Detection apparatus and detection method

Abstract

The present application relates to the technical field of wireless communications. Disclosed are a detection apparatus and a detection method. The detection apparatus integrates functions of a lidar and a millimeter-wave radar into a single detection apparatus, wherein laser signals and millimeter-wave signals are signals transmitted from the same source, clock sources corresponding to the laser signals and the millimeter-wave signals are the same, and the laser signals and the millimeter-wave signals are respectively transmitted by a laser transmitting module and a millimeter-wave transmitting module of the detection apparatus, and therefore spatial positions of the laser signals and the millimeter-wave signals are relatively close. Laser signals and millimeter-wave signals are from the same source and are respectively transmitted by a laser transmitting module and a millimeter-wave transmitting module of a detection apparatus, and therefore it is not necessary to calibrate parameters such as time, position and frequency when laser echo signals and millimeter-wave echo signals are processed, thereby shortening the calibration time and thus improving the data processing efficiency of detection apparatuses.

Description

Detection device and detection method

[0001] The present application claims priority to the Chinese patent application No. 202410641986.4, filed on May 22, 2024, entitled “Detection device and detection method”, the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of wireless communication, in particular to a detection device and a detection method. BACKGROUND

[0003] With the increasing complexity of the detection environment, a single radar detection often cannot meet the detection requirements. For example, taking the radar system in a self-driving vehicle as an example, the laser radar has the advantages of good directivity and high resolution, but is affected by the light transmission effect of the atmosphere, and has poor performance in rain, snow and other bad weather. The millimeter wave radar has strong ability to penetrate fog, smoke, dust and other objects, and can operate normally in bad weather, but has low resolution and short detection distance.

[0004] Therefore, currently, laser radar detection devices and millimeter wave radar detection devices are usually jointly deployed in a self-driving vehicle to detect target objects, and the data collected by the laser radar detection devices and the millimeter wave radar detection devices are fused to determine the shape, distance and other information of the target objects.

[0005] However, the millimeter wave radar detection device and the laser radar detection device are usually two independent devices, for example, the millimeter wave radar detection device and the laser radar detection device are located at different positions of the vehicle and have different clock sources, etc., so that the time, position and other parameters corresponding to the collected data are different, which further leads to high difficulty in data fusion processing. SUMMARY

[0006] The present application aims to provide a detection device and a detection method.

[0007] The first aspect of the present application provides a detection device, comprising: a light source module configured to generate a first light signal, wherein a first frequency of the first light signal comprises a center frequency component and a noise frequency component, and the noise frequency component of different first light signals generated by the light source module at different time instants is different; an electro-optical modulation module configured to convert the first light signal into a second light signal, wherein a second frequency of the second light signal is higher than the first frequency of the first light signal; a first emission module configured to convert the second light signal into a laser signal and emit the laser signal; a second emission module configured to convert the second light signal into a millimeter wave signal and emit the millimeter wave signal, wherein the laser signal and the millimeter wave signal are emitted at the same time; a first receiving module configured to receive a laser echo signal corresponding to the laser signal; a second receiving module configured to receive a millimeter wave echo signal corresponding to the millimeter wave signal; and a processing module configured to fuse the laser echo signal and the millimeter wave echo signal to obtain a detection result.

[0008] It can be understood that, since the laser signal and the millimeter wave signal are homologous, that is, the clock sources corresponding to the two signals are the same. The laser signal and the millimeter wave signal are respectively emitted by a laser emission module and a millimeter wave emission module of the detection device, and the spatial positions of the laser signal and the millimeter wave signal are relatively close. Therefore, when the laser echo signal and the millimeter wave echo signal are processed, calibration of parameters such as time, position and frequency is not required, the time for calibration is reduced, and thus the efficiency of data processing of the detection device is improved. Moreover, the frequency of the frequency noise light signal comprises a center frequency component and a noise frequency component, and the noise frequency component at different time instants is different. The light signal generated by the light source module at any time instant is superimposed with different noise frequencies, so as to avoid the case that the frequencies of the light signals at different time instants are the same due to the fluctuation of the frequency, avoid the interference phenomenon of the light, and thus improve the accuracy of the detection result.

[0009] In a possible implementation of the first aspect, the bandwidth corresponding to the noise frequency component is greater than the bandwidth of the millimeter wave signal.

[0010] It can be understood that, the bandwidth corresponding to the noise frequency component is greater than the bandwidth of the millimeter wave signal, so that the resolution of the laser signal emitted by the detection device can be close to the resolution of the millimeter wave signal emitted by the detection device, facilitating subsequent fusion processing.

[0011] In a possible implementation of the first aspect, the light source module is further configured to generate a first light signal L1 and a first light signal L2, wherein the frequency of the first light signal L1 comprises a center frequency component f L 1 and a noise frequency component f N 1, and the frequency of the first light signal L2 comprises a center frequency component f L 2 and a noise frequency component f N2; and the first transmitting module generates and transmits laser signals L corresponding to the first optical signals L1 s 1 and laser signals L corresponding to the first optical signals L2 s 2; the first receiving module receives laser echo signals L s 1 corresponding to the laser signals L e 1 and laser echo signals L s 2 corresponding to the laser signals L e 2, wherein the laser echo signals L e 1 have different frequencies from the laser echo signals L e 2.

[0012] In a possible implementation of the first aspect, the detection device further includes an optoelectronic oscillation module configured to generate a first electrical signal; and the electro-optical modulation module is configured to convert the first optical signals into second optical signals by: dividing the first optical signals into first sub-optical signals and second sub-optical signals, wherein the first sub-optical signals have the same power as the second sub-optical signals; determining a first phase offset of the first sub-optical signals and a second phase offset of the second sub-optical signals based on a frequency of the first electrical signal, to obtain third sub-optical signals and fourth sub-optical signals after phase shifting; and combining the third sub-optical signals and the fourth sub-optical signals into the second optical signals.

[0013] In the embodiments of the present application, the electro-optical modulation module includes a first intensity modulator and a first optical amplifier. The first intensity modulator is configured to modulate a frequency noise optical signal (the first optical signal) into an initial carrier-suppressed double-sideband modulated optical signal based on a linear frequency modulation signal (the first electrical signal). The first optical amplifier is configured to amplify the initial carrier-suppressed double-sideband modulated optical signal to compensate for loss of the optical signal in the transmission process, to obtain a carrier-suppressed double-sideband modulated optical signal (the second optical signal). The first intensity modulator can be a Mach-Zehnder (MZM) modulator, an electro-optical intensity modulator, a lithium niobate modulator, or an electro-optical modulator and a filter in cascade.

[0014] In a possible implementation of the first aspect, the optoelectronic oscillation module is further configured to generate a millimeter wave local oscillator signal; and the second transmitting module is further configured to beat the second optical signals to obtain a second electrical signal, wherein the frequency of the second electrical signal is higher than the frequency of the first electrical signal, and the frequency of the second electrical signal is converted to a millimeter wave frequency band based on the millimeter wave local oscillator signal to obtain a millimeter wave signal.

[0015] In a possible implementation of the first aspect, the first receiving module is further configured to perform beat frequency processing on the laser echo signal to obtain a third electric signal corresponding to the laser echo signal; the second receiving module is further configured to perform mixing processing on the millimeter wave local signal and the millimeter wave echo signal to obtain a fourth electric signal corresponding to the millimeter wave echo signal; and the processing module further includes: an optical mixing module configured to modulate the second optical signal based on the third electric signal and the fourth electric signal to obtain a third optical signal, and split the third optical signal into a first polarization state optical signal corresponding to the laser echo signal and a second polarization state optical signal corresponding to the millimeter wave echo signal, and determine the laser desquamation signal based on the first polarization state optical signal and determine the millimeter wave desquamation signal based on the second polarization state optical signal; and a data processing module configured to fuse the laser desquamation signal and the millimeter wave desquamation signal to determine the detection result.

[0016] In the embodiment of the present application, the laser receiving module includes a second optical lens 2061 and a second photoelectric detector. The second optical lens is configured to receive the laser echo signal reflected by the target object. The second photoelectric detector is configured to convert the laser echo signal into an electric signal (third electric signal) corresponding to the laser echo signal.

[0017] It can be understood that, based on the beat frequency processing of the laser echo signal by the second photoelectric detector, the noise frequency can be eliminated, so as to facilitate the subsequent processing of the laser echo signal.

[0018] In the embodiment of the present application, the optical mixing module includes a dual polarization intensity modulator, a polarization beam splitter, a third photoelectric detector and a fourth photoelectric detector. The dual polarization intensity modulator is configured to modulate the reference optical signal (second optical signal) based on the electric signal (third electric signal) corresponding to the laser echo signal and the intermediate frequency electric signal (fourth electric signal) corresponding to the millimeter wave echo signal to obtain a dual polarization optical signal (third optical signal), the dual polarization optical signal including two polarization states, i.e., a first polarization state corresponding to the laser echo signal and a second polarization state corresponding to the millimeter wave echo signal. The polarization beam splitter is configured to separate the dual polarization optical signal to obtain a first polarization state optical signal corresponding to the laser echo signal and a second polarization state optical signal corresponding to the millimeter wave echo signal. The third photoelectric detector is configured to perform beat frequency processing on the first polarization state optical signal to obtain the laser desquamation signal. The fourth photoelectric detector is configured to perform beat frequency processing on the second polarization state optical signal to obtain the millimeter wave desquamation signal.

[0019] It can be understood that, based on the beat frequency processing of the first polarization state optical signal by the third photoelectric detector and the beat frequency processing of the second polarization state optical signal by the fourth photoelectric detector, the noise frequency in the laser desquamation signal and the millimeter wave desquamation signal can be eliminated, so as to facilitate the subsequent fusion processing of the laser desquamation signal and the millimeter wave desquamation signal.

[0020] In a possible implementation of the first aspect, the optical mixing module determines the laser despread signal and the millimeter wave despread signal by: splitting the second optical signal into a fifth sub-optical signal and a sixth sub-optical signal, where the power of the fifth sub-optical signal is equal to the power of the sixth sub-optical signal; determining a third phase offset of the fifth sub-optical signal and a fourth phase offset of the sixth sub-optical signal based on the frequency of the third electrical signal, to obtain a seventh sub-optical signal and an eighth sub-optical signal after phase shifting; combining the seventh sub-optical signal and the eighth sub-optical signal into a fourth optical signal; determining a fifth phase offset of the fifth sub-optical signal and a sixth phase offset of the sixth sub-optical signal based on the frequency of the fourth electrical signal, to obtain a ninth sub-optical signal and a tenth sub-optical signal after phase shifting; combining the ninth sub-optical signal and the tenth sub-optical signal into a fifth optical signal; setting the bias of the fourth optical signal and the fifth optical signal to be a quadrature bias, and combining the fourth optical signal and the fifth optical signal into a third optical signal, where the third optical signal includes a first polarization state corresponding to the laser echo signal and a second polarization state corresponding to the millimeter wave echo signal; determining a first polarization state optical signal corresponding to the laser echo signal and a second polarization state optical signal corresponding to the millimeter wave echo signal based on the third optical signal; and performing beat processing on the first polarization state optical signal and the second polarization state optical signal respectively to obtain the laser despread signal and the millimeter wave despread signal.

[0021] The second aspect of the present application provides a detection device, comprising: an optical source module configured to generate a first optical signal, wherein a first frequency of the first optical signal includes a center frequency component and a noise frequency component, and at different time instants, different first optical signals generated by the optical source module have different noise frequency components; an electro-optical modulation module configured to convert the first optical signal into a second optical signal, wherein a second frequency of the second optical signal is higher than the first frequency of the first optical signal; a first transmitting module configured to convert the second optical signal into a laser signal and transmit the laser signal; a first receiving module configured to receive a laser echo signal corresponding to the laser signal; and a processing module configured to process the laser echo signal to obtain a detection result.

[0022] It can be understood that the frequency of the frequency noise optical signal includes a center frequency component and a noise frequency component. Since different time instants of the optical signal superimpose different noise frequencies, the situation that the generated laser signal has the same frequency at different time instants due to frequency fluctuation is avoided, the frequency difference of the laser signal is improved, the laser echo signal is easily distinguished when the detection device processes the laser echo signal, and the accuracy of the detection result is improved.

[0023] In a possible implementation of the second aspect, the optical source module is further configured to generate a first optical signal L1 and a first optical signal L2, where the frequency of the first optical signal L1 includes a center frequency component f L 1 and a noise frequency component f N1, the frequency of the first optical signal L2 includes a central frequency component f L 2 and a noise frequency component f N 2; and the first transmitting module generates and transmits laser signals L s 1 corresponding to the first optical signal L2 s 2; the first receiving module receives laser echo signals L s 1 corresponding to the laser signals L e 1 corresponding to the laser signals L s 2; the first receiving module receives laser echo signals L e 2, wherein the laser echo signals L e 1 have different frequencies and the laser echo signals L e 2.

[0024] In a possible implementation of the second aspect, the detection device further includes: an optoelectronic oscillation module configured to generate a first electrical signal; and the electro-optical modulation module is configured to convert the first optical signal into the second optical signal by: dividing the first optical signal into a first sub-optical signal and a second sub-optical signal, wherein the power of the first sub-optical signal is equal to the power of the second sub-optical signal, determining a first phase offset of the first sub-optical signal and a second phase offset of the second sub-optical signal based on the frequency of the first electrical signal, obtaining a third sub-optical signal and a fourth sub-optical signal after phase shifting, and combining the third sub-optical signal and the fourth sub-optical signal into the second optical signal.

[0025] In a possible implementation of the second aspect, the first receiving module is further configured to perform beat frequency processing on the laser echo signals to obtain third electrical signals corresponding to the laser echo signals; and the processing module further includes: an optical mixing module configured to modulate the second optical signal based on the third electrical signals to obtain third optical signals, and determine the laser desmearing signal based on the third optical signals; and a data processing module configured to process the laser desmearing signal to determine the detection result.

[0026] In the embodiments of the present application, the laser receiving module includes a fourth optical lens and a fifth photodetector. The fourth optical lens is configured to receive the laser echo signals reflected by the target object. The fifth photodetector is configured to convert the laser echo signals into electrical signals (third electrical signals) corresponding to the laser echo signals.

[0027] It can be understood that, based on the beat frequency processing of the laser echo signals by the fifth photodetector, the noise frequency can be eliminated, so as to facilitate the subsequent processing of the laser echo signals.

[0028] In a possible implementation of the second aspect, the light mixing module determines the laser deskewing signal by: dividing the second light signal into a fifth sub-light signal and a sixth sub-light signal, wherein the power of the fifth sub-light signal is equal to the power of the sixth sub-light signal; determining a third phase offset of the fifth sub-light signal and a fourth phase offset of the sixth sub-light signal based on the frequency of the third electrical signal, to obtain a seventh sub-light signal and an eighth sub-light signal after phase shifting, and combining the seventh sub-light signal and the eighth sub-light signal into the third light signal; and performing beat frequency processing on the third light signal to obtain the laser deskewing signal.

[0029] The third aspect of the present application provides a detection method, comprising: obtaining a first light signal, wherein a first frequency of the first light signal comprises a center frequency component and a noise frequency component, and the noise frequency components of different first light signals are different at different time instants; converting the first light signal into a second light signal, wherein a second frequency of the second light signal is higher than the first frequency of the first light signal; converting the second light signal into a laser signal and a millimeter wave signal respectively, and emitting the laser signal and the millimeter wave signal, wherein the emission times of the laser signal and the millimeter wave signal are the same; receiving a laser echo signal corresponding to the laser signal and a millimeter wave echo signal corresponding to the millimeter wave signal; and fusing the laser echo signal and the millimeter wave echo signal to obtain a detection result.

[0030] In a possible implementation of the third aspect, the bandwidth corresponding to the noise frequency component is greater than the bandwidth of the millimeter wave signal.

[0031] In a possible implementation of the third aspect, converting the first light signal into the second light signal comprises: obtaining a first electrical signal; dividing the first light signal into a first sub-light signal and a second sub-light signal, wherein the power of the first sub-light signal is equal to the power of the second sub-light signal, determining a first phase offset of the first sub-light signal and a second phase offset of the second sub-light signal based on the frequency of the first electrical signal, to obtain a third sub-light signal and a fourth sub-light signal after phase shifting, and combining the third sub-light signal and the fourth sub-light signal into the second light signal.

[0032] The fourth aspect of the present application provides a detection method, comprising: obtaining a first light signal, wherein a first frequency of the first light signal comprises a center frequency component and a noise frequency component, and the noise frequency components of different first light signals are different at different time instants; converting the first light signal into a second light signal, wherein a second frequency of the second light signal is higher than the first frequency of the first light signal; converting the second light signal into a laser signal and emitting the laser signal; receiving a laser echo signal corresponding to the laser signal; and processing the laser echo signal to obtain a detection result.

[0033] In a possible implementation of the fourth aspect, converting the first optical signal into the second optical signal comprises: obtaining a first electrical signal; dividing the first optical signal into a first sub-optical signal and a second sub-optical signal, wherein the power of the first sub-optical signal is equal to the power of the second sub-optical signal, determining a first phase offset of the first sub-optical signal and a second phase offset of the second sub-optical signal based on the frequency of the first electrical signal, obtaining a third sub-optical signal and a fourth sub-optical signal after phase shifting, and merging the third sub-optical signal and the fourth sub-optical signal into the second optical signal. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings described below are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative effort.

[0035] FIG. 1 shows a schematic diagram of an application scenario according to an embodiment of the present application;

[0036] FIG. 2a shows a schematic diagram of a structure of a laser radar according to an embodiment of the present application;

[0037] FIG. 2b shows a schematic diagram of a structure of a millimeter wave radar according to an embodiment of the present application;

[0038] FIG. 2c shows a schematic diagram of another structure of a millimeter wave radar according to an embodiment of the present application;

[0039] FIG. 3 shows a schematic diagram of distribution of a millimeter wave radar and a laser radar in an unmanned vehicle according to an embodiment of the present application;

[0040] FIG. 4 shows a schematic diagram of a time coordinate according to an embodiment of the present application;

[0041] FIG. 5 shows a schematic diagram of a structure of a detection device 200 according to an embodiment of the present application;

[0042] FIG. 6a shows a schematic diagram of a detection device 200 emitting laser signals to target objects 1 and 2 according to an embodiment of the present application;

[0043] FIG. 6b shows a schematic diagram of a detection device 200 receiving laser echo signals reflected by target objects 1 and 2 according to an embodiment of the present application;

[0044] FIG. 6c shows a schematic diagram of a waveform of an interference phenomenon of light according to an embodiment of the present application;

[0045] FIG. 6d shows a schematic diagram of waveforms of optical signals with different frequencies according to an embodiment of the present application;

[0046] Fig. 7 shows a structural schematic diagram of a detection device 300 according to an embodiment of the present application;

[0047] Fig. 8 shows a structural schematic diagram of a processing module according to an embodiment of the present application;

[0048] Fig. 9 shows a schematic diagram of a detection device 200 according to an embodiment of the present application;

[0049] Fig. 10a shows a structural schematic diagram of an electro-optical modulation module according to an embodiment of the present application;

[0050] Fig. 10b shows a structural schematic diagram of a laser emission module according to an embodiment of the present application;

[0051] Fig. 10c shows a structural schematic diagram of a millimeter wave emission module according to an embodiment of the present application;

[0052] Fig. 10d shows a structural schematic diagram of a laser receiving module according to an embodiment of the present application;

[0053] Fig. 10e shows a structural schematic diagram of a millimeter wave receiving module according to an embodiment of the present application;

[0054] Fig. 10f shows a structural schematic diagram of an optical mixing module according to an embodiment of the present application;

[0055] Fig. 11 shows a schematic diagram of another detection device 200 according to an embodiment of the present application;

[0056] Fig. 12 shows a structural schematic diagram of another processing module according to an embodiment of the present application;

[0057] Fig. 13 shows a schematic diagram of a detection device 300 according to an embodiment of the present application;

[0058] Fig. 14a shows a structural schematic diagram of another electro-optical modulation module according to an embodiment of the present application;

[0059] Fig. 14b shows a structural schematic diagram of another laser emission module according to an embodiment of the present application;

[0060] Fig. 14c shows a structural schematic diagram of another laser receiving module according to an embodiment of the present application;

[0061] Fig. 14d shows a structural schematic diagram of another optical mixing module according to an embodiment of the present application;

[0062] Fig. 15 shows a schematic diagram of another detection device 300 according to an embodiment of the present application;

[0063] FIG. 16 shows a flowchart of a detection method according to an embodiment of the present application;

[0064] FIG. 17 shows a flowchart of another detection method according to an embodiment of the present application. DETAILED DESCRIPTION

[0065] Illustrative embodiments of the present application include, but are not limited to, a detection device and a detection method.

[0066] For the purposes of the present application, the technical solutions and advantages thereof will be more clearly described below with reference to the accompanying drawings.

[0067] The detection method provided by the present application can be applied in the fields of automatic driving, traffic radar, topographic surveying, safety monitoring, base station, etc., such as vehicle to everything (V2X), long term evolution-vehicle (LTE-V), vehicle-to-vehicle (V2V) and other vehicle networking scenarios for automatic driving vehicles.

[0068] Exemplarily, FIG. 1 shows a schematic diagram of an application scenario according to an embodiment of the present application.

[0069] As shown in FIG. 1, an unmanned vehicle 10 is disposed with a detection system (such as a radar system) in the middle and travels on a road 01. The detection system of the unmanned vehicle transmits detection signals (such as lidar signals and / or millimeter wave radar signals) to the physical environment where the unmanned vehicle 10 is located (i.e., the space around the position of the unmanned vehicle 10 on the road 01) to detect targets (such as vehicles 20 and 30) around the unmanned vehicle 10. After receiving the echo signals of the vehicles 20 and 30, the echo signals are processed to obtain related parameters of the target objects, such as shape, speed, distance, etc., for the control system of the unmanned vehicle 10 to make corresponding driving strategies, such as acceleration, deceleration, lane change, etc.

[0070] Before introducing the technical solutions involved in the embodiments of the present application, some terms contained in the embodiments of the present application are explained.

[0071] (1) Lidar

[0072] Lidar is a radar system that transmits a laser beam to detect the position, speed and other characteristic quantities of a target object.

[0073] The working principle of the laser radar is that the laser radar emits a laser beam (laser signal) to a target object (such as a vehicle, an airplane, etc.), and then compares and processes the received signal (laser echo signal) reflected back from the target object with the emitted laser signal, so that relevant information of the target object, such as distance, direction, height, speed, attitude, shape, etc., can be obtained, thereby the target object can be detected, tracked and identified.

[0074] Exemplarily, referring to the structural schematic diagram of the laser radar shown in FIG. 2a, the laser radar 10a includes a light source module, a laser emission module, a laser receiving module, a mixing module and a data processing module, etc. The light source module generates a laser signal, and the laser emission module emits the laser signal to a target object. The laser receiving module receives a laser echo signal reflected back from the target object, and then the mixing module converts the laser echo signal into an electrical signal form after comparing and processing the laser echo signal with the corresponding laser signal. The data processing module performs digital-to-analog conversion and digital signal processing, etc., on the converted electrical signal, so as to obtain relevant information of the target object.

[0075] (2) Millimeter wave radar

[0076] The millimeter wave radar is a detection radar system working in the millimeter wave band.

[0077] The working principle of the millimeter wave radar is that the millimeter wave radar emits an electromagnetic wave (millimeter wave signal) to a target object, and then compares and processes the received signal (millimeter wave echo signal) reflected back from the target object with the emitted millimeter wave signal, so that relevant information of the target object, such as distance, direction, height, speed, etc., can be obtained, thereby the target object can be detected, tracked and identified. For example, the millimeter wave radar determines the time difference between the emitted millimeter wave signal and the received millimeter wave echo signal, so as to determine the position and distance of the target object.

[0078] Exemplarily, referring to the structural schematic diagram of the millimeter wave radar shown in FIG. 2b, the millimeter wave radar 20a includes an oscillation module, a millimeter wave emission module, a millimeter wave receiving module, a mixing module and a data processing module, etc. The oscillation module generates a millimeter wave signal, and the millimeter wave emission module amplifies the millimeter wave signal and then emits it to a target object. The millimeter wave receiving module receives a millimeter wave echo signal reflected back from the target object, and then the mixing module performs mixing processing on the millimeter wave echo signal with the corresponding millimeter wave signal. The data processing module performs digital-to-analog conversion and digital signal processing, etc., on the mixed electrical signal, so as to obtain relevant information of the target object.

[0079] (3) Microwave photon frequency multiplication technology

[0080] The microwave photon frequency multiplication technology is generally used in the millimeter wave radar to modulate a low-frequency millimeter wave signal into a high-frequency millimeter wave signal. For example, FIG. 2c shows a structural schematic diagram of another millimeter wave radar. As shown in FIG. 2c, the millimeter wave radar 20b includes a light source module, an oscillation module, an electro-optical modulation module, a millimeter wave transmitting module, a millimeter wave receiving module, a mixing module, and a data processing module, etc. The light source module generates a light signal as a carrier signal, and the oscillation module generates a frequency modulation signal (for example, a low-frequency electrical signal). The electro-optical modulation module modulates the light signal based on the frequency modulation signal to generate a modulated signal, where the modulated signal can be, for example, a double sideband modulated light signal, a carrier-suppressed double sideband modulated light signal, or the like, which is a high-frequency light signal carrying information (for example, frequency) of the frequency modulation signal. The millimeter wave transmitting module optoelectronic converts the modulated signal to obtain a high-frequency millimeter wave signal and transmits it to a target object. The millimeter wave receiving module receives a millimeter wave echo signal reflected from the target object, and then the mixing module mixes the millimeter wave echo signal with the corresponding modulated signal. The data processing module performs digital-to-analog conversion and digital signal processing on the electrical signal after mixing to obtain relevant information of the target object.

[0081] It can be understood that, since the bandwidth of the light signal is larger than that of the millimeter wave signal and the anti-interference ability of the light signal is stronger than that of the millimeter wave signal, in the process of modulating a low-frequency millimeter wave signal into a high-frequency millimeter wave signal, the microwave photon frequency multiplication technology can be used to modulate the low-frequency millimeter wave signal onto the light signal for processing, and then convert the processed light signal into a high-frequency millimeter wave signal.

[0082] As described above, to cope with the increasingly complex detection environment, it is generally necessary to use detection data fusion processing of multiple types of radar detection devices to obtain relevant parameters of the target object. In actual application scenarios, for example, in an unmanned vehicle, the unmanned vehicle needs to perform fusion processing on the detection data of each radar detection device (for example, a laser radar detection device and a millimeter wave radar detection device) to realize information complementation, so that the detection result of the target object in the driving environment of the unmanned vehicle is more comprehensive and accurate, and thus the decision made according to the detection result is more accurate.

[0083] However, the current millimeter wave radar detection device and the laser radar detection device are generally two independent devices, for example, the millimeter wave radar detection device and the laser radar detection device are located at different positions of the vehicle and have different clock sources, etc., resulting in that the time, position, and the like corresponding to the collected data are not the same, and thus the difficulty of data fusion processing is high.

[0084] Exemplarily, FIG. 3 shows a distribution diagram of a millimeter wave radar and a laser radar in an unmanned vehicle. As shown in FIG. 3, the millimeter wave radar 101 and the laser radar 102 are deployed in the unmanned vehicle 10. Among them, the millimeter wave radar 101 is located at the front end of the unmanned vehicle 10, the laser radar 102 is located at the top end of the unmanned vehicle 10, and the millimeter wave radar 101 and the laser radar 102 correspond to different clock sources.

[0085] Taking time calibration as an example, assuming that the clock drift of the millimeter wave radar 101 is t1 and the clock drift of the laser radar 102 is t2, then for the data at time t, the millimeter wave radar 101 actually corresponds to time t+t1, and the laser radar 102 actually corresponds to time t+t2. If the clocks of the millimeter wave radar 101 and the laser radar 102 are not calibrated to obtain a unified reference time, it may cause the data at different times to be fused, and then the processed data has errors, and then the decision of the unmanned vehicle 10 is affected.

[0086] Exemplarily, refer to the time coordinate diagram shown in FIG. 4. As shown in FIG. 4, the data corresponding to the millimeter wave radar 101 is A1, A2, A3 and A4, and the clock drift of the millimeter wave radar 101 is t1. The data corresponding to the laser radar 102 is B1, B2, B3 and B4, and the clock drift of the laser radar 102 is t2. Data A1 and data B2 correspond to the same time, data A2 and data B3 correspond to the same time, and data A3 and data B4 correspond to the same time.

[0087] If the clocks of the millimeter wave radar 101 and the laser radar 102 are not calibrated, then when the data is fused, the unmanned vehicle 10 will fuse data A1 and data B1, fuse data A2 and data B2, fuse data A3 and data B3, and fuse data A4 and data B4. For example, the unmanned vehicle 10 determines the distance between the target object and the unmanned vehicle 10 at the corresponding time based on data A1, and determines the speed of the target object at the corresponding time based on the corresponding data B1, and calculates the collision time of the unmanned vehicle 10 and the target object based on the distance determined based on data A1 and the speed determined based on data B1. Since the data corresponding to data A1 should actually be data B2, it may cause a large error in the calculation of the collision time, and then the unmanned vehicle 10 makes a wrong decision, such as emergency braking.

[0088] However, the unmanned vehicle 10 needs to calibrate the time, position, frequency and other parameters of the received data every time it receives the data of the millimeter wave radar and the data of the laser radar, and the calibration process is relatively complex and consumes a lot of time.

[0089] Therefore, the application embodiment proposes a detection device, which integrates the functions of laser radar and millimeter wave radar in one detection device, wherein the laser signal and the millimeter wave signal are homologous transmission signals, the clock sources corresponding to the laser signal and the millimeter wave signal are the same, and the laser signal and the millimeter wave signal are respectively transmitted by the laser transmission module and the millimeter wave transmission module of the detection device, so that the spatial positions of the laser signal and the millimeter wave signal are relatively close.

[0090] Specifically, as shown in FIG. 5, the detection device 200 includes a light source module 201 (as an example of a light source module), an oscillation module 202 (as an example of an optoelectronic oscillation module), an electro-optical modulation module 203 (as an example of an electro-optical modulation module), a laser transmission module 204 (as an example of a first transmission module), a millimeter wave transmission module 205 (as an example of a second transmission module), a laser receiving module 206 (as an example of a first receiving module), a millimeter wave receiving module 207 (as an example of a second receiving module), and a processing module 208 (as an example of a processing module). Among them, the light source module 201 is used to generate a first optical signal as a carrier signal; the oscillation module 202 is used to generate a frequency modulation signal (as an example of a first electrical signal); the electro-optical modulation module 203 is used to modulate the first optical signal based on the frequency modulation signal to generate a second optical signal, wherein the second optical signal carries the frequency information of the frequency modulation signal, for example, the second optical signal is a carrier-suppressed double-sideband modulated optical signal; the laser transmission module 204 is used to determine a laser signal based on the second optical signal, and transmit the laser signal to a target object; the millimeter wave transmission module 205 is used to photoelectrically convert the second optical signal to determine a millimeter wave signal, and transmit the millimeter wave signal to the target object; the laser receiving module 206 is used to receive a laser echo signal reflected by the target object; the millimeter wave receiving module 207 is used to receive a millimeter wave echo signal reflected by the target object; and the processing module 208 is used to obtain a detection result based on the laser echo signal and the millimeter wave echo signal.

[0091] It can be understood that, since the laser signal and the millimeter wave signal are homologous, that is, the clock sources corresponding to the two signals are the same. The laser signal and the millimeter wave signal are respectively transmitted by the laser transmission module and the millimeter wave transmission module of the detection device, and the spatial positions of the laser signal and the millimeter wave signal are relatively close. Therefore, when the laser echo signal and the millimeter wave echo signal are processed, there is no need to calibrate the time, position, frequency and other parameters, which reduces the calibration time and further improves the efficiency of data processing of the detection device.

[0092] It can be understood that in some cases, the frequency of the first light signal generated by the light source module 201 is fluctuant. However, due to the fluctuation of the frequency, the frequencies of the light signals at different time may be the same, and the interference of light may occur, thereby affecting the subsequent signal processing. Specifically, the interference of light refers to the phenomenon that two or more light signals meet in space and are superimposed or cancelled to form a new waveform. The condition for the interference of light of two or more light signals is that the vibration frequencies are the same, the vibration directions are the same, and the phase difference is constant.

[0093] For example, as shown in FIG. 6a, the detection device 200 emits laser signal 1 and laser signal 2 to target object 1 and target object 2 respectively. If the frequencies of the laser signal 1 and the laser signal 2 are the same, the frequency of the laser echo signal 1 reflected by the target object 1 after receiving the laser signal 1 and the frequency of the laser echo signal 2 reflected by the target object 2 after receiving the laser signal 2 are also the same. As shown in FIG. 6b, the frequencies of the laser echo signal 1 reflected by the target object 1 and the laser echo signal 2 reflected by the target object 2 are the same. When propagating or mixing, the laser echo signal 1 and the laser echo signal 2 may interfere with each other, and the laser echo signal 3 is generated, thereby affecting the detection result.

[0094] Therefore, the embodiment of the present application further provides a detection device. The first light signal generated by the light source module is set as a frequency noise light signal, that is, the frequency (as an example of the first frequency) of the first light signal includes two components of a center frequency (as an example of the center frequency component) and a noise frequency (as an example of the noise frequency component). Moreover, the noise frequency components at different time are different. It can be understood that the light signal generated by the light source module at any time is superimposed with different noise frequencies, so as to avoid the case that the frequencies of the light signals at different time are the same due to the fluctuation of the frequency, avoid the interference of light, and thereby improve the accuracy of the detection result.

[0095] The vibration direction and the phase difference of the plurality of first light signals generated by the light source module 201 are the same. If the frequencies of the plurality of first light signals generated by the light source module 201 are also the same, the wavelengths of the plurality of first light signals generated by the light source module 201 are also the same. As shown in FIG. 6c, the distance between point m1 and point m2 represents the wavelength of light signal M, and the distance between point n1 and point n2 represents the wavelength of light signal N. The wavelength of light signal M is equal to the wavelength of light signal N, that is, the frequencies of light signal M and light signal N are the same. Moreover, the vibration direction and the phase difference of light signal M and light signal N are the same. Therefore, light signal M and light signal N are superimposed to generate light signal L.

[0096] If different frequencies are added to the optical signal M and the optical signal N, the optical signal M' and the optical signal N' are obtained, as shown in FIG. 6d, the distance between the point m1' and the point m2' represents the wavelength of the optical signal M, the distance between the point n1' and the point n2' represents the wavelength of the optical signal N, the wavelength of the optical signal M' and the wavelength of the optical signal N' are not equal, that is, the frequency of the optical signal M' and the frequency of the optical signal N' are different, even if the vibration direction and the phase difference of the optical signal M' and the optical signal N' are the same, the optical signal M' and the optical signal N' will not produce interference phenomenon, and a new optical signal is generated.

[0097] Exemplarily, it is assumed that the light source module 201 generates a first optical signal L1 and a first optical signal L2. Wherein, the frequency of the first optical signal L1 includes a center frequency component f L 1 and a noise frequency component f N 1, and the frequency of the first optical signal L2 includes a center frequency component f L 2 and a noise frequency component f N 2. Then, the laser emission module 204 generates and emits a laser signal L s 1 corresponding to the first optical signal L1 and a laser signal L s 2 corresponding to the first optical signal L2, and the laser receiving module receives a laser echo signal L s 1 corresponding to the laser signal L e 1 and a laser echo signal L s 2 corresponding to the laser signal L e 2. It can be understood that the frequency of the laser echo signal L e 1 and the frequency of the laser echo signal L e 2 are different, and the laser echo signal L e 1 and the laser echo signal L e 2 will not produce interference phenomenon, and a new optical signal is generated.

[0098] It can be understood that due to the fluctuation of the frequency, the frequency of the optical signal generated by the light source module at different time may be the same, and the interference phenomenon of the light will also occur in the laser radar detection device. Therefore, the optical signal generated by the light source module in the laser radar detection device can also be set as a frequency noise optical signal to avoid the interference phenomenon of the light, thereby improving the accuracy of the detection result.

[0099] Therefore, another detection device is provided in the embodiment of the present application, which modulates a frequency modulation signal to a frequency noise optical signal by using microwave photon frequency multiplication technology to obtain a modulation signal, and determines a laser signal based on the modulation signal and emits the laser signal to a target object, wherein the frequency of the frequency noise optical signal includes a center frequency and a noise frequency, and the noise frequency component at different time is different; receives a laser echo signal, and processes the laser echo signal and a millimeter wave echo signal to obtain a detection result.

[0100] Specifically, as shown in FIG. 7, the detection device 300 includes a light source module 301 (as an example of a light source module), an oscillation module 302 (as an example of an optoelectronic oscillation module), an electro-optical modulation module 303 (as an example of an electro-optical modulation module), a laser emission module 304 (as an example of a first emission module), a laser receiving module 305 (as an example of a first receiving module), and a processing module 306 (as an example of a processing module). Among them, the light source module 301 is configured to generate a frequency noise optical signal; the oscillation module 302 is configured to generate a linear frequency modulation signal; the electro-optical modulation module 303 is configured to modulate the frequency noise optical signal based on the linear frequency modulation signal to generate a carrier-suppressed double sideband modulated optical signal; the laser emission module 304 is configured to determine a laser signal based on the carrier-suppressed double sideband modulated optical signal, and emit the laser signal to a target object; the laser receiving module 305 is configured to receive a laser echo signal reflected by the target object; and the processing module 306 is configured to obtain a detection result based on the laser echo signal.

[0101] It can be understood that the frequency of the frequency noise optical signal includes a center frequency and a noise frequency, and the noise frequency component at different times is different. Since different times of light signals superimpose different noise frequencies, the situation that the generated laser signal has the same frequency at different times due to frequency fluctuations is avoided, the frequency difference of the laser signal is improved, the laser echo signal is distinguished when the detection device processes the laser echo signal, and the accuracy of the detection result is improved.

[0102] It can be understood that the structure shown in the embodiments of the present application does not constitute a specific limitation on the detection device 200 and the detection device 300. In other embodiments of the present application, the detection device 200 and the detection device 300 can include more or fewer modules than shown, or combine certain modules, or split certain modules, or different module arrangements. The modules shown can be implemented in hardware, software, or a combination of software and hardware.

[0103] In order to better understand the technical solutions of the embodiments of the present application, some technical solutions of the present application are described in detail below.

[0104] Embodiment one

[0105] The working principle of the detection device 200 will be described in detail below in combination with the structure schematic diagram of the detection device 200 shown in FIG. 5.

[0106] As shown in FIG. 5, the detection device 200 includes a light source module 201, an oscillation module 202, an electro-optical modulation module 203, a laser emission module 204, a millimeter wave emission module 205, a laser receiving module 206, a millimeter wave receiving module 207, and a processing module 208.

[0107] The light source module 201 is configured to generate a frequency noise light signal; the oscillation module 202 is configured to generate a linear frequency modulation signal; the electro-optical modulation module 203 is configured to modulate the frequency noise light signal based on the linear frequency modulation signal to generate a carrier-suppressed double sideband modulated light signal; the laser emission module 204 is configured to determine a laser signal based on the carrier-suppressed double sideband modulated light signal, and emit the laser signal to a target object; the millimeter wave emission module 205 is configured to determine a millimeter wave signal based on the carrier-suppressed double sideband modulated light signal, and emit the millimeter wave signal to the target object; the laser receiving module 206 is configured to receive a laser echo signal reflected by the target object; the millimeter wave receiving module 207 is configured to receive a millimeter wave echo signal reflected by the target object; and the processing module 208 is configured to obtain a detection result based on the laser echo signal and the millimeter wave echo signal.

[0108] It can be understood that the light source module 201 is a frequency noise light source, and the frequency of the frequency noise light signal generated by the light source module 201 comprises a center frequency and a noise frequency.

[0109] In some embodiments, the frequency range (or frequency bandwidth, referred to as bandwidth) of the noise frequency is greater than a bandwidth threshold. The bandwidth threshold can be determined based on the bandwidth of the millimeter wave signal required to be generated by the detection device 200, so that the resolution of the laser signal emitted by the detection device 200 can be close to the resolution of the millimeter wave signal emitted by the detection device 200, facilitating subsequent fusion processing.

[0110] That is, in some embodiments, the bandwidth corresponding to the noise frequency component is greater than the bandwidth of the millimeter wave signal.

[0111] In some embodiments, the oscillation module 202 is further configured to generate a millimeter wave local oscillator signal, so that the millimeter wave emission module 205 determines the millimeter wave signal in the millimeter wave frequency band based on the millimeter wave local oscillator signal and the carrier-suppressed double sideband modulated light signal, and the millimeter wave receiving module 207 determines the intermediate frequency electrical signal corresponding to the millimeter wave echo signal based on the millimeter wave local oscillator signal and the millimeter wave echo signal (as an example of the fourth electrical signal). Furthermore, the process of determining the millimeter wave signal based on the carrier-suppressed double sideband modulated light signal by the millimeter wave emission module 205 comprises: determining the millimeter wave signal based on the carrier-suppressed double sideband modulated light signal and the millimeter wave local oscillator signal. The millimeter wave receiving module 207 is further configured to determine the intermediate frequency electrical signal corresponding to the millimeter wave echo signal based on the millimeter wave echo signal and the millimeter wave local oscillator signal. The laser receiving module 206 is further configured to convert the laser echo signal into an electrical signal corresponding to the laser echo signal (as an example of the third electrical signal). The process of obtaining the detection result based on the laser echo signal and the millimeter wave echo signal by the processing module 208 comprises: processing the intermediate frequency electrical signal corresponding to the millimeter wave echo signal and the electrical signal corresponding to the laser echo signal to obtain the detection result.

[0112] In some embodiments, the modulation module 203 generates the carrier-suppressed double-sideband modulated optical signal by the following method: dividing the frequency noise optical signal into a first sub-optical signal and a second sub-optical signal, wherein the power of the first sub-optical signal and the power of the second sub-optical signal are equal. Determining a first phase offset of the first sub-optical signal and a second phase offset of the second sub-optical signal based on the frequency of the linear frequency modulation signal, obtaining a third sub-optical signal and a fourth sub-optical signal after phase shifting, and merging the third sub-optical signal and the fourth sub-optical signal into the carrier-suppressed double-sideband modulated optical signal.

[0113] In some embodiments, as shown in the structural schematic diagram of the processing module shown in Figure 8, the processing module 208 includes an optical mixing module 208a (as an example of an optical mixing module) and a data processing module 208b (as an example of a data processing module). Wherein, the optical mixing module 208a is used for performing desquaring processing on the intermediate frequency electrical signal corresponding to the millimeter wave echo signal and the electrical signal corresponding to the laser echo signal based on the carrier-suppressed double-sideband modulated optical signal, to obtain a millimeter wave desquaring signal and a laser desquaring signal. The data processing module 208b is used for data processing (such as digital-to-analog conversion, etc.) and data fusion operations on the millimeter wave desquaring signal and the laser desquaring signal, to obtain a detection result.

[0114] The working principle of the detection device 200 will be introduced below in combination with the principle diagram of the detection device 200 shown in Figure 9.

[0115] At the transmitting end of the detection device 200:

[0116] The light source module 201 generates a frequency noise optical signal, and sends the frequency noise optical signal to the electro-optical modulation module 203.

[0117] The oscillation module 202 generates a linear frequency modulation signal, and sends the linear frequency modulation signal to the electro-optical modulation module 203; and generates a millimeter wave local oscillator signal, and sends the millimeter wave local oscillator signal to the millimeter wave transmitting module 205 and the millimeter wave receiving module 207.

[0118] The electro-optical modulation module 203 modulates the frequency noise optical signal into a carrier-suppressed double-sideband modulated optical signal based on the linear frequency modulation signal, sends the carrier-suppressed double-sideband modulated optical signal as a reference optical signal to the optical mixing module 208a; and sends the carrier-suppressed double-sideband modulated optical signal to the laser transmitting module 204 and the millimeter wave transmitting module 205, respectively.

[0119] The laser transmitting module 204 determines a laser signal based on the carrier-suppressed double-sideband modulated optical signal, and transmits the laser signal to the target object.

[0120] The millimeter wave transmitting module 205 determines a millimeter wave signal based on the carrier-suppressed double-sideband modulated optical signal and the millimeter wave local oscillator signal, and transmits the millimeter wave signal to the target object.

[0121] At the receiving end of the detection device 200:

[0122] The laser receiving module 206 receives the laser echo signal reflected by the target object, converts the laser echo signal into an electrical signal corresponding to the laser echo signal, and sends the electrical signal corresponding to the laser echo signal to the optical mixing module 208a.

[0123] The millimeter wave receiving module 207 receives the millimeter wave echo signal reflected by the target object, and converts the millimeter wave echo signal into an intermediate frequency electrical signal corresponding to the millimeter wave echo signal based on the millimeter wave local oscillator signal, and sends the intermediate frequency electrical signal corresponding to the millimeter wave echo signal to the optical mixing module 208a.

[0124] The optical mixing module 208a performs deskewing processing on the electrical signal corresponding to the laser echo signal and the intermediate frequency electrical signal corresponding to the millimeter wave echo signal based on the reference optical signal (i.e., the carrier-suppressed double-sideband modulated optical signal), to obtain a millimeter wave deskewing signal and a laser deskewing signal, and sends the millimeter wave deskewing signal and the laser deskewing signal to the data processing module 208b.

[0125] The data processing module 208b performs data processing (such as digital-to-analog conversion, etc.) and data fusion operations on the millimeter wave deskewing signal and the laser deskewing signal to obtain a detection result.

[0126] In some embodiments, the optical mixing module 208a modulates the reference optical signal (i.e., the carrier-suppressed double-sideband modulated optical signal) based on the electrical signal corresponding to the laser echo signal and the intermediate frequency electrical signal corresponding to the millimeter wave echo signal to obtain a modulated optical signal (as an example of a third optical signal), and divides the modulated optical signal into a first polarization state optical signal corresponding to the laser echo signal and a second polarization state optical signal corresponding to the millimeter wave echo signal, and determines the laser deskewing signal based on the first polarization state optical signal and the millimeter wave deskewing signal based on the second polarization state optical signal.

[0127] Specifically, the optical mixing module 208a determines the laser deskewing signal and the millimeter wave deskewing signal by the following method:

[0128] The reference light signal is divided into a fifth sub-light signal and a sixth sub-light signal, wherein the power of the fifth sub-light signal and the power of the sixth sub-light signal are equal. A third phase offset of the fifth sub-light signal and a fourth phase offset of the sixth sub-light signal are determined based on the frequency of the third electrical signal, to obtain a seventh sub-light signal and an eighth sub-light signal after phase shifting, and the seventh sub-light signal and the eighth sub-light signal are combined into a fourth light signal. A fifth phase offset of the fifth sub-light signal and a sixth phase offset of the sixth sub-light signal are determined based on the frequency of the fourth electrical signal, to obtain a ninth sub-light signal and a tenth sub-light signal after phase shifting, and the ninth sub-light signal and the tenth sub-light signal are combined into a fifth light signal. The bias of the fourth light signal and the fifth light signal is set to be a quadrature bias, and the fourth light signal and the fifth light signal are combined into a modulated light signal, wherein the modulated light signal includes a first polarization state corresponding to a laser echo signal and a second polarization state corresponding to a millimeter wave echo signal. Based on the modulated light signal, a first polarization state light signal corresponding to the laser echo signal and a second polarization state light signal corresponding to the millimeter wave echo signal are determined. The first polarization state light signal and the second polarization state light signal are respectively subjected to beat frequency processing to obtain a laser dechirp signal and a millimeter wave dechirp signal.

[0129] In some embodiments, the data processing module 208b determines a point cloud image and a microwave image based on the laser dechirp signal and the millimeter wave dechirp signal respectively; performs joint calibration on the laser signal and the millimeter wave signal, and then fuses the point cloud image corresponding to the laser signal and the microwave image corresponding to the millimeter wave signal, to determine image information of the target object.

[0130] In order to better understand the technical solutions of the embodiments of the present application, the structures and functions of the various modules of the detection device 200 will be described in detail below with reference to the accompanying drawings.

[0131] Exemplarily, FIG. 10a shows a structural schematic diagram of an electro-optical modulation module according to an embodiment of the present application.

[0132] As shown in FIG. 10a, the electro-optical modulation module 203 includes a first intensity modulator 2031 and a first optical amplifier 2032. The first intensity modulator 2031 is configured to modulate a frequency noise light signal into an initial carrier-suppressed double sideband modulation light signal based on a linear frequency modulation signal. The first optical amplifier 2032 is configured to amplify the initial carrier-suppressed double sideband modulation light signal to compensate for the loss of the light signal in the transmission process, to obtain an amplified carrier-suppressed double sideband modulation light signal (i.e., a carrier-suppressed double sideband modulation light signal).

[0133] The first intensity modulator 2031 can be a Mach-Zehnder (MZM) modulator, an electro-optical intensity modulator, a lithium niobate modulator, or a structure of an electro-optical modulator and a filter in cascade, without limitation. For example, the first intensity modulator 2031 is a Mach-Zehnder modulator, which is operated at a minimum transmission point, so that only odd-order sidebands are contained in the output signal, and the optical carrier and even-order sidebands are suppressed. FIG. 10b shows a structure of a laser emission module according to an embodiment of the present application.

[0134] As shown in FIG. 10b, the laser emission module 204 includes a second optical amplifier 2041 and a first optical lens 2042. The second optical amplifier 2041 is configured to amplify the carrier-suppressed double-sideband modulated optical signal to obtain a laser signal. It can be understood that the amplification of the optical signal can improve the power and energy of the optical signal, so as to improve the emission power of the laser signal. The first optical lens 2042 is configured to emit the laser signal.

[0135] For example, FIG. 10c shows a structure of a millimeter wave emission module according to an embodiment of the present application.

[0136] As shown in FIG. 10c, the millimeter wave emission module 205 includes a first photodetector 2051, a first electrical mixer 2052, a first electrical amplifier 2053, and a transmitting antenna 2054. The first photodetector 2051 is configured to perform photoelectric conversion (beat frequency processing) on the carrier-suppressed double-sideband modulated optical signal to obtain a frequency-doubled electrical signal (as an example of a second electrical signal). It can be understood that the frequency of the frequency-doubled electrical signal is higher than that of the linear frequency modulation signal. The first electrical mixer 2052 is configured to perform mixing processing on the frequency-doubled electrical signal and a millimeter wave local oscillator signal, so as to up-convert the frequency-doubled electrical signal to a millimeter wave frequency band to obtain a wideband millimeter wave signal. The first electrical amplifier 2053 is configured to amplify the wideband millimeter wave signal to obtain an amplified millimeter wave signal (i.e., a millimeter wave signal). It can be understood that the amplification of the millimeter wave signal can improve the power and energy of the millimeter wave signal, so as to improve the emission power of the millimeter wave signal. The transmitting antenna 2054 is configured to emit the millimeter wave signal.

[0137] For example, FIG. 10d shows a structure of a laser receiving module according to an embodiment of the present application.

[0138] As shown in FIG. 10d, the laser receiving module 206 includes a second optical lens 2061 and a second photodetector 2062. The second optical lens 2061 is configured to receive a laser echo signal reflected by a target object. The second photodetector 2062 is configured to convert the laser echo signal into an electrical signal corresponding to the laser echo signal.

[0139] It can be understood that, based on the beat frequency processing of the laser echo signal by the second photodetector 2062, the noise frequency can be eliminated, so as to facilitate subsequent processing of the laser echo signal.

[0140] Exemplarily, FIG. 10e shows a structural schematic diagram of a millimeter wave receiving module according to an embodiment of the present application.

[0141] As shown in FIG. 10e, the millimeter wave receiving module 207 includes a receiving antenna 2071, a second electrical amplifier 2072, and a second electrical mixer 2073. The receiving antenna 2071 is configured to receive the millimeter wave echo signal reflected by the target object. The second electrical amplifier 2072 is configured to amplify the millimeter wave echo signal to obtain an amplified millimeter wave echo signal. It can be understood that the amplification operation on the millimeter wave echo signal can improve the power and energy of the millimeter wave echo signal, so as to improve the receiving power of the millimeter wave echo signal. The second electrical mixer 2073 is configured to mix the amplified millimeter wave echo signal with the millimeter wave local signal, down-convert the amplified millimeter wave echo signal, and obtain the intermediate frequency electrical signal corresponding to the millimeter wave echo signal.

[0142] Exemplarily, FIG. 10f shows a structural schematic diagram of an optical mixing module according to an embodiment of the present application.

[0143] As shown in FIG. 10f, the optical mixing module 208a includes a dual-polarization intensity modulator 2081, a polarization beam splitter 2082, a third photodetector 2083, and a fourth photodetector 2084. The dual-polarization intensity modulator 2081 is configured to modulate the reference light signal (i.e., the carrier-suppressed double-sideband modulated light signal) based on the electrical signal corresponding to the laser echo signal and the intermediate frequency electrical signal corresponding to the millimeter wave echo signal, to obtain a dual-polarization light signal. The dual-polarization light signal includes two polarization states, i.e., a first polarization state corresponding to the laser echo signal and a second polarization state corresponding to the millimeter wave echo signal. The polarization beam splitter 2082 is configured to separate the dual-polarization light signal to obtain a first polarization state light signal corresponding to the laser echo signal and a second polarization state light signal corresponding to the millimeter wave echo signal. The third photodetector 2083 is configured to perform beat frequency processing on the first polarization state light signal to obtain a laser dechirped signal. The fourth photodetector 2084 is configured to perform beat frequency processing on the second polarization state light signal to obtain a millimeter wave dechirped signal.

[0144] It can be understood that, based on the beat frequency processing of the first polarization state light signal by the third photodetector 2083 and the beat frequency processing of the second polarization state light signal by the fourth photodetector 2084, the noise frequency in the laser dechirped signal and the millimeter wave dechirped signal can be eliminated, so as to facilitate subsequent fusion processing of the laser dechirped signal and the millimeter wave dechirped signal.

[0145] The working principle of the detection device 200 will be described in detail below in combination with another schematic diagram of the detection device 200 shown in FIG. 11.

[0146] At the transmitting end of the detection device 200:

[0147] The light source module 201 generates a frequency noise optical signal and sends the frequency noise optical signal to the first intensity modulator 2031 of the electro-optical modulation module 203.

[0148] The oscillation module 202 generates a linear frequency modulation signal and sends the linear frequency modulation signal to the first intensity modulator 2031 of the electro-optical modulation module 203; and generates a millimeter wave local oscillator signal and sends the millimeter wave local oscillator signal to the first electric mixer 2052 of the millimeter wave transmitting module 205 and the second electric mixer 2073 of the millimeter wave receiving module 207.

[0149] The first intensity modulator 2031 of the electro-optical modulation module 203 modulates the frequency noise optical signal into an initial carrier-suppressed double-sideband modulation optical signal based on the linear frequency modulation signal, and sends the initial carrier-suppressed double-sideband modulation optical signal to the first optical amplifier 2032 of the electro-optical modulation module 203.

[0150] The first optical amplifier 2032 of the electro-optical modulation module 203 amplifies the initial carrier-suppressed double-sideband modulation optical signal to obtain a carrier-suppressed double-sideband modulation optical signal, takes the carrier-suppressed double-sideband modulation optical signal as a reference optical signal, and sends the carrier-suppressed double-sideband modulation optical signal to the dual-polarization intensity modulator 2081 of the optical mixing module 208a; and sends the carrier-suppressed double-sideband modulation optical signal to the second optical amplifier 2041 of the laser transmitting module 204 and the first photodetector 2051 of the millimeter wave transmitting module 205, respectively.

[0151] The second optical amplifier 2041 of the laser transmitting module 204 amplifies the carrier-suppressed double-sideband modulation optical signal to obtain a laser signal, and sends the laser signal to the first optical lens 2042 of the laser transmitting module 204.

[0152] The first optical lens 2042 of the laser transmitting module 204 transmits the laser signal to a target object.

[0153] The first photodetector 2051 of the millimeter wave transmitting module 205 performs frequency multiplication processing on the carrier-suppressed double-sideband modulation optical signal to obtain a frequency multiplication electric signal, and sends the frequency multiplication electric signal to the first electric mixer 2052 of the millimeter wave transmitting module 205.

[0154] The first electrical mixer 2052 of the millimeter wave transmitting module 205 mixes the frequency-doubled electrical signal and the millimeter wave local signal to obtain a wideband millimeter wave signal, and sends the wideband millimeter wave signal to the first electrical amplifier 2053 of the millimeter wave transmitting module 205.

[0155] The first electrical amplifier 2053 of the millimeter wave transmitting module 205 amplifies the wideband millimeter wave signal to obtain a millimeter wave signal, and sends the millimeter wave signal to the transmitting antenna 2054 of the millimeter wave transmitting module 205.

[0156] The transmitting antenna 2054 of the millimeter wave transmitting module 205 transmits the millimeter wave signal to the target object.

[0157] At the receiving end of the detection device 200:

[0158] The second optical lens 2061 of the laser receiving module 206 receives the laser echo signal reflected by the target object, and sends the laser echo signal to the second photoelectric detector 2062 of the laser receiving module 206.

[0159] The second photoelectric detector 2062 of the laser receiving module 206 converts the laser echo signal into an electrical signal corresponding to the laser echo signal, and sends the electrical signal corresponding to the laser echo signal to the dual-polarization intensity modulator 2081 of the optical mixing module 208a.

[0160] The receiving antenna 2071 of the millimeter wave receiving module 207 receives the millimeter wave echo signal reflected by the target object, and sends the millimeter wave echo signal to the second electrical amplifier 2072 of the millimeter wave receiving module 207.

[0161] The second electrical amplifier 2072 of the millimeter wave receiving module 207 amplifies the millimeter wave echo signal to obtain an amplified millimeter wave echo signal, and sends the amplified millimeter wave echo signal to the second electrical mixer 2073 of the millimeter wave receiving module 207.

[0162] The second electrical mixer 2073 of the millimeter wave receiving module 207 converts the amplified millimeter wave echo signal into a middle-frequency electrical signal corresponding to the millimeter wave echo signal based on the millimeter wave local signal, and sends the middle-frequency electrical signal corresponding to the millimeter wave echo signal to the dual-polarization intensity modulator 2081 of the optical mixing module 208a.

[0163] The dual-polarization intensity modulator 2081 of the optical mixing module 208a modulates the reference light signal (i.e., the carrier-suppressed double-sideband modulated light signal) based on the electrical signal corresponding to the laser echo signal and the middle-frequency electrical signal corresponding to the millimeter wave echo signal to obtain a dual-polarization light signal, wherein the dual-polarization light signal includes two polarization states; and sends the dual-polarization light signal to the polarization beam splitter 2082 of the optical mixing module 208a.

[0164] The polarization beam splitter 2082 of the optical mixing module 208a separates the dual-polarization optical signal to obtain a first polarization state optical signal corresponding to the laser echo signal and a second polarization state optical signal corresponding to the millimeter wave echo signal; and sends the first polarization state optical signal to the third photodetector 2083 of the optical mixing module 208a, and sends the second polarization state optical signal to the fourth photodetector 2084 of the optical mixing module 208a.

[0165] The third photodetector 2083 of the optical mixing module 208a performs beat processing on the first polarization state optical signal to obtain a laser desquamation signal, and sends the laser desquamation signal to the data processing module 208b.

[0166] The fourth photodetector 2084 of the optical mixing module 208a performs beat processing on the second polarization state optical signal to obtain a millimeter wave desquamation signal, and sends the millimeter wave desquamation signal to the data processing module 208b.

[0167] The data processing module 208b performs data processing (such as digital-to-analog conversion, etc.) and data fusion operations on the millimeter wave desquamation signal and the laser desquamation signal to obtain a detection result.

[0168] Embodiment Two

[0169] The working principle of the detection device 300 will be described in detail below in combination with the structural schematic diagram of the detection device 300 shown in FIG. 7.

[0170] As shown in FIG. 7, the detection device 300 includes a light source module 301, an oscillation module 302, an electro-optical modulation module 303, a laser emission module 304, a laser receiving module 305, and a processing module 306. Among them, the light source module 301 is used to generate a frequency noise optical signal; the oscillation module 302 is used to generate a linear frequency modulation signal; the electro-optical modulation module 303 is used to modulate the frequency noise optical signal based on the linear frequency modulation signal to generate a carrier-suppressed double-sideband modulated optical signal; the laser emission module 304 is used to determine a laser signal based on the carrier-suppressed double-sideband modulated optical signal, and emit the laser signal to a target object; the laser receiving module 305 is used to receive a laser echo signal reflected by the target object; and the processing module 306 is used to obtain a detection result based on the laser echo signal.

[0171] Exemplarily, it is assumed that the light source module 201 generates a first optical signal L1 and a first optical signal L2. Among them, the frequency of the first optical signal L1 includes a center frequency component f L 1 and a noise frequency component f N 1, and the frequency of the first optical signal L2 includes a center frequency component f L 2 and a noise frequency component f N2. Then, the laser emission module 204 generates and emits a laser signal L corresponding to the first optical signal L1 s 1 and a laser signal L corresponding to the first optical signal L2 s 2. The laser receiving module receives a laser echo signal L s 1 corresponding to the laser signal L e 1 and a laser echo signal L s 2 corresponding to the laser signal L e 2. It can be understood that the frequency of the laser echo signal L e 1 and the frequency of the laser echo signal L e 2 are different, and the laser echo signal L e 1 and the laser echo signal L e 2 do not generate interference phenomenon, and generate a new optical signal.

[0172] It can be understood that the frequency of the frequency noise optical signal includes a center frequency and a noise frequency. Since different noise frequencies are superimposed on the optical signals at different times, the situation that the generated laser signals have the same frequency at different times due to frequency fluctuations is avoided, the frequency difference of the laser signals is improved, the laser echo signals are easily distinguished when the detection device processes the laser echo signals, and the accuracy of the detection result is improved.

[0173] In some embodiments, the laser receiving module 305 is further configured to convert the laser echo signal into an electrical signal corresponding to the laser echo signal (as an example of a third electrical signal). The process of obtaining a detection result based on the laser echo signal by the processing module 306 includes processing the electrical signal corresponding to the laser echo signal to obtain a detection result.

[0174] In some embodiments, the modulation module 303 generates the carrier-suppressed double-sideband modulated optical signal by the following method: dividing the frequency noise optical signal into a first sub-optical signal and a second sub-optical signal, wherein the power of the first sub-optical signal and the power of the second sub-optical signal are equal. The first phase offset of the first sub-optical signal and the second phase offset of the second sub-optical signal are determined based on the frequency of the linear frequency modulation signal, to obtain a third sub-optical signal and a fourth sub-optical signal after phase shifting, and the third sub-optical signal and the fourth sub-optical signal are combined into the carrier-suppressed double-sideband modulated optical signal.

[0175] In some embodiments, as shown in the structural schematic diagram of the processing module shown in FIG. 12, the processing module 306 includes an optical mixing module 306a (as an example of an optical mixing module) and a data processing module 306b (as an example of a data processing module). Among them, the optical mixing module 306a is used to perform desquaring processing on the electrical signal corresponding to the laser echo signal based on the carrier-suppressed double-sideband modulated optical signal, to obtain a laser desquaring signal. The data processing module 306b is used to perform data processing (such as digital-to-analog conversion, etc.) and other operations on the laser desquaring signal, to obtain a detection result.

[0176] The working principle of the detection device 300 will be introduced below in combination with the principle diagram of the detection device 300 shown in FIG. 13.

[0177] At the transmitting end of the detection device 300:

[0178] The light source module 301 generates a frequency noise optical signal, and sends the frequency noise optical signal to the electro-optical modulation module 303.

[0179] The oscillation module 302 generates a linear frequency modulation signal, and sends the linear frequency modulation signal to the electro-optical modulation module 303.

[0180] The electro-optical modulation module 303 modulates the frequency noise optical signal into a carrier-suppressed double-sideband modulated optical signal based on the linear frequency modulation signal, sends the carrier-suppressed double-sideband modulated optical signal as a reference optical signal to the optical mixing module 306a, and sends the carrier-suppressed double-sideband modulated optical signal to the laser emission module 304.

[0181] The laser emission module 304 determines a laser signal based on the carrier-suppressed double-sideband modulated optical signal, and emits the laser signal to a target object.

[0182] At the receiving end of the detection device 300:

[0183] The laser receiving module 305 receives a laser echo signal reflected by the target object, and converts the laser echo signal into an electrical signal corresponding to the laser echo signal, and sends the electrical signal corresponding to the laser echo signal to the optical mixing module 306a.

[0184] The optical mixing module 306a performs desquaring processing on the electrical signal corresponding to the laser echo signal based on the reference optical signal (i.e., the carrier-suppressed double-sideband modulated optical signal), to obtain a laser desquaring signal, and sends the laser desquaring signal to the data processing module 306b.

[0185] The data processing module 306b performs data processing (such as digital-to-analog conversion, etc.) and other operations on the laser desquaring signal, to obtain a detection result.

[0186] In some embodiments, the data processing module 306b determines the point cloud image based on the laser desquamation signal, thereby determining the image information of the target object.

[0187] In order to better understand the technical solutions of the embodiments of the present application, the structures and functions of the various modules of the detection device 300 will be described in detail below.

[0188] Exemplarily, FIG. 14a shows a structural schematic diagram of another electro-optical modulation module according to an embodiment of the present application.

[0189] As shown in FIG. 14a, the electro-optical modulation module 303 includes a second intensity modulator 3031 and a third optical amplifier 3032. The second intensity modulator 3031 is configured to modulate the frequency noise optical signal into an initial carrier-suppressed double sideband modulation optical signal based on the linear frequency modulation signal. The third optical amplifier 3032 is configured to amplify the initial carrier-suppressed double sideband modulation optical signal to compensate for the loss of the optical signal in the transmission process, thereby obtaining an amplified carrier-suppressed double sideband modulation optical signal (i.e., a carrier-suppressed double sideband modulation optical signal).

[0190] Exemplarily, FIG. 14b shows a structural schematic diagram of another laser emission module according to an embodiment of the present application.

[0191] As shown in FIG. 14b, the laser emission module 304 includes a fourth optical amplifier 3041 and a third optical lens 3042. The fourth optical amplifier 3041 is configured to amplify the carrier-suppressed double sideband modulation optical signal to obtain a laser signal. It can be understood that the amplification operation on the optical signal can improve the power and energy of the optical signal, thereby achieving the effect of improving the emission power of the laser signal. The third optical lens 3042 is configured to emit the laser signal.

[0192] Exemplarily, FIG. 14c shows a structural schematic diagram of another laser receiving module according to an embodiment of the present application.

[0193] As shown in FIG. 14c, the laser receiving module 305 includes a fourth optical lens 3051 and a fifth photodetector 3052. The fourth optical lens 3051 is configured to receive the laser echo signal reflected by the target object. The fifth photodetector 3052 is configured to convert the laser echo signal into an electrical signal corresponding to the laser echo signal.

[0194] It can be understood that, based on the beat frequency processing of the laser echo signal by the fifth photodetector 3052, the noise frequency can be eliminated, thereby facilitating the subsequent processing of the laser echo signal.

[0195] Exemplarily, FIG. 14d shows a structural schematic diagram of another optical mixing module according to an embodiment of the present application.

[0196] As shown in FIG. 14d, the optical mixing module 306a includes a third intensity modulator 3061 and a sixth photodetector 3062. The third intensity modulator 3061 is configured to modulate a reference light signal (i.e., a carrier-suppressed double sideband modulated light signal) based on an electrical signal corresponding to the laser echo signal to obtain a modulated light signal (as an example of a third light signal). The sixth photodetector 3062 is configured to beat the modulated light signal to obtain a laser deswelling signal.

[0197] It can be understood that, based on the beating of the modulated light signal by the sixth photodetector 3062, the noise frequency in the laser deswelling signal can be eliminated, so as to facilitate the subsequent processing of the laser deswelling signal.

[0198] The working principle of the detection device 300 will be described in detail below in combination with another schematic diagram of the detection device 300 shown in FIG. 15.

[0199] At the transmitting end of the detection device 300:

[0200] The light source module 301 generates a frequency noise light signal and sends the frequency noise light signal to the second intensity modulator 3031 of the electro-optical modulation module 303.

[0201] The oscillation module 302 generates a linear frequency modulation signal and sends the linear frequency modulation signal to the second intensity modulator 3031 of the electro-optical modulation module 303.

[0202] The second intensity modulator 3031 of the electro-optical modulation module 303 modulates the frequency noise light signal into an initial carrier-suppressed double sideband modulated light signal based on the linear frequency modulation signal, and sends the initial carrier-suppressed double sideband modulated light signal to the third optical amplifier 3032 of the electro-optical modulation module 303.

[0203] The third optical amplifier 3032 of the electro-optical modulation module 303 amplifies the initial carrier-suppressed double sideband modulated light signal to obtain a carrier-suppressed double sideband modulated light signal, sends the carrier-suppressed double sideband modulated light signal as a reference light signal to the third intensity modulator 3061 of the optical mixing module 306a, and sends the carrier-suppressed double sideband modulated light signal to the fourth optical amplifier 3041 of the laser emission module 304.

[0204] The fourth optical amplifier 3041 of the laser emission module 304 amplifies the carrier-suppressed double sideband modulated light signal to obtain a laser signal, and sends the laser signal to the third optical lens 3042 of the laser emission module 304.

[0205] The third optical lens 3042 of the laser emission module 304 emits the laser signal to the target object.

[0206] At the receiving end of the detection device 300:

[0207] The fourth optical lens 3051 of the laser receiving module 305 receives the laser echo signal reflected by the target object, and sends the laser echo signal to the fifth photodetector 3052 of the laser receiving module 305.

[0208] The fifth photodetector 3052 of the laser receiving module 305 converts the laser echo signal into an electrical signal corresponding to the laser echo signal, and sends the electrical signal corresponding to the laser echo signal to the third intensity modulator 3061 of the optical mixing module 306a.

[0209] The third intensity modulator 3061 of the optical mixing module 306a modulates the reference light signal (i.e., the carrier-suppressed double-sideband modulated light signal) based on the electrical signal corresponding to the laser echo signal to obtain a modulated light signal; and sends the modulated light signal to the sixth photodetector 3062 of the optical mixing module 306a.

[0210] The sixth photodetector 3062 of the optical mixing module 306a performs beat frequency processing on the modulated light signal to obtain a laser desquamation signal, and sends the laser desquamation signal to the data processing module 306b.

[0211] The data processing module 306b performs data processing (such as digital-to-analog conversion, etc.) and other operations on the laser desquamation signal to obtain a detection result.

[0212] In some embodiments, the optical mixing module 306a determines the laser desquamation signal by the following method: dividing the reference light signal into a fifth sub-light signal and a sixth sub-light signal, wherein the power of the fifth sub-light signal and the power of the sixth sub-light signal are equal. Determine the third phase offset of the fifth sub-light signal and the fourth phase offset of the sixth sub-light signal based on the frequency of the third electrical signal to obtain a seventh sub-light signal and an eighth sub-light signal after phase shifting, and combine the seventh sub-light signal and the eighth sub-light signal into a modulated light signal. Perform beat frequency processing on the modulated light signal to obtain a laser desquamation signal.

[0213] The present application also provides a detection method, which will be described in detail below in combination with the accompanying drawings.

[0214] It can be understood that the detection method provided by the embodiments of the present application can be applied to the fields of automatic driving, traffic radar, terrain mapping, safety monitoring, base station, etc., such as vehicle-to-everything (V2X) and vehicle-to-vehicle (V2V) in the Internet of Vehicles scenario for automatic driving.

[0215] Exemplarily, FIG. 16 shows a flowchart of a detection method according to an embodiment of the present application. It can be understood that the execution subject of each step of the flowchart shown in FIG. 16 is the detection device 200. In order to simplify the description, the execution subject of each step will not be repeatedly described below when introducing each step of the flowchart shown in FIG. 16. As shown in FIG. 16, the flowchart includes but is not limited to the following steps:

[0216] S1601: determining a detection optical signal based on the frequency noise optical signal and the linear frequency modulation signal.

[0217] The detection device 200 determines the frequency noise optical signal and the linear frequency modulation signal, and modulates the frequency noise optical signal based on the linear frequency modulation signal to obtain an initial carrier-suppressed double sideband modulation optical signal. The detection device 200 amplifies the initial carrier-suppressed double sideband modulation optical signal to obtain a carrier-suppressed double sideband modulation optical signal as the detection optical signal.

[0218] In some embodiments, the frequency of the frequency noise optical signal includes a center frequency and a noise frequency. The bandwidth of the noise frequency is greater than a bandwidth threshold. In other embodiments, the bandwidth threshold can be determined based on the bandwidth of the millimeter wave signal generated by the detection device 200.

[0219] S1602: determining a laser signal and a millimeter wave signal based on the detection optical signal, respectively.

[0220] The detection device 200 determines the millimeter wave signal based on the detection optical signal (i.e., the carrier-suppressed double sideband modulation optical signal) and a millimeter wave local oscillator signal, and determines the laser signal based on the detection optical signal.

[0221] In some embodiments, the detection device 200 amplifies the detection optical signal to obtain the laser signal.

[0222] In other embodiments, the detection device 200 performs frequency mixing processing on the detection optical signal to obtain a frequency-doubled electrical signal, and performs mixing processing on the frequency-doubled electrical signal and the millimeter wave local oscillator signal to obtain a wideband millimeter wave signal. After amplifying the wideband millimeter wave signal, the millimeter wave signal is obtained.

[0223] S1603: transmitting the laser signal and the millimeter wave signal to a target object.

[0224] The detection device 200 transmits the laser signal and the millimeter wave signal to the target object. For example, the laser signal is transmitted through an optical lens, and the millimeter wave signal is transmitted through a transmitting antenna.

[0225] S1604: receiving a laser echo signal and a millimeter wave echo signal reflected by the target object.

[0226] The detection device 200 receives the laser echo signal and the millimeter wave echo signal reflected by the target object. For example, the laser echo signal is received through an optical lens, and the millimeter wave echo signal is received through a receiving antenna.

[0227] S1605: The laser echo signal is converted into an electrical signal, and the millimeter wave echo signal is converted into an intermediate frequency electrical signal.

[0228] The detection device 200 converts the laser echo signal into a corresponding electrical signal and converts the millimeter wave echo signal into a corresponding intermediate frequency electrical signal.

[0229] In some embodiments, the detection device 200 performs beat processing on the amplified laser echo signal to obtain an electrical signal corresponding to the laser echo signal.

[0230] It can be understood that the detection device 200 performs beat processing on the amplified laser echo signal, which can eliminate noise frequencies to facilitate subsequent processing of the laser echo signal.

[0231] In other embodiments, the detection device 200 performs mixing processing on the amplified millimeter wave echo signal and the millimeter wave local signal to obtain an intermediate frequency electrical signal corresponding to the millimeter wave echo signal.

[0232] S1606: The laser echo signal corresponding to the electrical signal and the millimeter wave echo signal corresponding to the intermediate frequency electrical signal are subjected to optical mixing processing to obtain laser desquamation signals and millimeter wave desquamation signals.

[0233] The detection device 200 takes the carrier-suppressed double-sideband modulated optical signal as a reference optical signal, and performs optical mixing processing on the electrical signal corresponding to the laser echo signal and the intermediate frequency electrical signal corresponding to the millimeter wave echo signal based on the reference optical signal to obtain laser desquamation signals and millimeter wave desquamation signals.

[0234] In some embodiments, the detection device 200 first modulates the reference optical signal based on the electrical signal corresponding to the laser echo signal and the intermediate frequency electrical signal corresponding to the millimeter wave echo signal to obtain a double-polarization optical signal, wherein the double-polarization optical signal includes two polarization states. Second, the detection device 200 separates the double-polarization optical signal to obtain a first polarization state optical signal corresponding to the laser echo signal and a second polarization state optical signal corresponding to the millimeter wave echo signal. Then, beat processing is performed on the first polarization state optical signal and the second polarization state optical signal respectively to obtain laser desquamation signals and millimeter wave desquamation signals.

[0235] It can be understood that the detection device 200 performs beat processing on the first polarization state optical signal and the second polarization state optical signal respectively, which can eliminate noise frequencies in the laser desquamation signals and the millimeter wave desquamation signals to facilitate subsequent fusion processing of the laser desquamation signals and the millimeter wave desquamation signals.

[0236] S1607: Fuse the laser despeckling signal and the millimeter wave despeckling signal to obtain the related information of the target object.

[0237] The detection apparatus 200 performs data processing (such as digital-to-analog conversion, etc.) and fusion processing on the laser despeckling signal and the millimeter wave despeckling signal to obtain the related information of the target object.

[0238] For example, in some embodiments, the detection apparatus 200 determines a point cloud image and a microwave image based on the laser despeckling signal and the millimeter wave despeckling signal respectively; performs joint calibration on the laser signal and the millimeter wave signal, and then fuses the point cloud image corresponding to the laser signal and the microwave image corresponding to the millimeter wave signal to determine the image information of the target object.

[0239] It can be understood that in other embodiments, according to actual needs, the steps shown in FIG. 16 can be combined, deleted, or replaced by other steps that are conducive to achieving the purpose of the present application, etc. For example, the above steps S1602 and S1603 can be combined into one step, which is not limited herein.

[0240] It can be understood that the detection apparatus 200 can be deployed in an electronic device corresponding to a scene, such as the unmanned vehicle 10, a traffic detection apparatus, a base station, etc. shown in FIG. 1.

[0241] In some embodiments, the detection apparatus 200 executes the process shown in FIG. 16 after the electronic device corresponding to the detection apparatus 200 is started. In other embodiments, the detection apparatus 200 executes the process shown in FIG. 16 after the detection function of the electronic device corresponding to the detection apparatus 200 is turned on.

[0242] It can be understood that in the detection method shown in FIG. 16, when the laser echo signal and the millimeter wave echo signal are processed, calibration of time, position, frequency, etc. is not required, which reduces the calibration time and thus improves the efficiency of data processing. Moreover, the frequency of the frequency noise light signal contains two components of a center frequency and a noise frequency. Since different time instants of light signals superimpose different noise frequencies, the situation that the generated laser signals have the same frequency at different time instants due to frequency fluctuations is avoided, the frequency difference of the laser signals is improved, the laser echo signals are easily distinguished when the detection apparatus processes the laser echo signals, and thus the accuracy of the detection result is improved.

[0243] Exemplarily, FIG. 17 shows a flow diagram of another detection method according to an embodiment of the present application. It can be understood that the execution subject of each step of the flow shown in FIG. 17 is the detection apparatus 300. In order to simplify the description, the execution subject of each step will not be repeatedly described below when introducing the steps of the flow shown in FIG. 17. As shown in FIG. 17, the flow includes but is not limited to the following steps:

[0244] S1701: Determine the probe light signal based on the chirp signal and the frequency noise light signal.

[0245] The detection device 300 determines the frequency noise light signal and the chirp signal, and modulates the frequency noise light signal based on the chirp signal to obtain an initial carrier-suppressed double sideband modulation light signal. The detection device 300 amplifies the initial carrier-suppressed double sideband modulation light signal to obtain a carrier-suppressed double sideband modulation light signal as the probe light signal.

[0246] In some embodiments, the frequency of the frequency noise light signal includes a center frequency and a noise frequency.

[0247] S1702: Determine the laser signal based on the probe light signal.

[0248] The detection device 300 determines the laser signal based on the probe light signal (i.e., the carrier-suppressed double sideband modulation light signal).

[0249] In some embodiments, the detection device 300 amplifies the probe light signal to obtain the laser signal.

[0250] S1703: Emit the laser signal to the target object.

[0251] The detection device 300 emits the laser signal to the target object. For example, the laser signal is emitted through an optical lens.

[0252] S1704: Receive the laser echo signal reflected by the target object.

[0253] The detection device 300 receives the laser echo signal reflected by the target object. For example, the laser echo signal is received through an optical lens.

[0254] S1705: Convert the laser echo signal into an electrical signal.

[0255] The detection device 300 converts the laser echo signal into a corresponding electrical signal.

[0256] In some embodiments, the detection device 300 performs beat processing on the amplified laser echo signal to obtain the electrical signal corresponding to the laser echo signal.

[0257] It can be understood that the beat processing of the amplified laser echo signal by the detection device 300 can eliminate the noise frequency, so as to facilitate the subsequent processing of the laser echo signal.

[0258] S1706: Perform optical mixing processing on the electrical signal corresponding to the laser echo signal to obtain a laser desquamation signal.

[0259] The detection apparatus 300 takes the carrier-suppressed double-sideband modulated light signal as a reference light signal, and performs optical mixing processing on the electrical signal corresponding to the laser echo signal based on the reference light signal to obtain a laser desquamation signal.

[0260] In some embodiments, the detection apparatus 300 first modulates the reference light signal based on the electrical signal corresponding to the laser echo signal to obtain a modulated light signal. Then, the detection apparatus 300 performs beat processing on the modulated light signal to obtain the laser desquamation signal.

[0261] It can be understood that the detection apparatus 300 performs beat processing on the modulated light signal, which can eliminate the noise frequency in the laser desquamation signal, so as to facilitate subsequent processing of the laser desquamation signal.

[0262] S1707: performing data processing on the laser desquamation signal to obtain related information of the target object.

[0263] The detection apparatus 300 performs data processing (such as digital-to-analog conversion, etc.) on the laser desquamation signal to obtain related information of the target object.

[0264] For example, in some embodiments, the detection apparatus 300 determines a point cloud image based on the laser desquamation signal, thereby determining image information of the target object.

[0265] It can be understood that in other embodiments, according to actual needs, the steps shown in FIG. 17 can be combined, deleted, or replaced by other steps that are conducive to achieving the purpose of the present application, etc. For example, the steps S1702 and S1703 can be combined into one step, which is not limited in the present application.

[0266] It can be understood that the detection apparatus 300 can be deployed in an electronic device corresponding to a scene, such as the unmanned vehicle 10, a traffic detection device, a base station, etc. shown in FIG. 1.

[0267] In some embodiments, the detection apparatus 300 executes the flow shown in FIG. 17 after the electronic device corresponding to the detection apparatus 300 is started. In other embodiments, the detection apparatus 300 executes the flow shown in FIG. 17 after the detection function of the electronic device corresponding to the detection apparatus 300 is started.

[0268] It can be understood that in the detection method shown in FIG. 17, the frequency of the frequency noise light signal contains two components of the center frequency and the noise frequency. Since different noises are superimposed on the light signal at different times, the situation that the generated laser signal has the same frequency at different times due to frequency fluctuation is avoided, the frequency difference of the laser signal is improved, the detection apparatus can distinguish the laser echo signals when processing the laser echo signals, and the accuracy of the detection result is improved.

[0269] Embodiments of the mechanisms disclosed herein can be implemented in hardware, software, firmware, or any combination thereof. Embodiments of the application can be implemented as computer programs or program code executing on programmable systems comprising at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0270] Program code can be applied to input instructions to perform the functions described herein and generate output information. The output information can be applied to one or more output devices, in known fashion. For purposes of this application, a processing system includes any system that has a processor, such as for example a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0271] The program code can be implemented in a high level procedural or object oriented programming language to communicate with a processing system. The program code can be implemented in assembly or machine language, if desired. In fact, the mechanisms described herein are not limited in scope to any particular programming language. In any case, the language can be a compiled or interpreted language.

[0272] In some cases, the disclosed embodiments can be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments can also be implemented as instructions carried by or stored on a transitory or non-transitory machine-readable (e.g., computer-readable) medium, which can be read and executed by one or more processors. For example, the instructions can be distributed over the network or by other computer readable media. Thus, a machine-readable medium can include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), including without limitation, floppy diskettes, optical disks, optical fiber, ROM, RAM, EPROM, EEPROM, magnetic or optical cards, flash memory, or any other suitable medium. Thus, a machine-readable medium includes any suitable medium incl uding a tangible machine-readable storage medium that is capable of storing or encoding a sequence of instructions for execution by a machine (e.g., a computer) and that causes the machine to perform any one of the methodologies recited herein. Furthermore, a machine-readable medium includes any medium that is capable of storing or encoding a collection of instructions for execution by a machine.

[0273] In the drawings, some of the structural or methodological features can be shown in particular arrangements and / or orders. However, it should be understood that such particular arrangements and / or orders can not be required. Instead, in some embodiments, the features can be arranged differently than shown in the illustrative figures. Also, inclusion of a structural or methodological feature in a particular figure does not imply that the feature is required in all embodiments, and in some embodiments, the feature can not be included or can be combined with other features.

[0274] It should be noted that each unit / module mentioned in the device embodiments of the present application is a logical unit / module, in physical, one logical unit / module can be one physical unit / module, also can be a part of one physical unit / module, also can be realized in combination of multiple physical unit / modules, the physical realization of these logical units / modules is not the most important, the combination of the functions realized by these logical units / modules is the key to solve the technical problems proposed in the present application. In addition, in order to highlight the innovative part of the present application, the above-mentioned device embodiments of the present application do not introduce the units / modules which are not closely related to solving the technical problems proposed in the present application, which does not mean that the above-mentioned device embodiments do not have other units / modules.

[0275] It has to be noted that, in the description of the application, the terms "first", "second", etc. are used only for distinguishing between similar elements, and do not connote any order, sequence or priority. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0276] While the application has been illustrated and described in detail in the drawings and foregoing description, the same is to be considered as illustrative and not restrictive in character, it being understood that only the preferred embodiments have been shown and described and that all changes and modifications that come within the spirit of the application are desired to be protected.

Claims

A detection device, characterized in that The method comprises the following steps: a light source module is configured to generate a first light signal, wherein a first frequency of the first light signal comprises a center frequency component and a noise frequency component, and different noise frequency components of different first light signals generated by the light source module are different at different time instants; an electro-optical modulation module is configured to convert the first light signal into a second light signal, wherein the second light signal is a carrier-suppressed double sideband modulated light signal; a first transmitting module is configured to convert the second light signal into a laser signal and transmit the laser signal; a second transmitting module is configured to convert the second light signal into a millimeter wave signal and transmit the millimeter wave signal, wherein the laser signal and the millimeter wave signal are transmitted at the same time; a first receiving module is configured to receive a laser echo signal corresponding to the laser signal; a second receiving module is configured to receive a millimeter wave echo signal corresponding to the millimeter wave signal; a processing module is configured to fuse the laser echo signal and the millimeter wave echo signal to obtain a detection result. The probe device according to claim 1, characterized in that The bandwidth corresponding to the noise frequency component is greater than the bandwidth of the millimeter wave signal. The probe device according to claim 1 or 2, characterized in that The detection device further comprises: an optoelectronic oscillation module configured to generate a first electrical signal; and the electro-optical modulation module converts the first light signal into the second light signal by the following means: dividing the first light signal into a first sub-light signal and a second sub-light signal, wherein the power of the first sub-light signal is equal to the power of the second sub-light signal, determining a first phase offset of the first sub-light signal and a second phase offset of the second sub-light signal based on the frequency of the first electrical signal to obtain a third sub-light signal and a fourth sub-light signal after phase shifting, merging the third sub-light signal and the fourth sub-light signal into the second light signal. According to the detection device of claim 3, wherein the optoelectronic oscillation module is further configured to generate a millimeter wave local oscillator signal; the second transmitting module is further configured to perform optoelectronic conversion on the second light signal to obtain a second electrical signal, wherein the frequency of the second electrical signal is an integer multiple of the frequency of the first electrical signal, and the frequency of the second electrical signal is converted to a millimeter wave frequency band based on the millimeter wave local oscillator signal to obtain a millimeter wave signal. According to the detection device of claim 1, wherein the first receiving module is further configured to perform optoelectronic conversion on the laser echo signal to obtain a third electrical signal corresponding to the laser echo signal; the second receiving module is further configured to perform frequency mixing processing on the millimeter wave local oscillator signal and the millimeter wave echo signal to obtain a fourth electrical signal corresponding to the millimeter wave echo signal; and the processing module further comprises: an optical mixing module configured to modulate the second light signal based on the third electrical signal and the fourth electrical signal to obtain a third light signal, divide the third light signal into a first polarization state light signal corresponding to the laser echo signal and a second polarization state light signal corresponding to the millimeter wave echo signal, and determine a laser desquamation signal based on the first polarization state light signal and a millimeter wave desquamation signal based on the second polarization state light signal. A data processing module is configured to fuse the laser despread signal and the millimeter wave despread signal to determine the detection result. The detection device according to claim 5, wherein, The light mixing module determines the laser despread signal and the millimeter wave despread signal by the following manner: The second light signal is divided into a fifth sub-light signal and a sixth sub-light signal, wherein the power of the fifth sub-light signal is equal to the power of the sixth sub-light signal; Based on the frequency of the third electrical signal, a third phase offset of the fifth sub-light signal and a fourth phase offset of the sixth sub-light signal are determined to obtain a seventh sub-light signal and an eighth sub-light signal after phase shifting; The seventh sub-light signal and the eighth sub-light signal are combined into a fourth light signal; Based on the frequency of the fourth electrical signal, a fifth phase offset of the fifth sub-light signal and a sixth phase offset of the sixth sub-light signal are determined to obtain a ninth sub-light signal and a tenth sub-light signal after phase shifting, The ninth sub-light signal and the tenth sub-light signal are combined into a fifth light signal; The bias of the fourth light signal and the fifth light signal is set as a quadrature bias, and the fourth light signal and the fifth light signal are combined into the third light signal, wherein the third light signal includes a first polarization state corresponding to a laser echo signal and a second polarization state corresponding to a millimeter wave echo signal; Based on the third light signal, a first polarization state light signal corresponding to the laser echo signal and a second polarization state light signal corresponding to the millimeter wave echo signal are determined; The first polarization state light signal and the second polarization state light signal are photoelectrically converted respectively to obtain the laser despread signal and the millimeter wave despread signal. A detection device, characterized in that Comprise: A light source module is configured to generate a first light signal, wherein a first frequency of the first light signal includes a center frequency component and a noise frequency component, and at different time instants, noise frequency components of different first light signals generated by the light source module are different; An electro-optical modulation module is configured to convert the first light signal into a second light signal, wherein the second light signal is a carrier-suppressed double-sideband modulated light signal; A first transmitting module is configured to convert the second light signal into a laser signal and transmit the laser signal; A first receiving module is configured to receive a laser echo signal corresponding to the laser signal; A processing module is configured to process the laser echo signal to obtain a detection result. The probe device according to claim 7, characterized in that The detection device further comprises: An optoelectronic oscillation module is configured to generate a first electrical signal; and The electro-optical modulation module converts the first light signal into the second light signal by the following manner: The first light signal is divided into a first sub-light signal and a second sub-light signal, wherein the power of the first sub-light signal is equal to the power of the second sub-light signal, Based on the frequency of the first electrical signal, a first phase offset of the first sub-light signal and a second phase offset of the second sub-light signal are determined to obtain a third sub-light signal and a fourth sub-light signal after phase shifting, The third sub-light signal and the fourth sub-light signal are combined into the second light signal. The detection device according to claim 7, wherein, The first receiving module is further configured to perform photoelectric conversion on the laser echo signal to obtain a third electric signal corresponding to the laser echo signal; and The processing module further includes: an optical mixing module configured to modulate the second optical signal based on the third electric signal to obtain a third optical signal, and determine a laser desmearing signal based on the third optical signal; a data processing module configured to process the laser desmearing signal to determine the detection result. The detection device according to claim 9, wherein The optical mixing module determines the laser desmearing signal by: dividing the second optical signal into a fifth sub-optical signal and a sixth sub-optical signal, wherein the power of the fifth sub-optical signal is equal to the power of the sixth sub-optical signal; determining a third phase offset of the fifth sub-optical signal and a fourth phase offset of the sixth sub-optical signal based on the frequency of the third electric signal to obtain a seventh sub-optical signal and an eighth sub-optical signal after phase shifting, combining the seventh sub-optical signal and the eighth sub-optical signal into the third optical signal; performing photoelectric conversion on the third optical signal to obtain the laser desmearing signal. A method of detecting, characterized in that comprising: obtaining a first optical signal, wherein a first frequency of the first optical signal includes a center frequency component and a noise frequency component, and noise frequency components of different first optical signals are different at different time instants; converting the first optical signal into a second optical signal, wherein the second optical signal is a carrier-suppressed double-sideband modulated optical signal; converting the second optical signal into a laser signal and a millimeter wave signal respectively, and emitting the laser signal and the millimeter wave signal, wherein the laser signal and the millimeter wave signal are emitted at the same time; receiving a laser echo signal corresponding to the laser signal and a millimeter wave echo signal corresponding to the millimeter wave signal; fusing the laser echo signal and the millimeter wave echo signal to obtain a detection result. The method of claim 11, wherein The bandwidth corresponding to the noise frequency component is greater than the bandwidth of the millimeter wave signal. The method according to claim 11 or 12, characterized in that The converting the first optical signal into a second optical signal comprises: obtaining a first electric signal; dividing the first optical signal into a first sub-optical signal and a second sub-optical signal, wherein the power of the first sub-optical signal is equal to the power of the second sub-optical signal, determining a first phase offset of the first sub-optical signal and a second phase offset of the second sub-optical signal based on the frequency of the first electric signal to obtain a third sub-optical signal and a fourth sub-optical signal after phase shifting, combining the third sub-optical signal and the fourth sub-optical signal into the second optical signal. A method of detecting, characterized in that comprising: obtaining a first optical signal, wherein a first frequency of the first optical signal includes a center frequency component and a noise frequency component, and noise frequency components of different first optical signals are different at different time instants; converting the first optical signal into a second optical signal, wherein the second optical signal is a carrier-suppressed double-sideband modulated optical signal; converting the second optical signal into a laser signal and emitting the laser signal; receiving a laser echo signal corresponding to the laser signal; processing the laser echo signal to obtain a detection result. The method of claim 14, wherein The converting the first optical signal into a second optical signal comprises: acquiring a first electrical signal; dividing the first optical signal into a first sub-optical signal and a second sub-optical signal, wherein a power of the first sub-optical signal is equal to a power of the second sub-optical signal, determining a first phase offset of the first sub-optical signal and a second phase offset of the second sub-optical signal based on a frequency of the first electrical signal, to obtain a third sub-optical signal and a fourth sub-optical signal after phase shifting, merging the third sub-optical signal and the fourth sub-optical signal into the second optical signal.

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