Lidar system, control method, and control apparatus

Abstract

A LiDAR system, a control method, and a control apparatus. The LiDAR system (400) comprises: a transmitting unit (410), a first scanning unit (420) and a second scanning unit (430), wherein the two scanning units are both arranged on the propagation path of a detection light beam transmitted by the transmitting unit (410); the first scanning unit (420) performs slow-axis scanning on the detection light beam by means of swinging, and the second scanning unit (430) performs fast-axis scanning on the detection light beam by means of continuous rotation; the scanning period of the second scanning unit (430) comprises a first time period for performing idle scanning and a second time period for completing one fast-scanning period in an object space; and the first scanning unit (420) rotates from one angular position to another angular position in the first time period and keeps the angular position unchanged in the second time period. The LiDAR system (400) can be applied to detection or sensing systems of new energy vehicles or intelligent driving vehicles, and can improve the speed measurement and distance measurement performance of LiDAR when scanning apparatuses are used.

Description

Laser radar system, control method and control device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on March 20, 2024, with application number 202410325031.8 and invention name “Lidar system, control method and control device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of detection technology, and more specifically, to a laser radar system, a control method, and a control device. Background Art

[0003] Vertical resolution is a key metric for evaluating lidar performance. To achieve higher vertical resolution, a multi-line lidar can be used. A multi-line lidar employs multiple transmitters and corresponding detectors. Transceiver channels are formed between these transmitters and detectors. Arranging these channels vertically can achieve higher vertical resolution. Increasing the number of transceiver channels improves the vertical resolution of a multi-line lidar and increases its vertical detection range. However, due to cost and available space constraints, adding too many channels is difficult.

[0004] When using a low-channel LiDAR, adding a scanning device can improve vertical resolution and achieve wide field-of-view detection. However, the inclusion of a scanning device can lead to uneven point cloud distribution and transmit / receive delay, affecting the LiDAR's speed and ranging performance. Therefore, ensuring the LiDAR's speed and ranging performance when using a scanning device has become a pressing issue. Summary of the Invention

[0005] The present application provides a laser radar system, a control method and a control device, which can improve the speed and distance measurement performance of the laser radar when a scanning device is used.

[0006] In a first aspect, a laser radar system is provided, comprising a transmitting unit, a first scanning unit, and a second scanning unit. The transmitting unit is configured to transmit a detection beam, and the first scanning unit and the second scanning unit are disposed on a propagation path of the detection beam. The first scanning unit is configured to swing about a first axis to scan the detection beam along a slow axis. The second scanning unit is configured to continuously rotate in a clockwise or counterclockwise direction about a second axis to scan the detection beam along a fast axis. The scanning cycle of the second scanning unit includes a first time period and a second time period. The second scanning unit performs an idle scan in the first time period, and scans the detection beam within the object space to complete a fast-axis cycle in the second time period. The first scanning unit is configured to rotate from a first angular position to a second angular position in the first time period, and maintain the angular position unchanged in the second time period.

[0007] For example, the first scanning unit may be an oscillating mirror or a vibrating mirror, and the second scanning unit may be a rotating mirror. On the propagation path of the detection beam, after being emitted by the emission unit, the detection beam may first pass through the first scanning unit and then through the second scanning unit, or may first pass through the second scanning unit and then through the first scanning unit.

[0008] Exemplarily, idle scanning may include scanning outside the field of view / effective field of view. For example, if the second scanning unit is a pentaprism with five reflective surfaces, each scanning cycle of the pentaprism corresponds to a scanning angle of 144°. Assuming a horizontal field of view angle of 120°, each scanning cycle of the pentaprism may include a 24° scanning angle in the idle scanning phase. During the idle scanning phase, the transmitting unit may or may not transmit a probe beam.

[0009] In one embodiment, during the swinging process of the first scanning unit, the first scanning unit does not rotate continuously from one end of the swinging process to the other end, but instead swings from one end to the other in a step-by-step manner. This method can satisfy the requirement that the first scanning unit adjusts its angular position during the first time period while maintaining the angular position unchanged during the second time period.

[0010] In real-world scenarios, it's necessary to improve the angular resolution of certain areas within the field of view. For example, when using a slow-scan mirror + fast-scan mirror setup, the angular resolution in the vertical field of view is often adjusted by adjusting the slow-scan mirror's rotation speed. However, since adjusting the slow-scan mirror's rotation speed takes a certain amount of time, for multi-channel LiDARs, during the time it takes to adjust the slow-scan mirror's rotation speed, the scanning trajectories of different channels in the field of view will overlap, resulting in uneven point cloud distribution and impacting LiDAR performance.

[0011] In this application, the angular position of the first scanning unit is adjusted during the idle scanning phase of the second scanning unit's scanning cycle; while the angular position of the first scanning unit remains unchanged during the second scanning unit's scanning cycle involving scanning within the field of view. This approach prevents interference with the point cloud distribution during the adjustment of the first scanning unit's angular position, avoids the impact of the first scanning unit's continuous rotation on the scanning trajectory, and maintains the speed and distance measurement performance of the lidar system when using a scanning device.

[0012] In combination with the first aspect, in certain implementations of the first aspect, in multiple consecutive scanning cycles of the second scanning unit, the angular position of the first scanning unit is in a first angular range, and the first angular range may include multiple angular positions, and the first angular position and the second angular position are two adjacent angular positions among the multiple angular positions; the first angular range corresponds to a first field of view area in the vertical field of view of the system, and the vertical angular resolution in the first field of view area is determined based on the angle between the first angular position and the second angular position.

[0013] In combination with the first aspect, in certain implementations of the first aspect, the multiple angular positions may further include a third angular position adjacent to the first angular position, and the angle between the first angular position and the third angular position is equal to the angle between the first angular position and the second angular position; and / or, the multiple angular positions may further include a fourth angular position adjacent to the second angular position, and the angle between the second angular position and the fourth angular position is equal to the angle between the first angular position and the second angular position.

[0014] In the present application, the angular positions in the same angular interval are distributed at equal intervals, so that the viewing area corresponding to the angular interval in the vertical field of view can have a uniform angular resolution.

[0015] In combination with the first aspect, in certain implementations of the first aspect, the first angular position is in a second angular interval, the second angular position is in a third angular interval, the second angular interval may further include a fifth angular position adjacent to the first angular position, and the third angular interval may further include a sixth angular position adjacent to the second angular position; the second angular interval corresponds to a second field of view area in the vertical field of view of the system, the third angular interval corresponds to a third field of view area in the vertical field of view of the system, the second field of view area is adjacent to the third field of view area, the vertical angular resolution in the second field of view area is determined based on the angle between the first angular position and the fifth angular position, and the vertical angular resolution in the third field of view area is determined based on the angle between the second angular position and the sixth angular position.

[0016] In the present application, when multiple angle intervals are involved, the angular positions in the same angle interval are equally spaced, and different angular position changes are used in different angle intervals, so that different field of view areas in the vertical field of view can have different angular resolutions, which is helpful for the setting and planning of different angular resolution areas in the vertical field of view.

[0017] In conjunction with the first aspect, in certain implementations of the first aspect, the system may further include a receiving unit and a waveguide device, the receiving unit being configured to receive return light from the probe beam, and the waveguide device being configured to guide the return light to the receiving unit. The waveguide device satisfies the following condition: a waveguide light spot formed by processing a light beam in a direction opposite to that of the return light by the waveguide device has a non-uniform light field intensity distribution.

[0018] In the present application, the waveguide mode spot of the waveguide device has a non-uniform light field intensity distribution, which can alleviate the degradation effect of the transmitting and receiving delay angle on the speed and ranging function of the laser radar.

[0019] In combination with the first aspect, in certain implementations of the first aspect, the waveguide light spot has a non-uniform light field intensity distribution along the second axis.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the waveguide spot has a non-uniform light field intensity distribution, which may include: the light field intensity of the waveguide spot is biased on the right side along the fast axis direction, biased on the left side along the fast axis direction, symmetrically distributed on the left and right sides along the fast axis direction, or asymmetrically distributed on the left and right sides along the fast axis direction.

[0021] In the present application, the waveguide mode spot with non-uniform light field intensity distribution is arranged along the second direction or along the fast axis direction, which can provide different coupling efficiencies for the focused light spot of the return light from near to far targets, and can make the change of the echo power received within the detection range slower, thereby increasing the dynamic range of the system.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the waveguide device may include at least one of the following: an optical device made of multiple waveguides based on a beam combining process, a waveguide with a multi-branch structure, or a grating coupler.

[0023] In combination with the first aspect, in certain implementations of the first aspect, the emitting unit may include multiple light beam emitting channels, the multiple light beam emitting channels may be arranged in an array at equal intervals, and each of the multiple light beam emitting channels may be used to emit a detection light beam.

[0024] In combination with the first aspect, in certain implementations of the first aspect, the second scanning unit scans the detection beam in the object space to complete a fast scanning cycle, which may include: the second scanning unit completes a scan of the detection beam within the horizontal field of view angle of the system.

[0025] A second aspect provides a control method that can be executed by a LiDAR system, or by an intelligent driving device equipped with the LiDAR system, or by a chip or processor corresponding to the LiDAR system. In some possible implementations, the chip or processor corresponding to the LiDAR system can be installed within the radar or externally.

[0026] The laser radar system may include a first scanning unit and a second scanning unit, which are arranged on the propagation path of the detection beam. The first scanning unit can be used to swing about a first axis to scan the detection beam along a slow axis. The second scanning unit can be used to continuously rotate in a clockwise or counterclockwise direction about a second axis to scan the detection beam along a fast axis. The scanning cycle of the second scanning unit includes a first time period and a second time period. The second scanning unit performs an idle scan in the first time period. In the second time period, the second scanning unit scans the detection beam in object space to complete a fast axis cycle.

[0027] The method comprises: controlling a first scanning unit to rotate from a first angular position to a second angular position in a first time period; and controlling the first scanning unit to maintain an unchanged angular position in a second time period.

[0028] In combination with the second aspect, in certain implementations of the second aspect, in multiple consecutive scanning cycles of the second scanning unit, the angular position of the first scanning unit is in a first angular range, and the first angular range may include multiple angular positions, and the first angular position and the second angular position are two adjacent angular positions among the multiple angular positions; the first angular range corresponds to the first field of view area in the vertical field of view of the system, and the vertical angular resolution in the first field of view area is determined based on the angle between the first angular position and the second angular position.

[0029] In combination with the second aspect, in certain implementations of the second aspect, the multiple angular positions may further include a third angular position adjacent to the first angular position, and the angle between the first angular position and the third angular position is equal to the angle between the first angular position and the second angular position; and / or, the multiple angular positions may further include a fourth angular position adjacent to the second angular position, and the angle between the second angular position and the fourth angular position is equal to the angle between the first angular position and the second angular position.

[0030] In combination with the second aspect, in certain implementations of the second aspect, the first angular position is in the second angular interval, the second angular position is in the third angular interval, the second angular interval may further include a fifth angular position adjacent to the first angular position, and the third angular interval may further include a sixth angular position adjacent to the second angular position; the second angular interval corresponds to the second field of view area in the vertical field of view of the system, the third angular interval corresponds to the third field of view area in the vertical field of view of the system, the second field of view area is adjacent to the third field of view area, the vertical angular resolution in the second field of view area is determined based on the angle between the first angular position and the fifth angular position, and the vertical angular resolution in the third field of view area is determined based on the angle between the second angular position and the sixth angular position.

[0031] In combination with the second aspect, in certain implementations of the second aspect, the laser radar system provided with a first scanning unit and a second scanning unit also includes an emitting unit for emitting a detection beam. The emitting unit may include multiple beam emitting channels, and the multiple beam emitting channels are arranged in an array at equal intervals. Each beam emitting channel in the multiple beam emitting channels is used to emit a detection beam.

[0032] In combination with the second aspect, in certain implementations of the second aspect, the second scanning unit scans the detection beam in the object space to complete a fast scanning cycle, which may include: the second scanning unit completes a scan of the detection beam within the horizontal field of view angle of the system.

[0033] In a third aspect, a waveguide device is provided. The waveguide device is used to guide the return light of the probe beam to a receiving unit. The waveguide device satisfies the following conditions: the waveguide spot formed by the light beam processed by the waveguide device in the opposite direction of propagation to the return light has a non-uniform light field intensity distribution.

[0034] In combination with the third aspect, in certain implementations of the third aspect, the waveguide device may include at least one of the following: an optical device made of multiple waveguides based on a beam combining process, a waveguide with a multi-branch structure, or a grating coupler.

[0035] In a fourth aspect, a laser radar system is provided, comprising a transmitting unit, a third scanning unit, a fourth scanning unit, a receiving unit, and the waveguide device of the third aspect and any possible implementation thereof. The transmitting unit is configured to transmit a probe beam, and the third scanning unit and the fourth scanning unit are disposed on a propagation path of the probe beam. The third scanning unit is configured to swing about a first axis to scan the probe beam along a slow axis; the fourth scanning unit is configured to continuously rotate clockwise or counterclockwise about a second axis to scan the probe beam along a fast axis; the receiving unit is configured to receive return light from the probe beam; and the waveguide device is configured to guide the return light to the receiving unit.

[0036] In combination with the fourth aspect, in certain implementations of the fourth aspect, the waveguide light spot has a non-uniform light field intensity distribution along the second axis.

[0037] In combination with the fourth aspect, in certain implementations of the fourth aspect, the waveguide spot has a non-uniform light field intensity distribution, which may include: the light field intensity of the waveguide spot is biased on the right side along the fast axis direction, biased on the left side along the fast axis direction, symmetrically distributed on the left and right sides along the fast axis direction, or asymmetrically distributed on the left and right sides along the fast axis direction.

[0038] In combination with the fourth aspect, in certain implementations of the fourth aspect, the emitting unit may include multiple light beam emitting channels, the multiple light beam emitting channels may be arranged in an array at equal intervals, and each of the multiple light beam emitting channels may be used to emit a detection light beam.

[0039] In a fifth aspect, a control device is provided, comprising a control unit configured to: control a first scanning unit to rotate from a first angular position to a second angular position during a first time period; and control the first scanning unit to maintain a constant angular position during a second time period.

[0040] In a sixth aspect, a control device is provided, which includes: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device executes the method in the above-mentioned second aspect and any possible implementation thereof.

[0041] In a seventh aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the second aspect and any possible implementation thereof.

[0042] In an eighth aspect, a computer-readable storage medium is provided, wherein the computer-readable medium stores a computer program. When the computer program runs on a computer, the computer executes the method in the second aspect and any possible implementation thereof.

[0043] In a ninth aspect, a chip is provided, which includes a circuit for executing the method in the second aspect and any possible implementation thereof.

[0044] In the tenth aspect, an intelligent driving device is provided, which includes the system of the first aspect or the fourth aspect and any possible implementation thereof, or includes the device of the fifth aspect or the sixth aspect and any possible implementation thereof.

[0045] In one embodiment, the intelligent driving device includes a vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG1 is a schematic diagram of a laser radar system provided in an embodiment of the present application;

[0047] FIG2 is a schematic diagram of a detection scenario provided in an embodiment of the present application;

[0048] FIG3 is a schematic diagram of another detection scenario provided in an embodiment of the present application;

[0049] FIG4 is a schematic diagram of a scanning trajectory provided by an embodiment of the present application;

[0050] FIG5 is a schematic diagram of another scanning trajectory provided by an embodiment of the present application;

[0051] FIG6 is a schematic diagram of another detection scenario provided in an embodiment of the present application;

[0052] FIG7 is a flow chart of a control method provided in an embodiment of the present application;

[0053] FIG8 is a schematic diagram of another detection scenario provided in an embodiment of the present application;

[0054] FIG9 is a schematic diagram of a motion mode of a scanning mirror provided in an embodiment of the present application;

[0055] FIG10 is a schematic diagram of a scanning trajectory provided by an embodiment of the present application;

[0056] FIG11 is a schematic diagram of a scanning trajectory of a field of view area provided in an embodiment of the present application;

[0057] FIG12 is a schematic diagram of a waveguide mode spot provided by an embodiment of the present application;

[0058] FIG13 is a schematic diagram of focused light spots formed on a receiving surface by targets at different positions according to an embodiment of the present application;

[0059] FIG14 is a schematic diagram of a change in received echo power provided by an embodiment of the present application;

[0060] FIG15 is a schematic diagram of another detection scenario provided in an embodiment of the present application;

[0061] FIG16 is a schematic diagram of another detection scenario provided in an embodiment of the present application;

[0062] FIG17 is a schematic diagram of another detection scenario provided in an embodiment of the present application;

[0063] FIG18 is a schematic block diagram of a control device provided in an embodiment of the present application;

[0064] FIG19 is a schematic block diagram of another control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The technical solution in this application will be described below with reference to the accompanying drawings.

[0066] LiDAR uses electromagnetic waves within a specific wavelength range, such as those from the ultraviolet to the far infrared, or between 250 nanometers (nm) and 11 micrometers (μm). By detecting the scattered light characteristics of a target object, it can obtain information such as its position and velocity. Compared to other types of radar (such as millimeter-wave radar), LiDAR offers higher measurement accuracy and finer temporal and spatial resolution, and has broad application prospects in intelligent transportation, autonomous driving, atmospheric environmental monitoring, geographic surveying and mapping, and drones.

[0067] For example, based on the form of the detection signal, lidar can be divided into pulse lidar and continuous wave lidar. For example, based on the modulation method used, continuous wave lidar can be divided into amplitude modulated continuous wave lidar and frequency modulated continuous wave lidar. Frequency modulated continuous wave lidar can be understood as an implementation form of coherent lidar.

[0068] When using a laser radar with a low number of channels, the vertical resolution can be improved by setting up a scanning device, which can achieve large field of view detection.

[0069] Figure 1 is a schematic diagram of a lidar system provided in an embodiment of the present application. As shown in Figure 1 , system 100 includes a transmitting unit 110, a receiving unit 120, and a scanning device 130. Transmitting unit 110 may include one or more light sources. A control device may control an optical driver to drive the light source to emit a probe beam. Receiving unit 120 may include a detection device for acquiring and detecting a return light signal.

[0070] As shown in Figure 1, a probe beam 101 (referred to as beam 101) emitted by a transmitting unit 110 can be emitted toward a target object via a scanning device 130. When beam 101 strikes the target object, a portion of the probe beam 101 is reflected and scattered by the target object, and a return light signal 102 (also referred to as return light 102) is returned to the lidar system 100. For example, return light 102 can be received by a receiving unit 120 via the scanning device 130.

[0071] In some possible implementations, the system 100 may also include other optical elements. Exemplarily, passive optical elements may be provided on the propagation path of the light beam 101, and / or on the propagation path of the return light 102 (for example, between the transmitting unit 110, the receiving unit 120 and the scanning device 130, and / or between the scanning device and the target). Passive optical elements may include beam collimating devices (such as lenses), polarizers, polarization beam splitting devices, beam separation devices, etc. The beam separation device and the polarization beam splitting device can be used to obtain the local oscillator light signal of the light beam 101. For example, the beam separation device provided between the light source and the scanning device can separate the light beam 101 into a first part directed toward the target object and a second part that can serve as a local oscillator light signal. Based on the local oscillator light signals of the return light 102 and the light beam 101, the distance information and speed information of the target object can be obtained through the beat frequency.

[0072] In some possible implementations, the transmitting unit 110 may transmit multiple detection light beams at the same time. In other words, the transmitting unit 110 may include multiple light beam transmitting channels.

[0073] In one embodiment, the multiple detection light beams emitted by the emission unit 110 at the same time may be generated by multiple lasers. For example, each laser may correspond to a light beam emission channel.

[0074] In another embodiment, a single detection light signal generated by a single laser can be separated into multiple detection light signals by a beam splitting device, so that the transmitting unit 110 can simultaneously transmit multiple detection light beams using a single laser. To ensure the power of the light beam emitted by the transmitting unit 110, in some possible implementations, in the above embodiment, the detection light signal separated by the beam splitting device can be passed through an optical amplification device (such as a semiconductor optical amplifier) ​​and then routed to multiple light beam emission channels via optical fibers or waveguides.

[0075] The following is a brief description of the transmitting unit corresponding to the multi-line laser radar in conjunction with Figure 2.

[0076] Figure 2 is a schematic diagram of a detection scenario provided by an embodiment of the present application. System 200 may include a transmitting unit 210 and a lens group. The lens group may include one or more lenses. For example, as shown in Figure 2, the lens group may include a lens 220 and a lens 230. The transmitting unit 210 may include a plurality of light beam transmitting channels 211 to 21n (n is a positive integer). The system 200 is introduced below taking n=4 as an example. It should be understood that in a specific implementation, the value of n can be determined according to specific needs. For example, n can be other values ​​such as 3, 5, 6, 8, etc., and the embodiment of the present application does not limit the number of light beam transmitting channels.

[0077] For adjacent light beam emission channels, the multiple light beam emission channels may be arranged at the same interval or at different intervals, and the embodiments of the present application do not limit this.

[0078] In one embodiment, as shown in FIG2 , the beam emission channels 211 to 214 may be arranged in an array at equal intervals. The multiple beam emission channels 211 to 214 may correspond to multiple lasers, or may correspond to multiple optical fibers or waveguides. The emission unit 210 may correspond to the emission unit 110 , and the lenses 220 and 230 may correspond to passive optical elements disposed between the emission unit 110 and the scanning device 130 .

[0079] For example, by setting the position of the beam emission channel and the focal plane of lenses 220 and 230, the direction of the light beam emitted by the beam emission channel can be adjusted. For example, as shown in FIG2 , even if the two light beams emitted by beam emission channels 212 and 213 can converge at the same position during propagation, there is still a difference in the direction angles of the two light beams (represented by the angle θ as shown in FIG2 ). The angle θ can satisfy the following formula: θ = arctan(d / f), where d can represent the separation distance between the beam emission channels 212 and 213, and f can represent the focal length of the lens group.

[0080] FIG3 is a schematic diagram of a detection scenario provided by an embodiment of the present application. As shown in FIG3 , system 300 may include a transmitting unit 301, a scanning mirror 310, a scanning mirror 320, a lens 330, and a lens 340. FIG3 (a) illustrates the process of a detection beam emitted by transmitting unit 301 propagating through scanning mirrors 310 and 320 to a target; FIG3 (b) illustrates the process of return light propagating from the target through scanning mirrors 310 and 320 to a receiving surface 335.

[0081] In one embodiment, the transmitting unit 301 may correspond to the transmitting unit 110 or 210, and the scanning mirror 310 and the scanning mirror 320 may correspond to the scanning device 130. In some possible implementations, the lens 330 and the lens 340 may be the same lens.

[0082] In another embodiment, the scanning mirrors 310 and 320 may be galvanometer mirrors, oscillating mirrors, rotating mirrors, etc., which are not limited in the present embodiment. In some possible implementations, the scanning speed of the scanning mirror 320 is greater than the scanning speed of the scanning mirror 310. Accordingly, the scanning mirror 310 may be referred to as a slow-scanning mirror, and the scanning mirror 320 may be referred to as a fast-scanning mirror.

[0083] As shown in FIG3 , scanning mirror 310 can rotate along rotation axis 311 in rotation direction 1, and scanning mirror 320 can rotate along rotation axis 321 in rotation direction 2. By providing two scanning mirrors 310 and 320, scanning along both the fast and slow axes can be achieved. For example, rotation axis 311 can be arranged horizontally, and rotation axis 321 can be arranged vertically. The rotation of scanning mirrors 310 and 320 enables scanning in both vertical and horizontal directions.

[0084] The rotation process of the scanning mirror 310 and the scanning mirror 320 is continuous. For example, the scanning mirror 320 rotates continuously around the axis 321 in the rotation direction 2. For another example, the swing of the scanning mirror 310 can be decomposed into two continuous rotation processes with opposite rotation directions.

[0085] In the scenario shown in (a) of Figure 3 , the light beam emitted by the transmitting unit 301 passes through the scanning mirror 310 and the scanning mirror 320 respectively, and is emitted from the scanning mirror 320 toward the target. By rotating the scanning mirror 310 and the scanning mirror 320, scanning in multiple dimensions can be achieved. In the scenario shown in b of Figure 3 , the return light can pass through the scanning mirror 320 and the scanning mirror 310 successively, and then propagate to the lens 340; after passing through the lens 340, it can be focused on the receiving surface 335 (such as the end face of the optical fiber, the end face of the waveguide). The optical fiber, waveguide, etc. are then transmitted to the detection device of the optical signal (not shown in Figure 3).

[0086] When a LiDAR system uses a scanning device, it can cause a delay angle between transmission and reception. Furthermore, when multiple beam transmission channels are configured, point cloud distribution may be uneven. These issues can affect the LiDAR's speed and distance measurement performance.

[0087] The following briefly describes the phenomenon of transmit and receive delay angle using the scenario shown in Figure 3 as an example.

[0088] For example, assume that at the moment the probe beam is emitted from the scanning mirror 320 toward the target, the scanning mirror 320 is in posture 1, as shown in (a) and (b) in Figure 3. As the scanning mirror 320 rotates continuously, when the corresponding return light enters the scanning mirror 320, the angular position of the scanning mirror 320 will change compared to posture 1 (for example, the scanning mirror 320 is in posture 2, as shown in (b) in Figure 3 at this moment), indicating a transmission and reception delay angle. This change in angular position causes the focus position of the return light on the receiving surface 335 to shift, as shown in (b) in Figure 3. On the one hand, this shift is related to the scanning speed (or rotation speed) of the scanning mirror 320, and the shift increases with increasing scanning speed. On the other hand, this shift is related to the position of the target, and the shift increases with increasing distance between the target and the lidar system. This shift will affect the coupling efficiency at the receiving surface 335, thereby degrading the signal transmitted to the detection device. Moreover, this degradation effect increases significantly with decreasing diameter of the waveguide or optical fiber.

[0089] The following briefly describes the phenomenon of uneven point cloud distribution, using the multi-line lidar shown in Figure 2 as an example and the scenario shown in Figure 3 as an example, in conjunction with Figures 4 and 5. Assume that in the scenarios shown in Figures 4 and 5, the beam emission channels 211-214 in the emission unit 210 are arranged in an array with equal intervals from top to bottom in the vertical direction.

[0090] For example, FIG4 is a schematic diagram of a scanning trajectory provided in an embodiment of the present application.

[0091] FIG4(a) may represent a desired detection position within the field of view, or in other words, FIG4(a) represents a desired scanning trajectory within the field of view (hereinafter referred to as a desired scanning trajectory). For example, as shown in FIG4(a), each desired scanning trajectory may be equally spaced along a direction perpendicular to the field of view.

[0092] In a real-world scenario, the probe beam emitted by a single beam emission channel is scanned horizontally within the horizontal field of view by scanning mirror 320. However, due to the continuous rotation of scanning mirror 310, the actual scanning trajectory of the probe beam will deviate by a certain angle perpendicular to the field of view compared to the desired scanning trajectory. For example, the actual scanning trajectory may be as shown in Figure 4(b).

[0093] In addition, in actual scenarios, it may be necessary to improve the angular resolution of a certain part of the field of view, which may be called a focus area or a region of interest (ROI).

[0094] For example, FIG5 is a schematic diagram of another scanning trajectory provided in an embodiment of the present application.

[0095] (a) in FIG. 5 may indicate a position within the field of view where detection is desired. For example, as shown in (a) in FIG. 5 , the vertical field of view includes an ROI area and a non-ROI area outside the ROI area. The angular resolution of the ROI area and the non-ROI area in the vertical direction are different. For example, in order to achieve the detection intention shown in (a) in FIG. 5 , the scanning mirror 310 may rotate at a lower speed when scanning the ROI area; and may rotate at a higher speed when scanning the non-ROI area. In other words, by controlling the scanning mirror 310 to use different rotation speeds in different field of view areas, the ROI area and the non-ROI area as shown in (a) in FIG. 5 may be detected respectively.

[0096] In actual scenarios, the process of adjusting the rotation speed of the scanning mirror 310 will take up some time. However, since the intervals between the beam emission channels 211-214 are fixed values, during the time period of adjusting the rotation speed of the scanning mirror 310, the continuous rotation of the scanning mirrors 310 and 320 will cause the scanning trajectories corresponding to different beam emission channels within the field of view to overlap, such as x-shaped overlap or z-shaped overlap, as shown in (b) in Figure 5. Moreover, there will be a transition area between the ROI area and the non-ROI area. The above factors will lead to uneven distribution of the point cloud. For example, the overlap of the scanning trajectories may exist in the transition area, as shown in (b) in Figure 5. For another example, in some possible implementations, the overlap of the scanning trajectories may exist in the ROI area.

[0097] In view of this, the embodiments of the present application provide a laser radar system, a control method and a control device, which can ensure the speed and distance measurement performance of the laser radar when a scanning device is used.

[0098] For example, Figure 6 is a schematic diagram of a detection scenario provided by an embodiment of the present application. As shown in Figure 6, the detection system 400 may include a transmitting unit 410, a first scanning unit 420, and a second scanning unit 430. For example, the detection system 400 may be a lidar system.

[0099] The transmitting unit 410 can emit a detection beam. The first scanning unit 420 and the second scanning unit 430 are arranged on the propagation path of the detection beam. For example, the transmitting unit 410 can correspond to the transmitting unit 110 or 210. That is, in some embodiments, the transmitting unit 410 can include multiple beam emission channels. For another example, the detection beam emitted by the transmitting unit 410 can first pass through the first scanning unit 420 and then pass through the second scanning unit 430, and then propagate to the target, as shown in Figure 6. For another example, the detection beam emitted by the transmitting unit 410 can first pass through the second scanning unit 430 and then pass through the first scanning unit 420, and then propagate to the target. That is, in some embodiments, unlike the method shown in Figure 6, the second scanning unit 430 can also be arranged between the transmitting unit 410 and the first scanning unit 420 along the propagation path of the detection beam.

[0100] The first scanning unit 420 can swing about its rotation axis to scan the detection beam along its slow axis. For example, the first scanning unit 420 can be a swinging mirror, a galvanometer mirror, etc. The second scanning unit 430 can rotate continuously clockwise or counterclockwise about its rotation axis to scan the detection beam along its fast axis. For example, the second scanning unit can be a rotating mirror. The first scanning unit 420 and the second scanning unit 430 can achieve scanning in multiple dimensions. For another example, the average rotation speed of the scanning unit performing fast-axis scanning is greater than the average rotation speed of the scanning unit performing slow-axis scanning.

[0101] For example, the scanning cycle of the second scanning unit 430 may include a first time period and a second time period. The second scanning unit 430 performs idle scanning in the first time period, and completes a fast axis cycle of the detection beam in the object space in the second time period.

[0102] In one embodiment, the second scanning unit 430 is a triangular prism, which may include three reflective surfaces (reflective surfaces #1 to #3). When a reflective surface is rotated into the propagation path of the probe beam, it can function as a scanning mirror. For example, when the triangular prism is rotated clockwise from its initial position, reflective surface #1 can function as a scanning mirror within a rotation angle of 0°-120°; reflective surface #2 can function as a scanning mirror within a rotation angle of 120°-240°; and reflective surface #3 can function as a scanning mirror within a rotation angle of 240°-360°. If the scanning angle of reflective surface #1, #2, or #3 is 240°, and the horizontal field of view angle is 130°, the corresponding idle scanning angle is 110°. Assuming that a single reflective surface can function as a scanning mirror for 24 ms (i.e., a scanning period of 24 ms), and the time it takes for the probe beam to complete one fast axis cycle in object space is 13 ms, the idle scanning time in this scenario is 11 ms. That is, in this scenario, the first time period is 11 ms, and the second time period is 13 ms.

[0103] In another embodiment, the second scanning unit 430 is a quadrangular prism, which may include four reflective surfaces. A single reflective surface can function as a scanning mirror, and the corresponding rotation angle can be 90°. The scanning angle of a single reflective mirror can be 180°. Assuming a horizontal field of view of 130°, the corresponding idle scanning angle is 50°. Assuming a scanning period of 18ms, in this scenario, the first time period can be 5ms, and the second time period can be 13ms.

[0104] In some possible implementations, the second scanning unit 430 may also be in other forms, such as a pentaprism, a hexagonal prism, or other forms of rotating mirrors, etc. The horizontal field angle and the scanning period of the second scanning unit may be set according to actual needs.

[0105] For example, the first scanning unit 420 can be configured to rotate from a first angular position to a second angular position during a first time period, and maintain the angular position unchanged during a second time period. The first angular position can be any angular position. The second angular position can be any angular position different from the first angular position.

[0106] In one embodiment, for the second scanning unit 430, in the same scanning cycle, the first time period may precede the second time period. Accordingly, the first scanning unit 420 may first rotate from the first angular position to the second angular position in the first time period, and then maintain the second angular position in the second time period.

[0107] In another embodiment, for the second scanning unit 430, in the same scanning cycle, the first time period may be after the second time period. Accordingly, the first scanning unit 420 may first maintain the first angular position in the second time period and then rotate from the first angular position to the second angular position in the second time period.

[0108] In another embodiment, the time required for the first scanning unit 420 to rotate from the first angular position to the second angular position can occupy part or all of the first time period. For example, the first scanning unit 420 can be controlled to rotate upon entering the first time period; and can be controlled to stop rotating at the end of the first time period, thereby allowing the first scanning unit 420 to rotate from one angular position to another angular position within the first time period. For another example, the first scanning unit 420 can be controlled to rotate a certain period of time after entering the first time period; and can be controlled to stop rotating in advance before the end of the first time period. In this way, the difficulty of maintaining the angular position of the first scanning unit 420 unchanged in the second time period can be reduced when control accuracy is not precise.

[0109] In this embodiment of the present application, the angular position of the first scanning unit is adjusted during the idle scanning phase of the second scanning unit's scanning cycle; while the angular position of the first scanning unit remains unchanged during the second scanning unit's scanning cycle involving scanning within the field of view. This approach prevents interference with the point cloud distribution during the adjustment of the angular position of the first scanning unit, avoids the impact of the scanning trajectory caused by the continuous rotation of the scanning mechanism, and maintains the speed and distance measurement performance of the LiDAR system when using a scanning device.

[0110] In some possible implementations, during a plurality of consecutive scanning cycles of the second scanning unit, the angular position of the first scanning unit may be within a first angular range. The first angular range may include multiple angular positions, and during the plurality of consecutive scanning cycles, the first scanning unit may rotate from one of the plurality of angular positions to another adjacent angular position. In other words, for any scanning cycle in the plurality of scanning cycles, the first angular position and the second angular position involved in the scanning cycle may be two adjacent angular positions in the first angular range.

[0111] For example, the first angle interval may correspond to a first viewing area in the vertical viewing area, and the angular position in the first viewing area may be determined according to the angle between adjacent angular positions in the first angle interval.

[0112] In some possible implementations, for any scan period in the plurality of consecutive scan periods, the angular position in the first angular interval includes a third angular position adjacent to the first angular position, and / or a fourth angular position adjacent to the second angular position. The angle between the first angular position and the third angular position may be equal to the angle between the first angular position and the second angular position, and / or the angle between the second angular position and the fourth angular position may be equal to the angle between the first angular position and the second angular position.

[0113] In one embodiment, angular interval A includes angular position #1 to angular position #4. During scanning cycle #1 of the second scanning unit 430, the first scanning unit 420 rotates from angular position #1 to angular position #2; during scanning cycle #2 of the second scanning unit 430, the first scanning unit 420 rotates from angular position #2 to angular position #3; and during scanning cycle #3 of the second scanning unit 430, the first scanning unit 420 rotates from angular position #3 to angular position #4. Scanning cycles #1 to #3 are continuous, and angular positions #1 to #4 are adjacent in sequence. For example, for scanning cycle #1, angular position #3 can be understood as the fourth angular position. For another example, for scanning cycle #2, angular position #1 can be understood as the third angular position, and angular position #4 can be understood as the fourth angular position. For another example, the angular positions within angle interval A can be equally spaced. That is, the angles between angle positions #1 and #2, #2 and #3, and #3 and #4 are equal. The vertical angular resolution of the viewing area corresponding to angle interval A in the vertical field of view can be equal to the angle.

[0114] In the embodiment of the present application, the angular positions in the same angular interval are distributed at equal intervals, so that the field of view area corresponding to the angular interval in the vertical field of view has a uniform angular resolution.

[0115] In some possible implementations, for a certain scanning cycle of the second scanning unit, the first angular position and the second angular position involved in the scanning cycle may be in different angular intervals. For example, the first angular position is in the second angular interval, and the second angular position is in the third angular interval. The second angular interval may further include a fifth angular position adjacent to the first angular position; and the third angular interval may further include a sixth angular position adjacent to the second angular position.

[0116] For example, the second angle interval may correspond to a second viewing area in the vertical viewing area, and the vertical angular resolution in the second viewing area may be determined based on the angle between the first angular position and the fifth angular position. The third angle interval may correspond to a third viewing area in the vertical viewing area, and the vertical angular resolution in the third viewing area may be determined based on the angle between the second angular position and the sixth angular position.

[0117] In one embodiment, angular interval B includes angular position #5 and angular position #6, and angular interval C includes angular position #7 and angular position #8. During scanning cycle #4 of the second scanning unit 430, the first scanning unit 420 rotates from angular position #5 to angular position #6; during scanning cycle #5 of the second scanning unit 430, the first scanning unit 420 rotates from angular position #6 to angular position #7; and during scanning cycle #6 of the second scanning unit 430, the first scanning unit 420 rotates from angular position #7 to angular position #8. For example, for scanning cycle #5, angular position #5 can be understood as the fifth angular position, and angular position #8 can be understood as the sixth angular position. For another example, in the vertical field of view, the angular resolution of the field of view area corresponding to angular interval B can be equal to the angle between angular position #5 and angular position #6. For another example, angular interval B can also include other angular positions. The angular positions in angular interval B can be evenly spaced, and the angle between adjacent angular positions is equal to the angle between angular position #5 and angular position #6. Similarly, in the vertical field of view, the angular resolution of the field of view area corresponding to the angle interval C may be equal to the angle between the angular position #7 and the angular position #8.

[0118] In an embodiment of the present application, when multiple angle intervals are involved, the angular positions in the same angle interval are equally spaced, and different angular position changes are used in different angle intervals. This can enable different field of view areas in the vertical field of view to have different angular resolutions, which is helpful for the setting and planning of different angular resolution areas in the vertical field of view.

[0119] In some possible implementations, the system 400 may further include a receiving unit 440 , which may be configured to receive the return light of the detection beam.

[0120] In some possible implementations, the system 400 may further include a waveguide device 450, which may be used to guide the return light to the receiving unit 440. For example, the return light of the probe beam may converge on the receiving coupling surface of the waveguide device 450, and the waveguide device 450 may guide the return light converged on its receiving coupling surface to the detection device for detection.

[0121] For example, the waveguide light spot formed by the light beam in the opposite direction of propagation to the return light after being processed by the waveguide device 450 has a non-uniform light field intensity distribution. For example, the waveguide light spot has a non-uniform light field intensity distribution along the axis of the second scanning unit 430. For another example, the light field intensity of the waveguide light spot is offset to the right along the fast axis. For another example, the light field intensity of the waveguide light spot is offset to the left along the fast axis. For another example, the light field intensity of the waveguide light spot is symmetrically distributed on the left and right sides along the fast axis. For another example, the light field intensity of the waveguide light spot is asymmetrically distributed on the left and right sides along the fast axis.

[0122] Exemplarily, the waveguide device 450 may include: an optical device made by combining multiple waveguides based on a beam combining process, a waveguide with a multi-branch structure, or a grating coupler.

[0123] In some possible implementations, receiving unit 440 may include multiple beam receiving channels. The number of beam receiving channels included in receiving unit 440 is the same as the number of beam transmitting channels included in transmitting unit 410. System 400 may include multiple waveguide devices 450. For example, for a probe beam emitted by a beam transmitting channel, a waveguide device 450 may guide the return light of the probe beam to the beam receiving channel corresponding to the beam transmitting channel.

[0124] It should be noted that the description of the detection system in FIG6 is only an example, and the embodiments of the present application do not limit the specific structure of the detection system. For example, in some possible implementations, the receiving unit 440 can be coupled to the transmitting unit 410. For another example, different from the method shown in FIG6, in some possible implementations, the receiving unit 440 and the transmitting unit 410 can be coaxially arranged. For another example, in some possible implementations, passive optical elements such as lenses and polarizers can be provided between the transmitting unit 410 and / or the receiving unit 440 and the scanning unit.

[0125] For example, FIG7 is a flow chart of a control method provided by an embodiment of the present application. The method 500 can be executed by a lidar system, or can be executed by an intelligent driving device equipped with the lidar system, or can be executed by a control device corresponding to the lidar system, or can be executed by a chip or processor in the control device. The control device corresponding to the lidar system can be coupled to the system, or can be independent of the system. The method 500 may include:

[0126] S510, controlling the first scanning unit to rotate from a first angular position to a second angular position in a first time period.

[0127] S520: Control the first scanning unit to maintain an unchanged angular position during a second time period.

[0128] Exemplarily, the scanning period of the second scanning unit may include a first time period and a second time period. The first angular position may be any angular position, and the second angular position may be any angular position different from the first angular position.

[0129] In one embodiment, for a scanning cycle of the second scanning unit, when entering the first time period of the scanning cycle, the angular position of the first scanning unit can be understood as the first angular position; at the end of the first time period, the angular position of the first scanning unit can be understood as the second angular position.

[0130] In another embodiment, after entering the first time period, the first scanning unit may maintain its angular position at the first angular position for a period of time, and then rotate from the first angular position to the second angular position.

[0131] In another embodiment, the first scanning unit may rotate to the second angular position a period of time before the end of the first time period, and then maintain its angular position unchanged until the end of the first time period.

[0132] In yet another embodiment, negative feedback regulation may be used to maintain the angular position of the second scanning unit at a certain angular position during the second time period.

[0133] For example, in the same scanning cycle, when the first time period is before the second time period, step S510 may be performed first. In the same scanning cycle, when the first time period is before the second time period, step S520 may be performed first.

[0134] For example, with respect to the first scanning unit, the second scanning unit, the first time period, the second time period, the first angular position, and the second angular position, reference may be made to the relevant description in the system 400 .

[0135] The following will explain and illustrate the rotation manner of the first scanning unit 420 involved in the system 400 and the method 500 with reference to FIG. 8 to FIG. 11 .

[0136] For example, Figure 8 is a schematic diagram of a detection scenario provided by an embodiment of the present application. As shown in Figure 8 , system 700 may include a transmitting unit 301, a scanning mirror 710, and a rotating mirror 720. System 700 may be understood as an extension or variation of system 400.

[0137] In some possible implementations, scanning mirror 710 can have the same structure, appearance, and configuration as scanning mirror 310. The difference between scanning mirror 710 and scanning mirror 310 lies in that the rotation of scanning mirror 710 is controlled using method 500, rather than using two consecutive rotations in opposite directions to achieve the swinging of scanning mirror 710. Scanning mirror 710 can serve as an example of first scanning unit 420.

[0138] In one embodiment, the function of the scanning mirror 710 can be realized by controlling the rotation of the scanning mirror 310 using the method 500 .

[0139] In some possible implementations, rotating mirror 720 includes multiple reflective surfaces and may have a shape that is or approximates a pentagonal prism, as shown in FIG8 . When located along the propagation path of the probe beam, reflective surfaces 721 to 725 may correspond to scanning mirror 320 and implement the effects of scanning mirror 320 . Rotating mirror 720 may serve as an example of second scanning unit 430 .

[0140] In one embodiment, the rotation axis 730 can be arranged vertically, and when the rotating mirror 720 rotates about the rotation axis 730, it can scan the light beam from the scanning mirror 710 in the horizontal direction. When the rotation axis 311 is arranged horizontally, when the scanning mirror 710 rotates about the rotation axis 311, it can achieve a vertical scanning process.

[0141] For example, taking reflective surface 721 as an example, assuming that rotating mirror 720 rotates clockwise, from the time when rotating mirror 720 is located at an angular position on reflective surface 721 and begins to be in the propagation path of the probe beam, to the time when rotating mirror 720 is located at an angular position on reflective surface 725 and begins to be in the propagation path of the probe beam, reflective surface 721 can function as scanning mirror 320. While reflective surface 721 functions as scanning mirror 320, the incident light beam from scanning mirror 710, resulting in an outgoing light beam formed at reflective surface 721, rotates as mirror 720 rotates. While reflective surface 721 functions as scanning mirror 320, the angle of rotation of mirror 720 is 72°. Accordingly, the horizontal scanning angle achievable by mirror 720 is 144°.

[0142] In this scenario, since the horizontal scanning angle of rotating mirror 720 is 144°, the maximum horizontal field of view (HFOV) can be set to 144°. The vertical field of view (VFOV) is related to the rotation angle of scanning mirror 710. Assume that the horizontal field of view of system 700 (e.g., 120°) is smaller than the scanning angle. When the horizontal field of view is smaller than the scanning angle, the scanning cycle of rotating mirror 720 may include a first time period and a second time period.

[0143] 9 and 10 , taking the scenario shown in FIG. 8 as an example, a method for adjusting the angular position of the first scanning unit will be briefly described below.

[0144] For example, Figure 9 is a schematic diagram of a scanning mirror motion method provided by an embodiment of the present application. As shown in Figure 9, the scanning mirror 710 can move in a stepping manner. After stepping from one angular position to another, the scanning mirror 710 remains at that angular position for a period of time before stepping to the next angular position.

[0145] As shown in FIG9 , within one stepping cycle, the scanning mirror 710 can perform multiple steps (e.g., 20 times). The angular position of the scanning mirror 710 can be gradually adjusted from angle interval 1 to angle interval 5 as the stepping progresses. For angle intervals 1 to 5, one angle interval can include one to multiple angular positions. Within the same angle interval, the same stepping angle can be used between multiple angular positions. The stepping between different angle intervals can be adjusted according to actual needs. For example, in angle interval 1, one angular position can be included. For another example, in angle interval 2, two angular positions can be included. For another example, in angle interval 3, the stepping between the five angular positions within the interval is achieved with a stepping angle of 0.25°. For another example, in angle interval 4, the stepping between the ten angular positions within the interval is achieved with a stepping angle of 0.1°. For another example, in angle interval 5, the stepping between the two angular positions within the interval can be achieved with a stepping angle of 0.5°. By using different stepping angles, different angular resolutions can be achieved at different positions in the vertical field of view.

[0146] For example, assume that the transmitting unit 701 corresponds to the transmitting unit 210 shown in FIG. 2 and is provided with beam transmitting channels 211 to 214. For example, the scanning mirror 710 begins to move from angle interval 1. At time #1, the scanning mirror 710 can rotate to angular position 1-1 within the angle interval and maintain this angular position until time #2. Between time #1 and time #2, the system 700 can scan the horizontal effective field of view (e.g., 120°) under the scanning action of the first optical surface (e.g., reflective surface 721) of the rotating mirror 720. For another example, the rotating mirror 720 then performs an idle scan from time #2 to time #4. Accordingly, the scanning mirror 710 can rotate to the first angular position (i.e., angular position 2-1) in angle interval 2 at time #4, or can rotate to angular position 2-1 before time #4 (e.g., time #3). For another example, the scanning mirror 710 can remain at the angular position 2-1 until time #5; accordingly, the system 700 can achieve a single scan within the horizontal effective field of view under the scanning action of the second optical surface of the rotating mirror 720 (such as the reflective surface 725). For another example, thereafter, the rotating mirror 720 performs an idle scan from time #5 to time #7; accordingly, the scanning mirror 710 can rotate to the second angular position in the angular interval 2 (i.e., angular position 2-2) at time #7. For another example, the scanning mirror 710 can remain at the angular position 2-2 until time #8; accordingly, the system 700 can achieve a single scan within the horizontal effective field of view under the scanning action of the third optical surface of the rotating mirror 720 (such as the reflective surface 724). In this manner, the scanning mirror 710 can be stepped from angular interval 1 to angular interval 5. The following, in conjunction with FIG. 10 , describes the scanning trajectory generated by the system 700 when the scanning mirror 710 rotates in the manner described above.

[0147] For example, FIG10 is a schematic diagram of a scanning trajectory provided in an embodiment of the present application.

[0148] As shown in FIG10 , rotating mirror 720 can complete a scan within the effective horizontal field of view from time #1 to time #2, from time #4 to time #5, from time #7 to time #8, and from time #9 to time #10, respectively. These time periods may correspond to the second time period. Rotating mirror 720 can also perform idle scanning from time #2 to time #4, from time #5 to time #7, and from time #8 to time #9, respectively.

[0149] In one embodiment, scanning cycle #1 of the rotating mirror 720 may include time #1 to time #4. That is, in this scanning cycle, the second time period is before the first time period.

[0150] In another embodiment, scanning cycle #2 of the rotating mirror 720 may include time #2 to time #5. That is, in this scanning cycle, the first time period is before the second time period.

[0151] In another embodiment, scanning cycle #3 of scanning mirror 720 may include time #3 to time #6. The time period between time #2 and time #3 is equal to the time period between time #5 and time #6. That is, in this scanning cycle, the first time period may be a discontinuous time period.

[0152] In another embodiment, the starting point of the scanning cycle of the rotating mirror 720 may be the same as or different from the moment when the reflective surface of the rotating mirror 720 enters the propagation path of the probe beam. Taking the aforementioned scanning cycle #2 as an example, the starting point of scanning cycle #2 is time #2, and the ending point is time #5. For example, the reflective surface 721 of the rotating mirror 720 may be in the propagation path of the probe beam from time #1 to time #4, and the reflective surface 725 of the rotating mirror 720 may be in the propagation path of the probe beam from time #4 to time #7. For another example, the reflective surface 721 of the rotating mirror 720 may be in the propagation path of the probe beam before time #2, and thereafter, the reflective surface 725 of the rotating mirror 720 may be in the propagation path of the probe beam from time #2 to time #5. For another example, the reflective surface 721 of the rotating mirror 720 may be in the propagation path of the probe beam before time #3, and thereafter, the reflective surface 725 of the rotating mirror 720 may be in the propagation path of the probe beam from time #3 to time #6.

[0153] For example, Figure 11 is a schematic diagram of a scanning trajectory of a field of view area provided by an embodiment of the present application. For example, within the field of view area, the scanning trajectory corresponding to the scanning methods in Figures 9 and 10 can be as shown in Figure 11.

[0154] As shown in Figure 11, field of view areas 1 to 5 can correspond to angle intervals 1 to 5, respectively. For example, compared to field of view areas 1 and 5, field of view areas 3 and 4 can be understood as ROI areas. Compared to the scanning trajectory in Figure 5(b), when involving ROI areas, there is no overlap between scanning trajectories, no transition area between ROI areas and non-ROI areas, and no multiple scans of the same detection position by multiple beam emission channels. A uniform point cloud distribution can be obtained.

[0155] The waveguide device 350 involved in the system 600 is explained and illustrated below with reference to FIG. 12 to FIG. 15 .

[0156] For example, FIG12 is a schematic diagram of a waveguide mode spot provided in an embodiment of the present application. The waveguide mode spot involved in FIG12 may be an example of a waveguide mode spot of the waveguide device 350. For example, as shown in (a) in FIG12 , in the first direction, the waveguide mode spot may be biased to the right. The darker the color at a certain position on the waveguide mode spot, the stronger the light field intensity at that position; the light field intensity may be gradual. For another example, as shown in (b) in FIG12 , the waveguide mode spot may be asymmetric on the left and right. For another example, as shown in (c) in FIG12 , the waveguide mode spot may be symmetric on the left and right. For another example, as shown in (d) in FIG12 , the waveguide mode spot may be biased on the left.

[0157] In one embodiment, the first direction may correspond to the direction in which the focus of the return light on the receiving surface shifts when the scanning mirror changes its posture in FIG3(b). For example, the first direction may be the direction of the rotation axis of the second scanning unit. For another example, the first direction may be the fast axis direction.

[0158] As mentioned above, due to the rotation of the scanning mirror, the focused spot formed by the target's return light on the receiving surface will be offset, as shown in Figure 3(b). This offset increases with the rotation speed of the scanning mirror; when the rotation speed of the scanning mirror remains unchanged, the offset increases with the distance between the target and the lidar.

[0159] For example, FIG13 shows a schematic diagram of the focused light spot formed on the receiving surface by targets at different positions. As shown in FIG13 , as the distance between the target and the lidar increases, the offset of the focused light spot of its return light on the receiving surface in the first direction increases. Moreover, when a traditional waveguide is used on the receiving side of a lidar system (such as systems 100, 300, and 400), because the waveguide pattern spot of the traditional waveguide device has a uniform light field intensity distribution, the maximum coupling efficiency can only be achieved for the echo of the target at a specific distance. The transmit and receive delay angle will cause the coupling efficiency of the echo of the target at other distances to be reduced.

[0160] For example, when a waveguide device 450 is used on the receiving side of a lidar system (such as systems 100, 300, or 400), by matching the waveguide pattern of the waveguide device 450 with the focused spot of the return light on the receiving surface, the received echo energy can be coupled to the waveguide device 450 as much as possible. Because the waveguide device 450 has a non-uniform waveguide pattern, different coupling efficiencies can be set for the focused return light spot at different positions on the waveguide pattern of the waveguide device 450.

[0161] In one embodiment, for a nearby target, the return light has a higher echo energy, and a lower coupling efficiency can be set in the area where the focused spot of the return light is located. For a distant target, the return light has a lower echo energy, and a higher coupling efficiency can be set in the area where the focused spot of the return light is located.

[0162] For example, Figure 14 is a schematic diagram illustrating the variation of received echo power according to an embodiment of the present application. For example, for a laser radar equipped with a traditional waveguide and a laser radar equipped with waveguide device 450, the variation of received echo power with target distance can be shown in Figure 14.

[0163] In the embodiment of the present application, echoes from targets near to far are received into the waveguide device 450. By setting different coupling efficiencies for the return light spots of targets near to far, the echo power received within the detection range can be made to change more slowly, thereby increasing the dynamic range of the system.

[0164] 15 is a schematic diagram of another detection scenario provided by an embodiment of the present application. The system 800 can be understood as an extension or variation of the system 400.

[0165] In one embodiment, the transmitting unit and the receiving unit may be coupled to the device 810. In the system 800, optical elements such as lenses, polarization beam splitters, and beam deflectors may be provided on the propagation paths of the probe beam and the return light, and some of these optical elements may also be coupled to the device 810.

[0166] In another embodiment, when the transmitting unit uses multiple beam transmitting channels (such as beam transmitting channels 211-214), the receiving unit may accordingly include multiple beam receiving channels, such as beam receiving channels 251-254, as shown in FIG15. The beam receiving channels 251-254 may correspond to the beam transmitting channels 211-214, respectively. For each beam receiving channel, a corresponding waveguide device 450 may be provided to guide the return light focused by the lens to the beam receiving channel.

[0167] In another embodiment, the device 810 may be coupled with a laser light source, and may form multiple light beam emission channels by light splitting. In some possible implementations, the device 810 may be coupled with multiple laser light sources.

[0168] Exemplarily, the device 810 may be a silicon photonic chip. For example, the silicon photonic chip may employ a silicon nitride waveguide platform, a silicon oxynitride waveguide platform, or a silicon-on-insulator (SOI) waveguide platform. In another example, the silicon photonic chip may employ a multilayer waveguide platform comprising multiple types of waveguides stacked on top of each other. The present embodiment of the present application does not limit the material platform employed by the silicon photonic chip.

[0169] For example, Figure 16 is a schematic diagram of another detection scenario provided by an embodiment of the present application. System 900 can be understood as a variation or extension of systems 400, 700, or 800. Device 910 can be understood as an extension or variation of device 810, and device 920 can have the same functions as device 910.

[0170] As shown in Figure 16, the control device can control the laser driver to drive the laser light source to emit light. The light beam generated by the laser light source can be obtained by the beam splitter to obtain multiple light beams corresponding to multiple beam emission channels. After passing through the beam amplification device, it passes through the lens and polarization beam splitting device to be transmitted to the scanning mirror 710, and then passes through the rotating mirror 720 to be emitted toward the target. The return light generated at the target is transmitted through the rotating mirror 720 and the scanning mirror 710 to the polarization beam splitting device. After being split by the polarization beam splitting device, it is transmitted to the coupler and then through the mixer to be transmitted to the detector. Multiple transimpedance amplifiers (TIAs) can be arranged between the control device and the detector.

[0171] In the system 900, the scanning mirror 710 can be controlled to rotate according to the manner shown in Figures 7 to 11. The coupler can correspond to the waveguide device 450.

[0172] For example, Figure 17 is a schematic diagram of another detection scenario provided by an embodiment of the present application. System 1000 can be understood as a variation or extension of systems 400, 700, 800, or 900. Device 1010 can be understood as a variation or extension of device 910; optical element 1020 can include a lens, aperture, polarizer, beam collimation device, etc.; scanning device 1030 can include a first scanning unit 420 and a second scanning unit 430.

[0173] In one embodiment, the device 1010 may be a silicon photonic chip.

[0174] In system 1000, the control and data processing device can drive the laser light source to emit light by controlling the laser driver. The probe beam generated by the laser light source passes through a beam splitter and an optical amplifier, and is then emitted from device 1010 via a transmitting-side coupler. This beam is then transmitted to the target via optical element 1020 and scanning device 1030. For example, the laser light source can be a frequency modulated continuous wave (FMCW) laser source.

[0175] In system 1000 , the return light of the probe beam can pass through a receiving-side coupler and a mixer before being transmitted to a photodiode (PD) array, where the PD array detects the return light signal. For example, the receiving-side coupler can correspond to waveguide device 450 .

[0176] In system 1000, the local oscillator (LO) light of the probe beam can be obtained using an asymmetric Mach-Zehnder interferometer (AMZI) and a local oscillator (LO) light splitter. Furthermore, analog-to-digital conversion operations involved in control and data processing can be performed using an analog-to-digital converter (ADC).

[0177] In some possible implementations, the control and data processing device may use the method 500 to control the movement of the scanning mirror in the scanning device 1030 .

[0178] In some possible implementations, the system 1000 may further include a TIA amplification circuit, an ADC sampling circuit, a laser driving circuit, a control and data processing circuit, and the like.

[0179] The method provided in the embodiments of the present application is described in detail above with reference to Figures 7 to 11. The apparatus provided in the embodiments of the present application will be described in detail below with reference to Figures 18 and 19. The description of the apparatus embodiment corresponds to the description of the method embodiment. Therefore, any content not described in detail can be referred to the method embodiment above.

[0180] For example, FIG18 shows a schematic block diagram of a control device (hereinafter referred to as device 2000 ) provided in an embodiment of the present application, which may include a control unit 2010 .

[0181] The apparatus 2000 may include a unit for executing any one of the methods in FIG. 7 to FIG. 11 , and each unit in the apparatus 2000 may be used to execute a corresponding process in any one of the method embodiments in FIG. 7 to FIG. 11 .

[0182] When the apparatus 2000 is used to execute the method 500 in FIG. 7 , the control unit 2010 may be used to execute steps S510 and S520 in the method 500 .

[0183] Specifically, the control unit 2010 can be used to: control the first scanning unit to rotate from a first angular position to a second angular position in a first time period; and control the first scanning unit to maintain an unchanged angular position in a second time period.

[0184] Exemplarily, the control device may be a laser radar, or it may be a chip or processor in the laser radar, or it may be a terminal (such as a computing platform) in an intelligent driving device for performing signal processing or control on the radar, or a chip or processor in the terminal, or it may be a chip or processor in a control device corresponding to the laser radar, etc.

[0185] In some possible implementations, the apparatus 2000 may further include an acquisition unit 2020 , which may be configured to acquire a scanning period of the second scanning unit and to determine the first time period and the second time period.

[0186] It should be understood that the division of the various units in the above devices is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity, or physically separated. All units in the above devices may be implemented entirely through a processor calling software, entirely through hardware circuits, or partially through a processor calling software, with the remainder implemented through hardware circuits.

[0187] In a specific implementation, the control unit 2010 can be implemented by at least one processor or processor-related circuitry, and the acquisition unit 2020 can be implemented by at least one transceiver or transceiver-related circuitry. In one example, one or more processors can control the first scanning unit to rotate from a first angular position to a second angular position during a first time period. In another example, one or more processors can control the first scanning unit to maintain a constant angular position during a second time period. For example, in a specific implementation, the device 2000 can be an intelligent driving device equipped with a lidar, or a chip or processor within the intelligent driving device.

[0188] For example, FIG18 is a schematic block diagram of another control device 3000 (hereinafter referred to as device 3000) provided in an embodiment of the present application. The device 3000 may include: a processor 3010, an interface circuit 3020, and a memory 3030. The processor 3010, the interface circuit 3020, and the memory 3030 are connected via an internal connection path. The memory 3030 is used to store instructions, and the processor 3010 is used to execute the instructions stored in the memory 3030, and receive / send some parameters through the interface circuit 3020. Optionally, the memory 3030 can be coupled to the processor 3010 via an interface or integrated with the processor 3010.

[0189] It should be noted that the interface circuit 3020 may include, but is not limited to, a transceiver device such as an input / output interface to enable communication between the device 3000 and other devices or communication networks. For example, communication with a radar and / or internal circuits of an intelligent driving device may be achieved through the interface circuit 3020.

[0190] In an embodiment of the present application, a processor is a circuit having a signal processing capability. In one implementation, the processor may be a circuit having the capability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit may be fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration may be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0191] An embodiment of the present application also provides a computer program product, which includes: computer program code, which, when running on a computer, enables the computer to execute any one of the method embodiments in Figures 7 to 11 above, and any possible implementation thereof.

[0192] An embodiment of the present application also provides a computer-readable storage medium, which stores program code or instructions. When the computer program code or instructions are executed by a computer processor, the processor implements any method embodiment in Figures 7 to 11 above, and any possible implementation method thereof.

[0193] An embodiment of the present application also provides a chip, including a circuit, for executing any method embodiment in Figures 7 to 11 above, and any possible implementation thereof.

[0194] The present application also provides a laser radar system, comprising a transmitting unit 410, a receiving unit 440, a waveguide device 450, a third scanning unit, and a fourth scanning unit. The third scanning unit and the fourth scanning unit can be arranged on the propagation path of the detection beam. The third scanning unit can be configured to swing about a first axis to scan the detection beam along a slow axis; the fourth scanning unit can be configured to continuously rotate about a second axis to scan the detection beam along a fast axis.

[0195] In one embodiment, the third scanning unit and the fourth scanning unit may include a first scanning unit 420 and a second scanning unit 430 , respectively.

[0196] In another embodiment, the scanning mirror 310 and the scanning mirror 320 may be examples of a third scanning unit and a fourth scanning unit, respectively.

[0197] An embodiment of the present application also provides an intelligent driving device, which may include the above-mentioned laser radar system, or include any one of the laser radar systems 400 to 1000, or may include the above-mentioned device 2000 or 3000.

[0198] Exemplarily, the intelligent driving device can be a vehicle. The vehicle involved in the embodiments of the present application is a vehicle in a broad sense, which can be a means of transportation (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of vehicle. For example, the vehicle in the present application can include a pure electric vehicle / battery electric vehicle (pure EV / battery EV), a hybrid electric vehicle (hybrid electric vehicle, HEV), a range extended electric vehicle (REEV), a plug-in hybrid electric vehicle (PHEV) or a new energy vehicle (NEV), etc.

[0199] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0200] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0201] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0202] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0203] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0204] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0205] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A laser radar system, characterized in that: include: a transmitting unit, a first scanning unit and a second scanning unit, The transmitting unit is used to: transmit a detection beam, and the first scanning unit and the second scanning unit are arranged on a propagation path of the detection beam; The first scanning unit is used to swing around a first axis to scan the detection beam along a slow axis; The second scanning unit is configured to continuously rotate in a clockwise or counterclockwise direction around a second axis to scan the fast axis of the detection beam; The scanning cycle of the second scanning unit includes a first time period and a second time period, the second scanning unit performs idle scanning in the first time period, and the second scanning unit scans the detection beam in the object space to complete a fast axis cycle in the second time period; The first scanning unit is configured to rotate from a first angular position to a second angular position during the first time period, and maintain the angular position unchanged during the second time period.

2. The system according to claim 1, wherein: In a plurality of consecutive scanning cycles of the second scanning unit, the angular position of the first scanning unit is in a first angular interval, the first angular interval includes a plurality of angular positions, and the first angular position and the second angular position are two adjacent angular positions in the plurality of angular positions; The first angle interval corresponds to a first field of view area in the vertical field of view of the system, and the vertical angular resolution in the first field of view area is determined according to the angle between the first angular position and the second angular position.

3. The system according to claim 2, characterized in that The plurality of angular positions further includes a third angular position adjacent to the first angular position, wherein the angle between the first angular position and the third angular position is equal to the angle between the first angular position and the second angular position; and / or, The plurality of angular positions further includes a fourth angular position adjacent to the second angular position, and an included angle between the second angular position and the fourth angular position is equal to an included angle between the first angular position and the second angular position.

4. The system according to claim 1, wherein: The first angular position is in a second angular interval, the second angular position is in a third angular interval, The second angular interval further includes a fifth angular position adjacent to the first angular position, and the third angular interval further includes a sixth angular position adjacent to the second angular position; The second angle interval corresponds to a second viewing area in the vertical field of view of the system, the third angle interval corresponds to a third viewing area in the vertical field of view of the system, and the second viewing area is adjacent to the third viewing area. The vertical angular resolution in the second field of view area is determined based on the angle between the first angular position and the fifth angular position, and the vertical angular resolution in the third field of view area is determined based on the angle between the second angular position and the sixth angular position.

5. The system according to any one of claims 1 to 4, characterized in that The system further comprises a receiving unit and a waveguide device, The receiving unit is used to receive the return light of the detection beam, The waveguide device is used to guide the return light to the receiving unit, and the waveguide light spot formed after the return light is processed by the waveguide device has a non-uniform light field intensity distribution.

6. The system according to claim 5, characterized in that The waveguide light spot has a non-uniform light field intensity distribution along the second axis.

7. The system according to claim 5 or 6, characterized in that The waveguide light spot has a non-uniform light field intensity distribution, including: The light field intensity of the waveguide light spot is biased on the right side along the fast axis, biased on the left side along the fast axis, symmetrically distributed on the left and right sides along the fast axis, or asymmetrically distributed on the left and right sides along the fast axis.

8. The system according to any one of claims 5 to 7, characterized in that The waveguide device includes at least one of the following: An optical device made of multiple waveguides based on a beam combining process, a waveguide with a multi-branch structure, or a grating coupler.

9. The system according to any one of claims 1 to 8, characterized in that The emission unit includes a plurality of light beam emission channels, which are arranged in an array at equal intervals. Each of the plurality of light beam emission channels is used to emit a detection light beam.

10. The system according to any one of claims 1 to 9, characterized in that The second scanning unit scans the detection beam in the object space to complete a fast scanning cycle, including: the second scanning unit completes a scan of the detection beam within the horizontal field of view of the system.

11. A control method, characterized in that: The control method is applied to a laser radar system, wherein the laser radar system includes a first scanning unit and a second scanning unit. The first scanning unit and the second scanning unit are arranged on a transmission path of the detection light beam, The first scanning unit is used to swing around a first axis to scan the detection beam along a slow axis; The second scanning unit is configured to continuously rotate in a clockwise or counterclockwise direction around a second axis to scan the detection beam along a fast axis. The scanning cycle of the second scanning unit includes a first time period and a second time period. The second scanning unit performs idle scanning in the first time period. The second scanning unit scans the detection beam in the object space to complete a fast axis cycle in the second time period. The method comprises: controlling the first scanning unit to rotate from a first angular position to a second angular position during the first time period; and The first scanning unit is controlled to maintain an angular position unchanged during the second time period.

12. The method according to claim 11, characterized in that In a plurality of consecutive scanning cycles of the second scanning unit, the angular position of the first scanning unit is in a first angular interval, the first angular interval includes a plurality of angular positions, and the first angular position and the second angular position are two adjacent angular positions in the plurality of angular positions; The first field of view area in the vertical field of view of the laser radar system equipped with the first scanning unit and the second scanning unit corresponds to the first angle range, and the vertical angular resolution in the first field of view area is determined based on the angle between the first angular position and the second angular position.

13. The method according to claim 11 or 12, characterized in that The plurality of angular positions further includes a third angular position adjacent to the first angular position, wherein the angle between the first angular position and the third angular position is equal to the angle between the first angular position and the second angular position; and / or, The plurality of angular positions further includes a fourth angular position adjacent to the second angular position, and an included angle between the second angular position and the fourth angular position is equal to an included angle between the first angular position and the second angular position.

14. The method according to claim 11, characterized in that The first angular position is in a second angular interval, the second angular position is in a third angular interval, The second angular interval further includes a fifth angular position adjacent to the first angular position, and the third angular interval further includes a sixth angular position adjacent to the second angular position; The second angle interval corresponds to a second viewing area in the vertical field of view of the system, the third angle interval corresponds to a third viewing area in the vertical field of view of the system, and the second viewing area is adjacent to the third viewing area. The vertical angular resolution in the second field of view area is determined based on the angle between the first angular position and the fifth angular position, and the vertical angular resolution in the third field of view area is determined based on the angle between the second angular position and the sixth angular position.

15. The method according to any one of claims 11 to 14, characterized in that The laser radar system also includes a transmitting unit, which includes a plurality of light beam transmitting channels. The plurality of light beam transmitting channels are arranged in an array at equal intervals, and each of the plurality of light beam transmitting channels is used to transmit one of the detection beams.

16. The method according to any one of claims 11 to 15, characterized in that The second scanning unit scans the detection beam in the object space to complete a fast scanning cycle, including: the second scanning unit completes a scan of the detection beam within the horizontal field of view angle of the laser radar system provided with the first scanning unit and the second scanning unit.

17. A waveguide device, characterized in that: It is used to guide the return light of the detection beam to the receiving unit, and the waveguide light spot formed after the return light is processed by the waveguide device has a non-uniform light field intensity distribution.

18. The waveguide device according to claim 17, wherein The optical element includes at least one of the following: An optical device made of multiple waveguides based on a beam combining process, a waveguide with a multi-branch structure, or a grating coupler.

19. A laser radar system, characterized in that: include: a transmitting unit, a third scanning unit, a fourth scanning unit, a receiving unit, and a waveguide device as claimed in claim 17 or 18, The transmitting unit is used to: transmit a detection beam, and the third scanning unit and the fourth scanning unit are arranged on a transmission path of the detection beam; The third scanning unit is used to swing around the first axis to scan the detection beam along a slow axis; The fourth scanning unit is configured to continuously rotate in a clockwise or counterclockwise direction around the second axis to scan the fast axis of the detection beam; The receiving unit is used to: receive the return light of the detection beam; The waveguide device is used to guide the return light to the receiving unit.

20. The system according to claim 19, wherein: The waveguide light spot has a non-uniform light field intensity distribution along the second axis.

21. The system according to claim 19 or 20, characterized in that The waveguide light spot has a non-uniform light field intensity distribution, including: The light field intensity of the waveguide light spot is biased on the right side along the fast axis, biased on the left side along the fast axis, symmetrically distributed on the left and right sides along the fast axis, or asymmetrically distributed on the left and right sides along the fast axis.

22. The system according to any one of claims 19 to 21, characterized in that The emission unit includes a plurality of light beam emission channels, which are arranged in an array at equal intervals. Each of the plurality of light beam emission channels is used to emit one of the detection light beams.

23. A control device, characterized in that: include: memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 11 to 16.

24. A computer program product, characterized in that The computer program product includes computer program code, and when the computer program code is run on a computer, the method according to any one of claims 11 to 16 is executed.

25. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a computer, the method according to any one of claims 11 to 16 is implemented.

26. A chip, characterized in that: The device comprises a circuit and a communication interface, wherein the communication interface is used to receive information from other devices and input the information into the circuit, and / or the communication interface is used to send the information in the circuit to other devices, and the circuit is used to execute the method as described in any one of claims 11 to 16.

27. A vehicle, characterized in that: Includes the laser radar system as described in any one of claims 1 to 10, or includes the laser radar system as described in any one of claims 19 to 22, or includes the control device as described in claim 23.

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