle, causing the amount of data transmitted through the fibers to increase as the transmission distance increases. Therefore, in order to transmit information from radar 1 at the rear of the vehicle to radars 4-5 at the front of the vehicle via such a long optical fiber, a very large amount of power is required for information transmission, significantly increasing the power consumption of the detection system.

[0086] To address the above technical issues, the industry has proposed several solutions. For example, as shown in Figure 3b, in one solution, separate radars are deployed in the vehicle, each equipped with a point cloud processing unit. The echo signals collected by each radar are first processed by the local point cloud processing unit to generate point cloud data, which is then combined with the point cloud data from other radars for point cloud fusion to identify the target. While this solution eliminates the need to connect the radars using optical fiber, each radar requires a separate point cloud processing unit, resulting in relatively high power consumption for the entire detection system. Furthermore, the presence of multiple point cloud processing units also increases the cost of the detection system. For another example, as shown in Figure 3c, in another solution, while not requiring a separate point cloud processing unit in each radar, a controller is installed outside each radar, with the receivers of each radar connected to this controller via optical fiber. This way, when detecting a target, the echo signals collected by each radar are first transmitted via optical fiber to the controller, which then combines the echo signals from each radar to generate point cloud data for target identification. However, using a separate controller makes the detection system more expensive, and because the controller and the radars are connected via optical fiber, high power consumption is still a problem. In summary, neither of the two solutions offered by the industry effectively reduces power consumption and instead increases costs.

[0087] In view of this, the present application provides a detection system, which realizes communication between different detection devices through SerDes and integrates a centralized processing unit in one detection device. In this way, not only can the low-power transmission characteristics of SerDes be utilized to reduce the power consumption of transmitting echo signals between different detection devices, but there is also no need to set up a point cloud processing unit in each detection device, nor is there any need to introduce additional controllers and optical fibers, thereby further reducing power consumption and achieving the effect of saving system costs.

[0088] The detection system proposed in this application is described in detail below with reference to specific drawings.

[0089] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0090] In addition, in this application, "position" does not refer to an absolute position, and a certain engineering error is allowed. "Reflectivity" does not refer to an absolute reflectivity, and a certain engineering error is allowed. "Reflection intensity" does not refer to an absolute reflection intensity, and a certain engineering error is allowed. The shape of the timing diagram does not refer to an absolute shape, as long as it has the same rising, stable or falling trend. For example, the rising edge (or falling edge) can be vertically rising (or falling), can be stepped rising (or falling), can have a certain slope, can have a certain curvature, and so on.

[0091] Please refer to Figure 4, which is a schematic diagram of the architecture of a detection system provided in this application. As shown in Figure 4, the detection system 400 includes a second detection device 420 and at least one first detection device 410, such as a first detection device 411, a first detection device 412, ..., a first detection device 41N, where N is a positive integer. Among them, at least one first detection device 410 communicates with the second detection device 420 through a serial deserializer SerDes, and the second detection device 420 includes a centralized processing unit 421. When the detection system 400 is working, at least one first detection device 410 is used to detect at least one first field of view, obtain at least one first echo signal, and send at least one first echo signal to the second detection device 420 through SerDes; the second detection device 420 is used to detect the second field of view, obtain a second echo signal, and identify the target based on the first echo signal and the second echo signal through the centralized processing unit 421.

[0092] It can be understood that since the echo signal will be concentrated in the second detection device 420 for processing, the second detection device 420 can also be called a central detection unit, and at least one first detection device 410 can also be called a remote detection unit. The central detection unit and the remote detection unit constitute a distributed detection system architecture. The distributed detection system architecture can realize multi-directional and comprehensive detection of the target, thereby reducing the probability of false alarms and missed detections.

[0093] Optionally, at least one first detection device 410 communicates with the second detection device 420 via SerDes, which can be understood as at least one first detection device 410 and the second detection device 420 being connected via a high-speed serial link, which is composed of a serializer, a deserializer, and a transmission medium. For example, refer to Figure 5, which shows an architecture diagram of a SerDes communication provided by the present application. In this example, N first detection devices 411, 412, ..., 41N are provided with N serializers 4111, 4121, ..., 41N1 corresponding thereto, and a deserializer 422 is provided in the second detection device 420. The N serializers 4111~41N1 are connected to the deserializer 422 via a coaxial cable, a shielded twisted pair (STP) cable, or other types of transmission media. When detection system 400 is operating, N serializers 4111-41N1 can encapsulate the first echo signals of N first detection devices 411-41N into high-speed serial signals and transmit them to deserializer 422 via a coaxial cable or STP cable. Deserializer 422 parses the high-speed serial signals to obtain the first echo signals of the N first detection devices 411-41N. Using this design architecture, the coaxial cable or STP cable consists of a central copper wire, a plastic insulator, a mesh conductive layer, and a wire sheath. During echo signal transmission, the mesh conductive layer isolates the echo signal from the central copper wire, preventing it from being scattered extensively outside the cable. This reduces the attenuation of the echo signal during transmission, thereby reducing transmission loss and effectively saving the detection system's transmission power.

[0094] Further, optionally, referring to FIG. 5 , the deserializer 422 may be provided with N first interfaces a 11 、a 12 、……、a 1N , N serializers 4111 to 41N1 are connected to N first interfaces a one-to-one through a transmission medium 11 ~a 1N When the detection system 400 is operating, the serializer in each first detection device can transmit the encapsulated high-speed serial signal to a corresponding first interface on the deserializer 422. After receiving the high-speed serial signal, the deserializer 422 can determine which first detection device the high-speed serial signal belongs to by determining the input first interface, and then can parse the high-speed serial signal to obtain the first echo signal of the first detection device.

[0095] Further, optionally, referring to FIG5 , a second interface a2 may be provided on the deserializer 422, and the second interface a2 is connected to the centralized processing unit 421 via a local line in the second detection device 420. When the detection system 400 is operating, the deserializer 422 may transmit the first echo signal obtained by parsing to the centralized processing unit 421 via the second interface a2 each time a high-speed serial signal is obtained. The centralized processing unit 421 may store the input first echo signal and, after a period of time, perform target identification based on the stored multiple first echo signals. For example, point cloud data may be generated based on the multiple first echo signals, and relevant information of the target may be obtained based on the point cloud data identification, such as, but not limited to, the target's position, size, speed, and posture.

[0096] Furthermore, optionally, referring to FIG5 , the centralized processing unit 421 may also be connected to the control unit 500, for example, via Ethernet. The control unit 500 may be understood as a domain controller in the device where the detection system 400 resides. For example, when the detection system 400 is integrated into a vehicle, the control unit 500 may be a mobile data center (MDC) (also known as an intelligent driving computing platform), a vehicle control unit (VCU), a vehicle domain controller (VDC), or other devices with control functions. When the detection system 400 is operating, the centralized processing unit 421 may send point cloud data and information related to the identified targets to the control unit 500, so that the control unit 500 can decide on the next operating mode, such as deciding the vehicle's driving direction and destination for a period of time in the future, to achieve assisted driving or autonomous driving of the vehicle.

[0097] Optionally, the above-mentioned SerDes can be any interface circuit that can realize high-speed serial data transmission, such as gigabit multimedia serial links (GMSL), high-speed interconnect input and output (SRIO) interface, high-speed serial computer expansion bus standard (Peripheral Component Interconnect Express, PCIE) interface or serial advanced technology attachment (SATA) interface. When the SerDes is implemented using the GMSL interface, the detection system can have the advantages of high transmission rate, long transmission distance and strong anti-interference. For example, the current communication protocol based on the GMSL interface can achieve a single-channel data transmission rate of 12Gbps. Using a 50Ω coaxial cable or a 100Ω shielded twisted pair cable, the data transmission distance can reach 15m or longer, which greatly improves the data transmission distance.

[0098] Taking GMSL as an example, please refer to Figure 6, which shows a SerDes interface circuit diagram provided by this application. The diagram uses the first detection device 411 and the second detection device 420 as examples. The interface circuits of other first detection devices can refer to the description of the first detection device 411 below, and this application will not repeat them one by one.

[0099] Next, the interface circuit and other internal components of the first detection device 411 are introduced.

[0100] Optionally, referring to FIG6 , in addition to the serializer 4111, the first detection device 411 may also include one or more of a first transmitter 4112, a first receiver 4113, and a first processor 4114. The first transmitter 4112 may be configured to emit a first detection signal, such as multiple laser beams, to the first field of view corresponding to the first detection device 411. The first receiver 4113 may be configured to receive first echo signals reflected by targets in the first field of view and transmit the first echo signals to the first processor 4114. The first processor 4114 does not have point cloud processing capabilities, but it may perform single-shot anti-interference screening on the received first echo signals. For example, it may select the first echo signal with the highest intensity, the first echo signal with the shortest return time, and the first echo signal with the highest power from among the multiple received first echo signals. The first processor 4114 may then perform feature analysis on these first echo signals to extract features relevant to the point cloud and transmit these features to the serializer 4111. The extracted features may include, but are not limited to, rising edge position, falling edge position, peak position, trough position, pulse width, energy, number of peaks or number of troughs, etc.

[0101] Further, optionally, referring to FIG6 , the serializer 4111 may have many interfaces, such as a mobile industry processor interface (MIPI), a general purpose input / output (GPIOs) interface, an inter-integrated circuit bus (ICB), and a serial bus interface. 2 C) interface, universal asynchronous receiver / transmitter (UART) interface, serial peripheral interface (SPI), integrated circuit built-in audio bus (IC sound bus) 2 The following are detailed descriptions of these interfaces.

[0102] MIPI is a data interface that is a unidirectional receiving interface. The serializer 4111 can receive service data (also known as MIPI data) sent by other devices in the first detection device 411 via MIPI, and can package this service data into serial data, and then send the serial data to the deserializer 422 via a coaxial cable or an STP cable (coax / STP in the figure). For example, when the first detection device 411 includes a first processor 4114, the serializer 4111 can receive the above-mentioned various feature information sent by the first processor 4114 via MIPI, and then package it and send it to the deserializer 422. For another example, when the first detection device 411 does not include the first processor 4114, MIPI can be directly connected to the first receiver 4113, and the first receiver 4113 can send all received first echo signals to the serializer 4111 via MIPI. These first echo signals will then be transmitted to the centralized processing unit 421 in the second detection device 420 for unified screening and feature extraction. Among them, the interface type of MIPI can be at least one of the following types: camera serial interface-2 (CSI-2), display port (DP), high-definition multimedia interface (HDMI), display serial interface (DSI), open lighting data interface (OLDI), parameter (PAR) interface, etc.

[0103] GPIOs interface, I 2 C interface, UART interface, SPI, I 2The S interface and the Eth interface are control interfaces. These control interfaces are bidirectional interfaces and can be used as both a transmitting interface and a receiving interface. When used as a transmitting interface, the serializer 4111 can receive the downlink configuration information sent by the deserializer 422 via a coaxial cable or an STP cable. The downlink configuration information may include control information and parameters. The serializer 4111 can control other components in the first detection device 411 to be in a corresponding working mode through these control interfaces according to the instructions of the configuration information, such as controlling when the first transmitter 4112 starts to emit light, how much light to emit, how long each light is emitted, and how long the interval is for the next light to be emitted, etc., such as controlling when the first receiver 4113 starts detection, which detection units to turn on for each detection, and how long these detection units are turned on, etc. When used as a receiving interface, the serializer 4111 can receive information related to the working mode sent by other devices in the first detection device 411 through these interfaces, and can send this information to the deserializer 422 through a coaxial cable or an STP cable, so that when the working mode of the first detection device 411 does not match the configuration information sent by the second detection device 420, the deserializer 422 can adjust the sent configuration information in time to drive the first detection device 411 to work accurately according to the instructions of the second detection device 420.

[0104] The Ref Clk interface is a unidirectional clock interface. Serializer 4111 can receive clock information sent by deserializer 422 via a coaxial cable or STP cable and synchronize this clock information to other devices in first detection device 411 via the Ref Clk interface to maintain clock consistency between the devices in first detection device 411 and those in second detection device 420. This consistent clock ensures that first detection device 411 and second detection device 420 operate under the same time standard.

[0105] The Sync interface is a synchronous interface and is also a unidirectional transmission interface. The serializer 4111 can receive downlink synchronization information sent by the deserializer 422 via a coaxial cable or an STP cable, and can indicate the synchronization mode of the first detection device 411 and the second detection device 420 to other devices in the first detection device 411 through the Sync interface. The synchronization mode can be, for example, frame synchronization (Frame Sync) or slot synchronization (Slot Sync).

[0106] Further, optionally, referring to FIG6 , the first detection device 411 may further include a first power module 4115. The input end of the first power module 4115 is connected to a coaxial cable or an STP cable, and the output end of the first power module 4115 is connected to all local (Load) components of the first detection device 411. The first power module 4115 can obtain a power supply signal from the second detection device 420 via the coaxial cable or the STP cable, and can provide the power supply signal to all local components of the first detection device 411 to achieve power supply for the first detection device 411. When the control system 400 is integrated into a vehicle, the power supply signal can be, for example, a 12V voltage signal.

[0107] It should be noted that, in addition to the aforementioned information, coaxial cables or STP cables can also be used to transmit other information, such as other radar information, video information, power information, camera information, display control and synchronization information, touch information, tactile information, clock information, audio information, software updates, and status reports. This information can be transmitted simultaneously between the first and second detection devices via the coaxial cables or STP cables. Furthermore, a single coaxial cable or STP cable can simultaneously transmit multiple radar signals.

[0108] Next, the interface circuit and other internal components of the second detection device 420 are introduced.

[0109] Optionally, referring to FIG6 , similar to the first detection device 411 , the second detection device 420 , in addition to including a deserializer 422 and a centralized processing unit 421 , may also include one or more of a second transmitter 423 , a second receiver 424 , and a second processor 425 . The second transmitter 423 may be configured to emit a second detection signal, such as multiple laser beams, to the second field of view corresponding to the second detection device 420 . The second receiver 424 may be configured to receive second echo signals reflected by targets in the second field of view and transmit the second echo signals to the second processor 425 . The second processor 425 does not have point cloud processing capabilities, but it can perform single-shot anti-interference screening on the received second echo signals and perform feature analysis on the filtered second echo signals to extract point cloud-related features from these second echo signals, which are then transmitted to the centralized processing unit 421 . For details regarding single-shot anti-interference screening and feature analysis, please refer to the above description of the first processor 4114 and will not be repeated here.

[0110] Further, optionally, referring to FIG6 , similar to the first detection device 411, the deserializer 422 may also have many interfaces, such as MIPI, GPIOs interface, I 2 C interface, UART interface, SPI, I 2S and Eth interface, etc. Among them, MIPI is a data interface, which is a unidirectional transmission interface, and the interface type can be CSI-2, DP or OLDI, etc. After the deserializer 422 receives the serial data from the first detection device 411 through the coaxial cable or STP cable, the deserializer 422 can convert the serial data into MIPI data (such as the various feature information mentioned above) and send it to the centralized processing unit 421 through MIPI. Secondly, the GPIOs interface, I 2 C interface, UART interface, SPI, I 2 The S and Eth interfaces are bidirectional control interfaces. When used as a receiving interface, the deserializer 422 can receive configuration information via these control interfaces, such as configuration information sent by the centralized processing unit 421, other control units in the second detection device 420, or an external control unit. This configuration information can then be sent via a coaxial cable or STP cable to the serializer 4111 in the first detection device 411, enabling the serializer 4111 to control the operating mode of the first detection device 411 according to this configuration information, such as configuring frame synchronization or wave-bit synchronization between the first detection device 411 and the second detection device 420. When used as a transmitting interface, the deserializer 422 can receive information related to the operating mode sent by the serializer 4111 in the first detection device 411 via a coaxial cable or STP cable, and can send this information via these control interfaces to the centralized processing unit 421, other control units in the second detection device 420, or an external control unit, enabling these control units to promptly adjust the previously sent configuration information if the operating mode of the first detection device 411 does not match.

[0111] Furthermore, optionally, referring to FIG6 , the deserializer 422 may further include a clock (Clk) interface, and the second detection device 420 may further include an external crystal oscillator (XTAL) 426, with the output of the XTAL 426 connected to the Clk interface. The XTAL 426 may be used to provide a stable clock signal. After receiving the clock signal through the Clk interface, the deserializer 422 may transmit the clock signal to the serializer 4111 in the first detection device 411 via a coaxial cable or an STP cable to maintain time consistency between the first detection device 411 and the second detection device 420.

[0112] Further, optionally, referring to FIG6 , the second detection device 420 may further include a second power supply module 427 , the input end of the second power supply module 427 is connected to the power supply V BAT The output end of the second power supply module 427 is connected to a coaxial cable or an STP cable. The second power supply module 427 can supply power V BATThe power supply signal is provided to all devices in the second detection device 420, and the power supply signal can also be provided to the first power module 4115 in the first detection device 411 through a coaxial cable or an STP cable to power the first detection device 411 through the physical path of the shared SerDes.

[0113] The above content has introduced the internal architecture of the at least one first detection device 410 and the second detection device 420 in detail. The following will further describe the layout of the at least one first detection device 410 and the second detection device 420 in the terminal device.

[0114] Optionally, at least one first detection device 410 and second detection device 420 may be deployed in different locations. For example, taking a vehicle as the terminal device, any first detection device or second detection device 420 may be installed in any of the following locations: the roof, the front, the rear, near the headlights, near the doors, near the rearview mirrors, near the wheels, the front bumper, the rear bumper, or inside the windshield. The term "headlight" refers to exterior lights, including but not limited to: headlights (also known as headlights), position lights (also known as small lights, position lights, or width lights), fog lights, turn signals, license plate lights, reverse lights, brake lights (also known as brake lights), clearance lights, parking lights, warning lights, etc.

[0115] For example, please refer to Figures 7a, 7b and 7c, which show three possible schematic diagrams of the installation positions of the detection device provided in the present application, and the two first detection devices 411 to 412 are taken as examples. In the example shown in Figure 7a, the second detection device 420 is installed on the roof near the windshield, the first detection device 411 is installed between the right front wheel and the right front position light, and the first detection device 412 is installed between the left front wheel and the left front position light. In the example shown in Figure 7b, the second detection device 420 is installed on the roof, the first detection device 411 is installed near the right front position light, and the first detection device 412 is installed near the left front position light. In the example shown in Figure 7c, the second detection device 420 is installed on the front bumper, the first detection device 411 is installed below the right rearview light, and the first detection device 412 is installed below the left rearview light.

[0116] It is understandable that the detection devices in Figures 7a to 7c are merely schematic, and the appearance and structure of the actual detection devices may differ from those shown in the figures. For example, please refer to Figure 8, which shows a partial exploded view of the vehicle shown in Figure 7a. This partial exploded view separately explodes the first detection device 411, the first detection device 412, the second detection device 420 installed on the vehicle, and the connecting lines of the three. The lines with arrows in the figure are used to indicate the installation locations of the detection devices, and the lines without arrows are used to indicate the connecting lines between the detection devices. As shown in Figure 8, compared to the first detection device 411 and the first detection device 412, the second detection device 420 is provided with a centralized processing unit 421. Therefore, the size of the second detection device 420 will be slightly larger than the first detection device 411 and the first detection device 412.

[0117] Optionally, at least one first detection device 410 and second detection device 420 may be of the same or different types. For example, taking the detection system 400 shown in Figures 7a to 7c as an example, the first detection device 411, the first detection device 412, and the second detection device 420 may all be laser radars; alternatively, the second detection device 420 may be a laser radar, and the first detection device 411 and the first detection device 412 may be millimeter wave radars, such as frequency modulated continuous wave (FMCW) radars; alternatively, the second detection device 420 may be a laser radar, the first detection device 411 may be an over-the-horizon radar, and the first detection device 412 may be a microwave radar; alternatively, the second detection device 420 may be a mechanical scanning radar, the first detection device 411 may be a phased array radar, and the first detection device 412 may be a solid-state radar; alternatively, the second detection device 420 may be a pulse radar, and the first detection device 411 and the first detection device 412 may be continuous wave radars; and so on. A full list of these is omitted here.

[0118] In one example, at least one first detection device 410 and second detection device 420 have different detection ranges. For example, using lidar as an example, at least one first detection device 410 and second detection device 420 can be at least two of a long-range lidar, a medium-range lidar, and a short-range lidar. For example, if the second detection device 420 is a long-range lidar, any first detection device in the at least one first detection device 410 can be a medium-range lidar or a short-range lidar; alternatively, if the second detection device 420 is a medium-range lidar, any first detection device in the at least one first detection device 410 can be a long-range lidar or a short-range lidar; alternatively, if the second detection device 420 is a short-range lidar, any first detection device in the at least one first detection device 410 can be a long-range lidar or a medium-range lidar. With this configuration, the at least one first detection device 410, in conjunction with the second detection device 420, can detect targets within at least two ranges. The detection device with the longer range can be used for long-range detection, while the detection device with the shorter range can be used for blind spot detection. This allows for both long-range and short-range blind spot detection.

[0119] It should be noted that in other possible examples, the detection ranges of at least one first detection device 410 and the second detection device 420 may be the same. For example, at least one first detection device 410 and the second detection device 420 may both be long-range lidars, medium-range lidars, or short-range lidars. Because the at least one first detection device 410 and the second detection device 420 are installed in different positions, even if these detection devices have the same detection range, they can still detect targets in different directions, thereby achieving comprehensive multi-directional detection of targets.

[0120] In one example, at least one first detection device 410 and second detection device 420 have different wavelengths. For example, at least one first detection device 410 and second detection device 420 may select different wavelengths from the infrared band (760nm to 1000nm) as their emission wavelengths. This allows the echo signals of at least one first detection device 410 and second detection device 420 to be more easily distinguished based on wavelength, helping to reduce the probability of interference. Furthermore, the infrared band has the characteristics of high penetration and low sunlight influence, which can improve the measurement performance of the target.

[0121] Alternatively, considering that short-wavelength waves have better penetrability, the wavelength of a detection device with a large detection range can be smaller than the wavelength of a detection device with a small detection range. For example, taking the detection system 400 shown in Figures 7a to 7c as an example, when the second detection device 420 is configured as a long-range laser radar and the first detection devices 411-412 are configured as medium-range laser radars, the wavelength of the second detection device 420 can be 905nm. Lasers with this wavelength have less penetration light loss, can penetrate more objects, detect farther distances, and their detectors are less expensive. The wavelength of the first detection devices 411-412 can be a wavelength greater than 905nm, such as 940nm, or 1550nm can be selected. Lasers with this wavelength are safer for the human eye.

[0122] In one example, the field of view angle range of at least one first detection device 410 and the second detection device 420 is different. In other words, at least one first field of view is different from the second field of view, for example, at least one first field of view and the second field of view are at least partially non-overlapping, such as completely non-overlapping, or partially non-overlapping. For example, taking the installation position of the detection device shown in Figure 7a as an example, please refer to Figure 9a, which shows a field of view overlap relationship diagram of a detection device provided by the present application. The figure takes the first detection device 411~412 using a 940nm wavelength and the second detection device 420 using a 905nm wavelength as an example. The detection distance range of the first detection device 411~412 is smaller than the detection distance range of the second detection device 420, and the first field of view corresponding to the first detection device 411, the first field of view corresponding to the first detection device 412, and the second field of view corresponding to the second detection device 420 do not overlap in the horizontal direction, that is, the horizontal field of view angles do not overlap. In this way, the first detection device 411, the first detection device 412, and the second detection device 420 can be used to detect targets in different directions respectively, and multi-directional independent detection of targets can be achieved.

[0123] Optionally, in order to achieve accurate detection of the target, at least one first field of view and the second field of view may also have at least partial overlap, for example, a portion of any first field of view overlaps with a portion of the second field of view, or any first field of view completely overlaps under the second field of view, or the second field of view completely overlaps under any first field of view, etc. For example, still taking the installation position of the detection device shown in Figure 7a as an example, please refer to Figure 9b, which shows a field of view overlap relationship diagram of another detection device provided by the present application. The diagram takes the first detection device 411~412 using a 940nm wavelength and the second detection device 420 using a 905nm wavelength as an example. The detection distance range of the second detection device 420 is greater than the detection distance range of the first detection device 411~412, and the first field of view corresponding to the first detection device 411~412 and the second field of view corresponding to the second detection device 420 both partially overlap in the horizontal direction, that is, the horizontal field of view angle partially overlaps. In this way, the target in the overlapping area can be detected simultaneously by the first detection device 411~412 and the second detection device 420. Combining the detection results of the three detection devices on the same target, the target can be identified more accurately.

[0124] Furthermore, optionally, when at least one first field of view and the second field of view at least partially overlap, the second detection device 420 may also be combined with at least one first detection device 410 to achieve interference suppression and noise filtering. For example, referring to FIG10 , an interactive flow chart of a joint detection provided by the present application is shown, which may include the following steps:

[0125] Step 1001: A second detection device sends configuration information to at least one first detection device, for indicating a working mode of the at least one first detection device.

[0126] Optionally, taking laser detection as an example, the configuration information sent by the second detection device 420 to any first detection device may include but is not limited to: the wave position at which the first detection device works in each frame of detection (i.e., the working slot), the pulse repetition period of the wave position (i.e., the cycle length of the slot, different slots can have the same cycle length), the total number of laser beams emitted within the pulse repetition period of the wave position (i.e., the number of shots), the emission time of each laser beam (i.e., the start time of the emission), how long each laser beam lasts, how long after each laser beam is emitted to turn on the detector, which detection units at which positions on the detector are turned on, and how long these detection units are turned on, etc.

[0127] Furthermore, optionally, in addition to sending configuration information to at least one first detection device 410, the second detection device 420 may also send clock information. The clock information is used to maintain consistency in time information between at least one first detection device 410 and the second detection device 420, so that at least one first detection device 410 can illuminate and detect according to the configuration information of the second detection device 420 under the same time information, thereby achieving synchronization of detection with the second detection device 420, such as frame synchronization.

[0128] Step 1002: The second detection device sends a second detection signal in any frame detection and obtains a second echo signal.

[0129] Optionally, the second detection device 420 may emit a second detection signal at each wave position in any frame detection, for example, by emitting multiple laser beams at each wave position. The emitting time of the nth laser beam in each wave position may satisfy the following formula (1.1): n1 =(n-1)×T+Δt……(1.1)

[0130] Among them, t n1 is the emitting time of the nth laser beam corresponding to the second detection device 420; n is any positive integer less than the total number of emitting times in one wave position; T is the pulse repetition period of one wave position, which is usually configured as a few microseconds (μs); Δt is a known random sequence, which can be understood as a random disturbance. Before emitting each laser beam, the second detection device 420 randomly selects a disturbance to determine the emitting time of this laser beam. The existence of Δt makes it impossible to have a necessary pattern between the emitting times of any two laser beams, which can reduce the probability of the emitting pattern being detected and maliciously interfered with.

[0131] According to the above formula (1.1), assuming that the second detection device 420 emits a total of 10 laser beams in one wave position, and the pulse repetition period of one wave position is 5μs, the emitting times of these 10 laser beams are: Δt1, 5+Δt2, 10+Δt3, 15+Δt4, 20+Δt5, 25+Δt6, 30+Δt7, 35+Δt8, 40+Δt9, 45+Δt 10 . Among them, Δt1, Δt2,..., Δt 10 are the random disturbances corresponding to the 10 laser beams. For example, in conjunction with FIG6 , when Δt1, Δt2, ..., Δt 10When 0.1μs, 0.2μs, 0.15μs, 0.1μs, 0.25μs, 0.2μs, 0.1μs, 0.15μs, 0.25μs, and 0.2μs are randomly selected, the second detection device 420 will control the second emitter 423 to shoot a laser beam to the second field of view at 0.1μs, 5.2μs, 10.15μs, 15.1μs, 20.25μs, 25.2μs, 30.1μs, 35.15μs, 40.25μs, and 45.2μs within the wave position, so as to realize the detection of a wave position in the second field of view.

[0132] Furthermore, optionally, in conjunction with FIG6 , within each waveband, the second detection device 420 can immediately activate the second receiver 424 after each laser beam is emitted. The second detection device 420 can also predetermine, based on its detection range or the field of view of the second field of view, the time required for the laser beam to be reflected back from the target at the farthest detection distance to the second detection device 420, referred to as the time of flight. After activating the second receiver 424, the second detection device 420 can deactivate the second receiver 424 after the time of flight has elapsed. In this manner, the second receiver 424 can receive the second echo signal reflected from the target within the second field of view during the activation time, thereby enabling detection of each waveband in the second field of view.

[0133] Step 1003: At least one first detection device sends at least one first detection signal and obtains at least one first echo signal in any frame detection.

[0134] Optionally, when only one first detection device is included, the first detection device may emit a first detection signal at each wave position in any frame detection. When multiple first detection devices are included, the multiple first detection devices may emit first detection signals at different wave positions in any frame detection. For example, taking the detection system shown in FIG9b as an example, please refer to FIG11, which shows a lighting timing diagram of a detection device provided by the present application, where P2 is the lighting timing of the second detection device 420, P11 is the lighting timing of the first detection device 411, and P12 is the lighting timing of the first detection device 412. Assuming that a frame detection includes four wave positions, namely slot 1, slot 2, slot 3 and slot 4 as shown in the figure, the second detection device 420 can emit a laser beam in each wave position of slot 1 to slot 4, and the first detection device 411 and the first detection device 412 can emit laser beams alternately in slot 1 to slot 4. For example, the first detection device 411 emits a laser beam in slot 1 and slot 3, and the second detection device 420 emits a laser beam in slot 2 and slot 4, or the first detection device 411 emits a laser beam in slot 2 and slot 3, and the second detection device 420 emits a laser beam in slot 1 and slot 3. The figure takes the former as an example.

[0135] It is understood that when multiple first detection devices emit laser beams of the same wavelength, by having the multiple first detection devices emit laser beams at different wavelengths, the laser beams of the multiple first detection devices can be separated in time (also called time separation). In this way, even if the multiple first detection devices use the same wavelength laser beam, only one first detection device will emit a laser beam at a wavelength, and multiple first detection devices will not emit laser beams simultaneously. This can avoid crosstalk between the laser beams emitted by different first detection devices. In addition, because the second detection device 420 performs illumination and detection at each wavelength, both the second detection device 420 and the first detection device will be simultaneously performing illumination and detection at the same wavelength. The laser beam emitted by the second detection device 420 and the laser beam emitted by the first detection device have different wavelengths, and the probability of mutual interference is low. Therefore, the detection results of the second detection device 420 can be used as a benchmark for comparison with the detection results of the first detection device emitting at each wavelength, so as to jointly achieve noise filtering in the overlapping area between the second detection device 420 and the first detection device emitting at each wavelength.

[0136] It is understood that when multiple first detection devices emit laser beams of different wavelengths, crosstalk between the different first detection devices is minimal. Therefore, multiple first detection devices can also emit laser beams at the same wavelength. In this way, at each wavelength, a second detection device and multiple first detection devices will be present to perform illumination and detection. The second detection device 420 can be combined with multiple first detection devices to filter out noise in the overlapping areas at that wavelength.

[0137] Furthermore, optionally, in any frame detection, any first detection device may emit a first detection signal in the corresponding wave position, such as emitting multiple laser beams in the corresponding wave position. The emitting time of the nth laser beam in each wave position may satisfy the following formula (1.2): t n2 =(n-1)×T+Δt+kT……(1.2)

[0138] Among them, t n2 is the irradiation time of the nth laser beam corresponding to the first detection device; T and Δt are consistent with the above-mentioned second detection device 420; k is a decimal greater than 0 and less than 1, and its value can be pre-configured in the first detection device.

[0139] In conjunction with the above formulas (1.1) and (1.2), please refer to Figure 12, which shows a timing diagram of the lighting of a first detection device and a second detection device provided by the present application within one wave position, and the diagram takes slot 1 in Figure 11 as an example. As shown in Figure 12, within one wave position, the second detection device 420 and the first detection device that sends the first detection signal can emit the same number of laser beams (10 in the figure), and the time when the first detection device emits the laser beam is later than the time when the second detection device 420 emits the laser beam. Specifically, it can be later than the time when the second detection device 420 emits the laser beam by a duration of kT. Since k is a decimal, the duration of the interval is less than the duration of one pulse repetition period. For example, assuming that the pulse repetition period of a wave position is 5 μs and the value of k is 0.4, the time when the first detection device emits the laser beam will be 2 μs later than the time when the second detection device 420 emits the laser beam. For example, if the second detection device 420 emits a laser beam at 0.1 μs, 5.2 μs, 10.15 μs, 15.1 μs, 20.25 μs, 25.2 μs, 30.1 μs, 35.15 μs, 40.25 μs, and 45.2 μs in a wave position, the first detection device will emit a laser beam at 2.1 μs, 7.2 μs, 12.15 μs, 17.1 μs, and 22. 6 and 11 , the first detection device 411 can control the first emitter 4112 to emit a laser beam to the corresponding first field of view at 0.1μs, 5.2μs, 10.15μs, 15.1μs, 20.25μs, 25.2μs, 30.1μs, 35.15μs, 40.25μs and 45.2μs in slot 1 and slot 3, respectively, to realize detection of the first field of view in slot 1 and slot 3.

[0140] Furthermore, optionally, in conjunction with FIG6 , taking the first detection device 411 as an example, within the corresponding wave position, the first detection device 411 can immediately activate the first receiver 4113 each time it emits a laser beam. The first detection device 411 can also predetermine, based on its detection distance range or the field of view of the first field of view, the flight time required for the laser beam to be reflected back to the first detection device 411 by the target at the farthest detection distance. After activating the first receiver 4113, the first detection device 411 can deactivate the first receiver 4113 after the flight time has elapsed. In this way, the first receiver 4113 can receive the first echo signal reflected by the target within the first field of view during the activation time, thereby achieving detection of the first field of view at that wave position.

[0141] It can be understood that since the first detection device delays the lighting compared to the second detection device 420 in the same wavelength, the return time of the first echo signal corresponding to the first detection device and the second echo signal corresponding to the second detection device 420 can be staggered with each other, and the time when the first detection device turns on the first receiver and the time when the second detection device 420 turns on the second receiver can also be staggered with each other, so that the first detection device and the second detection device 420 can both receive their own echo signals within their corresponding time, thereby reducing the crosstalk between the first detection device and the second detection device 420 working simultaneously in the same wavelength.

[0142] Step 1004: at least one first detection device sends at least one first echo signal to a second detection device.

[0143] Optionally, in conjunction with Figure 6, in any first detection device, after the first receiver receives multiple return beams corresponding to the multiple laser beams, the multiple return beams can be converted into multiple electrical signals and then sent to the first processor. The first processor can perform single-shot anti-interference screening on the multiple electrical signals, such as selecting three electrical signals with the highest power, the fastest return time, and the highest light intensity from the multiple electrical signals, and then extract features from these three electrical signals, and send the extracted feature information to the serializer via MIPI. The serializer can convert the received feature information into a serial signal and send it to the deserializer 422 in the second detection device 420 via a coaxial cable or an STP cable. The deserializer 422 obtains the feature information therein after parsing the serial signal and can send it to the centralized processing unit 421 via MIPI.

[0144] Similarly, after receiving multiple return beams corresponding to the multiple laser beams, the second receiver 424 in the second detection device 420 may convert the multiple return beams into multiple electrical signals and transmit them to the second processor 425. The second processor 425 may perform single-shot anti-interference screening on the multiple electrical signals and extract features from the screened one or more electrical signals, and then transmit the extracted feature information to the centralized processing unit 421.

[0145] Step 1005 : The second detection device deletes the interference signal in the at least one first echo signal and the second echo signal according to the echo signal in the corresponding overlapping area of ​​the at least one first echo signal and the second echo signal.

[0146] Optionally, after receiving the characteristic information of multiple first echo signals and multiple second echo signals corresponding to any frame detection, the centralized processing unit 421 can traverse each first echo signal in the multiple first echo signals and each second echo signal in the multiple second echo signals in sequence. When traversing each first echo signal, the target position of the first echo signal (that is, the target position of the first echo signal is reflected back by the first echo signal) is first determined based on the characteristic information of the first echo signal. If the target position is located in the overlapping area of ​​the first field of view and the second field of view corresponding to the first echo signal, the first echo signal can be used as a candidate first echo signal. The candidate first echo signal is used to perform subsequent interference signal determination in conjunction with the second echo signal detected in the overlapping area. If the target position is located in the non-overlapping area, the first echo signal can be retained and directly participate in subsequent target recognition. Similarly, when traversing each second echo signal, the target position of the second echo signal is first determined based on the characteristic information of the second echo signal. If the target position is located in the overlapping area between the first field of view and the first field of view of the wave position corresponding to the second echo signal, the second echo signal can be used as a candidate second echo signal. The candidate second echo signal is used to perform subsequent interference signal judgment with the first echo signal detected in the combined overlapping area. If the target position is located in the non-overlapping area, the second echo signal can be retained and directly participate in subsequent target identification.

[0147] Further, optionally, taking the interference signal determination of the first echo signal to be selected as an example, refer to FIG13 , which shows a flow chart of interference signal determination provided by the present application. The determination flow may include the following steps:

[0148] Step 1301: The centralized processing unit obtains a first echo signal to be selected.

[0149] In step 1302, the centralized processing unit determines whether there is a second echo signal among the multiple second echo signals that has the same target position and the same reflectivity as the first echo signal. If not, the first echo signal is determined to be a suspected interference signal and step 1303 is executed. If so, step 1306 is executed.

[0150] Optionally, the centralized processing unit 421 may first determine, based on the characteristic information of the first echo signal to be selected, the target with the position and reflectivity (i.e., the proportion of the point cloud that can be returned after the light beam scans the target) by which the first echo signal is reflected, and then convert the target to the detection scene corresponding to the second detection device 420, and predict the position and reflectivity that the target should correspond to if it is detected by the second detection device 420. The corresponding position and reflectivity may then be compared with the target positions and reflectivities of multiple second echo signals to be selected. If there is at least one second echo signal whose target position is exactly the same as the position to which it should correspond, and the reflectivity of the at least one second echo signal is exactly the same as the reflectivity to which it should correspond, then it means that such a target does exist in the overlapping area, and the first echo signal is the echo signal reflected by the target, rather than an interference signal. On the contrary, if the target positions of all the second echo signals are different from the positions they should correspond to, and / or the reflectivity of the targets of all the second echo signals are different from the reflectivity they should correspond to, then it means that the first echo signal may not be the echo signal reflected back by the target and further analysis is required. In this case, the first echo signal can be marked as a suspected interference signal and the following step 1033 can be executed.

[0151] It should be noted that the terms "same position" or "same reflectivity" mentioned above do not necessarily mean identical in the strict sense; certain process errors may apply. For example, if two positions are not exactly the same but are within a set deviation, they can still be considered identical. Similarly, if two reflectivities are not exactly the same but are within a set deviation, they can still be considered identical.

[0152] In step 1303 , the centralized processing unit determines whether there is a suspected interference signal with the same target position and reflection intensity as the first echo signal among the suspected interference signals of the multiple second echo signals. If not, step 1304 is executed; if so, step 1305 is executed.

[0153] The suspected interference signal of the second echo signal is a second echo signal among the multiple second echo signals, which has a different target position and / or a different reflectivity from the first echo signal.

[0154] Optionally, the centralized processing unit 421 may analyze each of the plurality of second echo signals in the manner of step 1302 to determine a non-interference signal and a suspected interference signal (referred to as a second suspected interference signal) in the plurality of second echo signals, and analyze each of the plurality of first echo signals to determine a non-interference signal and a suspected interference signal (referred to as a first suspected interference signal) in the plurality of first echo signals. Subsequently, for any first echo signal determined as a first suspected interference signal, the first echo signal is first determined to be reflected by a target at a position and a reflection intensity, and then the target is converted to a detection scenario corresponding to the second detection device 420, and if the target is a noise point, the position and reflection intensity that the noise point should correspond to when detected by the second detection device 420 within a corresponding time are determined. For example, when the first echo signal is an echo signal corresponding to the second detection signal emitted by the second detection device 420, the first echo signal corresponds to the target position and reflection intensity in the second echo signal that the second detection device 420 should receive. Afterwards, the centralized processing unit 421 may compare the position and reflection intensity range that should correspond to the position and the target position and reflection intensity of multiple second suspected interference signals. If there is at least one second suspected interference signal whose target position is exactly the same as the position that should correspond to it, and the reflection intensity of the target of the at least one second suspected interference signal is exactly the same as the reflection intensity that should correspond to it, then it means that the first echo signal is indeed the echo signal corresponding to the noise point, and the first echo signal is an interference signal. On the contrary, if the target positions of all second suspected interference signals are different from the positions that should correspond to them, and / or the reflection intensity of the targets in all second suspected interference signals is different from the reflection intensity that should correspond to them, then it means that the first echo signal may not be the echo signal corresponding to the noise point, and further analysis is required. In this case, the following step 1304 can be executed.

[0155] It should be noted that the "same reflection intensity" mentioned above does not mean the same in the strict sense. It can have certain process errors. For example, if the two reflection intensities are not exactly the same but are within the set deviation range, they can also be considered to be the same.

[0156] In step 1304 , the centralized processing unit determines whether the first echo signal is continuous with other first echo signals in time and space. If not, step 1305 is executed; if so, step 1306 is executed.

[0157] Alternatively, spatial continuity can be understood as the continuity of the first echo signal with other first echo signals detected in the same frame at different pixels. Specifically, the centralized processing unit 421 can first determine the wavelength at which the first echo signal was detected, then obtain the first echo signals of one or more wavelengths adjacent to the wavelength in the same frame, such as the first echo signals of the previous wavelength or several wavelengths and the first echo signals of the next wavelength or several wavelengths. The unit then analyzes whether the first echo signal of the current wavelength is continuous with the first echo signals of the one or more adjacent wavelengths in terms of pixel features, such as whether the light intensity of the pixel corresponding to the first echo signal and the adjacent pixels changes gradually rather than abruptly, whether the target position of the pixel corresponding to the first echo signal and the adjacent pixels changes gradually rather than abruptly, etc. If the pixel corresponding to the first echo signal and the adjacent pixels are clearly isolated in terms of features, it indicates that the first echo signal is not an echo signal reflected by the target at the current wavelength, but is most likely stray light transmitted from other locations. In this case, the first echo signal can be determined to be an interference signal. On the contrary, if the corresponding pixel of the first echo signal is continuous with the adjacent pixel in characteristics, it means that the first echo signal is the echo signal reflected by the target at the current wave position, and the first echo signal and the adjacent first echo signal are continuous in space, and need to be further determined in combination with the temporal continuity.

[0158] Alternatively, temporal continuity can be understood as the continuity of the first echo signal and other first echo signals detected in different frames at the same pixel. Specifically, the centralized processing unit 421 can first determine the wavelength at which the first echo signal was detected, then obtain one or more first echo signals detected at the same wavelength in different frames, such as the first echo signal at the same wavelength in the previous frame or frames and the first echo signal at the same wavelength in the next frame or frames. The unit then analyzes whether the first echo signal of the current frame is continuous with the first echo signals of one or more adjacent frames in terms of pixel features, such as whether the pixel features corresponding to the first echo signal of the current frame and the pixel features corresponding to the first echo signals of the adjacent frames change gradually rather than abruptly. If the pixel features corresponding to the first echo signal of the current frame are isolated from the pixel features corresponding to the first echo signals of the adjacent frames, this indicates that the first echo signal is not an echo signal reflected from the target at the wavelength in the current frame, but is most likely stray light transmitted from another location. In this case, the first echo signal can be determined to be an interference signal. On the contrary, if the pixel features corresponding to the first echo signal of the current frame are continuous with the pixel features corresponding to the first echo signal of the adjacent frame, it means that the first echo signal is the echo signal reflected by the target at that wave position in the current frame. The first echo signal and the first echo signal of the adjacent frame are continuous in time, and can be further determined by combining the spatial continuity.

[0159] Step 1305: The centralized processing unit determines that the first echo signal is an interference signal.

[0160] Step 1306: The centralized processing unit determines that the first echo signal is a non-interference signal.

[0161] Optionally, when the first echo signal is spatially continuous with the first echo signal of the adjacent wave position detected in the same frame, and is also temporally continuous with the first echo signal of the same wave position detected in different frames, the centralized processing unit 421 may determine that the first echo signal is a non-interference signal, otherwise it determines that the first echo signal is an interference signal.

[0162] Using the above-mentioned interference signal judgment process, an echo signal is judged as an interference signal or a non-interference signal, and will go through three judgment processes in sequence: target judgment in the overlapping area, noise judgment, and continuity judgment. The first two judgment processes will use the target position, reflectivity, and reflection intensity of the echo signals received by other detection devices working together in the same slot, while the latter judgment process will use the echo signals obtained by the current detection device in the same frame and different frames. This judgment process combines multiple types of information to comprehensively judge interference signals and non-interference signals, and can more accurately identify noise signals in the first echo signal and the second echo signal.

[0163] Further, optionally, each time the centralized processing unit 421 determines that a first echo signal (or a second echo signal) is an interference signal, the first echo signal may be deleted to filter out noise points in a timely manner and achieve an interference suppression effect.

[0164] Step 1006: The second detection device generates point cloud data based on the remaining first echo signal and the second echo signal, and performs target recognition.

[0165] Optionally, the centralized processing unit 421 may further process the characteristics of the retained first echo signal and the characteristics of the second echo signal. For example, the corresponding return time may be determined based on the time of sending the first detection signal and the time of receiving the retained first echo signal, and the time of sending the second detection signal and the time of receiving the retained second echo signal. The distance information of the target may then be measured in combination with information such as the speed of light and the return time. The orientation information of the target (such as three-dimensional coordinates and posture, etc.) may also be calculated in combination with information such as inertial measurement unit (IMU), odometer, and global navigation satellite system (GNSS). The distance information and orientation information may then be associated to generate three-dimensional point cloud data.

[0166] Furthermore, in addition to the target's distance and orientation information, the 3D point cloud data can optionally include other target information, such as reflection intensity and reflectivity. Reflection intensity refers to the intensity of the laser beam reflected back from the target, which is related to the target's surface material and roughness, the laser beam's incident angle, the laser beam's wavelength, and the radar's energy density. Reflectivity refers to the proportion of the laser beam reflected back from the target. The higher the reflectivity, the more energy is returned, and the longer the radar's detection range.

[0167] It should be understood that the three-dimensional point cloud data may also contain other information, which is not specifically limited in this application.

[0168] In the above-mentioned detection system, communication between the central detection unit (i.e., the second detection device) and the remote detection unit (i.e., at least one first detection device) is achieved through SerDes. The high-speed serial transmission and low-loss transmission performance of SerDes can be utilized to increase the speed of transmitting the echo signal from the remote detection unit to the central detection unit, while reducing the transmission loss of the echo signal and saving the power consumption of the detection system. In addition, by integrating a centralized processing unit in the central detection unit to centrally process the echo signals of the central detection unit and the remote detection unit, there is no need to set up a processing unit in all detection units, nor is there a need to connect an external processing unit via optical fiber, thereby further reducing power consumption and achieving the effect of reducing costs.

[0169] Based on the structure and functional principles of the receiving system described above, the present application may also provide a terminal device, which may include the detection system in any of the above embodiments.

[0170] Exemplarily, the terminal device can be, for example, a vehicle (such as a car, truck, motorcycle, bus, ship, airplane, helicopter, recreational vehicle, amusement park vehicle, construction vehicle, tram, golf cart, train, unmanned vehicle, smart car and digital car, etc.), a robot, surveying and mapping equipment, smart home equipment (such as a television, a sweeping robot, a smart desk lamp, an audio system, an intelligent lighting system, an electrical control system, home background music, a home theater system, an intercom system, or video surveillance, etc.), intelligent manufacturing equipment (such as industrial equipment, a lawn mower, etc.), intelligent transportation equipment (such as 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 equipment, virtual reality equipment, augmented reality equipment, etc.), etc.

[0171] In this application, "at least one" means one or more, and "more" means 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 mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items (individuals) or plural items (individuals). For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple. In addition, in this application, the words "exemplarily" and "optionally" are used to indicate examples, illustrations or explanations. Any embodiment or design scheme described as "example" or "optional" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or design schemes. Alternatively, it can be understood that the use of the word "example" or "optional" is intended to present concepts in a specific way and does not constitute a limitation on this application.

[0172] It will be appreciated that the various numerical numbers involved in this application are merely for the purpose of describing the distinctions made, and are not intended to limit the scope of the embodiments of the present application. The size of the sequence numbers of the above-mentioned processes does not imply the order of execution, and the order of execution of each process should be determined by its function and inherent logic. Terms such as "first", "second", and similar expressions are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, comprising a series of steps or units. Methods, systems, products, or devices are not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products, or devices.

Claims

1. A detection system, characterized in that, Comprising at least one first detection device and a second detection device, the at least one first detection device communicates with the second detection device through a serializer / deserializer (SerDes), and the second detection device includes a central processing unit; The at least one first detection device is configured to detect at least one first field of view, obtain at least one first echo signal, and send the at least one first echo signal to the second detection device through the SerDes; The second detection device is configured to detect a second field of view to obtain a second echo signal, and the central processing unit is configured to identify a target based on the first echo signal and the second echo signal.

2. The detection system according to claim 1, wherein The second detection device is disposed on the roof of the vehicle, and the at least one first detection device is disposed near the vehicle lamp; or, the second detection device is disposed on the front bumper, and the at least one first detection device is disposed below the rearview mirror.

3. The detection system according to claim 1 or 2, characterized in that The second detection device is disposed at a position on the roof near the windshield, the detection system includes two first detection devices, one first detection device is disposed at a position between the left front vehicle lamp and the left wheel, and the other first detection device is disposed at a position between the right front vehicle lamp and the right wheel.

4. The detection system according to claim 1, characterized in that A serializer is disposed in the first detection device, and at least one deserializer is disposed in the at least one second detection device, and the serializer is connected to the at least one deserializer through a coaxial cable or a shielded twisted pair cable.

5. The detection system according to any one of claims 1 to 4, characterized in that The SerDes is a Gigabit Multimedia Serial Link (GMSL).

6. The detection system according to any one of claims 1 to 5, characterized in that The second detection device is further configured to: send at least one of the following information to any one of the first detection devices through the SerDes: Configuration information for configuring at least one of the following content of the first detection device: lighting mode, lighting time, detection mode, or detection time; Synchronization information for instructing frame synchronization or waveform synchronization between the first detection device and the second detection device; Clock information for maintaining time consistency between the first detection device and the second detection device.

7. The detection system according to any one of claims 1 to 6, characterized in that The second detection device is further configured to: supply power to the at least one first detection device through the SerDes.

8. The detection system according to any one of claims 1 to 7, characterized in that, At least one of the following configurations of the at least one first detection device and the second detection device is different: detection distance range, wavelength, field of view angle range.

9. The detection system according to any one of claims 1 to 8, characterized in that, The second detection device is a long-range radar, the at least one first detection device is a medium-range radar or a short-range radar, or, the second detection device is a medium-range radar, the at least one first detection device is a long-range radar or a short-range radar, or, the second detection device is a short-range radar, the at least one first detection device is a long-range radar or a medium-range radar.

10. The detection system according to any one of claims 1 to 9, characterized in that, The central processing unit is further configured to: generate point cloud data.

11. The detection system according to any one of claims 1 to 10, characterized in that, The second detection device communicates with a domain controller through Ethernet.

12. The detection system according to any one of claims 1 to 11, characterized in that, The second detection device emits detection signals at each waveform position, and the plurality of first detection devices emit detection signals at different waveform positions.

13. The detection system according to claim 12, wherein Within a wave position, the second detection device emits the same number of detection signals as the first detection device that emits the detection signal, and the time when the first detection device emits the detection signal is later than the time when the second detection device emits the detection signal.

14. The detection system according to any one of claims 1 to 13, characterized in that, At least a part of the at least one first field of view overlaps with the second field of view.

15. The detection system according to claim 14, wherein Before the second detection device identifies the target, it is further configured to: According to the echo signals in the corresponding overlapping regions of the at least one first echo signal and the second echo signal, remove the interference signals in the at least one first echo signal and the second echo signal.

16. A terminal device, characterized in that, It includes the detection system according to any one of claims 1 to 15.

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