Method for calibrating laser radar, and control device and laser radar

Abstract

A method for calibrating a laser radar, and a control device and a laser radar. The method comprises: acquiring light spot energy data generated by a detector of the laser radar when a reflected light beam irradiates a detection surface of the detector (S301), wherein the reflected light beam is formed by an emitted light beam emitted by an emitter of the laser radar being reflected via an inner wall of the laser radar; and calibrating a reception position of the detector and / or emission parameters of the emitter on the basis of the light spot energy data (S302). The method achieves the calibration of the reception position of the detector and / or the emission parameters of the emitter by using a light loop formed by the reflection via the inner wall of the laser radar. The method does not depend on the external environment and has a wide range of use scenarios; the normal operation of the laser radar is not affected, so that user unawareness can be achieved; the emission performance and reception performance of the laser radar can both be calibrated, thereby improving the overall detection precision of the laser radar.

Description

Method for calibrating laser radar, control device and laser radar

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on January 25, 2024, with application number 202410110254.2 and application name “A method for calibrating a laser radar, a control device and a laser radar”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of radar technology, and in particular to a method for calibrating a laser radar, a control device, and a laser radar. Background Art

[0004] LiDAR's emitters and detectors can deform due to temperature fluctuations and aging, causing changes in the emitter's light spot emission position and the detector's light spot imaging position. Changes in the emitter's light spot emission position can cause errors in the reported point cloud angle, while changes in the detector's light spot imaging position can cause errors in the reflectivity of detected objects.

[0005] How to correct the errors caused by deformation of the laser radar's transmitter, detector, etc. is a technical problem that needs to be solved urgently. Summary of the Invention

[0006] The present application provides a method for calibrating a laser radar, a control device, and a laser radar, which can calibrate the receiving position of the detector and / or the transmission parameters of the transmitter, thereby improving the detection accuracy of the laser radar.

[0007] In a first aspect, a method for calibrating a laser radar is provided, which can be applied to a laser radar, or a control device of the laser radar (the control device can be arranged inside the laser radar or outside the laser radar, without limitation). The method comprises: obtaining light spot energy data generated by the detector when a reflected light beam is irradiated on the detection surface of the detector of the laser radar, wherein the reflected light beam is a transmission light beam emitted by the transmitter of the laser radar and is formed after being reflected by the inner wall of the laser radar; and correcting the receiving position of the detector and / or the transmission parameters of the transmitter according to the light spot energy data.

[0008] The embodiments of the present application utilize the inner wall of a laser radar to reflect the transmitted light beam, forming an optical loop, to achieve correction of the detector's receiving position and / or the transmitter's transmission parameters. This solution is independent of the external environment and has a wide range of applications. Correction is performed during the time period when the light beam scans the inner wall (before emitting into the object space), without affecting the laser radar's detection of the object space. Furthermore, in addition to achieving correction of the receiving position, this solution can also correct the transmitter's transmission parameters, thus correcting both the laser radar's transmission and reception performance, thereby improving the laser radar's overall detection accuracy.

[0009] In one possible design, the emission light beam is scanned within a scanning period; wherein the scanning period includes a first time period and a second time period; within the first time period, the emission light beam is irradiated into the object space, and within the second time period, the emission light beam is irradiated onto the inner wall of the lidar.

[0010] In this design, the correction is performed during the time period when the light beam scans the inner wall within the scanning cycle (i.e., the first time period). This has no effect on the time period when the light beam scans the object space (i.e., the first time period), will not affect the normal operation of the lidar, and can be implemented without the user noticing.

[0011] In one possible design, the emission parameters include the emission angle and / or lighting time of the transmitter, or the angle information reported by the point cloud data.

[0012] In this design approach, the transmitter's transmission parameters can be corrected by hardware or software, which improves the flexibility of the solution.

[0013] In one possible design, the reflected light beam is formed after the transmitted light beam is reflected by the first area of ​​the inner wall, the reflectivity of the first area is uniformly distributed in the first direction, and the detection surface includes multiple detection areas distributed along the second direction, and the second direction corresponds to the first direction; the spot energy data generated by the detector when the reflected light beam is irradiated on the detection surface of the laser radar detector is obtained, including: obtaining the spot energy data generated by each detection area in the multiple detection areas when the transmitted light beam is irradiated on the first area; correcting the receiving position of the detector according to the spot energy data, including: determining the maximum spot energy data from the spot energy data generated by each detection area in the multiple detection areas; and correcting the receiving position of the detector in the second direction according to the position deviation between the detection area corresponding to the maximum spot energy data and the preset detection area.

[0014] Through the above design, it is possible to utilize the optical loop formed by the reflection of the inner wall with uniform reflectivity on the laser radar to realize the correction of the receiving position of the detector. The hardware changes are few (if the reflectivity of the inner wall of the laser radar itself is uniform, no hardware changes are required), the implementation is simple and the cost is low.

[0015] In one possible design, the light spot corresponding to the reflected light beam is located within the detection surface in the second direction; and / or the light spot corresponding to the emitted light beam is located within the first area in the first direction.

[0016] In this way, the problem that the spot size of the reflected light beam is large, resulting in the spot position shifting but still covering the detection surface of the detector, and the receiving position deviation cannot be detected and corrected can be avoided.

[0017] In one possible design, the light spot energy data generated by each detection area in multiple detection areas when the emission light beam is irradiated on the first area is obtained, including: successively activating different detection areas in the multiple detection areas, and obtaining the light spot energy data generated by each detection area during the period when each detection area in the multiple detection areas is activated; or, activating multiple detection areas at the same time, and obtaining the light spot energy data generated by each detection area in the multiple detection areas.

[0018] This design provides multiple ways to activate the detection area, further improving the flexibility of the solution.

[0019] In one possible design, the reflected light beam is formed after the transmitted light beam is reflected by the second area of ​​the inner wall, and the second area includes multiple sub-areas with different reflectivities distributed along the third direction; the detection surface includes multiple detection areas distributed along the fourth direction, and the fourth direction corresponds to the third direction; the spot energy data generated by the detector when the reflected light beam is irradiated on the detection surface of the laser radar detector is obtained, including: obtaining the spot energy data generated by each detection area in the multiple detection areas when the transmitted light beam is irradiated on the second area; correcting the receiving position of the detector according to the spot energy data, including: correcting the receiving position of the detector in the fourth direction according to the correspondence between the spot energy data generated by the multiple detection areas and the multiple detection areas, and the correspondence between the preset spot energy data and the detection areas.

[0020] Through the above design, it is possible to utilize the optical loop formed by the reflection of the inner wall with non-uniform reflectivity on the laser radar to correct the receiving position of the detector. It requires little hardware modification, is low in cost, and has a wide range of application scenarios.

[0021] In one possible design, the light spot corresponding to the reflected light beam exceeds the detection surface in the fourth direction; and / or the light spot corresponding to the emitted light beam exceeds the second area in the third direction.

[0022] In other words, even if the spot size of the reflected light beam is large and causes the spot position to shift, it still covers the detection surface of the detector. The optical loop formed by the reflection of the inner wall with non-uniform reflectivity can also detect and correct the receiving position deviation.

[0023] In one possible design, the reflected light beam is formed after the transmitted light beam is reflected by the third area of ​​the inner wall, and the third area includes multiple sub-areas with different reflectivities distributed along the fifth direction; the light spot energy data generated by the detector when the reflected light beam is irradiated on the detection surface of the laser radar detector is obtained, including: in the process of the transmitted light beam scanning the third area at multiple different emission angles along the fifth direction, the light spot energy data generated by the detector at each of the multiple different emission angles is obtained; the emission parameters of the emitter are corrected according to the light spot energy data, including: according to the correspondence between the light spot energy data generated by the detector and the multiple different emission angles, and the correspondence between the preset light spot energy data and the emission angle, the emission angle of the emitter in the fifth direction is corrected.

[0024] Through the above design, it is possible to utilize the optical loop formed by the reflection of the inner wall with non-uniform reflectivity on the laser radar to correct the emission parameters of the transmitter. It requires little hardware modification, is low in cost, and has a wide range of application scenarios.

[0025] In a second aspect, a control device is provided, comprising modules, units or technical means for executing the method described in the first aspect or any possible design of the first aspect.

[0026] Exemplarily, the control device may include:

[0027] An acquisition module is used to acquire light spot energy data generated by the detector when a reflected light beam is irradiated on the detection surface of the laser radar detector, wherein the reflected light beam is formed by the transmission light beam emitted by the transmitter of the laser radar and reflected by the inner wall of the laser radar;

[0028] The processing module is used to correct the receiving position of the detector and / or the transmitting parameters of the transmitter according to the light spot energy data.

[0029] In one possible design, the emission light beam is scanned within a scanning period; wherein the scanning period includes a first time period and a second time period; within the first time period, the emission light beam is irradiated into the object space, and within the second time period, the emission light beam is irradiated onto the inner wall of the lidar.

[0030] In one possible design, the emission parameters include the emission angle and / or lighting time of the transmitter, or the angle information reported by the point cloud data.

[0031] In one possible design, the reflected light beam is formed after the transmitted light beam is reflected by the first area of ​​the inner wall, the reflectivity of the first area is uniformly distributed in the first direction, and the detection surface includes multiple detection areas distributed along the second direction, and the second direction corresponds to the first direction; the acquisition module is used to: obtain the spot energy data generated by each detection area in the multiple detection areas when the transmitted light beam is irradiated on the first area; the processing module is used to: determine the maximum spot energy data from the spot energy data generated by each detection area in the multiple detection areas; and correct the receiving position of the detector in the second direction according to the position deviation between the detection area corresponding to the maximum spot energy data and the preset detection area.

[0032] In one possible design, the light spot corresponding to the reflected light beam is located within the detection surface in the second direction; and / or the light spot corresponding to the emitted light beam is located within the first area in the first direction.

[0033] In one possible design, the acquisition module is used to: successively activate different detection areas among multiple detection areas, and acquire the light spot energy data generated by each detection area during the period when each detection area is activated; or, simultaneously activate multiple detection areas, and acquire the light spot energy data generated by each detection area in the multiple detection areas.

[0034] In one possible design, the reflected light beam is formed after the transmitted light beam is reflected by the second area of ​​the inner wall, and the second area includes multiple sub-areas with different reflectivities distributed along the third direction; the detection surface includes multiple detection areas distributed along the fourth direction, and the fourth direction corresponds to the third direction; the acquisition module is used to: obtain the spot energy data generated by each detection area when the transmitted light beam is irradiated on the second area; the processing module is used to: correct the receiving position of the detector in the fourth direction according to the correspondence between the spot energy data generated by the multiple detection areas and the multiple detection areas, and the correspondence between the preset spot energy data and the detection areas.

[0035] In one possible design, the light spot corresponding to the reflected light beam exceeds the detection surface in the fourth direction; and / or the light spot corresponding to the emitted light beam exceeds the second area in the third direction.

[0036] In one possible design, the reflected light beam is formed after the transmitted light beam is reflected by the third area of ​​the inner wall, and the third area includes multiple sub-areas with different reflectivities distributed along the fifth direction; the acquisition module is used to: obtain the spot energy data generated by the detector at each of the multiple different emission angles during the process of the transmitted light beam scanning the third area at multiple different emission angles along the fifth direction; the processing module is used to: correct the emission angle of the emitter in the fifth direction according to the correspondence between the spot energy data generated by the detector and the multiple different emission angles, and the correspondence between the preset spot energy data and the emission angle.

[0037] In a third aspect, a laser radar is provided, comprising: a transmitter, a detector, and a control device; the transmitter is used to transmit a transmission light beam; the detector is used to receive a reflected light beam; and the control device is used to execute the method described in the first aspect or any possible design of the first aspect.

[0038] In a fourth aspect, a control device is provided, which includes a processor and an interface circuit, the interface circuit being used to receive signals from other devices outside the device and transmit them to the processor or to send signals from the processor to other communication devices outside the device, and the processor being used to implement the method described in the first aspect or any possible design of the first aspect through logic circuits or execution code instructions.

[0039] In a fifth aspect, a computer-readable storage medium is provided, comprising a program or instructions, which, when run on a computer, enables the method described in the first aspect or any possible design of the first aspect to be executed.

[0040] In a sixth aspect, a program product is provided, comprising instructions, which, when run on a computer, causes the method described in the first aspect or any possible design of the first aspect to be executed.

[0041] In the seventh aspect, a terminal is provided, comprising the control device as described in the second aspect or any possible implementation of the second aspect, or the laser radar as described in the third aspect, or the control device as described in the fourth aspect, or the computer-readable storage medium as described in the fifth aspect, or the program product as described in the sixth aspect.

[0042] Optionally, the terminal is a vehicle.

[0043] The beneficial effects of the second to seventh aspects mentioned above can be referred to the description of the beneficial effects of the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] FIG1A is a schematic diagram of the structure of a laser radar;

[0045] FIG1B is a schematic diagram of an application scenario of a laser radar;

[0046] FIG2A is a schematic diagram of an angular deviation of an emission beam of a transmitter;

[0047] FIG2B is a schematic diagram of the position deviation of the light spot imaging of the receiver;

[0048] FIG3 is a flow chart of a method for calibrating a laser radar according to an embodiment of the present application;

[0049] FIG4A is a schematic diagram of a possible scanning mode of a laser radar;

[0050] FIG4B is a schematic diagram of a possible scanning mode of a laser radar;

[0051] 5A to 5C are schematic diagrams of several specific laser radar calibration solutions provided in embodiments of the present application;

[0052] FIG5D is a size comparison diagram of the first region and the light spot;

[0053] FIG6 is a schematic structural diagram of a control device provided in an embodiment of the present application;

[0054] FIG7 is a schematic structural diagram of another control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] The technical solutions provided in the embodiments of the present application can be applied to devices with laser detection capabilities, such as laser radars, or terminal devices with laser detection capabilities. Among them, the terminal devices can be intelligent devices with laser detection capabilities, including but not limited to: smart home devices, such as televisions, sweeping robots, smart desk lamps, audio systems, smart lighting systems, electrical control systems, home background music, home theater systems, intercom systems, video surveillance, etc.; intelligent transportation equipment, such as cars, ships, drones, trains, vans, trucks, etc.; intelligent manufacturing equipment, such as robots, industrial equipment, intelligent logistics, smart factories, etc. Alternatively, the terminal device can also be a computer device with laser detection capabilities, such as a desktop computer, a personal computer, a server, etc. It should also be understood that the terminal device can also be a portable electronic device with laser detection capabilities, such as a mobile phone, a tablet computer, a PDA, headphones, speakers, wearable devices (such as smart watches), vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.

[0056] The following takes the application of lidar as an example.

[0057] Referring to FIG1A , which is a schematic diagram of a laser radar, the laser radar includes a transmitter, a receiver, a processing device, a control device and a housing.

[0058] 1. The transmitter, or emission module, may include a laser. Optionally, it may also include an emission optical system. A laser is a device that can emit laser light, and its type may be any one of a semiconductor laser, a gas laser, a fiber laser, a solid-state laser, a dye laser, a diode laser, or an excimer laser. The laser may emit a light beam (referred to as an emission beam or an emission signal or a detection signal or a detection beam, etc., specifically a pulsed laser or a frequency-modulated continuous wave, etc.) under the control of a control device. The emission optical system is a system composed of optical elements, which include but are not limited to one or more of lenses, filters, polarizers, reflectors, beam splitters, prisms, windows, or scattering plates. The emission optical system may transmit the emission light beam from the laser. The emission light beam emitted by the transmitter may also be in the form of a linear light spot or a planar light spot, which is not limited in this application.

[0059] In one possible implementation, the transmitter may include multiple independent transmission channels, and each transmission channel can be individually turned on or off (i.e., the emission light beam is turned on or off). The emission light beam of each transmission channel can be emitted by a laser or multiple lasers separately, or the emission light beams of multiple transmission channels can be emitted by the same laser, which is not limited in this application. The angles of the emission light beams emitted by different transmission channels can be different. By controlling the laser lighting in different transmission channels in sequence, the emission light beam can reach different areas to scan through the entire detection area (the target is located in the detection area).

[0060] In one possible implementation, the transmitter may further include a scanning device (or scanning module). The scanning device is used to control the emission direction of the emission light beam, for example, by changing the angle of the emission light beam through the rotational scanning of a reflector, so that the emission light beam can reach different areas and scan the entire detection area (the target is located in the detection area).

[0061] 2. The receiver, or receiving module, may include a detector. Optionally, it may also include a receiving optical system. The receiving optical system is used to receive a light beam returning from the outside world (which may be called an echo signal, a reflected signal, or a reflected light beam) and converge the received reflected light beam onto the detector's photosensitive surface (i.e., the detection surface). The detector is used to convert the reflected light beam from an optical signal into an electrical signal, which is then transmitted to a processing device.

[0062] The receiving optical system may be composed of one or more optical elements, including but not limited to one or more of lenses, filters, polarizers, reflectors, polygonal mirrors, oscillating mirrors, beam splitters, prisms, windows, or diffusers. In some possible embodiments, the receiver and the transmitter may share some devices, such as a scanning device. The light beam emitted by the transmitter is reflected by the surface of the scanning device and then emitted into the field of view. The reflected light beam reflected from the field of view is then reflected by the surface of the scanning device and then received by the detector.

[0063] The detector can be an array structure composed of multiple rows and columns of pixels. A pixel is the smallest unit in the detector that can receive a reflected light beam. Based on the different forms of the laser emitted by the transmitter, the detector array structure can also vary, such as linear or planar array structures. Accordingly, the lidar can scan the detection area using any of a variety of scanning methods: line scanning and line collection, line scanning and surface collection, or surface scanning and surface collection. The surface of the detector that receives the reflected light beam can be called the "detection surface."

[0064] In a specific implementation, the specific type of detector includes but is not limited to an avalanche photodiode (APD) array, a single photon avalanche diode (SPAD) array, a charge-coupled device (CCD) array or a complementary metal oxide semiconductor (CMOS) sensor array, etc.

[0065] In a specific implementation, the receiver may include multiple independent receiving channels. A receiving channel may correspond one-to-one with a transmitting channel, or multiple receiving channels may correspond to one transmitting channel. Each receiving channel is configured to receive a reflected light beam corresponding to a transmission signal from a corresponding transmitting channel.

[0066] 3. A processing device that receives and analyzes the electrical signal output by the receiver to generate point cloud data. Optionally, the processing device can also determine target characteristic information based on the point cloud data. Target characteristic information includes, but is not limited to, the target's distance, position, altitude, speed, attitude, size, or shape.

[0067] 4. The control device has the ability to control signals. For example, it can connect to other components in the lidar through a controller area network (CAN) bus or other means, and issue control instructions to other components to coordinate their operation. For example, the control device can control the transmitter to emit a light beam; control the receiver to receive a reflected light beam, and control the receiver to process the received reflected light beam and output an electrical signal; control the processing device to analyze the electrical signals output by each receiver to generate point cloud data, etc.

[0068] In a specific implementation process, the control device and the processing device can be integrated into one device or implemented separately in multiple devices.

[0069] Exemplarily, it can be implemented by integration in a device, which can be an integrated circuit chip, such as a general-purpose processor, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a network processor (NP), a digital signal processing circuit (DSP), a microcontroller unit (MCU), a programmable logic controller (PLC), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other integrated chips. The device may include a central processing unit (CPU), a neural-network processing unit (NPU) and a graphics processing unit (GPU), and may also include an application processor (AP), a modem processor, an image signal processor (ISP), a video codec, a digital signal processor (DSP), and / or a baseband processor, etc., without specific limitation.

[0070] 5. The outer shell is the outermost structure of the laser radar. The above-mentioned transmitter, receiver, processing device, control device, etc. are integrated in the inner cavity of the shell.

[0071] The shell has a window, and the light emitted by the transmitting device can reach the object space through the window. The light emitted into the object space is reflected by the target and then returns to the interior of the laser radar through the window to be received by the receiving device.

[0072] In some embodiments, some components of the laser radar (such as a control device and / or a processing device, etc.) can also be arranged outside the housing of the laser radar and communicated with the laser radar.

[0073] It should be understood that Figure 1A only illustrates the components of the laser radar relevant to the embodiments of this application. A laser radar may actually include more or fewer components, and this embodiment of this application does not limit this. Furthermore, the size, shape, and relative position of the components shown in Figure 1A are for illustration only and do not reflect actual proportions or positional relationships.

[0074] Refer to Figure 1B, which is a schematic diagram of an application scenario of a laser radar. In this example, the laser radar is installed on a vehicle, so it is also called a vehicle-mounted laser radar. In addition to vehicle-mounted laser radars, laser radars also include ship-mounted laser radars installed on ships, and airborne laser radars installed on machines, etc. In a possible example, as shown in Figure 1B, the laser radar can be specifically installed at the front of the vehicle. During the driving process of the vehicle, the laser radar can emit a light beam (i.e., an emission beam). After the emission beam hits the object in front of the vehicle, it will be reflected by the object, and the reflected light beam (i.e., a reflected light beam) can be received by the laser radar. Then, the laser radar can determine the information of the obstacle in front of the vehicle based on the reflected emission beam, such as the distance, direction, height, speed, posture, size or shape of the obstacle, so as to use the obstacle information to realize the driving function of the vehicle, such as including but not limited to automatic driving or assisted driving.

[0075] It should be pointed out that in the example given in Figure 1B, the laser radar is installed at the front of the vehicle, but the actual application is not limited to this. The laser radar can also be installed in other locations, such as the rear or roof of the vehicle.

[0076] The laser radar's transmitter and receiver, etc., will deform due to temperature changes, aging, and other conditions, resulting in changes in the transmitter's light spot emission position and the light spot imaging position on the receiver. As shown in Figure 2A, the higher the temperature, the greater the deformation of the transmitter and the greater the angular deviation of the transmitted light beam. As shown in Figure 2B, after the receiver is deformed, the imaging position of the light spot on the detector's detection surface shifts relative to the detector's receiving area, resulting in reduced reception efficiency. When the transmitter's light spot emission position changes, the angle of the reported point cloud will be inaccurate, and when the light spot imaging position on the receiver changes, the reflectivity of the detected object will be inaccurate.

[0077] In order to solve one or more of the above technical problems, a technical solution of the embodiment of the present application is provided.

[0078] Referring to FIG3 , a method for calibrating a laser radar is provided in an embodiment of the present application. The method can be applied to a laser radar, or to a chip in a laser radar (such as the control device described above), without limitation. The following example uses the method applied to a laser radar control device as an example, and the method includes S301 to S302:

[0079] S301. Obtaining light spot energy data generated by the detector when the reflected light beam is irradiated on the detection surface of the laser radar detector.

[0080] The reflected light beam is formed by the light beam emitted by the laser radar transmitter and reflected by the inner wall of the laser radar. The position where the light beam is projected can be the top, bottom, or side of the laser radar, etc., and the embodiments of the present application do not limit this.

[0081] The area where the emitted light beam is projected on the inner wall can be an area with uniform reflectivity, such as the first area shown in Figure 5A, or an area with uneven reflectivity, such as the second area shown in Figure 5B or the third area shown in Figure 5C. This is not limited in the embodiments of the present application.

[0082] It can be understood that an area with uniform reflectivity means that the difference in reflectivity at different positions in the area is within a preset range, or that the reflectivity at different positions in the area is the same or similar; an area with uneven reflectivity means that the difference in reflectivity at different positions in the area exceeds the preset range, or that the reflectivity at different positions in the area is different or differs greatly.

[0083] In one possible design, the emission beam of the laser radar is scanned within a scanning cycle, which includes a first time period and a second time period; during the first time period, the emission beam is irradiated into the object space, and during the second time period, the emission beam is irradiated onto the inner wall of the laser radar. For example, as shown in FIG4A , the emission beam is scanned along the scanning direction shown in the figure, and during the time period t1, the emission beam is projected into the object space through the window, and during the time period t2, the emission beam is projected onto the inner wall of the laser radar. It will be understood that FIG4A is only an example, and in actual situations, the scanning direction can also be other directions, and the position of the emission beam projected onto the inner wall can also be other positions, which is not limited in the embodiments of the present application. It will be understood that the scanning cycle can be only once, or it can be repeated multiple times (that is, the laser radar can periodically scan multiple times), without limitation.

[0084] In one specific implementation, the transmitter includes a scanning device, and the transmitted light beam can be scanned by the scanning device during a scanning cycle. The light beam is transmitted and returned by the scanning device. As shown in Figure 4B, a possible optical path diagram is shown. After being emitted from the laser, the transmitted light beam passes through the transmitting optical system to the surface of the scanning device. After being reflected by the scanning device, it irradiates the inner wall of the laser radar. The inner wall of the laser radar reflects the transmitted light beam, forming a reflected light beam. The reflected light beam is reflected by the scanning device and received by the detector through the receiving optical system. The scanning device can switch to different postures (such as different angles) during the scanning cycle, so that the transmitted light beam irradiates the object space during the first period and irradiates the inner wall of the laser radar during the second period. It will be understood that Figure 4B only illustrates some of the components of the laser radar and may actually include other components. In addition, the relative positional relationships between components such as the laser, scanning device, and detector shown in Figure 4B are only examples and are not limited to the relative positional relationships shown in the figure.

[0085] In another specific implementation, the transmitter may include multiple independent transmission channels, each of which may emit light beams at different angles. The lasers in the different transmission channels are sequentially controlled so that the light beams illuminate the object space during a first time period and illuminate the inner wall of the lidar during a second time period. In this case, the transmitter may or may not include a scanning device.

[0086] S302: Correct the receiving position of the detector and / or the transmitting parameters of the transmitter according to the light spot energy data.

[0087] For example, by comparing the acquired spot energy data with the preset spot energy data, the deviation between the current detector's receiving position and the preset receiving position can be obtained, and the detector's receiving position can be corrected based on the deviation. Alternatively, by comparing the acquired spot energy data with the preset spot energy data, the deviation between the current transmitter's transmission parameters and the preset transmission parameters can be obtained, and the transmitter's transmission parameters can be corrected based on the deviation. The preset spot energy data can be factory data, such as the spot energy data acquired in the same manner as S301 when the laser radar leaves the factory (i.e., when the laser radar leaves the factory, the reflected beam formed by the emission beam emitted by the transmitter and reflected by the inner wall of the laser radar illuminates the detection surface of the detector, and the spot energy data generated by the detector).

[0088] In one possible implementation, the transmission parameters may include hardware parameters of the transmitter, such as the transmission angle. For example, the transmitter includes multiple transmission channels that can be individually turned on or off, where different channels correspond to different transmission angles. The transmission angle of the transmitter can be controlled by controlling which channels are turned on or off, or the time at which each channel turns on or off. For example, if the transmitter includes a scanning device, the transmission angle of the transmitter can be controlled by controlling the scanning device's scanning angle or scanning time.

[0089] In one possible implementation, the transmission parameters may include software parameters of the transmitter, such as angle information reported by the point cloud data, wherein the angle information reported by the point cloud data refers to the emission angle of the transmission light beam that generates the point cloud data.

[0090] The receiving position refers to a position on the detection surface that can receive light, that is, an activated (or powered or enabled) area. In some embodiments, the receiving position can also be replaced by other names such as a receiving area, a detection position, or a detection area.

[0091] In one possible implementation, calibrating the detector's receiving position may involve calibrating a receiver's hardware parameters. For example, the detector may have multiple detection units (such as SPAD detection units), and the detector's receiving position may be controlled by controlling the activated (or powered on or enabled) detection unit.

[0092] In some embodiments, the software parameters of the detector may also be corrected, for example, by adjusting the receiving position information of the point cloud data corresponding to the detector.

[0093] In an embodiment of the present application, the optical loop formed by the reflection of the inner wall of the laser radar is used to correct the receiving position of the detector and / or the emission parameters of the transmitter. This solution is independent of the external environment and has a wide range of applications. The solution uses the time period when the light beam scans the inner wall (before emitting into the object space) to implement the correction, and has no effect on the time period when the light beam scans the object space, so it does not affect the normal operation of the laser radar and can be achieved without the user noticing. In addition to correcting the receiving position, the solution can also correct the emission parameters of the transmitter, which can correct both the emission and reception performance of the laser radar, thereby improving the overall detection accuracy of the laser radar.

[0094] In one possible design, the emitted light beam can be controlled to project onto an area on the inner wall with uniform reflectivity to form a light loop, so as to achieve correction of the receiving position of the detector.

[0095] The term "uniform reflection" may refer to uniform reflectivity in one direction or in multiple directions, without limitation. For example, the first region shown in FIG5A may have a uniform reflectivity in the x-direction, a uniform reflectivity in the y-direction, or a uniform reflectivity in both the x-direction and the y-direction.

[0096] As an example, referring to FIG5A , the reflected light beam is formed after the transmitted light beam is reflected by the first area of ​​the inner wall. The reflectivity of the first area is uniformly distributed in the first direction. The detection surface includes multiple detection areas distributed along the second direction, and the second direction corresponds to the first direction.

[0097] The second direction corresponds to the first direction, meaning that the position of the first region receiving the transmitted light beam in the first direction corresponds to the position of the detection surface receiving the reflected light beam in the second direction. For example, when the transmitted light beam moves along the first direction across the first region, the reflected light beam moves along the second direction across the detection surface. In practical applications, the first and second directions can be the same or different, depending on the configuration of the optical components in the receiver. Figure 5A illustrates an example where both the first and second directions are the x-direction shown in Figure 5A.

[0098] Accordingly, S301 may specifically include obtaining spot energy data generated by each of the plurality of detection areas when the emission light beam is irradiated on the first area. It will be appreciated that the emission light beam may irradiate all positions on the first area at once, or may irradiate different positions on the first area in sequence (e.g., scanning the first area along a first direction), depending on the spot pattern of the emission light beam and the pattern of the first area (including shape and size, etc.).

[0099] In one possible implementation, different detection areas among the multiple detection areas can be activated in sequence, and the spot energy data generated by each detection area during the period in which each detection area is activated can be obtained. For example, different SPAD detection units can be activated in sequence, and the spot energy data of all pixels (cells) in each SPAD detection unit during the period in which the SPAD detection unit is activated can be counted, and the statistical value of the spot energy data of each SPAD detection unit (such as the accumulated value of the spot energy data of all pixels in the SPAD detection unit) can be output.

[0100] In another possible implementation, multiple detection areas can be activated simultaneously to obtain the spot energy data generated by each of the multiple detection areas. For example, all SPAD detection units of the detector can be activated simultaneously to output the spot energy data of each pixel in each SPAD detection unit.

[0101] Accordingly, S302 may specifically include: determining maximum spot energy data from the spot energy data generated by each detection area in multiple detection areas; and correcting the receiving position of the detector in the second direction according to the position deviation between the detection area corresponding to the maximum spot energy data and the preset detection area.

[0102] Optionally, the preset detection area can be the detection area where the light spot energy data on the detector is the largest when the emitted light beam is projected onto the first area when the laser radar leaves the factory.

[0103] For example, refer to the functional relationship diagram of position and spot energy data in Figure 5A, where the solid line represents the distribution of spot energy data obtained in S301, and the dotted line represents the distribution of spot energy data obtained at the factory. By comparing the peak position (the position where the spot energy is the strongest), the receiving position deviation in the second direction can be obtained, and then the receiving position of the detector in the second direction can be corrected according to the deviation, so that the corrected receiving position of the detector can be aligned with the reflected light beam in the second direction, thereby improving the receiving efficiency of the reflected light beam and thus improving the detection accuracy of the lidar.

[0104] Optionally, the light spot corresponding to the reflected light beam is located within the detection surface of the detector in the second direction, or in other words, the size of the light spot corresponding to the reflected light beam in the second direction is less than or equal to the size of the detection surface of the detector in the second direction. This can avoid the problem of the reflected light beam's large spot size causing the light spot to still cover the detection surface of the detector after the spot position is offset, thereby making it impossible to detect and correct the receiving position deviation.

[0105] Optionally, the light spot corresponding to the emitted light beam is located in the first area in the first direction (or in other words, the size of the light spot corresponding to the emitted light beam in the first direction is less than or equal to the size of the first area in the first direction (that is, the size of the first area in the first direction is greater than or equal to the size of the light spot corresponding to the emitted light beam in the first direction). In this way, the problem of too little spot energy data resulting from the first area being too small, thereby failing to accurately detect and correct the receiving position deviation, can be avoided. For example, as shown in (A) in FIG5D , the size of the inner wall reflection area (that is, the first area) is too small, resulting in too small a size of the reflected light spot, and little light spot energy data that can be obtained, making it difficult to accurately detect the position on the receiving surface where the light spot energy is the strongest, thereby leading to inaccurate detection and correction of the receiving position deviation. For example, as shown in (B) in FIG5D , the size of the inner wall reflection area (that is, the first area) is appropriately larger than the size of the light spot corresponding to the emitted light beam, which helps to obtain more light spot energy data, thereby helping to improve the accuracy of the detection and correction of the receiving position deviation.

[0106] It can be understood that the above is an example of uniformly distributing the reflectivity of the first area in the first direction and correcting the receiving position of the receiver in the second direction. In actual applications, the above method can also be used to correct the receiving position of the detector in other directions, and the embodiments of the present application are not limited thereto.

[0107] Through the above design, it is possible to utilize the optical loop formed by the reflection of the inner wall with uniform reflectivity on the laser radar to realize the correction of the receiving position of the detector. The hardware changes are few (if the reflectivity of the inner wall of the laser radar itself is uniform, no hardware changes are required), the implementation is simple and the cost is low.

[0108] In one possible design, the emitted light beam can be controlled to project onto an area on the inner wall with uneven reflectivity to form a light loop, so as to achieve correction of the receiving position of the detector.

[0109] The uneven reflection can be uneven reflectivity in one direction or in multiple directions, without limitation. Taking the second region shown in FIG5B as an example, the reflectivity of the second region is unevenly distributed in the x-direction, or the reflectivity of the first region is unevenly distributed in the y-direction, or the reflectivity of the first region is unevenly distributed in both the x-direction and the y-direction. FIG5B takes the uneven distribution of the reflectivity of the second region in the y-direction as an example, and different fill patterns represent sub-regions with different reflectivities.

[0110] As an example, referring to FIG5B , the reflected light beam is formed by reflecting the transmitted light beam through the second region of the inner wall, and the second region includes multiple sub-regions with different reflectivities distributed along a third direction; the detection surface includes multiple detection regions distributed along a fourth direction, and the fourth direction corresponds to the third direction. In one possible implementation, the second region can include multiple sub-regions with different reflectivities distributed along the third direction by spraying or applying materials with different reflectivities to different sub-regions in the second region. This application does not limit the specific method of achieving reflectivity changes in different regions of the inner wall.

[0111] The fourth direction corresponds to the third direction, meaning that the position where the second area receives the transmitted light beam in the third direction corresponds to the position where the detection surface receives the reflected light beam in the fourth direction. For example, when the transmitted light beam moves along the third direction across the second area, the reflected light beam moves along the fourth direction across the detection surface. In practical applications, the third and fourth directions can be the same or different, depending on the configuration of the optical components in the receiver. Figure 5B illustrates an example where both the third and fourth directions are the y-direction shown in Figure 5B.

[0112] Accordingly, S301 may specifically include: acquiring light spot energy data generated by each detection area in the plurality of detection areas when the emission light beam irradiates the second area.

[0113] Similarly, the emitted light beam can be irradiated to all positions on the second area at one time, or the emitted light beam can be irradiated to different positions on the second area in sequence (such as scanning the second area along a third direction), depending on the spot pattern of the emitted light beam and the pattern of the second area (the pattern includes shape and size, etc.).

[0114] Similarly, when the emission light beam is irradiated on the second area, the light spot energy data generated by each detection area in the multiple detection areas is obtained. Specifically, it can be: successively activating different detection areas in the multiple detection areas, and obtaining the light spot energy data generated by each detection area during the period when each detection area in the multiple detection areas is activated; or, activating multiple detection areas at the same time, and obtaining the light spot energy data generated by each detection area in the multiple detection areas.

[0115] Accordingly, S302 may specifically include: correcting the receiving position of the detector in the fourth direction according to the correspondence between the spot energy data generated by the multiple detection areas and the multiple detection areas, and the preset correspondence between the spot energy data and the detection areas.

[0116] Optionally, the preset correspondence between the spot energy data and the detection areas can be the correspondence between the spot energy data generated by the multiple detection areas and the multiple detection areas when the laser radar leaves the factory and the emitted light beam is projected onto the second area.

[0117] For example, refer to the functional relationship diagram of position and spot energy data in Figure 5B, where the solid line represents the distribution of spot energy data obtained in S301, and the dotted line represents the distribution of spot energy data obtained at the factory. By comparing the characteristic positions of the function curve (such as peaks or troughs, etc.), the receiving position deviation of the detector in the fourth direction can be obtained, and then the receiving position of the detector in the fourth direction can be adjusted according to the deviation, so that the corrected receiving position of the detector can be aligned with the reflected light beam in the fourth direction, thereby improving the receiving efficiency of the reflected light beam and thus improving the detection accuracy of the lidar.

[0118] It can be understood that this scheme corrects the receiving position of the detector in the fourth direction based on the correspondence between the light spot energy data and the detection area. Regardless of whether the light spot corresponding to the reflected light beam exceeds the detection surface of the detector in the fourth direction (or, the size of the light spot corresponding to the reflected light beam in the fourth direction is larger than the size of the detection surface of the detector in the fourth direction), or the light spot corresponding to the reflected light beam is located within the detection surface of the detector in the fourth direction (or, the size of the light spot corresponding to the reflected light beam in the fourth direction is less than or equal to the size of the detection surface of the detector in the fourth direction), the above design method is applicable.

[0119] Similarly, regardless of whether the light spot corresponding to the emitted light beam is located within the second area in the third direction (or in other words, the size of the light spot corresponding to the emitted light beam in the third direction is less than or equal to the size of the second area in the third direction), or the light spot corresponding to the emitted light beam exceeds the second area in the third direction (or in other words, the size of the light spot corresponding to the emitted light beam in the third direction is greater than the size of the second area in the third direction), the above design method is applicable.

[0120] It can be understood that the above is an example of the non-uniform distribution of reflectivity of the second area in the third direction and the correction of the receiving position of the detector in the fourth direction. In actual applications, the above method can also be used to correct the receiving position of the detector in other directions, and the embodiments of the present application are not limited thereto.

[0121] Through the above design, it is possible to utilize the optical loop formed by the reflection of the inner wall with non-uniform reflectivity on the laser radar to correct the receiving position of the detector. It requires little hardware modification, is low in cost, and has a wide range of application scenarios.

[0122] In one possible design, the emission light beam can be controlled to project onto an area on the inner wall with uneven reflectivity to form an optical loop, thereby achieving correction of the emission parameters of the transmitter.

[0123] The non-uniform reflectivity may be non-uniform in one direction or in multiple directions, without limitation. Taking the third region shown in FIG5C as an example, the reflectivity of the third region is non-uniformly distributed in the x-direction, or the reflectivity of the third region is non-uniformly distributed in the y-direction, or the reflectivity of the third region is non-uniformly distributed in both the x-direction and the y-direction.

[0124] As an example, referring to Figure 5C , a reflected beam is formed by the transmitted beam reflecting off a third region of the inner wall. The third region includes multiple sub-regions with different reflectivities distributed along a fifth direction. Figure 5C illustrates the non-uniform distribution of the reflectivity of the third region along the x-direction, where the fifth direction is the x-direction. Different fill patterns represent sub-regions with different reflectivities.

[0125] In one possible implementation method, the third area can include multiple sub-areas with different reflectivity distributed along the fifth direction by applying materials with different reflectivity to different sub-areas in the third area, or the third area can include multiple sub-areas with different reflectivity distributed along the fifth direction by polishing different sub-areas in the third area to different degrees, and so on. This application does not impose any restrictions.

[0126] Accordingly, S301 may specifically include: in the process of scanning the third area with a plurality of different emission angles along the fifth direction with the emission light beam, acquiring light spot energy data generated by the detector at each of the plurality of different emission angles.

[0127] Accordingly, S302 may specifically include: correcting the emission angle of the emitter in the fifth direction according to the correspondence between the light spot energy data generated by the detector and the multiple emission angles and the preset correspondence between the light spot energy data and the emission angles.

[0128] Optionally, the preset correspondence between the spot energy data and the emission angle can be the correspondence between the spot energy data generated by the detector and multiple different emission angles when the emission light beam is projected onto the third area when the laser radar leaves the factory.

[0129] For example, referring to the functional relationship between the emission angle and the spot energy data in FIG5C , the solid line represents the correspondence between the spot energy data and the emission angle obtained in S301, and the dotted line represents the correspondence between the spot energy data and the emission angle obtained at the factory. By comparing the characteristic positions of the function curve (such as peaks or troughs), the emission angle deviation of the emitter in the fifth direction can be obtained, and then the emission angle of the emitter in the fifth direction can be adjusted according to the deviation (for example, adjusting the scanning angle of the scanning device, or adjusting the lighting time of the emission channel in the emitter, etc.), or the angle information reported by the point cloud data can be adjusted according to the deviation. After correction, the angle information finally reported by the point cloud data is consistent with the actual angle information, thereby improving the detection accuracy of the lidar.

[0130] It can be understood that the above is an example of the non-uniform distribution of reflectivity of the third area in the fifth direction and the correction of the emission angle of the emitter in the fifth direction. In actual applications, the emission angle of the emitter in other directions can also be corrected by referring to the above method, and the embodiments of the present application are not limited thereto.

[0131] Through the above design, it is possible to utilize the optical loop formed by the reflection of the inner wall with non-uniform reflectivity on the laser radar to correct the emission parameters of the transmitter. It requires little hardware modification, is low in cost, and has a wide range of application scenarios.

[0132] In some embodiments, the control device may execute the above-mentioned methods of S301 to S302 upon receiving a preset instruction. For example, a touch key may be provided on the laser radar to start the correction function. When the touch key is touched (such as a technician pressing the touch key), a first instruction is sent to the control device, so that the control device responds to the first instruction and corrects the laser radar (i.e., executes the methods described in S301 to S302). Optionally, the laser radar may also set different touch keys for the calibration of the transmitter and the calibration of the receiver respectively. Optionally, the laser radar may also respond to other instructions such as voice instructions and network instructions, which are not limited in the embodiments of the present application.

[0133] In other embodiments, the control device may trigger the execution of the above methods S301-S302 according to a set rule. For example, the lidar executes the above methods S301-S302 once each time it is powered on. For example, the control device may periodically execute the above methods S301-S302 at a set time interval (e.g., one day, one month, one year, etc., without limitation).

[0134] It can be understood that the above-mentioned implementation methods can be implemented separately or combined with each other without limitation.

[0135] Based on the same technical concept, embodiments of the present application provide a control device that includes modules / units / means for executing the methods described in the above method embodiments. The modules / units / means may be implemented in software or hardware, or the corresponding software implementation may be executed by hardware.

[0136] Referring to FIG6 , the control device may include:

[0137] An acquisition module 601 is configured to acquire light spot energy data generated by a detector of a laser radar when a reflected light beam is irradiated on a detection surface of the detector, wherein the reflected light beam is generated by a transmitting light beam emitted by a transmitter of the laser radar and reflected by an inner wall of the laser radar;

[0138] The processing module 602 is configured to correct the receiving position of the detector and / or the transmitting parameters of the transmitter according to the light spot energy data.

[0139] It should be understood that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0140] In specific implementation, the above-mentioned control device can have various product forms. Several possible product forms are introduced below.

[0141] Referring to Figure 7, an embodiment of the present application also provides a control device, which includes at least one processor 701 and an interface circuit 702; the interface circuit 702 is used to receive signals from other devices outside the device and transmit them to the processor 701 or send signals from the processor 701 to other communication devices outside the device, and the processor 701 is used to implement the method steps in the above method embodiment through logic circuits or execution code instructions.

[0142] It should be understood that the processors mentioned in the embodiments of the present application can be implemented by hardware or software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor that is implemented by reading software code stored in a memory.

[0143] Exemplarily, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0144] It should be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0145] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0146] It should be noted that the memory described herein is intended to include, but not be limited to, these and any other suitable types of memory.

[0147] Based on the same technical concept, an embodiment of the present application also provides a laser radar, including: a transmitter, a detector, and a control device; wherein the transmitter is used to transmit a transmission light beam; the detector is used to receive a reflected light beam; and the control device is used to execute the method steps in the above method embodiment.

[0148] Based on the same technical concept, an embodiment of the present application also provides a computer-readable storage medium, including a program or instruction. When the program or instruction is run on a computer, the method in the above method embodiment is executed step by step.

[0149] Based on the same technical concept, an embodiment of the present application further provides a computer program product comprising instructions. The computer program product stores instructions that, when run on a computer, enable the method steps in the above method embodiment to be executed.

[0150] Based on the same technical concept, an embodiment of the present application further provides a terminal, comprising any of the devices described above.

[0151] Optionally, the terminal can be deployed on any device such as a vehicle, ship, airplane, drone, smart home device, or on the side of a road or on a building, and this application does not impose any restrictions.

[0152] Optionally, the terminal is a vehicle.

[0153] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0154] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each flow and / or box in the flow chart and / or block diagram, as well as the combination of the flow chart and / or box in the flow chart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more flow charts and / or one or more boxes in the block diagram.

[0155] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0157] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the scope of protection of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for calibrating a lidar, characterized in that, Including: Obtaining spot energy data generated by a detector when a reflected light beam irradiates a detection surface of the detector of a lidar, where the reflected light beam is formed after a transmitted light beam emitted by a transmitter of the lidar is reflected by an inner wall of the lidar; Correcting a reception position of the detector and / or a transmission parameter of the transmitter according to the spot energy data.

2. The method according to claim 1, characterized in that, The transmitted light beam is scanned within a scanning period; Wherein, the scanning period includes a first time period and a second time period; within the first time period, the transmitted light beam irradiates into object space, and within the second time period, the transmitted light beam irradiates onto the inner wall of the lidar.

3. The method according to claim 1 or 2, characterized in that, The transmission parameter includes a transmission angle and / or a lighting time of the transmitter, or angle information reported in point cloud data.

4. The method according to any one of claims 1 to 3, characterized in that The reflected light beam is formed after the transmitted light beam is reflected by a first region of the inner wall, a reflectivity of the first region is uniformly distributed in a first direction, and the detection surface includes a plurality of detection regions distributed along a second direction, and the second direction corresponds to the first direction; The obtaining spot energy data generated by the detector when the reflected light beam irradiates the detection surface of the detector of the lidar includes: Obtaining spot energy data generated by each of the plurality of detection regions when the transmitted light beam irradiates the first region; The correcting the reception position of the detector according to the spot energy data includes: Determining maximum spot energy data from the spot energy data generated by each of the plurality of detection regions; Correcting the reception position of the detector in the second direction according to a position deviation between a detection region corresponding to the maximum spot energy data and a preset detection region.

5. The method according to claim 4, wherein A spot corresponding to the reflected light beam is located within the detection surface in the second direction; and / or, A spot corresponding to the transmitted light beam is located within the first region in the first direction.

6. The method according to claim 4 or 5, characterized in that The obtaining spot energy data generated by each of the plurality of detection regions when the transmitted light beam irradiates the first region includes: Successively activating different detection regions among the plurality of detection regions, and obtaining spot energy data generated by each of the plurality of detection regions during a period when each of the plurality of detection regions is activated; Or, Simultaneously activating the plurality of detection regions, and obtaining spot energy data generated by each of the plurality of detection regions.

7. The method according to any one of claims 1 to 3, characterized in that The reflected light beam is formed after the transmitted light beam is reflected by a second region of the inner wall, the second region includes a plurality of sub-regions with different reflectivities distributed along a third direction; the detection surface includes a plurality of detection regions distributed along a fourth direction, and the fourth direction corresponds to the third direction; The obtaining spot energy data generated by the detector when the reflected light beam irradiates the detection surface of the detector of the lidar includes: Obtaining spot energy data generated by each of the plurality of detection regions when the light-emitting beam irradiates the second region; The correcting the reception position of the detector according to the spot energy data includes: Based on the spot energy data generated from the multiple detection areas and the corresponding relationship between the multiple detection areas, and the preset corresponding relationship between the spot energy data and the detection areas, correct the receiving position of the detector in the fourth direction.

8. The method according to claim 7, wherein The spot corresponding to the reflected beam extends beyond the detection surface in the fourth direction; and / or, The spot corresponding to the emitted beam extends beyond the second area in the third direction.

9. The method according to any one of claims 1 to 3, characterized in that The reflected beam is formed after the emitted beam is reflected by the third area of the inner wall, and the third area includes multiple sub-areas with different reflectivities distributed along the fifth direction; The obtaining of the spot energy data generated by the detector when the reflected beam irradiates on the detection surface of the lidar includes: During the process that the emitted beam scans the third area along the fifth direction at multiple different emission angles, obtain the spot energy data generated by the detector at each of the multiple different emission angles; Correcting the emission parameters of the emitter according to the spot energy data includes: Based on the corresponding relationship between the spot energy data generated by the detector and the multiple different emission angles, and the preset corresponding relationship between the spot energy data and the emission angles, correct the emission angle of the emitter in the fifth direction.

10. A lidar, characterized in that, Includes: An emitter, a detector, a control device; The emitter is used to emit an emitted beam; The detector is used to receive the reflected beam; The control device is used to execute the method according to any one of claims 1-9.

11. A control device, characterized in that, Includes a module for executing the method according to any one of claims 1-9.

12. A control device, characterized in that, The device includes a processor and an interface circuit. The interface circuit is used to receive signals from other devices outside the device and transmit them to the processor, or send signals from the processor to other communication devices outside the device. The processor uses logic circuits or executes code instructions to implement the method according to any one of claims 1-9.

13. A computer-readable storage medium, characterized in that, Includes a program or instruction, which when running on a computer, causes the method according to any one of claims 1-9 to be executed.

14. A terminal, characterized in that, Includes the lidar according to claim 10, or the control device according to claim 11, or the control device according to claim 12, or the computer-readable storage medium according to claim 13.

15. The terminal according to claim 14, wherein The terminal is a vehicle.

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