Detection method for lidar, and lidar and device

Abstract

A detection method for a Lidar, and a Lidar and a device. The detection method comprises: controlling a Lidar to perform scanning detection on a first detection region at a first measurement frequency (S11); and controlling the Lidar to perform scanning detection on a second detection region at a second measurement frequency (S12), wherein at least one of the first measurement frequency and the second measurement frequency is adjustable. In the detection method, at least one of a first measurement frequency and a second measurement frequency is adjustable, such that the dynamic adjustment capability is strong, and the detection requirements of different detection regions can be met.

Description

Laser radar detection method, laser radar and equipment

[0001] This disclosure claims priority to a Chinese patent application entitled “Laser Radar Detection Method, Laser Radar and Equipment” filed on February 5, 2024, with application number 202410167059.3, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0002] The present disclosure generally relates to the field of laser radar, and more particularly to a detection method, laser radar, and equipment for laser radar. Background Art

[0003] LiDAR (LiDAR) is a radar system that uses laser beams to detect target characteristics such as position and velocity. It is an advanced detection method that combines laser technology with photoelectric detection technology. Due to its advantages such as high resolution, good concealment, strong resistance to active interference, excellent low-altitude detection performance, small size, and light weight, LiDAR is widely used in autonomous driving, transportation communications, drones, intelligent robots, resource exploration, and other fields.

[0004] LiDAR uses a certain scanning frequency to detect the surrounding environment. How to flexibly adapt the scanning frequency of LiDAR to the detection needs of different scenarios and meet the requirements of human eye safety is the technical problem to be solved by this disclosure. Summary of the Invention

[0005] In response to one or more problems existing in the prior art, the present disclosure provides a laser radar detection method, which can control the laser radar to scan and detect a first detection area at a first measurement frequency, and control the laser radar to scan and detect a second detection area at a second measurement frequency. At least one of the first measurement frequency and the second measurement frequency is adjustable, and has strong dynamic adjustment capability, which can meet the detection requirements of different detection areas.

[0006] The detection method includes: controlling the laser radar to scan and detect a first detection area at a first measurement frequency; controlling the laser radar to scan and detect a second detection area at a second measurement frequency; at least one of the first measurement frequency and the second measurement frequency is adjustable.

[0007] Optionally, the first detection area and the second detection area do not completely overlap.

[0008] Optionally, the first measurement frequency is greater than or equal to the second measurement frequency.

[0009] Optionally, the detection method includes: determining the second detection area based on point cloud data of the laser radar.

[0010] Optionally, the step of controlling the laser radar to scan and detect the second detection area at the second measurement frequency includes: determining the distance of the object; when the distance of the object is greater than a preset distance threshold, adjusting the second measurement frequency from a first value to a second value; wherein the second value is less than the first value; controlling the laser radar to scan and detect the second detection area at the second value of the second measurement frequency.

[0011] Optionally, the step of controlling the laser radar to scan and detect the second detection area at the second measurement frequency includes: determining the speed of the object; when the speed of the object is less than a preset speed threshold, adjusting the second measurement frequency from a first value to a second value; wherein the second value is less than the first value; controlling the laser radar to scan and detect the second detection area at the second value of the second measurement frequency.

[0012] Optionally, the laser radar includes a laser; the step of controlling the laser radar to scan and detect the second detection area at the second value of the second measurement frequency includes: increasing at least one of the pulse intensity, number of pulses and pulse interval of the detection light emitted by the laser.

[0013] Optionally, the step of controlling the laser radar to scan and detect the first detection area at the first measurement frequency includes: determining the temperature of the laser radar; when the temperature exceeds a temperature threshold, adjusting the first measurement frequency from a third value to a fourth value; wherein the fourth value is less than the third value; and controlling the laser radar to scan and detect the first detection area at the fourth value of the first measurement frequency.

[0014] Optionally, the laser radar includes a laser; and the step of controlling the laser radar to scan and detect the first detection area at the first measurement frequency includes: when the temperature exceeds a temperature threshold, reducing the pulse intensity of the detection light emitted by the laser.

[0015] Optionally, the laser radar includes a laser; the detection method includes: when no object is detected in a sub-area in the first detection area in multiple consecutive frames of point cloud data, reducing the pulse intensity of the detection light emitted by the laser corresponding to the sub-area.

[0016] Optionally, the laser radar includes a laser; the detection method includes: determining that the detection beam is irradiated on one or more lasers on the vehicle; and turning off the one or more lasers.

[0017] Optionally, the laser radar includes a plurality of lasers, and the plurality of lasers form a two-dimensional array, wherein a portion of the lasers is configured to detect the first detection area, and a portion of the lasers is configured to detect the second detection area.

[0018] The present disclosure also provides a laser radar, comprising: a transmitter, a detector, and a controller. The transmitter is configured to transmit probe light. The detector is configured to receive an echo resulting from reflection of the probe light from an object and convert it into an electrical signal. The controller is coupled to the transmitter and detector and configured to execute the detection method described above.

[0019] Optionally, the transmitter includes multiple lasers; the multiple lasers are arranged into a one-dimensional laser array; the laser radar also includes a light homogenizer, which is configured to widen the detection beam emitted by the laser along a direction perpendicular to the arrangement direction of the one-dimensional laser array.

[0020] Optionally, the transmitter includes a plurality of lasers, and the plurality of lasers are arranged as a two-dimensional laser array.

[0021] Optionally, the two-dimensional laser array includes a first laser array and a second laser array, the lasers in the first laser array are configured to scan and detect the first detection area, and the lasers in the second laser array are configured to scan and detect the second detection area.

[0022] Optionally, the first laser array and the second laser array are mounted on different circuit boards respectively.

[0023] The present disclosure also provides a device, comprising a processor and a memory, wherein the memory comprises computer executable instructions stored thereon, and when the executable instructions are executed by the processor, the detection method described above is implemented.

[0024] The detection method disclosed herein divides the LiDAR's detection field of view into different detection zones, allowing for flexible adjustment of the scanning frequency for each zone. Different scanning frequencies can be used to meet the detection requirements of each zone in different scenarios. When the scene changes, the scanning frequency can be adjusted not only for the overall detection field of view but also for local detection fields, dynamically adjusting the LiDAR's detection performance and achieving better overall environmental detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following is an illustrative introduction to the drawings required for describing the embodiments. The drawings described below are merely examples of the present disclosure. A person skilled in the art can, without inventive effort, derive other drawings from the provided drawings. The drawings are intended to provide a further understanding of the present disclosure and constitute part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not limit the present disclosure.

[0026] FIG1 shows a schematic diagram of the detection field of view of an exemplary laser radar consistent with some embodiments of the present disclosure.

[0027] FIG2 shows a flow chart of an exemplary laser radar detection method consistent with some embodiments of the present disclosure.

[0028] FIG3 shows a schematic diagram of the detection field of view of an exemplary lidar consistent with some embodiments of the present disclosure.

[0029] FIG4 illustrates a schematic diagram of an exemplary lidar transmitter consistent with some embodiments of the present disclosure.

[0030] FIG5 shows an exemplary schematic diagram of adjusting the number of pulses of probe light emitted by a laser, consistent with some embodiments of the present disclosure.

[0031] FIG6 shows a schematic diagram of an exemplary method for adjusting the pulse interval of the probe light emitted by a laser, consistent with some embodiments of the present disclosure.

[0032] FIG7 shows a schematic diagram of an exemplary vehicle consistent with some embodiments of the present disclosure.

[0033] FIG8 shows a schematic diagram of an exemplary lidar consistent with some embodiments of the present disclosure.

[0034] FIG. 9 illustrates a schematic diagram of exemplary laser sectorization consistent with some embodiments of the present disclosure.

[0035] FIG. 10 illustrates a schematic diagram of exemplary laser sectorization consistent with some embodiments of the present disclosure.

[0036] FIG. 11 shows a schematic diagram of an exemplary apparatus consistent with some embodiments of the present disclosure. DETAILED DESCRIPTION

[0037] Hereinafter, only certain exemplary embodiments are described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0038] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the present disclosure and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0039] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal connectivity between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0040] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or diagonally below the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0041] In the present disclosure, the terms "or" and "and / or" describe the association relationship between related objects and represent a non-exclusive inclusion. For example, "A and / or B" and "A or B" may include: only "A" exists, only "B" exists, and "A" and "B" exist at the same time, where "A" and "B" can be singular or plural. For another example, "A, B and / or C" and "A, B or C" may include: only "A" exists, only "B" exists, only "C" exists, "A" and "B" exist at the same time, "A" and "C" exist at the same time, "B" and "C" exist at the same time, and "A", "B" and "C" exist at the same time, where "A", "B" and "C" can be singular or plural. In addition, the symbol " / " in the present disclosure indicates that there is an "or" relationship between the related objects before and after the symbol. In the present disclosure, the term "at least one A or B" has the same meaning as the above-mentioned "A or B". The term "at least one A, B or C" has the same meaning as the above-mentioned "A, B or C".

[0042] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0043] Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the exemplary embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0044] The present disclosure provides a laser radar detection method. The detection method includes: controlling the laser radar to scan and detect a first detection area at a first measurement frequency; and controlling the laser radar to scan and detect a second detection area at a second measurement frequency; at least one of the first measurement frequency and the second measurement frequency is adjustable. The detection method disclosed herein can adjust the measurement frequency of the laser radar's detection area to meet the detection requirements of different detection areas.

[0045] The laser radar's detection field of view (FOV) can be pre-set. For example, after the laser radar design is complete, the laser radar's detection field of view can be determined. For example, for a mechanical rotary laser radar, its optical mechanical rotor rotates in the horizontal plane around a vertical axis. Its field of view can cover a 360° horizontal range and a certain vertical angle range, such as 10°-30°, or a larger or smaller angle range. For another example, for a solid-state flash laser radar, its detection field of view may include a 120° horizontal detection field of view and a 20° vertical detection field of view, or a larger or smaller angle range. Optionally, the laser radar may include a transmitter. The transmitter may include one or more lasers. The laser radar may include a receiver. The receiver may include one or more detectors. The laser radar may also include optical components such as lenses. For example, the lens may include a transmitting lens and a receiving lens. The laser radar's detection field of view can be achieved by the arrangement of the lasers and detectors, as well as the design of the lens. It should be noted that the above numerical values ​​and numerical ranges are provided for illustrative purposes only and do not constitute limitations on the scope of protection of the present disclosure.

[0046] FIG1 shows a schematic diagram of the detection field of view (FOV) of an exemplary laser radar consistent with some embodiments of the present disclosure. As shown in FIG1 , the detection field of view FOV includes a first detection area R1 and a second detection area R2. For example, the first detection area R1 and the second detection area R2 may be a sub-field of view of the detection field of view FOV. Optionally, the first detection area R1 and the second detection area R2 may not overlap at all, or may overlap in some areas. The first detection area R1 and the second detection area R2 may not overlap in some areas, thereby achieving coverage of different spatial ranges. Optionally, the first detection area R1 and the second detection area R2 may be adjacent to each other, for example, the first detection area R1 is located on the upper side, left side, right side or lower side of the second detection area R2. Optionally, the first detection area R1 and the second detection area R2 may also be adjacent to each other in a surrounding manner, for example, the second detection area R2 is located in the middle of the first detection area R1.

[0047] FIG2 shows a flow chart of an exemplary laser radar detection method 10 consistent with some embodiments of the present disclosure, which is described below in conjunction with FIG1 and FIG2 .

[0048] As shown in Figure 2, detection method 10 includes steps S11 and S12. In step S11, the laser radar is controlled to scan and detect the first detection area R1 at a first measurement frequency. For example, the first detection area R1 is scanned and detected s times per second. In step S12, the laser radar is controlled to scan and detect the second detection area R2 at a second measurement frequency. For example, the second detection area R2 is scanned t times per second. Here, s and t may be equal or unequal, and both are positive integers. At least one of the first and second measurement frequencies is adjustable. For example, the first measurement frequency may be adjustable, the second measurement frequency may be adjustable, or both may be adjustable. The first and second measurement frequencies may be adjusted simultaneously or separately at different times. "Adjustable" measurement frequencies means that the specific value of the measurement frequencies can be changed. For example, during the laser radar detection of the environment, the measurement frequency of the detection area may be adjusted from one value to another. For example, the first measurement frequency may have multiple values, and the first measurement frequency may be variable among these multiple values. For example, a laser radar may scan and detect a first detection area at a first moment according to a first value of a first measurement frequency, and then scan and detect the first detection area at a second moment according to a second value of the first measurement frequency. For example, the second measurement frequency may include multiple values, and the second measurement frequency may vary among these multiple values. The multiple values ​​of the first measurement frequency and the multiple values ​​of the second measurement frequency may have the same value or different values. In some embodiments, the laser radar may change the measurement frequency after completing a complete scan of the detection area, or may change the measurement frequency during a scan of the detection area. For example, after the laser radar completes a scan of the first detection area at a first value of the first measurement frequency, the next scan of the first detection area may be performed at the second value of the first measurement frequency. In another example, the laser radar may scan a portion of the first detection area at the first value of the first measurement frequency and scan another portion of the first detection area at the second value of the first measurement frequency.

[0049] In the context of this disclosure, "measurement frequency" may refer to the frequency with which a laser radar repeatedly detects a detection area. The measurement frequency may be measured in Hertz (Hz), indicating the number of times per second that the laser radar scans and detects the detection area. For example, for the first detection area R1, 10 scans and detections are performed per second, and the measurement frequency may be 10 Hz. A single scan detection may be a complete detection of the detection area, and a point cloud corresponding to the detection area may be generated based on the results of the single scan detection. For example, for a detection area with a horizontal field of view of -20° to 20° and a vertical field of view of -10° to 10°, and a horizontal resolution and a vertical resolution of 0.1°, the point cloud generated by a single scan detection may include 400*200=80,000 points. If the point cloud generated by a single scan detection of the detection area is called a frame of point cloud, and the detection area is detected at a measurement frequency of 10 Hz, the detection area may be scanned and detected 10 times per second, generating 10 frames of point cloud. The measurement frequency may characterize the laser radar's ability to perceive the surrounding environment and the speed at which data is updated. The larger the measurement frequency, the faster the lidar's detection data is updated, and the stronger the lidar's ability to perceive the surrounding environment.

[0050] In some embodiments, a laser radar may include a laser array. The laser array may be a one-dimensional array or a two-dimensional array composed of multiple lasers. The measurement frequency can be achieved by changing the timing parameters of the probe light emitted by the lasers in the laser array. For example, during scanning of the detection area, the measurement frequency can be adjusted by changing the time interval between the switching from one laser emitting probe light to the next laser emitting probe light in the laser array. For example, at a first moment, the first laser is activated to emit probe light, and at a second moment, the second laser is activated to emit probe light. When the measurement frequency is a first value, the time interval between the first moment and the second moment is ta. When the measurement frequency is a second value, the time interval between the first moment and the second moment is tb. For another example, during scanning of the detection area, the measurement frequency can be adjusted by changing the number of lasers in the laser array emitting probe light in parallel. For example, when the measurement frequency is a first value, the number of lasers emitting probe light in parallel is qa. When the measurement frequency is a second value, the number of lasers emitting probe light in parallel is qb. For another example, during scanning of a detection area, the measurement frequency can be adjusted by changing the time interval between the laser radar completing one scanning detection of the detection area and initiating the next scanning detection. For another example, during scanning of a detection area, the measurement frequency can be adjusted by changing the total number of lasers used to detect the detection area. For example, during scanning of the detection area, when the measurement frequency is a first value, the total number of activated lasers is ma. When the measurement frequency is a second value, the total number of activated lasers is mb.

[0051] In some embodiments of the present disclosure, the adjustment of the measurement frequency can be achieved by changing the time parameters of the laser array for emitting detection light. For example, the time parameters may be one or more of the emission time, emission interval, luminous time window, etc. This can maintain the spatial resolution of the lidar when the measurement frequency is adjusted, reduce or avoid the problem of reduced resolution when the measurement frequency is increased, and improve the consistency of the measurement. It can also improve the uniformity of the resolution of point clouds in different frames. In some embodiments, the spatial resolution of the point cloud can be changed by adjusting the receiving end (for example, adjusting the photosensitivity of the detector, etc.) or the processing end (for example, adjusting the data processing method of the echo pulse, etc.), so that the detection performance of the lidar can be adapted to more needs.

[0052] In some embodiments, to complete a single detection (e.g., a time-of-flight (TOF) detection), the laser may emit a single pulse or multiple pulses. When emitting multiple pulses, the detector may receive multiple echoes. The lidar may accumulate the results of these multiple echo receptions and determine object information (e.g., distance and / or reflectivity) based on the accumulated results (e.g., a histogram), completing this TOF detection and generating a data point in the point cloud. This improves the signal-to-noise ratio and facilitates long-range detection.

[0053] In some embodiments, the lidar can use the same or different measurement frequencies for scanning and detection in different detection areas. For example, the first detection area can be scanned and detected at a first measurement frequency, while the second detection area can be scanned and detected at a second measurement frequency. The first measurement frequency can be greater than or equal to the second measurement frequency. For example, the first measurement frequency can be greater than the second measurement frequency. For the first detection area R1, the lidar can use the first measurement frequency (e.g., 20 Hz) to scan and detect close-range objects. This allows for rapid perception of changes in the surrounding environment, rapid update of detection results, and early identification of close-range objects. For another example, for the second detection area R2, the lidar can use the second measurement frequency (e.g., 10 Hz) to scan and detect medium- and long-range objects. This allows for ample time for distance measurement and timely acquisition of long-range environmental information. By using different measurement frequencies for scanning and detection in different detection areas, different frame rates can be achieved within the local detection field of view. For another example, the first measurement frequency can be equal to the second measurement frequency, and the first and second detection areas R1 and R2 can also be scanned and detected at the same measurement frequency. This allows the lidar to scan and detect the entire detection area using the same measurement frequency.

[0054] In some embodiments, the first detection area and the second detection area may respectively represent the local field of view of the laser radar. The first detection area and the second detection area may not completely overlap. Referring to Figure 1, for example, the second detection area R2 may represent the central field of view of the laser radar, such as the field of view directly in front of the laser radar, and the first detection area R1 may represent the edge field of view of the laser radar. For another example, the second detection area R2 may represent the main field of view of the laser radar, and the first detection area R1 may represent the blind spot field of the laser radar. Figure 3 shows a schematic diagram of the detection field of view of an exemplary laser radar consistent with some embodiments of the present disclosure. For another example, referring to Figure 3, the second detection area R2 may represent a region of interest (ROI). For example, a field of view area with many obstacles, pedestrians, and vehicles. The first detection area R1 may represent a non-interested area. For example, the field of view areas on both sides of the vehicle's driving route, and the field of view area pointing to the sky or the ground. By making the first detection area and the second detection area not completely overlap, the coverage of the first detection area and the second detection area can be increased. The measurement frequency can be flexibly adjusted for different detection areas without the need to uniformly adjust the overall field of view of the lidar, which can be compatible with different requirements such as detection performance and power consumption.

[0055] In some embodiments, the transmitter may include multiple lasers. The multiple lasers may form a two-dimensional laser array. Some of the lasers may detect the first detection area R1, and some of the lasers may detect the second detection area R2.

[0056] In some embodiments, the first detection area and the second detection area can be detected by separate transmitters, respectively. Figure 4 shows a schematic diagram of an exemplary laser radar transmitter consistent with some embodiments of the present disclosure. For example, as shown in Figure 4, the laser radar may include a first transmitter TX1 and a second transmitter TX2. The first transmitter TX1 may include multiple lasers 211. The multiple lasers 211 may be arranged as a first laser array. The second transmitter TX2 may include multiple lasers 212. The multiple lasers 212 may be arranged as a second laser array. The first transmitter TX1 corresponds to the first detection area R1. The second transmitter TX2 corresponds to the second detection area R2. Taking a solid-state laser radar as an example, the first transmitter TX1 can be configured so that its light emission direction covers the first detection area R1. The laser radar can control the laser 211 of the first transmitter TX1 to scan and detect the first detection area R1. Similarly, the second transmitter TX2 can be configured so that its light emission direction covers the second detection area R2. The laser 212 of the second transmitter TX2 can be controlled to scan and detect the second detection area R2. Different transmitters can be used to detect different detection areas. The laser 211 of the first transmitter TX1 and the laser 212 of the second transmitter TX2 can use lasers with different parameters. For example, the laser of the first transmitter TX1 and the laser of the second transmitter TX2 can choose lasers with different luminous intensities, or can choose lasers with different luminous areas. This can meet different detection needs. In some embodiments, the laser of the first transmitter TX1 and the laser of the second transmitter TX2 can choose the same type of laser or different types of lasers. For example, the first transmitter TX1 can choose edge-emitting lasers (EEL) and the second transmitter TX2 can choose vertical-cavity surface-emitting lasers (VCSEL). For another example, both can choose EEL or both can choose VCSEL. For another example, both can choose EEL and VCSEL respectively. In some embodiments, the first transmitter TX1 and the second transmitter TX2 can be mounted on the same circuit board or chip. In some embodiments, the first laser array and the second laser array can be mounted on different circuit boards or chips respectively. For example, as shown in Figure 4, the first laser array of the first transmitter TX1 can be mounted on the first circuit board or the first transmitting chip. The second laser array of the second transmitter TX2 can be mounted on a second circuit board or a second transmitter chip. In some embodiments, the first transmitter TX1 and the second transmitter TX2 can share the same lens group or have separate lens groups.When the first and second transmitters TX1 and TX2 utilize independent lens groups, different optical path designs can be implemented for the two lens groups, enabling, for example, different convergence effects, uniform light distribution, and beam deflection directions. The first and second transmitters TX1 and TX2 can initiate detection simultaneously, perform detection alternately at different times, or initiate detection when needed and disable it when not. For example, the first transmitter TX1 can initiate detection only when detection of the first detection area is required, or it can perform detection simultaneously with the second transmitter TX2. By using independent transmitters to detect different detection areas, the lidar detection performance can be adjusted more flexibly.

[0057] In some embodiments, the first detection area and the second detection area can be fixed detection areas. For example, after the LiDAR structural design is completed, the first detection area and the second detection area can be fixed, and the corresponding fields of view of the first detection area and the second detection area do not change in subsequent applications of the LiDAR. For example, the first detection area and the second detection area have fixed positions and sizes in the LiDAR field of view. For example, the second detection area R2 always corresponds to the center area of ​​the LiDAR's detection field of view (FOV), and the first detection area R1 is the area surrounding the second detection area R2.

[0058] In some embodiments, at least one of the first and second detection areas can be dynamically adjusted. For example, at least one of the position and size of the first and second detection areas can be changed. For example, the first and second detection areas can be changed via a configuration file. In another example, the first and second detection areas can be changed via control commands from a user, terminal, or vehicle. In another example, the first and second detection areas can be changed based on the application scenario of the LiDAR. For example, the first and second detection areas can be changed based on the movement speed of the LiDAR, environmental information, and so on.

[0059] In some embodiments, the detection method 10 includes determining a second detection area based on the point cloud data of the laser radar. For example, a region of interest (ROI) can be obtained by analyzing a point cloud frame previously acquired by the laser radar. The region of interest may be, for example, a field of view region with a large number of objects, a field of view region with rapidly changing objects, or a field of view region with specific objects. There may be one or more regions of interest. Multiple regions of interest may be adjacent or non-adjacent. The region of interest may be used as the second detection area and detected at a second measurement frequency. It is understood that the first detection area may also be determined based on the point cloud data. For example, the first detection area R1 may be obtained by removing the second detection area R2 from the laser radar's detection field of view FOV.

[0060] According to some embodiments of the present disclosure, the lasers of a lidar can be independently controlled. For example, the lasers can be independently gated and addressed. For example, the lasers can have independent conduction paths, and by controlling the connection or disconnection of the conduction paths, the lasers can be independently controlled. For example, the lasers can have independent drive channels, and the independent drive channels can be used to achieve independent control of the lasers. By independently controlling the lasers, the first and second detection areas of the lidar can be flexibly changed, improving the dynamic adjustment capabilities of the lidar.

[0061] In some embodiments, independent control of the laser may include independent control of whether the laser emits light or not, and independent control of operating parameters of the laser. The operating parameters of the laser may include, for example, the pulse width, number of pulses, pulse interval, emission time, pulse intensity, and measuring frequency of the probe light emitted by the laser.

[0062] In some embodiments, the laser may include a semiconductor laser such as a VCSEL, an EEL, a distributed feedback laser (DFB), a fiber laser, or the like.

[0063] In some embodiments, the laser radar detection method can be performed by the laser radar. In some embodiments, the laser radar includes a controller, and the laser radar detection method can be performed by the controller. The laser can be coupled to an emission drive circuit (not shown), and the emission drive circuit can be coupled to the controller. The controller can send a control signal to the emission drive circuit. The emission drive circuit can drive the laser to emit detection light based on the control signal, and can adjust the operating parameters of the laser based on the control signal.

[0064] It should be noted that the coupling of the laser to the emission drive circuit, and the coupling of the emission drive circuit to the controller, can be either direct or indirect. Optionally, the communication between the laser, the emission drive circuit, and the controller can be achieved through wired or wireless means. Optionally, the communication between the laser, the emission drive circuit, and the controller can include unidirectional or bidirectional transmission of electrical signals and / or control signals. Optionally, the laser and the emission drive circuit can be arranged on different circuit boards or chips. Alternatively, the laser and the emission drive circuit can be integrated on the same circuit board or chip. Optionally, the emission drive circuit and the controller can be arranged on different circuit boards or chips. Alternatively, the emission drive circuit and the controller can be integrated on the same circuit board or chip.

[0065] In some embodiments, the controller may be provided on the laser radar, or may be provided on a vehicle, server, computer, or other device. The controller may include a control circuit, a central processing unit (CPU), and may also include 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, and the like.

[0066] In some embodiments, the laser radar may be a solid-state laser radar. For a solid-state laser radar, the laser radar completes a single detection of the entire detection field of view, generating a frame of point cloud. In some embodiments, the laser radar may be a mechanical rotary laser radar. For a mechanical rotary laser radar, its optical mechanical rotor rotates 360° in the horizontal plane around a vertical axis, generating a frame of point cloud. In some embodiments, the laser radar may be a semi-solid-state laser radar, such as a laser radar that uses a scanner such as a rotating mirror or a galvanometer mirror. For a semi-solid-state laser radar, its scanner completes a single scanning cycle, generating a frame of point cloud.

[0067] In some embodiments, the detector may include a single photon avalanche diode (SPAD), an avalanche photodiode (APD), a silicon photomultiplier (SiPM), or a similar device.

[0068] In some embodiments, the step of controlling the laser radar to scan and detect the second detection area at the second measurement frequency (step S12) includes determining parameters of an object and, based on the parameters of the object, controlling the laser radar to scan and detect the second detection area at the second measurement frequency. It should be noted that the object herein may include both static objects and dynamic objects.

[0069] In some embodiments, the controller may control the laser radar to scan and detect the first detection area at a first measurement frequency based on object parameters. The object parameters may include the object's distance, speed, etc. In some embodiments, the object parameters may be determined solely by the object's distance or speed. Alternatively, the object parameters may be determined by a combination of the object's distance and speed, depending on the actual situation.

[0070] In some embodiments, the second measurement frequency may include multiple values. For example, the second measurement frequency may include a first value and a second value. The second value is smaller than the first value. The present disclosure does not limit the specific sizes of the first value and the second value, and can be flexibly configured according to needs. In addition, the second measurement frequency may include more values, depending on the actual situation. The following takes the second measurement frequency including the first value and the second value as an example to introduce how to control the laser radar to scan and detect the second detection area at the second measurement frequency (step S12).

[0071] In some embodiments, the step of controlling the laser radar to scan and detect the second detection area at a second measurement frequency (step S12) includes: the controller controlling the laser radar to scan and detect the second detection area at the second measurement frequency based on the distance of the object. The distance of the object can represent the relative position between the object and the laser radar. The time required for the laser radar to complete a frame scan is short (for example, 0.1 seconds), and within this short period of time, it can be assumed that the object's position remains unchanged or changes only slightly. The laser radar can determine the distance of the object based on the previous frame or the results of multiple previous frames. Once the distance of the object is determined, the laser radar can determine the measurement frequency for scanning and detecting the detection area where the object is located based on the distance. The laser radar can adjust the value of the second measurement frequency based on the distance of the object. For example, when the object is close, the value of the second measurement frequency can be increased; when the object is far, the value of the second measurement frequency can be decreased. The controller can control the laser radar to scan and detect the second detection area at the adjusted second measurement frequency. The measurement frequency can be dynamically adjusted according to the actual distance of the object, achieving different detection effects for objects at different distances. For example, it can achieve rapid update of the position information of close-range objects and high signal-to-noise ratio detection of distant objects.

[0072] Optionally, when the distance to the object is less than a preset distance threshold, the controller may control the laser radar to adjust the second measurement frequency from the second value to the first value, the first value being greater than the second value, and the controller may control the laser radar to scan and detect the second detection area at the first value of the second measurement frequency. For example, when the distance d of the object (e.g., 50 meters, etc.) is less than a preset distance threshold d0 (e.g., 100 meters), the controller may control the laser radar to adjust the second measurement frequency from the second value f2 (e.g., 5 Hz, etc.) to the first value f1 (e.g., 10 Hz, 15 Hz, etc.), and may control the laser radar to scan and detect the second detection area at the first value f1 of the second measurement frequency (e.g., 10 Hz, 15 Hz, etc.).

[0073] When the distance of the object is greater than a preset distance threshold, the controller can control the lidar to adjust the second measurement frequency from the first value to the second value, where the second value is less than the first value, and the controller can control the lidar to scan and detect the second detection area at the second value of the second measurement frequency. For example, when the distance d of the object (such as 200 meters, etc.) is greater than the preset distance threshold d0 (such as 100 meters), the controller can control the lidar to adjust the second measurement frequency from the first value f1 (such as 10 Hz, 15 Hz, etc.) to the second value f2 (such as 5 Hz, etc.), and can control the lidar to scan and detect the second detection area at the second value f2 of the second measurement frequency (such as 5 Hz, etc.).

[0074] When the distance of the object is equal to the preset distance threshold, it can be controlled that the lidar scans and detects the second detection area at the first value of the second measurement frequency, or it can also scan and detect the second detection area at the second value of the second measurement frequency. Alternatively, when the distance of the object is equal to the preset distance threshold, the current value of the second measurement frequency can be not changed, and the controller can control the lidar to scan and detect the second detection area at the current value of the second measurement frequency. Or, the current value of the second measurement frequency can be changed only when the distance of the object is greater than or less than the preset distance threshold.

[0075] In some embodiments, the distance threshold can be a threshold with a certain range, for example, the distance threshold is [d1, d2], where d1 < d2. When the distance of the object is less than the distance threshold d1, the controller can control the lidar to scan and detect the second detection area at the first value f1 of the second measurement frequency (such as 10 Hz, 15 Hz, etc.). When the distance of the object is greater than the distance threshold d2, the controller can control the lidar to scan and detect the second detection area at the second value f2 of the second measurement frequency (such as 5 Hz, etc.). When the distance of the object is between the distance thresholds d1 and d2, the second measurement frequency can be not adjusted. For example, the controller can control the lidar to maintain the current measurement frequency to scan and detect the second detection area. This can reduce the frequent switching of the measurement frequency caused by the change of the object distance near the distance threshold, enable the lidar to operate stably, and enable the lidar to maintain robustness.

[0076] In some embodiments, the step of controlling the laser radar to scan and detect the second detection area at a second measurement frequency (step S12) includes: the controller controls the laser radar to scan and detect the second detection area at the second measurement frequency based on the speed of the object. The speed of the object can be calculated based on the data measured by the laser radar. For example, the laser radar can estimate its speed based on one or more detections of the object. When the speed of the object is determined, the laser radar can determine the measurement frequency for scanning and detecting the detection area where the object is located based on the speed of the object. The laser radar can adjust the value of the second measurement frequency based on the speed of the object. For example, when the speed of the object is slow, the controller can reduce the value of the second measurement frequency. For another example, when the speed of the object is fast, the controller can increase the value of the second measurement frequency. The controller can control the laser radar to scan and detect the second detection area with the adjusted value of the second measurement frequency.

[0077] In some embodiments, when the speed of the object is less than a preset speed threshold, the controller may control the laser radar to adjust the second measurement frequency from the first value to a second value, the second value being less than the first value, and the controller may control the laser radar to scan and detect the second detection area at the second value of the second measurement frequency. For example, when the speed v of the object (e.g., 1 m / s, etc.) is less than a preset speed threshold v0 (e.g., 20 m / s), the controller may control the laser radar to adjust the second measurement frequency from the first value (e.g., 10 Hz, 15 Hz, etc.) to the second value (e.g., 5 Hz, etc.), and may control the laser radar to scan and detect the second detection area at the second value f2 of the second measurement frequency (e.g., 5 Hz, etc.).

[0078] In some embodiments, when the speed of the object is greater than a preset speed threshold, the controller may control the laser radar to adjust the second measurement frequency from the second value to the first value, and the second value is less than the first value, and the laser radar may be controlled to scan and detect the second detection area with the first value of the second measurement frequency. For example, when the speed v of the object (e.g., 30 m / s, etc.) is greater than the preset speed threshold v0 (e.g., 20 m / s), the controller may control the laser radar to adjust the second measurement frequency from the second value (e.g., 5 Hz, etc.) to the first value (e.g., 10 Hz, 15 Hz, etc.), and the laser radar may be controlled to scan and detect the second detection area with the first value f1 of the second measurement frequency (e.g., 10 Hz, 15 Hz, etc.).

[0079] In some embodiments, when the speed of an object is equal to a preset speed threshold, the controller can control the lidar to scan and detect the second detection area at the first value of the second measurement frequency, or can scan and detect the second detection area at the second value of the second measurement frequency. Specifically, it can be set according to the parameters of the lidar. Alternatively, when the speed of the object is equal to the preset speed threshold, the current value of the second measurement frequency can be kept unchanged, and the controller can control the lidar to scan and detect the second detection area at the current value of the second measurement frequency. Or, the current value of the second measurement frequency can be changed only when the speed of the object is greater than or less than the preset speed threshold. This can reduce the frequent switching of the measurement frequency caused by the change of the object speed near the speed threshold, enable the lidar to operate stably, and keep the lidar robust.

[0080] In some embodiments, the speed threshold can be set as a threshold with a certain range. For example, the speed threshold is [v1, v2], where v1 < v2. When the speed of the object is less than the speed threshold v1, the controller can control the lidar to scan and detect the second detection area at the second value f2 (such as 5 Hz, etc.) of the second measurement frequency. When the speed of the object is greater than the speed threshold v2, the controller can control the lidar to scan and detect the second detection area at the first value f1 (such as 10 Hz, 15 Hz, etc.) of the second measurement frequency. When the speed of the object is between the speed thresholds v1 and v2, the controller can not adjust the second measurement frequency. For example, the controller can control the lidar to scan and detect the second detection area at the current measurement frequency.

[0081] In some embodiments, the step of controlling the lidar to scan and detect the second detection area at the second measurement frequency (step S12) includes: the controller can adjust the second measurement frequency of the lidar based on the distance and speed of the object; and can control the lidar to scan and detect the second detection area at the adjusted second measurement frequency. For example, when the distance of the object is relatively close or the speed is relatively fast, or when the distance of the object is relatively close and the speed is relatively fast, the controller can control the lidar to increase the value of the second measurement frequency and scan and detect at the increased second measurement frequency. Also for example, when the distance of the object is relatively far or the speed is relatively slow, or when the distance of the object is relatively far and the speed is relatively slow, the controller can control the lidar to decrease the value of the second measurement frequency and scan and detect at the decreased second measurement frequency. Optionally, different weights can be set for the distance and speed of the object, and the adjustment strategy of the second measurement frequency can be determined comprehensively based on the distance and speed of the object.

[0082] In some embodiments, the transmitter may be coupled to a transmit driver circuit, which may be coupled to a controller. The controller may send a control signal to the transmit driver circuit. The transmit driver circuit may adjust the second measurement frequency of the lidar based on the control signal. For example, the transmit driver circuit may control the emission timing of the laser based on the control signal to adjust the second measurement frequency. Alternatively, the emission timing of the laser may be determined based on parameters such as the number of lasers emitting light in parallel with the laser, the value of the second measurement frequency to be adjusted, and the total number of lasers. For another example, the transmit driver circuit may control the gating speed (or gating interval, switching interval, or switching speed) of different lasers based on the control signal to adjust the second measurement frequency. It is understood that the adjustment method for the first measurement frequency may be the same as or similar to the adjustment method for the second measurement frequency. It is also understood that the adjustment method for the first measurement frequency may be different from the adjustment method for the second measurement frequency. It should be noted that the coupling between the transmitter and the transmit driver circuit, and the coupling between the transmit driver circuit and the controller, may include direct or indirect coupling. The transmitter and the transmit driver circuit may be provided on different circuit boards or chips. Alternatively, the transmitter and the transmitter driving circuit may be integrated on the same circuit board or chip.

[0083] In some embodiments, when the second measurement frequency of the laser radar is adjusted, the transmit drive circuit can adjust at least one of the pulse intensity, number of pulses, and pulse interval of the detection light emitted by the laser based on the control signal of the controller. This can enable the laser radar to maintain better detection performance. For example, when the second measurement frequency of the laser radar is reduced, the transmit drive circuit can increase at least one of the pulse intensity, number of pulses, and pulse interval of the detection light emitted by the laser based on the control signal of the controller. For another example, when the second measurement frequency of the laser radar is increased, the transmit drive circuit can reduce at least one of the pulse intensity, number of pulses, and pulse interval of the detection light emitted by the laser based on the control signal of the controller.

[0084] In some embodiments, the step of controlling the laser radar to scan and detect the second detection area at a second value of the second measurement frequency includes: increasing at least one of the pulse intensity, number of pulses and pulse interval of the detection light emitted by the laser.

[0085] In some embodiments, the pulse intensity of the probe light emitted by the laser can be increased by increasing at least one of the laser's drive voltage or drive current. Increasing the pulse intensity of the probe light emitted by the laser can compensate for signal attenuation during long-distance transmission, enabling the lidar to detect objects at longer distances.

[0086] Optionally, the number of pulses of detection light emitted by the laser can be increased. This can make the laser radar have a higher signal-to-noise ratio. The laser can emit light multiple times during its light-emitting time, and one light-emitting can emit a detection pulse. The number of repeated light-emitting times can reach 400-500 times, or even thousands of times, or more or less times. The detection results of multiple repeated measurements can be accumulated to obtain a data point (for example, a point in the corresponding point cloud). Figure 5 shows an exemplary schematic diagram of adjusting the number of pulses of detection light emitted by the laser, consistent with some embodiments of the present disclosure. Referring to Figure 5(a), the laser can emit light multiple times during its light-emitting time, for example, 400 times, and each time it emits a pulse P, a total of 400 pulses are emitted, and the total light-emitting time is time1. Accordingly, the laser radar can receive echo pulses of 400 pulses. These echo pulse data can be accumulated to obtain a data point. After increasing the number of pulses of detection light emitted by the laser, referring to Figure 5(b), the number of pulses of detection light emitted by the laser during its emission time increases from 400 to 800, for example, and the total emission time of 800 pulses is time2. Accordingly, the lidar can receive 800 pulses of echo pulses. These echo pulse data can be accumulated to obtain a data point. When detecting objects farther away, the measurement frequency is reduced. By increasing the number of pulses of detection light emitted by the laser during its emission time, a data point can be generated by the accumulation of more echo pulses. Even if the echo energy of distant objects is low, the signal-to-noise ratio of the lidar can be improved, and the distance measurement capability of the lidar can be maintained or even improved.

[0087] Optionally, by increasing the pulse interval of the laser emitting detection light, the laser radar can have a higher signal-to-noise ratio while taking into account the safety of human eyes. Figure 6 shows an exemplary schematic diagram of adjusting the pulse interval of the laser emitting detection light consistent with some embodiments of the present disclosure. Referring to Figure 6(a), the laser can emit light multiple times within its emission time, and can emit a detection light pulse P each time it emits light, with the adjacent pulse interval being gap1. After increasing the pulse interval of the laser emitting detection light, referring to Figure 6(b), the pulse interval is increased from gap1 to gap2, for example. The increase in the pulse interval of the laser emitting detection light can reserve more flight time for the echo, can reduce or even avoid mutual interference between different echoes, and improve the detection performance of the laser radar. In addition, due to the increase in the pulse interval of the laser emitting detection light, the cumulative intensity of the laser pulse per unit time can be reduced, thereby reducing the safety risk to the human eye. Alternatively, after the pulse interval is increased, the intensity of a single laser pulse can be enhanced while ensuring the safety of the human eye to improve the ranging range of the laser radar.

[0088] In some embodiments, by setting the weights of the pulse intensity, number of pulses and pulse interval of the detection light emitted by the laser, the controller can adjust two or three of the pulse intensity, number of pulses and pulse interval to enable the laser radar to adapt to better detection performance, all of which are within the scope of protection of the present disclosure.

[0089] In some embodiments, the first measurement frequency may include multiple values. For example, the first measurement frequency may include a third value and a fourth value. Among them, the fourth value is smaller than the third value. Regarding the specific size of the third value and the fourth value, the present disclosure does not limit it and can be flexibly configured according to needs. In addition, the first measurement frequency may also include more values, depending on the actual situation. In addition, the present disclosure does not limit the size relationship between the third value and the fourth value of the first measurement frequency and the first value and the second value of the first measurement frequency. The first measurement frequency and the second measurement frequency may be completely different or partially the same. The following takes the example of the first measurement frequency including the third value and the fourth value to introduce how to control the laser radar to scan and detect the first detection area at the first measurement frequency (step S11).

[0090] In some embodiments, the step of controlling the laser radar to scan and detect the first detection area at a first measurement frequency (step S11) includes: the controller can determine the parameters of the object, and based on the parameters of the object, can control the laser radar to scan and detect the first detection area at the first measurement frequency. The parameters of the object may include at least one of the distance and speed of the object. The controller can adjust the first measurement frequency of the laser radar based on the parameters of the object, and control the laser radar to scan and detect the first detection area at the adjusted first measurement frequency. The present disclosure can adjust the first measurement frequency in the same or similar manner as adjusting the second measurement frequency of the laser radar based on the parameters of the object.

[0091] In some embodiments, when the first measurement frequency of the laser radar is adjusted, the emission drive circuit can adjust at least one of the pulse intensity, number of pulses, and pulse interval of the detection light emitted by the laser based on the control signal of the controller. This can enable the laser radar to maintain better detection performance. For example, when the first measurement frequency of the laser radar is reduced, the emission drive circuit can increase at least one of the pulse intensity, number of pulses, and pulse interval of the detection light emitted by the laser based on the control signal of the controller. For another example, when the first measurement frequency of the laser radar is increased, the emission drive circuit can reduce at least one of the pulse intensity, number of pulses, and pulse interval of the detection light emitted by the laser based on the control signal of the controller.

[0092] In some embodiments, the step of controlling the laser radar to scan and detect the first detection area at a first measurement frequency (step S11) includes: the controller can determine the operating parameters of the laser radar, and based on the operating parameters of the laser radar, can control the laser radar to scan and detect the first detection area at the first measurement frequency. The operating parameters of the laser radar may include temperature. For example, the value of the first measurement frequency can be adjusted based on the temperature of the laser radar. For example, when the temperature of the laser radar is low, the value of the first measurement frequency can be increased. When the temperature of the laser radar is high, the value of the first measurement frequency can be reduced. The controller can control the laser radar to scan and detect the first detection area at the adjusted first measurement frequency. By controlling the laser radar to adjust between multiple values ​​in the first measurement frequency, the dynamic range of the first measurement frequency can be improved, the dynamic detection performance of the laser radar for the first detection area can be improved, and the laser radar can be dynamically adjusted under different operating parameters.

[0093] It should be noted that the temperature here can be understood as the temperature inside the lidar, or as the ambient temperature of the lidar.

[0094] In some embodiments, the temperature of the lidar can be determined using a temperature sensor. The temperature sensor can be built into the lidar or external to the lidar. The temperature of the lidar can be detected using the temperature sensor. The lidar controller can communicate with the temperature sensor, or the controller can read measurement data from the temperature sensor to obtain the lidar temperature. It should be noted that communication between the controller and the temperature sensor can be achieved via wired or wireless means. Communication between the controller and the temperature sensor can include unidirectional or bidirectional transmission of electrical signals and / or control signals.

[0095] In some embodiments, when the temperature of the laser radar is lower than a preset temperature threshold, the controller may adjust the first measurement frequency to a third value, and control the laser radar to scan and detect the first detection area at the third value of the first measurement frequency. For example, when the temperature T of the laser radar (e.g., 10°C, etc.) is lower than a preset temperature threshold T0 (e.g., 80°C), the controller may control the laser radar to adjust the first measurement frequency to a third value f3 (e.g., 25Hz, 30Hz, 35Hz, etc.), and may control the laser radar to scan and detect the first detection area at the third value f3 of the first measurement frequency (e.g., 25Hz, 30Hz, 35Hz, etc.).

[0096] In some embodiments, when the temperature of the lidar exceeds a preset temperature threshold, the controller may adjust the first measurement frequency to a fourth value and control the lidar to scan and detect the first detection area at the fourth value of the first measurement frequency. Here, the fourth value is less than the third value. When the temperature T (such as 90 °C etc.) of the lidar exceeds the preset temperature threshold T0 (such as 80 °C), the lidar can be controlled to adjust the first measurement frequency to the fourth value f4 (such as 20 Hz), and the controller can control the lidar to scan and detect the first detection area at the fourth value f4 (such as 20 Hz) of the first measurement frequency.

[0097] In some embodiments, when the temperature of the lidar is equal to the preset temperature threshold, the controller may control the lidar to scan and detect the first detection area at the third value of the first measurement frequency, or may also scan and detect the first detection area at the fourth value of the first measurement frequency. Alternatively, when the temperature of the lidar is equal to the preset temperature threshold, the controller may not change the current value of the first measurement frequency and control the lidar to scan and detect the first detection area at the current value of the first measurement frequency. Or, the current value of the first measurement frequency may be changed only when the temperature of the lidar is greater than or less than the preset temperature threshold.

[0098] In some embodiments, the temperature threshold may be set as a threshold with a certain range, for example, the temperature threshold is [T1, T2], where T1 < T2. When the temperature of the lidar is lower than the temperature threshold T1, the controller may control the lidar to scan and detect the first detection area at the third value f3 (such as 25 Hz, 30 Hz, 35 Hz, etc.) of the first measurement frequency. When the temperature of the lidar is higher than the temperature threshold T2, the controller may control the lidar to scan and detect the first detection area at the fourth value f4 (such as 20 Hz, etc.) of the first measurement frequency. When the temperature of the lidar is between the temperature thresholds T1 and T2, the controller may not adjust the first measurement frequency. For example, the controller may control the lidar to maintain the current measurement frequency to scan and detect the first detection area. This can reduce the frequent switching of the measurement frequency caused by the temperature change near the temperature threshold, enabling the lidar to operate stably and maintain robustness.

[0099] In some embodiments, the step (step S11) of controlling the lidar to scan and detect the first detection area at the first measurement frequency further includes: when the temperature of the lidar exceeds the temperature threshold, the controller may reduce the pulse intensity of the detection light emitted by the laser. Reducing the luminous intensity of the laser can reduce the power consumption of the lidar to prevent the lidar from crashing at high temperatures.

[0100] In some embodiments, the step of controlling the laser radar to scan and detect the first detection area at the first measurement frequency (step S11) further includes: when the temperature of the laser radar is lower than a temperature threshold, the controller may increase the pulse intensity of the detection light emitted by the laser. Increasing the laser emission intensity can enable the laser radar to maintain better detection performance (e.g., range finding capability, signal-to-noise ratio, etc.).

[0101] In some embodiments, the first detection area may include multiple sub-areas. The detection method 10 also includes: determining whether the same sub-area in the first detection area detects an object in multiple consecutive frames of point cloud data. When the same sub-area in the first detection area does not detect an object in multiple consecutive frames of point cloud data, the controller can reduce the luminous intensity of the laser corresponding to the sub-area. This can save the power consumption of the laser radar. When the point cloud frames in which the same sub-area in the first detection area detects an object in multiple consecutive frames of point cloud data reach a certain proportion, the controller can increase the luminous intensity of the laser corresponding to the sub-area. This can enable the laser radar to detect more accurately and specifically.

[0102] Similarly, in some embodiments, the second detection area may include multiple sub-areas. The detection method 10 also includes: determining whether a sub-area in the second detection area detects an object in multiple consecutive frames of point cloud data. When a sub-area in the second detection area does not detect an object in multiple consecutive frames of point cloud data, the controller may reduce the luminous intensity of the laser corresponding to the sub-area. This can save the power consumption of the laser radar. When a sub-area in the second detection area detects an object in a certain proportion of point cloud frames in multiple consecutive frames of point cloud data, the luminous intensity of the laser corresponding to the sub-area can be increased. This enables the laser radar to achieve targeted and accurate detection.

[0103] In some embodiments, the lidar can be mounted on a vehicle. A vehicle can include a device equipped with a lidar, such as a car, an autonomous vehicle, a truck, a van, an electric vehicle, a bus, a train, a high-speed train, a motorcycle, a golf cart, an off-road vehicle, an agricultural vehicle, a construction vehicle, or any other vehicle (e.g., a robot, a logistics vehicle, an unmanned delivery vehicle, a suitcase, a cart, a boat, an airplane, a helicopter, a drone, a lawn mower, a submarine, amusement park equipment or vehicle, warehouse equipment or vehicle, production equipment, etc.).

[0104] This disclosure does not limit the installation location of the LiDAR on a vehicle. For example, in a car, the LiDAR can be installed inside the vehicle, such as on the inside of the windshield, or outside the vehicle, such as on the roof, front, rear, or side of the vehicle, depending on the actual situation.

[0105] In some embodiments, when a lidar is installed on a vehicle, the front of the vehicle is sometimes the primary direction of travel, requiring medium- and long-range detection to identify medium- and long-range objects as quickly as possible. The second detection area can serve as the lidar's primary field of view, detecting medium- and long-range objects ahead. In some embodiments, during vehicle travel, there are many objects (e.g., pedestrians, non-motorized vehicles, railings, etc.) at close range to the side, and the movement trajectories of some objects are complex and changeable, requiring the lidar to quickly perceive changes in the surrounding environment. The first detection area can serve as a peripheral field of view (or blind spot field of view) for detecting close-range objects to the side. In some embodiments, the lidar can use different measurement frequencies when scanning and detecting the first and second detection areas. Using different measurement frequencies for different detection areas can adapt to the varying needs of different scenarios. For example, the lidar can use a first measurement frequency when scanning and detecting the first detection area, and a second measurement frequency when scanning and detecting the second detection area. Optionally, the first measurement frequency can be greater than or equal to the second measurement frequency. For example, the first measurement frequency can be 30Hz, 25Hz, 20Hz, 15Hz, etc., and the second measurement frequency can be 15Hz, 10Hz, 5Hz, etc. A higher measurement frequency can provide a point cloud with a higher refresh rate. The lidar can use the first measurement frequency (for example, 20Hz) to scan and detect the first detection area, which enables the lidar to scan the surrounding environment faster, quickly perceive changes in the surrounding environment, and provide timely perception feedback to the vehicle. The lidar can use the second measurement frequency (for example, 10Hz) to scan and detect the second detection area, which enables the lidar to scan the front field of view farther, detect objects earlier, enable the vehicle to more fully predict the road conditions ahead, and adopt reasonable driving strategies.

[0106] In some embodiments, the vehicle can be driven autonomously, with levels of autonomous driving ranging from L0 to L5, for example.

[0107] Level L0: No autonomous driving function.

[0108] Level L1: Driver Assistance. At this level, the vehicle is equipped with certain assistance functions, such as adaptive cruise control (ACC) and lane keeping assist (LKA), but the driver still needs to monitor the driving throughout the process, and the system only partially assists in driving tasks.

[0109] Level 2: Partially automated driving. Driver assistance. At this level, the vehicle is equipped with certain assistance features, such as adaptive cruise control (ACC) and lane keeping assist (LKA), but the driver still needs to monitor the driving at all times, and the system only partially assists with driving tasks.

[0110] Level 3: Conditional Autonomous Driving. At this level, the vehicle can achieve fully automated driving under certain conditions, such as autonomous driving on highways. The driver can choose whether to monitor the driving at all times, but must immediately take control if necessary.

[0111] Level 4: Highly automated driving. At this level, the vehicle can drive autonomously under certain conditions, without the need for full driver supervision. However, in certain situations (such as inclement weather), the driver still needs to take control.

[0112] Level 5: Fully automated driving. At this level, the vehicle can drive completely autonomously under all conditions, without driver intervention. The vehicle has its own intelligent decision-making system that takes full responsibility for driving.

[0113] In some embodiments, in step S11, the controller may control the laser radar to scan and detect the first detection area at a first measurement frequency based on the vehicle's autonomous driving level. For example, when the vehicle's autonomous driving level is high (e.g., level L3, L4, L5), the controller may control the laser radar to scan and detect the first detection area at a higher first measurement frequency (e.g., 20 Hz, 25 Hz, 30 Hz, etc.). Conversely, when the vehicle's autonomous driving level is low (e.g., level L0, L1, L2), the controller may control the laser radar to scan and detect the first detection area at a lower first measurement frequency (e.g., 10 Hz, 15 Hz, 20 Hz, etc.).

[0114] In some embodiments, in step S12, the controller may control the lidar to scan and detect the second detection area at a second measurement frequency based on the vehicle's autonomous driving level. For example, when the vehicle's autonomous driving level is high (e.g., level L3, L4, L5), the controller may control the lidar to scan and detect the second detection area at a higher second measurement frequency (e.g., 15Hz, 20Hz). Conversely, when the vehicle's autonomous driving level is low (e.g., level L0, L1, L2), the controller may control the lidar to scan and detect the second detection area at a lower second measurement frequency (e.g., 5Hz, 10Hz, 15Hz, etc.).

[0115] In some embodiments, when the vehicle's autonomous driving level decreases (e.g., from level L4 to L2), the controller may lower at least one of the first and second measurement frequencies of the lidar. When the vehicle's autonomous driving level increases (e.g., from level L1 to L3), the controller may increase at least one of the first and second measurement frequencies of the lidar.

[0116] In some embodiments, the controller may control the laser radar to scan and detect the second detection area at a second measurement frequency based on the vehicle's travel speed. For example, when the vehicle's travel speed is relatively fast, the controller may control the laser radar to scan and detect the second detection area at a higher second measurement frequency. When the vehicle's travel speed is relatively slow, the controller may control the laser radar to scan and detect the second detection area at a lower second measurement frequency. Similarly, the controller may also control the laser radar to scan and detect the first detection area at a first measurement frequency based on the vehicle's travel speed, which will not be further described here.

[0117] In some embodiments, the controller can control the laser radar to scan and detect the second detection area at a second measurement frequency according to the vehicle's driving path. For example, when the vehicle is driving on a highway or an expressway, the controller can control the laser radar to scan and detect the second detection area at a lower second measurement frequency. When the vehicle is driving on urban roads or rural roads, the controller can control the laser radar to scan and detect the second detection area at a higher second measurement frequency. Similarly, the laser radar can also be controlled to scan and detect the first detection area at a first measurement frequency according to the vehicle's driving path, which will not be repeated here. This can achieve timely identification of distant objects when driving fast, and timely detection of changes in objects in scenes with complex personnel.

[0118] In some embodiments, the vehicle may include a display screen (not shown). The display screen may display vehicle driving data (e.g., driving speed, autonomous driving level, etc.), LiDAR operating data (e.g., LiDAR measurement frequency, pulse intensity, number of pulses, pulse interval, emission time, etc. of the laser-emitted detection light), and LiDAR detection results (e.g., point cloud data, object speed, object distance, object reflectivity, etc.).

[0119] The present disclosure does not limit the specific type of display screen. In some embodiments, the display screen can be a liquid-crystal display (LCD), a light emitting diode (LED), an organic light emitting diode (OLED), etc.

[0120] The present disclosure does not limit the specific location of the display screen on the vehicle. In some embodiments, based on different location, the display screen can be, for example, a central control screen, a head-up display (located on the windshield), a rearview mirror display, a side mirror display, an instrument panel display, a window display, etc.

[0121] In some embodiments, users can interact with the vehicle and / or LiDAR through a terminal to adjust the LiDAR's measurement frequency. Terminals may include, for example, vehicle controllers, mobile phones, tablets, laptops, wearable devices, cloud computing, vendor servers, etc. Users can adjust the LiDAR's measurement frequency through the terminal using buttons, touch screens, gestures, voice control, motion control, and other methods.

[0122] In some embodiments, the detection method 10 further includes: determining that the detection beam is irradiated onto one or more lasers on the vehicle; and turning off one or more lasers. FIG7 shows a schematic diagram of an exemplary vehicle consistent with some embodiments of the present disclosure. For example, referring to FIG7 , a laser radar is mounted on the rearview mirror M of vehicle C. The laser radar can also be mounted on the side of vehicle C. The detection beam L emitted by some lasers may be incident on the laser radar after secondary reflection from the body of vehicle C to generate a ghost image. The one or more lasers irradiated onto the vehicle can be determined based on the installation angle of the laser radar and the field of view angle corresponding to different lasers. The one or more lasers irradiated onto the vehicle can also be determined based on the point cloud obtained by the laser radar measurement. The one or more lasers irradiated onto the vehicle can be turned off. This can reduce the interference between the detection beam and the vehicle, reduce the probability of ghost images, and improve the accuracy of the laser radar detection results. It can also reduce the power consumption of the laser radar. It is understandable that the situation where the laser radar is installed at other locations on the vehicle is similar and will not be repeated here.

[0123] The above describes the detection method 10. In some embodiments, the detection method 10 can be performed by a controller or a laser radar. The controller may include, for example, a control circuit, a processor, etc. Alternatively, the controller may be provided on the laser radar, or on a device such as a vehicle, a server, or a computer.

[0124] Optionally, one or more modules in the controller that perform various steps may be fully or partially integrated into a single physical entity, or may be physically separate. Physically separate modules may be installed on different devices, for example, a module that performs some steps may be installed in a lidar, while a module that performs other steps may be installed in a vehicle.

[0125] The present disclosure also provides a laser radar. FIG8 shows a schematic diagram of an exemplary laser radar consistent with some embodiments of the present disclosure. Referring to FIG8 , the laser radar 200 includes a transmitter 210, a detector 220, and a controller 230. The transmitter 210 includes one or more lasers. The transmitter 210 can emit a detection light L. The detector 220 can receive an echo L' reflected by the detection light L on the object OB and convert it into an electrical signal. The controller 230 is coupled to the transmitter 210 and the detector 220. The controller 230 can be configured to execute the above-mentioned detection method 10 and can generate a point cloud.

[0126] It should be noted that the controller 230 can be coupled to the emitter 210 and the detector 220 either directly or indirectly. Communication between the emitter 210, the detector 220, and the controller 230 can include unidirectional or bidirectional transmission of electrical signals and / or control signals. Steps S11 and S12 in the detection method 10 can be performed by the controller 230 of the laser radar 200. Any embodiment of the detection method 10 can be performed by the controller 230 of the laser radar 200.

[0127] In some embodiments, the transmitter 210 may include multiple lasers that form a two-dimensional array, for example, mounted on a common circuit board, where some lasers can detect a first detection area and some lasers can detect a second detection area.

[0128] In some embodiments, the laser radar may include multiple lasers. The multiple lasers may be arranged into a two-dimensional laser array. The two-dimensional laser array may include a first laser array and a second laser array. The lasers in the first laser array may scan and detect a first detection area. The lasers in the second laser array may scan and detect a second detection area.

[0129] In some embodiments, the first laser array and the second laser array can be mounted on different circuit boards or transmitter chips. For example, as shown in FIG4 , the first laser array can be mounted on a first circuit board or a first transmitter chip to constitute a first transmitter TX1. The second laser array can be mounted on a second circuit board or a second transmitter chip to constitute a second transmitter TX2.

[0130] In some embodiments, the first laser array and the second laser array can be mounted on the same circuit board or transmitter chip. For example, the first laser array can be mounted on an edge region of the circuit board or transmitter chip, and the second laser array can be mounted on a central region of the circuit board or transmitter chip.

[0131] In some embodiments, the transmitter may include multiple lasers, and the multiple lasers may be arranged as a one-dimensional laser array. Optionally, the lidar may further include a light homogenizer. The light homogenizer may be disposed downstream of the optical path of the laser. The light homogenizer may widen the probe beam emitted by the laser in a direction perpendicular to the arrangement direction of the one-dimensional laser array. For example, when the one-dimensional laser array is arranged in a vertical direction, the light homogenizer may widen the probe light emitted by the laser in a horizontal direction. When the one-dimensional laser array is arranged in a horizontal direction, the light homogenizer may widen the probe light emitted by the laser in a vertical direction.

[0132] In some embodiments, the multiple lasers of a lidar can be divided into multiple partitions. Each partition can include one or more lasers. Optionally, the lasers can be divided evenly, and the number and arrangement of lasers in each partition can be the same. Figure 9 shows a schematic diagram of an exemplary laser partition consistent with some embodiments of the present disclosure. For example, as shown in Figure 9, the arrangement of the lasers is the same, and the lasers 211 (dark squares) in the first partition and the lasers 212 (light squares) in the second partition can be evenly arranged. Optionally, the lasers can be divided unevenly. At least one of the number and arrangement of lasers in different partitions is different. Figure 10 shows a schematic diagram of an exemplary laser partition consistent with some embodiments of the present disclosure. For example, as shown in Figure 10, the arrangement of the lasers 211 (dark squares) in the first partition is relatively sparse, while the arrangement of the lasers 212 (light squares) in the second partition is relatively dense. The lasers 211 in the first partition can scan and detect the first detection area R1. The lasers 212 in the second partition can scan and detect the second detection area R2. By controlling lasers in different partitions to scan and detect different detection areas, it is possible to adjust the measurement frequency not only in the entire detection field of view, but also in the local detection field of view, thereby improving the dynamic adjustment range of the laser radar and improving the dynamic detection performance of the laser radar.

[0133] It should be noted that Figures 9 and 10 illustrate the use of a laser divided into two regions as an example. In practical applications, the number of laser partitions is not limited, and the laser can be divided into more partitions, which can be flexibly adjusted according to needs. In addition, some or all lasers can be independently gated and addressed, and can be independently controlled. By individually controlling at least one of the pulse intensity, number of pulses, and pulse interval of the probe light emitted by different lasers in different partitions, a more flexible detection method can be achieved, which can improve the dynamic detection performance of different regions.

[0134] The present disclosure also relates to a device. FIG11 illustrates a schematic diagram of an exemplary device 300 consistent with some embodiments of the present disclosure. As shown in FIG11 , the device 300 may include a processor 310 and a memory 320. The memory 320 may include computer-executable instructions stored therein. When executed by the processor 310, the executable instructions may implement the detection method 10 described in any of the above embodiments.

[0135] In some embodiments, the device may include but is not limited to a vehicle controller, a mobile phone, a tablet, a laptop, a wearable device, a cloud, a manufacturer's server, a computer, etc.

[0136] In some embodiments, the processor may include a CPU, and may also include other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.

[0137] In some embodiments, the memory may include random access memory (RAM) or non-volatile memory. Further, the memory may include at least one of phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), read-only memory (ROM), and electrically erasable programmable read-only memory (EEPROM).

[0138] The present disclosure also provides a computer-readable storage medium, including computer-executable instructions stored thereon, and the executable instructions implement the detection method 10 of the laser radar 200 as described above when executed by a processor.

[0139] The present disclosure may take the form of a computer program product implemented on one or more storage media containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and may be implemented by any method or technology to store information. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: PRAM, SRAM, DRAM, other types of RAM, ROM, EEPROM, flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0140] The detection method disclosed in the present invention can control the laser radar to scan and detect the first detection area at a first measurement frequency, and control the laser radar to scan and detect the second detection area at a second measurement frequency. At least one of the first measurement frequency and the second measurement frequency is adjustable, and has strong dynamic adjustment capabilities, which can meet the detection needs of different detection areas.

[0141] The detection method disclosed herein divides the LiDAR's field of view into different detection zones, allowing for flexible adjustment of the measurement frequency for each zone. Different measurement frequencies can be used to meet the detection requirements of each zone in different scenarios. When the scene changes, the measurement frequency can be adjusted not only for the entire detection field of view but also for local detection fields, dynamically adjusting the LiDAR's detection performance and achieving better overall environmental detection.

[0142] The LiDAR of the present disclosure can have multiple detection modes. Different detection modes can use different measurement frequencies, which can be flexibly adjusted. For medium- and long-range detection mode, the LiDAR can use a lower second measurement frequency for scanning detection, allowing sufficient time for long-range detection. For close-range detection mode, the LiDAR can use a higher first measurement frequency for scanning detection, allowing for rapid perception of changes in the surrounding environment, rapid update of detection results, and early identification of close-range objects.

[0143] In the laser radar disclosed herein, the first measurement frequency and the second measurement frequency can have multiple values, and the number and size of the multiple values ​​can be flexibly adjusted according to the speed and distance of the object, the temperature of the laser radar, etc. It has strong environmental perception ability and strong adaptive adjustment ability, and takes into account low power consumption, human eye safety and better detection performance.

[0144] The device disclosed herein adopts the laser radar and detection method disclosed herein, which can realize dynamic switching of measurement frequency and dynamic switching of detection mode, can perceive changes in the surrounding environment in real time, and quickly respond to environmental changes, which can improve the driving safety of equipment (such as vehicles, etc.) and enhance user experience.

[0145] It should be noted that although several modules of the lidar are mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules described above can be implemented in a single module. Conversely, the features and functions of a single module described above can be further divided and embodied by multiple modules.

[0146] It should be noted that this specification provides method operation steps such as embodiments or schematic diagrams, but based on routine or non-creative work, more or fewer operation steps may be included. The order of steps listed in the embodiments is only one way of executing the steps among many, and does not represent the only execution order. When implemented in actual systems or device products, the methods shown in the embodiments or flowcharts can be executed sequentially or in parallel.

[0147] Finally, it should be noted that the above are merely preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A laser radar detection method, characterized in that: The detection method comprises: Controlling the laser radar to scan and detect a first detection area at a first measurement frequency; Controlling the laser radar to scan and detect the second detection area at a second measurement frequency; At least one of the first measurement frequency and the second measurement frequency is adjustable.

2. The detection method according to claim 1, characterized in that: The first detection area and the second detection area do not completely overlap.

3. The detection method according to claim 1 or 2, characterized in that: The first measurement frequency is greater than or equal to the second measurement frequency.

4. The detection method according to claim 1 or 2, characterized in that: The detection method includes: determining the second detection area based on the point cloud data of the laser radar.

5. The detection method according to claim 1 or 2, characterized in that: The step of controlling the laser radar to scan and detect the second detection area at the second measurement frequency includes: Determine the distance of an object; When the distance of the object is greater than a preset distance threshold, adjusting the second measurement frequency from the first value to a second value; wherein the second value is smaller than the first value; Control the laser radar to scan and detect the second detection area at the second value of the second measurement frequency.

6. The detection method according to claim 1 or 2, characterized in that: The step of controlling the laser radar to scan and detect the second detection area at the second measurement frequency includes: Determine the velocity of an object; When the speed of the object is less than a preset speed threshold, adjusting the second measurement frequency from the first value to a second value; wherein the second value is less than the first value; Control the laser radar to scan and detect the second detection area at the second value of the second measurement frequency.

7. The detection method according to claim 5 or 6, characterized in that: The laser radar includes a laser; and the step of controlling the laser radar to scan and detect the second detection area at the second value of the second measurement frequency includes: At least one of the pulse intensity, the number of pulses, and the pulse interval of the probe light emitted by the laser is increased.

8. The detection method according to claim 1 or 2, characterized in that: The step of controlling the laser radar to scan and detect the first detection area at the first measurement frequency includes: determining a temperature of the lidar; When the temperature exceeds a temperature threshold, adjusting the first measurement frequency from a third value to a fourth value; wherein the fourth value is less than the third value; Control the laser radar to scan and detect the first detection area at the fourth value of the first measurement frequency.

9. The detection method according to claim 8, characterized in that: The laser radar includes a laser; the step of controlling the laser radar to scan and detect the first detection area at the first measurement frequency includes: when the temperature exceeds a temperature threshold, reducing the pulse intensity of the detection light emitted by the laser.

10. The detection method according to claim 1 or 2, characterized in that: The laser radar includes a laser; the detection method includes: When no object is detected in a sub-area of the first detection area in multiple frames of point cloud data, the pulse intensity of the detection light emitted by the laser corresponding to the sub-area is reduced.

11. The detection method according to claim 1 or 2, characterized in that: The laser radar includes a laser; the detection method includes: determining that a probe beam impinges upon one or more lasers on the vehicle; The one or more lasers are turned off.

12. The detection method according to claim 1 or 2, characterized in that: The laser radar includes a plurality of lasers, which form a two-dimensional array, wherein a portion of the lasers is configured to detect the first detection area, and a portion of the lasers is configured to detect the second detection area.

13. A laser radar, characterized in that: The laser radar includes: a transmitter, a detector and a controller; The emitter is configured to emit a probe light; The detector is configured to receive an echo of the detection light reflected from an object and convert the echo into an electrical signal; The controller is coupled to the emitter and the detector, and is configured to perform the detection method according to any one of claims 1 to 12.

14. The laser radar according to claim 13, characterized in that The transmitter includes multiple lasers; the multiple lasers are arranged into a one-dimensional laser array; the laser radar also includes a light homogenizer, which is configured to widen the detection beam emitted by the laser along a direction perpendicular to the arrangement direction of the one-dimensional laser array.

15. The laser radar according to claim 13, characterized in that The transmitter includes a plurality of lasers arranged in a two-dimensional laser array.

16. The laser radar according to claim 15, characterized in that The two-dimensional laser array includes a first laser array and a second laser array. The lasers in the first laser array are configured to scan and detect the first detection area, and the lasers in the second laser array are configured to scan and detect the second detection area.

17. The laser radar according to claim 16, characterized in that The first laser array and the second laser array are respectively mounted on different circuit boards.

18. A device, characterized in that The device comprises a processor and a memory, wherein the memory comprises computer executable instructions stored thereon, and when the executable instructions are executed by the processor, the detection method according to any one of claims 1 to 12 is implemented.

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