Signal receiving method, detection assembly, detection apparatus, and terminal device

Abstract

A signal receiving method, a detection assembly, a detection apparatus, and a terminal device, relating to the technical field of radars, and used for improving the receiving efficiency for echo signals. The method comprises: a detection assembly receives light spots, the detection assembly comprising a plurality of detection areas, and the shapes of different detection areas being matched with shapes of light spots corresponding to the different detection areas. The detection assembly is divided into a plurality of detection areas, and the shape of each detection area is configured to be matched with the shapes of light spots transmitted to the detection area, so that each detection area can better receive, at all positions, echo signals corresponding to the light spots, thereby effectively alleviating the phenomenon that some areas fail to receive echo signals, improving the receiving efficiency of the detection assembly for the echo signals, and thus improving the ranging capability of a detection apparatus.

Description

A signal receiving method, a detection assembly, a detection device and a terminal device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese Patent Application No. 202410645391.6, filed on May 22, 2024, and entitled "A signal receiving method, a detection assembly, a detection device and a terminal device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of detection, and in particular, to a signal receiving method, a detection assembly, a detection device and a terminal device. BACKGROUND

[0004] With the development of science and technology, intelligent transportation devices, smart home devices, industrial devices, robots, vehicles and other intelligent terminals are gradually entering people's daily life. Since laser radar (LiDAR) can perceive the surrounding environment and can identify and track moving targets based on the perceived environment, it can further combine navigation instruments and map data for path planning, etc. Therefore, laser radar is gradually applied to intelligent terminals and plays an increasingly important role.

[0005] At present, flash LiDAR is widely used in the field of detection due to its larger detector target surface (also known as photosensitive surface), longer beam penetration, higher sensitivity and faster detection speed. However, the current mainstream flash LiDAR transceiver optical system has a large optical distortion residual, which causes some areas on the detector target surface to be unable to efficiently receive the echo signal. Especially for large field-of-view flash LiDAR, some areas on the detector target surface cannot even receive the echo signal, which seriously affects the ranging ability of flash LiDAR for some fields of view, and may even appear a ranging dark area, which is not conducive to improving the detection quality of flash LiDAR.

[0006] In summary, how to improve the reception efficiency of the echo signal is a technical problem that needs to be solved in the field of flash LiDAR. SUMMARY

[0007] The present application provides a signal receiving method, a detection assembly, a detection device and a terminal device to improve the reception efficiency of the echo signal.

[0008] In a first aspect, the present application provides a signal receiving method, which is suitable for a detection component, such as a detection component in a laser radar. The method comprises: receiving a light spot by the detection component. The detection component comprises a plurality of detection regions, and the shape of each detection region matches the shape of the light spot corresponding to the detection region.

[0009] By the above method, the detection component is divided into a plurality of detection regions, and the shape of each detection region is configured to match the shape of the light spot transmitted to the detection region, so that each detection region can better receive the echo signal corresponding to the light spot at each position, thereby effectively alleviating the phenomenon that some regions cannot receive the echo signal, improving the reception efficiency of the detection component on the echo signal, and further improving the ranging capability of the detection device.

[0010] In a possible design, the detection regions located in the middle are regular in shape, and the detection regions located at both sides are curved in shape.

[0011] By the above design, the light spot distortion on the detection regions located in the middle is small, and is approximately a straight line spot, while the light spot distortion on the detection regions located at both sides is large, and is a curved spot. Therefore, the detection regions located in the middle are configured to be regular in shape, and the detection regions located at both sides are configured to be curved in shape, which can match the actual shape of the light spot, and thus the effect that each detection region can efficiently receive the light spot can be achieved.

[0012] In a possible design, the detection regions located at both sides comprise a plurality of segments, and the plurality of segments are offset in the row position or the column position.

[0013] By the above design, the shape of the curved spot can be approximately simulated by the offset segments, and the amount of information to be configured in the detection component can be reduced, thereby saving the configuration resources of the detection component.

[0014] In a possible design, the detection regions located at both sides are symmetrically distributed on both sides of the detection regions located in the middle.

[0015] By the above design, the related configuration of the detection regions on one side of the detection regions located in the middle can be calculated, thereby simplifying the calculation difficulty of the partition configuration, and the amount of data of the partition configuration information can also be reduced, thereby saving the configuration resources of the detection component.

[0016] In a possible design, one detection region is obtained by multiple scans, and the shapes of the sub-detection regions in the multiple scans are the same.

[0017] By the above design, the same shape of the sub-detection region can be configured for the multiple scans of one detection region, so that the multiple scans can correspond to the same configuration information, thereby reducing the amount of data of the configuration information, and further saving the configuration resources of the detection component.

[0018] In a further possible design, the scanning manner is row scanning or column scanning.

[0019] With the above design, the whole detection region can be scanned by one-dimensional scanning manner, the one-dimensional scanning manner has higher control flexibility, and the scanning field angle is larger, so that large field detection can be implemented.

[0020] In a further possible design, the plurality of detection regions are continuous along the scanning direction.

[0021] With the above design, the scanning direction is usually the distortion direction of the light beam, and by partitioning the detection assembly in the distortion direction, the distorted light spot in each detection region can be compensated separately in a more detailed manner, so that the accuracy of compensation of each detection region is improved.

[0022] In a further possible design, the detection region located in the middle includes a scanning center position.

[0023] With the above design, the light spot in the detection region located in the middle has a smaller amount of bending, so that the detection region located in the middle can not be segmented, so as to reduce the difficulty of overall segmented configuration.

[0024] In a further possible design, the sub-detection region of the detection region located in the middle in each scanning includes one row or one column of detection units.

[0025] With the above design, the light spot in the detection region located in the middle is approximately a straight line, so that by receiving the light spot through one row or one column of detection units, most of the signals on the straight line light spot can be ensured to be received, so that the detection region located in the middle can have a larger echo receiving efficiency.

[0026] In a further possible design, the sub-detection region of the detection region located at both sides in each scanning includes a plurality of detection unit segments, and the plurality of detection unit segments are staggered in the row and continuous in the column, or staggered in the column and continuous in the row.

[0027] With the above design, the light spot in the detection region located at both sides is a curve, so that by receiving the light spot through the staggered detection unit segments, most of the signals on the curved light spot can be received, so that the detection region located at both sides can have a larger echo receiving efficiency.

[0028] In a further possible design, the number of the plurality of detection unit segments is in a positive correlation with the distance between the detection region located at both sides and the scanning center position.

[0029] With the above design, when the detection region located at both sides is farther away from the scanning center position, the amount of bending of the light spot on the detection region located at both sides is larger, and in this case, by dividing the sub-detection region of the detection region located at both sides in each scanning into more segments, a larger offset amount can be implemented, so that the shape of the light spot with a large amount of bending is matched, and a higher echo receiving efficiency is maintained.

[0030] In a further possible design, the two edge probe unit segments are symmetrically distributed on both sides of the middle probe unit segment.

[0031] With the above design, only the subsegment configuration of the probe unit segments on one side of the middle probe unit segment needs to be calculated, which reduces the difficulty of calculating the subsegment configuration information and also reduces the data volume of the subsegment configuration information, thereby saving the configuration resources of the probe assembly.

[0032] In a further possible design, the number of probe units by which the two edge probe unit segments are offset relative to the middle probe unit segment is positively correlated with the distance between the two edge probe unit segments and the middle probe unit segment.

[0033] With the above design, the two edge probe unit segments can have a larger offset, which matches the larger curvature of the spot at the edge position, and the matching degree of echo reception can be improved.

[0034] In a further possible design, the number of probe units by which the two edge probe unit segments are offset relative to the middle probe unit segment is used to keep the echo reception efficiency of each sub-probe region optimal in each scan.

[0035] With the above design, the subsegment configuration scheme with the highest echo reception efficiency can be obtained through global optimization.

[0036] In a possible design, the number of probe regions is related to the maximum curvature of the spot and the maximum allowable deviation, which is the difference between the maximum curvature and the minimum curvature of the spot in each probe region.

[0037] With the above design, the larger the maximum curvature of the spot, the larger the field of view. By dividing more probe regions in a scene with a larger field of view, each probe region can correspond to a smaller curvature range, so that the subsegment configuration scheme corresponding to each probe region can be configured more finely, and by dividing fewer probe regions in a scene with a smaller field of view, the calculation resources and configuration resources can be saved as much as possible.

[0038] In a further possible design, the maximum allowable deviation satisfies the following condition: δ = (1-r) × w; where δ is the maximum allowable deviation, r is the target echo reception efficiency, and w is the length of the spot in the scanning direction.

[0039] With the above design, the target echo reception efficiency can be used as a reference for subsegmenting, and the system requirement that the subsegmenting result meets the target echo reception efficiency can be ensured.

[0040] In a further possible design, different detection regions correspond to the same maximum allowable deviation or correspond to different maximum allowable deviations.

[0041] With the above design, the partitioning and segmenting configuration scheme can be determined according to the system requirement corresponding to the actual application scenario, and the universality of the signal receiving method is improved.

[0042] In a further possible design, the amount of curvature of the light spot in the middle detection region is less than or equal to the maximum allowable deviation corresponding to the middle detection region.

[0043] With the above design, by classifying the region in which the amount of curvature of the light spot itself satisfies the maximum allowable deviation into the middle detection region, even if the middle detection region is not segmented, the requirement of the system on the echo receiving efficiency corresponding to the middle detection region can also be met.

[0044] In a possible design, the plurality of detection regions include a first detection region to a (K+1)th detection region, K is a positive integer; the first detection region includes one, any detection region between the first detection region and the (K+1)th detection region includes two, and the (K+1)th detection region includes at least two; any detection region other than the first detection region is distributed on both sides of the first detection region.

[0045] With the above design, the plurality of detection regions can be divided into K+1 types of detection regions, and the K+1 types of detection regions can have the same or different partitioning criteria. For example, the user can specify that a certain type or several types of detection regions in the K+1 types of detection regions have different partitioning criteria from other types of detection regions, or can specify that the K+1 types of detection regions all have different partitioning criteria, or can specify that the K+1 types of detection regions have the same partitioning criteria, and so on. In this way, the requirement of the actual scenario on the echo receiving efficiency of each detection region on the detection assembly can be met.

[0046] In a further possible design, the number of the plurality of detection regions satisfies the following condition: Wherein, N is the number of the plurality of detection regions; ceil() is the rounding up to the larger value; || is the absolute value; d1 and d2 are the maximum amounts of curvature of the light spot at both ends of the scanning direction, and the signs of d1 and d2 are opposite; δ i is the maximum allowable deviation corresponding to the ith detection region, i is a positive integer less than or equal to K; δ K+1 is the maximum allowable deviation corresponding to the (K+1)th detection region.

[0047] With the above design, the total number of detection regions can be calculated based on the maximum bending amount of the light spot and the maximum allowable deviation of different types of detection regions, to ensure that the difference between the maximum bending amount and the minimum bending amount of the light spot in each detection region is less than or equal to the maximum allowable deviation corresponding to the detection region, so that each detection region can meet the demand of the system on the echo reception efficiency of the detection region.

[0048] In a further possible design, the sub-detection regions of each of the two-side detection regions in each scan include a plurality of detection unit segments, and the number of the plurality of detection unit segments satisfies the following condition: wherein M is the number of the plurality of detection unit segments, || is an absolute value, ceil() is a rounding to a larger value, δ Y is the maximum allowable deviation corresponding to the two-side detection region, and d3 and d4 are the maximum bending amounts of the light spot in the rows or columns in the non-scanning direction of the two-side detection region.

[0049] With the above design, the number of detection unit segments can be calculated based on the maximum bending amount of the light spot in any of the two-side detection regions and the maximum allowable deviation, to ensure that the difference between the maximum bending amount and the minimum bending amount of the light spot in each detection unit segment is less than or equal to the maximum allowable deviation, so that each detection unit segment can meet the demand of the system on the echo reception efficiency in the detection region to which the detection unit segment belongs.

[0050] In a second aspect, the present application provides a detection assembly, including a module or unit for executing the method shown in the above first aspect or any of the designs in the first aspect.

[0051] In a possible design, the detection assembly can specifically include a single photon avalanche diode (SPAD).

[0052] In a third aspect, the present application provides a detection device, including the detection assembly in the above second aspect or any of the designs in the second aspect.

[0053] In a possible design, the detection device can further include a transmitting module, and the transmitting module includes a light source assembly, and the light source assembly is configured to emit a light beam.

[0054] In a further possible design, the transmitting module can further include a transmitting optical system, and the transmitting optical system is configured to perform optical processing on the light beam and transmit the light beam after the optical processing to the detection space.

[0055] In a possible design, the detection device can further include a control module, and the control module is configured to control the detection assembly to receive the light spot.

[0056] In a possible design, the detection device further includes a receiving module, and the receiving module includes the foregoing detection component.

[0057] In a further possible design, the receiving module further includes a receiving optical system, and the receiving optical system is configured to transmit the echo signal from the target to the detection component.

[0058] In a fourth aspect, the present application provides a terminal device, including the detection component in the second aspect or any one of the designs of the second aspect, or including the detection device in the third aspect or any one of the designs of the third aspect.

[0059] In a fifth aspect, the present application provides a computer-readable storage medium, which stores a program or instructions, and when the program or instructions are executed, the signal receiving method in the first aspect or any one of the designs of the first aspect is implemented.

[0060] In a sixth aspect, the present application provides a computer program product, which includes computer program code, and when the computer program code is run on a computer, the computer program code causes the computer to execute the signal receiving method in the first aspect or any one of the designs of the first aspect.

[0061] The technical effects achieved by the second aspect to the sixth aspect can refer to the description of the beneficial effects of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0062] FIG. 1a exemplarily shows a possible structural schematic diagram of an array detector provided by the present application;

[0063] FIG. 1b exemplarily shows a schematic diagram of a detection region and a sub-detection region provided by the present application;

[0064] FIG. 1c exemplarily shows a schematic diagram of a spot bending amount provided by the present application;

[0065] FIG. 2 exemplarily shows a possible application scenario suitable for the present application;

[0066] FIG. 3a exemplarily shows a structural schematic diagram of a detection device provided by the present application;

[0067] FIG. 3b exemplarily shows a configuration schematic diagram of a control method provided by the industry;

[0068] FIG. 3c exemplarily shows a control method and a ranging dark angle provided by the industry;

[0069] FIG. 3d exemplarily shows a control method and a ranging dark area provided by the industry;

[0070] FIG. 4 exemplarily shows a structural schematic diagram of a detection component provided by the present application;

[0071] FIG. 5a shows a structure diagram of a detection assembly in a row scanning scenario according to an embodiment of the present application;

[0072] FIG. 5b shows a structure diagram of a detection assembly in a column scanning scenario according to an embodiment of the present application;

[0073] FIG. 6a shows a shape diagram of a sub-detection region in a row scanning scenario according to an embodiment of the present application;

[0074] FIG. 6b shows a shape diagram of a sub-detection region in a column scanning scenario according to an embodiment of the present application;

[0075] FIG. 6c shows a shape diagram of a sub-detection region in another row scanning scenario according to an embodiment of the present application;

[0076] FIG. 6d shows a shape diagram of a sub-detection region in another column scanning scenario according to an embodiment of the present application;

[0077] FIG. 7 shows a flow diagram of determining a sub-detection region according to an embodiment of the present application;

[0078] FIG. 8 shows a distribution diagram of a light spot on a detection assembly according to an embodiment of the present application;

[0079] FIG. 9 shows a partitioning manner diagram in a row scanning scenario according to an embodiment of the present application;

[0080] FIG. 10 shows a partitioning manner diagram of a detection assembly according to an embodiment of the present application;

[0081] FIG. 11 shows a diagram of a maximum bending amount of a light spot according to an embodiment of the present application;

[0082] FIG. 12 shows a calculation flow diagram of segment configuration information according to an embodiment of the present application;

[0083] FIG. 13 shows a specification diagram of a detection assembly according to an embodiment of the present application;

[0084] FIG. 14a shows a distribution diagram of different detection regions on a detection assembly according to an embodiment of the present application;

[0085] FIG. 14b shows a shape diagram of a sub-detection region corresponding to each detection region on a detection assembly according to an embodiment of the present application;

[0086] FIG. 14c shows an energy distribution diagram of a light spot received by a detection array according to an embodiment of the present application;

[0087] FIG. 15a exemplarily shows a distribution diagram of different detection regions on a detection assembly according to Embodiment II;

[0088] FIG. 15b exemplarily shows a shape diagram of each detection region corresponding to a sub-detection region on a detection assembly according to Embodiment II;

[0089] FIG. 15c exemplarily shows an energy distribution diagram of a light spot received by a detection array according to Embodiment II;

[0090] FIG. 16a exemplarily shows a distribution diagram of different detection regions on a detection assembly according to Embodiment III;

[0091] FIG. 16b exemplarily shows a shape diagram of each detection region corresponding to a sub-detection region on a detection assembly according to Embodiment III;

[0092] FIG. 16c exemplarily shows an energy distribution diagram of a light spot received by a detection array according to Embodiment III;

[0093] FIG. 17 exemplarily shows a structure diagram of a control module according to the present application;

[0094] FIG. 18 exemplarily shows a structure diagram of another control module according to the present application. DETAILED DESCRIPTION

[0095] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0096] Hereinafter, some terms in the present application will be explained. It should be noted that these explanations are for the convenience of understanding by those skilled in the art, and do not constitute a limitation on the scope of protection required by the present application.

[0097] I. Detection unit

[0098] The detection unit, also referred to as a detection pixel or pixel unit, is the smallest unit in the array detector (also referred to as a detection array) for receiving a return signal. The array detector is an array structure composed of multiple rows and multiple columns of detection units. For example, please refer to FIG. 1a, which shows a possible structure diagram of an array detector, taking a 16x16 square array as an example. However, the actual array detector can also be a rectangular array, or a horizontal linear array with one row and multiple columns, or a vertical linear array with one column and multiple rows, which is not limited.

[0099] It should be noted that the detection unit in the present application is composed of a photosensitive unit, which can be, for example, a SPAD or a silicon photomultiplier (SiPM), etc. Taking a SPAD as an example, one detection unit can include one SPAD or multiple SPADs. For example, in some scenarios, one detection unit can include four SPADs. One SPAD is referred to as one cell.

[0100] II. Detection area and sub-detection area

[0101] A detection area refers to an area composed of multiple detection units on an array detector. One detection area can correspond to multiple scans (referred to as multiple slots, see the following description), and an area composed of detection units turned on (also referred to as gated, turned on, or lit up) in each scan is referred to as a sub-detection area of the scan. For example, referring to FIG. 1b, for the detection area circled by the black solid line in the figure, assuming that the radar adopts a row scanning working mode, the radar will turn on a row of detection units in each scan, and the area composed of the row of detection units is the sub-detection area of each scan, such as the area filled with diagonal lines in the figure. The radar can apply a bias voltage to the detection units in the sub-detection area by using row and column gating signals, so that these detection units are enabled and in an active state, so that they can respond to the incident echo signal on their surface and store the detected signal in the corresponding memory. In this way, the radar can obtain the signal detected by the turned-on detection unit by reading the data at the specified position in the memory, and the detection unit corresponding to the specified position read is the turned-on detection unit.

[0102] III. Radar scanning

[0103] Radar scanning refers to that the radar detects the detection space in a scanning manner. In the radar, the light source assembly completes one scan, and the corresponding detection assembly (such as an array detector) reads all the data. Based on the image formed by reading all the data, it is called a frame image. The radar needs multiple slots to obtain a frame image. The number of slots is related to the angle range of the radar transmitting light beam. For example, when the angle range of the transmitting light beam is 5°, if the radar pitch angle range is 0-20°, at least four transmitting light beams are needed to cover the entire detection field of view, that is, 4 slots. In each slot, the light source assembly can emit multiple detection signals (i.e. light beams) to the slot corresponding field of view area, and the detection assembly can open the detection unit in the sub-detection area corresponding to the slot to receive the corresponding echo signal. After the current slot detection is completed, the next slot is switched, and the light source assembly emits multiple detection signals to the scanning area corresponding to the next slot, and the detection assembly opens the detection unit in the sub-detection area corresponding to the next slot to receive the corresponding echo signal. Repeat the process until the entire detection space is scanned.

[0104] Four, one-dimensional scanning mode, scanning direction

[0105] One-dimensional scanning mode refers to that the radar uses a line beam to scan the detection space. The line beam can include a horizontal line beam and a vertical line beam. Generally, the length of the horizontal line beam in the horizontal direction is greater than the width in the vertical direction, and the width of the vertical line beam in the vertical direction is greater than the length in the horizontal direction.

[0106] In the one-dimensional scanning mode, the scanning direction refers to the short side direction of the line beam. For example, when the radar uses a horizontal line beam to scan the detection space, the radar works in a row scanning mode, and the scanning direction is the short side direction of the horizontal line beam, such as the vertical direction. Similarly, when the radar uses a vertical line beam to scan the detection space, the radar works in a column scanning mode, and the scanning direction is the short side direction of the horizontal line beam, such as the horizontal direction.

[0107] Five, field of view (FOV)

[0108] The field of view can also be referred to as the field of vision, which refers to the range of the object side that can be observed by the visual system. In simple terms, it can be understood as the range covered by the detection signal emitted by the radar in the detection space (referred to as the emission field of view), or the range of the detection signal reflected by the target in the detection space and irradiated on the target surface of the detector (referred to as the receiving field of view). The field of view can be divided into a horizontal field of view and a vertical field of view. The horizontal field of view refers to the range that can be observed in the horizontal direction, and the vertical field of view refers to the range that can be observed in the vertical direction. For example, taking the receiving field of view as an example, referring to FIG. 1a, assuming that the range of the echo signal irradiated on the array detector is the area circled by the black solid line in the figure, then the horizontal field of view is L in the figure, and the vertical field of view is W in the figure. In the following description, unless otherwise specified, the field of view refers to the receiving field of view.

[0109] Six, light spot

[0110] The light spot generally refers to the spatial energy distribution of the light beam in the cross section. For example, the light spot formed by the light emitted towards the target in the detection space in the cross section of the target in the detection space; for another example, the light spot formed by the echo signal irradiated on the target surface of the detector. The spatial energy distribution of the light spot can be in the shape of low at both ends and high in the middle, for example, the spatial energy distribution can be in the shape of a normal distribution or a similar normal distribution.

[0111] The shape of the light spot can be rectangular, or elliptical, or circular, or other possible regular or irregular shapes, etc. It should be noted that those skilled in the art can know that the light spot as a whole is essentially in the form of energy distribution with different intensities, the core area has a larger energy density, the light spot shape is more obvious, and the edge part gradually extends outward, the energy density of the edge part is lower, the shape is not clear, and accompanied by the gradual weakening of the energy intensity, the light spot part near the edge is relatively low in recognition. Therefore, the light spot with a certain shape involved in the present application can be understood as a light spot with a boundary that is easy to identify, which is formed by the part with relatively strong energy and large energy density, and is not the whole of the light spot in the technical sense.

[0112] It should be understood that the boundary of the light spot is usually defined by the maximum energy density of 1 / e^2.

[0113] Seven, light spot bending amount

[0114] The light spot bending amount, which can also be referred to as the bending degree of the light spot, refers to the distance between the maximum bending position and the minimum bending position of the light spot. In simple terms, it can be understood as the distance between the edge point and the center point of the curved light spot, such as the distance d shown in FIG. 1c. Generally, if the light spot bending amount d is greater than 0.5 times the width (such as w shown in FIG. 1c) of the sub-detection region in the scanning direction, the receiving energy of the sub-detection region for the light spot will be reduced to 50% or less, and part of the light spot cannot be received by the sub-detection region, so the ranging capability of part of the region is weakened, or even 0.

[0115] Eight, region of interest (ROI)

[0116] In simple terms, the region of interest is the region of the pixels that needs to be outlined in the array detector in the form of a box, a circle, an ellipse, or an irregular polygon, etc.

[0117] The foregoing introduces some terms involved in the present application, and the following introduces possible application scenarios of the present application.

[0118] In one possible implementation, the signal receiving method provided by the present application can be applied to a detection device, which can be installed on a vehicle. The detection device may, for example, include but is not limited to a laser radar, such as a Flash LiDAR. Please refer to FIG. 2, which exemplarily shows a schematic diagram of one possible application scenario of the present application, in which the detection device is installed at the front bumper of the vehicle. It can be understood that the detection device can also be installed at any position or positions of the vehicle, such as around the vehicle light, around the rearview mirror, near the vehicle door, at the rear bumper, behind the windshield, or on the roof, to capture the environmental information around the vehicle. When the detection device is installed behind the windshield, it has a lower requirement for the risk of collision with gravel and will not affect the appearance of the vehicle, and the front windshield itself has the functions of window heating, defogging, and rain cleaning.

[0119] It should be understood that the above application scenarios are only examples, and the detection device provided in the present application can also be applied to other possible scenarios, and is not limited to the above examples. For example, the detection device can also be installed in a road side unit (RSU) as a roadside traffic detection device for intelligent vehicle-road cooperative communication, etc. For another example, the detection device can also be applied to other vehicles as an information collection source for path planning to assist the driver to achieve or automatically achieve safe driving, which can include but is not limited to a ship, an airplane, a drone, a train, a subway, an automated guided vehicle (AGV) or an unmanned transport vehicle, etc. For another example, the detection device can also be applied to a terminal device or a component provided in the terminal device, which can be a smart phone, a smart home device, a smart manufacturing device, a medical device, an industrial device, a robot, etc. Here, it is not listed one by one. It should be noted that the application scenarios described in the present application are for more clearly illustrating the technical solutions of the present application, and do not constitute a limitation on the technical solutions provided in the present application.

[0120] In addition, the above application scenarios can be applied to the fields of unmanned driving, assisted driving, intelligent driving, automatic driving, networked vehicles, optical communication, security monitoring, biological medicine, surveying and mapping (such as three-dimensional mapping, remote sensing surveying and mapping), meteorological research, biomass and vegetation research, air quality monitoring, and aerospace applications, etc.

[0121] Before introducing the specific signal receiving method, the structure of the detection device to which the signal receiving method is applied will be introduced first.

[0122] Please refer to FIG. 3a, which exemplarily shows a structural schematic diagram of a detection device provided in the present application. The detection device can include a transmitting module and a receiving module. Optionally, it can also include a processing module. The transmitting module includes a light source assembly, or can also include a transmitting optical system. The receiving module includes a detection assembly, or can also include a receiving optical system. Taking the detection device including all the above-mentioned devices as an example, when the detection device works, the light source assembly can emit a light beam to the transmitting optical system, and the light beam is optically processed by the transmitting optical system and then transmitted to a detection space. If there is a target in the detection space, the target can reflect the received light beam back to the receiving optical system, and the receiving optical system transmits the returned light beam (which can also be called a return signal) to the detection assembly. The detection assembly can perform photoelectric conversion on the returned light beam to obtain an electrical signal, and can send the electrical signal to the processing module. The processing module can generate corresponding point cloud data according to the electrical signal, and can perform target ranging.

[0123] Optionally, as shown in FIG. 3a, the detection device can further include a control module, which can be used to control the light-emitting mode of the light source assembly and the light-receiving mode of the detection assembly. For example, when the detection device is a Flash LiDAR, the control module in the prior art controls the detection assembly to receive light according to the light-emitting mode of the light source assembly. For example, as shown in FIG. 3b, if the light source assembly emits a horizontal line beam, the detection assembly will turn on one or more rows of detection units, and the turned-on detection units form a rectangle with a long horizontal direction and a short vertical direction. The position of the rectangle is configured in advance according to the position of the light spot on the detection assembly irradiated by the returned light beam. In an ideal case, the horizontal line beam emitted by the light source assembly does not distort during transmission, so the light spot irradiated by the returned light beam on the detection assembly has the same shape as the horizontal line beam emitted by the light source assembly, that is, the returned light beam forms a line light spot on the detection assembly. In this way, by turning on one or more rows of detection units and covering the position of the line light spot on the detection assembly, most of the returned light beam can be theoretically received.

[0124] However, in actual application scenarios, both the transmitting optical system and the receiving optical system will have optical errors, including but not limited to manufacturing errors, design errors, or use errors caused by the increase of use time, etc. These optical errors will cause the light beam passing through the optical system to be distorted, such as distorting a straight line beam into a curved beam. Therefore, the light spot finally presented on the detection assembly is no longer a straight line light spot, but a curved light spot. Moreover, the larger the receiving field of view is, the greater the curvature of the curved light spot will be. In this case, if the light-receiving mode in the prior art is still used, the rectangular area turned on on the detection assembly can only cover part of the curved light spot, that is, only part of the detection units can receive the echo signal, and other detection units cannot receive the echo signal. This will cause the echo receiving energy of part of the area on the detection assembly to decrease, and the ranging performance of the detection device for part of the area to deteriorate.

[0125] For example, referring to FIG. 3c, when the enabled rectangular region only covers the central region of the curved light spot, only the probe units in the central region can fully receive the echo signals, and the probe units in the edge region can only receive a small amount of echo signals or even cannot receive echo signals. Therefore, the echo receiving energy of the edge region is reduced, the echo receiving efficiency is lowered, the ranging capability of the edge region is weakened, and even four ranging dark angles are formed. Alternatively, referring to FIG. 3d, when the enabled rectangular region only covers the edge region of the curved light spot, only the probe units in the edge region can fully receive the echo signals, and the probe units in the central region can only receive a small amount of echo signals or even cannot receive echo signals, which makes the echo receiving energy or the echo receiving efficiency of the central region significantly reduced, the ranging capability of the central region is weakened, and even becomes a ranging dark region.

[0126] To solve the above problems, some solutions consider matching the distortions of the transmitting optical system and the receiving optical system, that is, making the distortion of the transmitting optical system opposite to the distortion of the receiving optical system. For example, if the distortion direction of the transmitting optical system is to change the horizontal line light beam into a curved light beam with an upward opening, the distortion direction of the receiving optical system is configured to change the horizontal line light beam into a curved light beam with a downward opening. In this way, even if the horizontal line light beam is distorted into a curved light beam with an upward opening by the transmitting optical system, it can be changed into a curved light beam with a smaller distortion or even a line light beam by the reverse distortion of the receiving optical system. However, in actual applications, it is difficult to completely match the distortions of the transmitting and receiving optical systems, especially for Flash LiDAR with a large field of view. After the distortion matching, there is often still a large optical distortion residual in the transmitting and receiving optical system. If the distortion of the transmitting and receiving optical system is forcibly matched to eliminate the optical distortion residual, the transmission effect of the light beam by the transmitting and receiving optical system will be deteriorated, for example, the line light beam will be changed into a line light beam with a larger width during transmission, which leads to the energy of the line light beam being dispersed, and further leads to the decline of the imaging image quality. Therefore, the current solutions in the industry cannot effectively improve the echo receiving efficiency of the detection device while ensuring the imaging image quality.

[0127] Therefore, the present application provides a signal receiving method, which divides the detection assembly into multiple detection regions, and configures the shape of each detection region to match the shape of the light spot on the detection region, so that the detection region can better receive the echo signals corresponding to the light spot at each position, thereby effectively improving the receiving efficiency of the echo signals and the ranging capability of the detection device. In addition, the signal receiving method can be realized by changing the light receiving mode of the detection assembly, without forcibly matching the distortions of the transmitting and receiving optical systems, so that the original imaging image quality is not affected, and the detection device can continue to maintain a good imaging quality.

[0128] The signal receiving method proposed in the present application will be described in detail below in combination with specific drawings.

[0129] In various embodiments of the present application, the terms and / or descriptions of different embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0130] In addition, in the present application, the shapes such as "straight line", "curve" and the like do not refer to absolute shapes, and can be approximate shapes, for example, there is a certain deviation, but the deviation is controllable. The size relationship such as "greater than", "equal to", "less than" and the like does not refer to absolute size relationship, and a certain engineering error can be allowed. The "bending amount" does not refer to absolute distance, and a certain engineering error can be allowed. The "maximum allowable deviation" does not refer to absolute deviation, and a certain engineering error can be allowed. The terms such as "echo receiving efficiency", "average echo receiving efficiency" and the like do not refer to absolute efficiency, and a certain engineering error can be allowed.

[0131] The present application provides a signal receiving method, which is suitable for a detection assembly for receiving a light spot. Please refer to FIG. 4, which is a structural schematic diagram of a detection assembly provided by the present application, and the detection assembly includes a plurality of detection regions. For example, FIG. 4 takes three detection regions as an example, which are detection region 1, detection region 2 and detection region 3. However, it should be understood that the actual detection assembly can also include more or fewer detection regions, for example, it can also include 2 detection regions, or 4 detection regions, or more than 4 detection regions in any number, and the like, which are not limited in the present application.

[0132] In the present application, the shapes of the plurality of detection regions match the shapes of the light spots corresponding to the plurality of detection regions. Or, the light spot in the detection region presents a certain shape, and the detection region also has or approximately has the shape. For example, in combination with FIG. 4 and the above-mentioned FIG. 3c or FIG. 3c, the light spot in the detection region 1 is open upward, therefore, the shape of the detection region 1 can also be an open upward shape, such as the concave-like shape shown in FIG. 4. The light spot in the detection region 2 is approximately horizontal, therefore, the shape of the detection region 2 can also be a relatively regular horizontal shape, such as the rectangular shape shown in FIG. 4. The light spot in the detection region 3 is open downward, therefore, the shape of the detection region 3 can also be an open downward shape, such as the inverted concave-like shape shown in FIG. 4. In this way, by configuring the shape of each detection region to match the shape of the light spot transmitted to the detection region, each detection region can better receive the echo signal corresponding to the light spot at each position, thereby effectively alleviating the phenomenon that part of the regions cannot receive the echo signal, improving the echo signal receiving efficiency of the detection assembly, and further improving the ranging capability of the detection device.

[0133] In a possible implementation, the middle detection region is regular in shape, and the two side detection regions are curved in shape. For example, referring to FIG. 4, in a line scanning scenario, the middle detection region 2 can be a regular shape such as a rectangle with regular upper and lower edges. The two side detection regions 1 and 3 can be curved in shape with irregular upper or lower edges. For example, the upper edge of the detection region 1 is a curve opening upward, and the lower edge of the detection region 3 is a curve opening downward. In this way, the regular shape of the detection region 2 can match the approximately straight spot shape on the detection region 2, and the curved shape of the detection regions 1 and 3 can match the curved spot shape on the detection regions 1 and 3, so that each detection region can efficiently receive the spot.

[0134] In a possible implementation, the two side detection regions can include multiple segments, and the multiple segments are offset in the line position or the column position. For example, referring to FIG. 5a, an example of a structure of a detection assembly in a line scanning scenario is shown, in which the upper edge of the detection region 1 and the lower edge of the detection region 3 each include multiple segments, and the multiple segments are offset in the column position. The multiple segments offset in the upper edge of the detection region 1 approximately form a curve opening upward, and the multiple segments offset in the lower edge of the detection region 3 approximately form a curve opening downward. For another example, referring to FIG. 5b, an example of a structure of a detection assembly in a column scanning scenario is shown, in which the left edge of the detection region 1 and the right edge of the detection region 3 each include multiple segments, and the multiple segments are offset in the line position. The multiple segments offset in the left edge of the detection region 1 approximately form a curve opening to the left, and the multiple segments offset in the right edge of the detection region 3 approximately form a curve opening to the right.

[0135] It should be noted that the detection assembly shown in FIG. 4 can be considered as a detection assembly structure with a large number of segments. Because the number of segments is large, the edges of the two side detection regions are approximately curved, which can be perfectly matched with the curved spot, so that the echo receiving efficiency is also very high. The detection assemblies shown in FIG. 5a or FIG. 5b can be understood as a detection assembly structure with a relatively small number of segments. Because the number of segments is small, the edges of the two side detection regions are approximately curved in shape, which has a certain deviation from the curved spot. However, by controlling the deviation, a relatively high echo receiving efficiency can also be achieved. Compared with the detection assembly shown in FIG. 4, the detection assembly shown in FIG. 5a has fewer segments, and therefore requires less information to be configured in the detection assembly, which can save the configuration resources of the detection assembly.

[0136] In a possible implementation, the two-side detection areas can be symmetrically distributed on both sides of the middle detection area. For example, in the case of row scanning, referring to FIG. 5a, when the scanning field is symmetric to the scanning central axis L1, the detection area 1 and the detection area 3 can be symmetrically distributed on both sides of the detection area 2. In this way, when determining the configuration of the plurality of detection areas, only the relevant configuration of the detection area (such as the detection area 1 or the detection area 3) on one side of the middle detection area needs to be calculated, thereby simplifying the calculation difficulty of the partition configuration, reducing the data amount of the partition configuration information, and saving the configuration resources of the detection assembly.

[0137] In a possible implementation, one detection area can be obtained through multiple scans, and the shapes of the sub-detection areas in the multiple scans are the same. Here, the scanning can be row scanning or column scanning. When it is row scanning, referring to FIG. 5a, one detection area can be obtained through multiple scans of the sub-detection areas with the same shape along the vertical direction. When it is column scanning, referring to FIG. 5b, one detection area can be obtained through multiple scans of the sub-detection areas with the same shape along the horizontal direction. In this way, by configuring the sub-detection areas with the same shape for multiple scans of one detection area, the multiple scans can correspond to the same configuration information, thereby reducing the data amount of the configuration information and saving the configuration resources of the detection assembly.

[0138] Optionally, the plurality of detection areas can be continuous along the scanning direction. In other words, the detection assembly can be divided into the plurality of detection areas along the scanning direction. For example, in combination with FIG. 5a, when row scanning is adopted, the scanning direction is the vertical direction, and therefore the detection areas 1-3 are continuous along the vertical direction. Alternatively, in combination with FIG. 5b, when column scanning is adopted, the scanning direction is the horizontal direction, and therefore the detection areas 1-3 are continuous along the horizontal direction. Based on this configuration, the scanning direction is usually the distortion direction of the light beam, and by dividing the detection assembly in the distortion direction, the distortion light spots in each detection area can be more finely received and compensated based on the plurality of detection areas, thereby improving the accuracy of the compensation of each detection area.

[0139] Further, optionally, the middle detection area can include a scanning center position. For example, in the case of row scanning, referring to FIG. 5a, the black dot in the figure is the scanning center area, and the detection area 2 in the middle includes the scanning center area.

[0140] Optionally, since the amount of bending of the light spot in the middle detection area is small, the light spot is approximately a straight line light spot, thus the sub-detection area of the middle detection area in each scan can include a row or a column of detection units. For example, as shown in FIG. 6a, in a row scanning scenario, the sub-detection area of the middle detection area 2 in each scan can include a row of detection units. Or, as shown in FIG. 6b, in a column scanning scenario, the sub-detection area of the middle detection area 2 in each scan can include a column of detection units. With this configuration, the middle detection units can not be segmented, but directly receive the light spot through a row or a column of detection units, which matches the approximately straight shape of the light spot, and can ensure that most of the signals on the straight light spot are received, so that the middle detection area can have a large echo receiving efficiency.

[0141] Optionally, since the amount of bending of the light spot in the middle detection area is small, the light spot is approximately a straight line light spot, thus the sub-detection area of the middle detection area in each scan can include a row or a column of detection units. For example, as shown in FIG. 6a, in a row scanning scenario, the sub-detection area of the middle detection area 2 in each scan can include a row of detection units. Or, as shown in FIG. 6b, in a column scanning scenario, the sub-detection area of the middle detection area 2 in each scan can include a column of detection units. With this configuration, the middle detection units can not be segmented, but directly receive the light spot through a row or a column of detection units, which matches the approximately straight shape of the light spot, and can ensure that most of the signals on the straight light spot are received, so that the middle detection area can have a large echo receiving efficiency.

[0142] Further, optionally, in the detection regions located at the two sides, the number of the plurality of detection unit segments is positively correlated with the distance between the detection regions located at the two sides and the scanning center position. For example, referring to FIG. 6c, another schematic diagram of the presentation of the sub-detection regions in the row scanning scenario is shown. In this example, the detection region located in the middle is the detection region 3, and the detection regions located at the two sides are the detection regions 1, 2, 4, and 5. The detection region 1 and the detection region 5 are far away from the scanning center position, and thus can have more detection unit segments, for example, 5 segments as shown in the figure. The detection region 2 and the detection region 4 are close to the scanning center position, and thus can have relatively fewer detection unit segments, for example, 3 segments as shown in the figure. With this configuration, when the detection region is farther away from the scanning center position, the amount of spot bending in the detection region is greater. In this case, by dividing the sub-detection region scanned by the detection region each time into more segments, a greater offset amount can be achieved, thereby matching the spot shape with a large bending amount and maintaining a high echo reception efficiency. When the detection region is closer to the scanning center position, by dividing the sub-detection region scanned by the detection region each time into fewer segments, the calculation resources can be saved as much as possible.

[0143] Further, optionally, in the detection regions located at the two sides, the detection unit segments located at the two sides can be symmetrically distributed on the two sides of the detection unit segment located in the middle. For example, continuing to refer to FIG. 6c, still taking the row scanning scenario as an example, when the scanning field of view is symmetric with respect to the scanning center axis L2, any one of the detection regions 1, 2, 4, and 5 located at the two sides can include a center detection unit segment and at least two non-center detection unit segments, and the at least two non-center detection unit segments are symmetrically distributed on the left and right sides of the center detection unit segment. With this configuration, when calculating the configuration of each detection unit segment of each sub-detection region, only the relevant configuration of the detection unit segment on one side of the detection unit segment located in the middle needs to be calculated. In this way, the calculation difficulty of the segmentation configuration information can be reduced, the data amount of the segmentation configuration information can be reduced, and the configuration resources of the detection assembly can be saved.

[0144] It can be understood that, in the case where the scanning field of view is not symmetric with respect to the scanning center axis L2, the detection unit segments located at the two sides can also be asymmetrically distributed on the two sides of the detection unit segment located in the middle. For example, referring to FIG. 6d, taking the column scanning scenario as an example, the detection assembly includes the detection region 1, the detection region 2, the detection region 3, and the detection region 4. The detection region 3 is the detection region located in the middle, and the detection regions 1, 2, and 4 are the detection regions located at the two sides. The sub-detection region scanned by the detection region 1 each time can include 5 detection unit segments, and the sub-detection region scanned by the detection regions 2 and 4 each time includes 3 detection unit segments. In this example, since the detection regions located at the two sides are asymmetrically distributed on the two sides of the detection region located in the middle, the detection unit segments located at the two sides can also be asymmetrically distributed on the two sides of the detection unit segment located in the middle.

[0145] Further, optionally, the number of the staggered detection units of the detection unit segment at the two sides relative to the detection unit segment at the middle can be positively correlated with the distance between the detection unit segment at the two sides and the detection unit segment at the middle. For example, still taking the row scanning scenario as an example, referring to FIG. 6a, the left and right edge detection unit segments of the detection region 1 are farther away from the central detection unit segment, and thus, the number of the staggered detection units of the left and right edge detection unit segments relative to the central detection unit segment can be configured to be greater, which matches the greater bending amount of the light spot at the left and right edge positions, and can improve the matching degree of the echo reception.

[0146] Further, optionally, the number of the staggered detection units of the detection unit segment at the two sides relative to the detection unit segment at the middle can be positively correlated with the distance between the detection unit segment at the two sides and the detection unit segment at the middle. For example, still taking the row scanning scenario as an example, referring to FIG. 6a, the left and right edge detection unit segments of the detection region 1 are farther away from the central detection unit segment, and thus, the number of the staggered detection units of the left and right edge detection unit segments relative to the central detection unit segment can be configured to be greater, which matches the greater bending amount of the light spot at the left and right edge positions, and can improve the matching degree of the echo reception.

[0147] Further, optionally, the number of the staggered detection units of the detection unit segment at the two sides relative to the detection unit segment at the middle can be positively correlated with the distance between the detection unit segment at the two sides and the detection unit segment at the middle. For example, still taking the row scanning scenario as an example, referring to FIG. 6a, the left and right edge detection unit segments of the detection region 1 are farther away from the central detection unit segment, and thus, the number of the staggered detection units of the left and right edge detection unit segments relative to the central detection unit segment can be configured to be greater, which matches the greater bending amount of the light spot at the left and right edge positions, and can improve the matching degree of the echo reception.

[0148] In a possible implementation, the number of the plurality of detection regions, the shape of the plurality of detection regions, and the shape of the sub-detection region of each detection region in each scanning can be configured in the detection assembly after being tested in the testing stage, and the detection assembly receives the light spot in the corresponding working mode according to the configuration when working. For example, in the testing stage, the control module can control the light source assembly to emit a plurality of light beams to detect the entire field of view, and can obtain the light spot positions and the light spot shapes of the plurality of echo signals imaged on the detection assembly. Then, the control module can divide the detection units occupied by the light spot positions with similar or slightly different light spot shapes into a detection region, and can design the shape of the sub-detection region of each detection region in each scanning according to the light spot shape in each detection region. For example, the shape of the sub-detection region in each scanning is matched with the light spot shape of the echo signal imaged on the detection region, so that the sub-detection region in each scanning can better receive the echo signal in the light spot at each position.

[0149] For the convenience of understanding, the following will take the row scanning scene as an example to introduce the specific detection area division manner and how to determine the sub-detection area of each scanning. It should be understood that the related content of row scanning is also applicable to column scanning, which will not be repeated here.

[0150] Please refer to FIG. 7, which shows a flowchart of determining a sub-detection area provided by the present application. The flowchart includes the following steps:

[0151] Step 701, partition the detection assembly to obtain N detection areas, N is an integer greater than or equal to 2.

[0152] Optionally, the partitioning of the detection assembly can be understood as partitioning the area occupied by the echo signal on the detection assembly. For example, the area on the detection assembly that can receive the echo signal (also referred to as the receiving field of view area or the scanning field of view area) can be divided into N detection areas. Other areas on the detection assembly other than the N detection areas can not be partitioned because they do not receive echo signals, or they can also be used as reserved areas to expand other functions.

[0153] Further, optionally, the detection assembly can be partitioned along the scanning direction. That is, the receiving field of view area of the detection assembly can be divided into N detection areas along the scanning direction, and the N detection areas are continuous along the scanning direction. For example, in combination with FIGS. 5a and 5b, when the row scanning mode is adopted, the N detection areas are continuous along the vertical direction, and when the column scanning mode is adopted, the N detection areas are continuous along the horizontal direction.

[0154] Further, optionally, the value of N can be positively correlated with the field of view angle of the detection device or the maximum bending amount of the spot on the detection assembly. The field of view angle of the detection device can be understood as the field of view angle of the receiving field of view in the scanning direction. For example, please refer to FIG. 8, taking row scanning as an example, the scanning direction is the vertical direction, if the echo signal covers the W0 area in the vertical direction, the spot with the maximum bending amount is located at the upper and lower edges of the W0 area, and the maximum bending amount is d x , d x is large, in order to cover a large range from the straight spot with no bending amount to the curved spot with large bending amount, the detection units within the W0 area can be divided into more detection areas, such as detection area 1.1 to detection area 1.5 shown in FIG. 9. Conversely, please refer to FIG. 8, if the echo signal covers only the W1 area in the vertical direction, the spot with the maximum bending amount is located at the upper and lower edges of the W1 area, and the maximum bending amount is d n , d n is less than d xIn this case, the detection units in the W1 area can be divided into relatively fewer detection areas, such as detection areas 1.2-1.4 shown in FIG. 9. In this way, by dividing more detection areas in a scene with a larger receiving field of view, each detection area can correspond to a smaller range of bending amounts, so that each detection area can be more finely configured with a segmentation configuration scheme using a smaller range of bending amounts, and by dividing fewer detection areas in a scene with a smaller receiving field of view, computing resources and configuration resources can also be saved as much as possible.

[0155] Further, optionally, the value of N can also be related to a maximum allowable deviation, which can be understood as a difference between the maximum bending amount and the minimum bending amount of a spot in a pre-configured detection area, which can be determined by system requirements. For example, the system requirements can be a target minimum echo reception efficiency, or a desired minimum echo reception efficiency or a target echo reception efficiency. The target minimum echo reception efficiency is positively correlated with the maximum allowable deviation. For example, if the target minimum echo reception efficiency is r, the maximum allowable deviation can be represented as formula (1.1) as follows: δ = (1 - r) x w …… (1.1)

[0156] Wherein, δ is the maximum allowable deviation, and w is the length of the spot (or the sub-detection area of each scan) in the scanning direction, such as the length of the spot in the vertical direction in the row scanning scene.

[0157] It can be understood that the N detection areas can correspond to the same maximum allowable deviation, or different maximum allowable deviations. When corresponding to the same maximum allowable deviation, the partitioning criteria of the N detection areas are the same. In other words, the system requirements indicate that the difference between the maximum bending amount and the minimum bending amount of the spot in each detection area is less than the same maximum allowable deviation. Or, the efficiency of the sub-detection area receiving the echo signal calculated by each detection area reaches the same target minimum echo reception efficiency. Conversely, when corresponding to different maximum allowable deviations, the N detection areas have different partitioning criteria. In other words, the system requirements indicate that the difference between the maximum bending amount and the minimum bending amount of the spot in each detection area is less than the maximum allowable deviation corresponding to itself. Or, the efficiency of the sub-detection area receiving the echo signal calculated by each detection area reaches the target minimum echo reception efficiency corresponding to itself.

[0158] Optionally, assuming the system requirements provide K+1 maximum permissible deviations, this means the system requirements indicate that the received field of view is divided into K+1 types of detection areas. In this case, the N detection areas may include a first detection area, a second detection area, ..., a Kth detection area, and a K+1th detection area. Further, optionally, referring to Figure 10, the first detection area may include one, any detection area between the first and K+1th detection areas (excluding the first and K+1th detection areas) may include two, and the K+1th detection area may include N-1-2(K-1), i.e., N-2K+1. Here, the value of K can be any positive integer. For example, when K is 2, the N detection areas may include one first detection area, two second detection areas, and N-3 third detection areas. Or, for example, when K is 3, the N detection areas may include one first detection area, two second detection areas, two third detection areas, and N-5 fourth detection areas. For example, when K is 5, the N detection regions can include one first detection region, two second detection regions, two third detection regions, two fourth detection regions, two fifth detection regions, and N-9 sixth detection regions. And so on, which will not be listed here.

[0159] Further, optionally, referring to Figure 10 above, any type of detection region from the second detection region to the (K+1)th detection region is distributed on both sides of the scanning direction of the first detection region. That is, the first detection region is the central detection region of the N detection regions, two second detection regions are distributed on both sides of the first detection region, two third detection regions are distributed on both sides of the two second detection regions, ..., N-2K+1 (K+1)th detection regions are distributed on both sides of the two (K)th detection regions. Therefore, one second detection region, one third detection region, ..., one (K)th detection region are sequentially distributed on one side of the first detection region. The first detection region has a (K+1)th detection region, and on the other side of the first detection region, a second detection region, a third detection region, ..., a Kth detection region are also distributed sequentially. The K+1th detection region.

[0160] Furthermore, optionally, assume that the maximum permissible deviations corresponding to the first detection region, the second detection region, ..., the Kth detection region, and the (K+1)th detection region are δ1, δ2, ..., δ... K δ K+1 In a given example, the value of N can be determined using the following formula (2.1):

[0161] Where ceil() is the function that rounds to the nearest integer; || is the function that takes the absolute value; d1 and d2 are the maximum bending amounts of the light spot on the entire detector assembly at both ends of the scanning direction, with opposite signs; δ i δ represents the maximum permissible deviation corresponding to the i-th detection region, where i is a positive integer less than or equal to K; K+1 This represents the maximum permissible deviation corresponding to the K+1th detection area.

[0162] In formula (2.1) above, when the receiving field of view is symmetrical with respect to the central axis L2 shown in Figure 8, any light spot is also symmetrical with respect to the central axis L2, and any light spot has the same maximum curvature on both the left and right sides of the central axis L2. In this case, d1 and d2 can be considered as the curvature of the light spots at the upper and lower edges on either the left or right side of the central axis L2. For example, referring to Figure 11(A), d1 can be considered as the maximum curvature of the upper edge light spot on the left or right side, and d2 can be considered as the maximum curvature of the lower edge light spot on the left or right side. Conversely, when any light spot is asymmetrical with respect to the central axis L2 shown in Figure 8, any light spot has different maximum curvatures on the left and right sides of the central axis L2. In this case, d1 and d2 can be considered as the curvature with the largest absolute value among the maximum curvatures on the left and right sides of the upper and lower edges of the light spot on the central axis L2. For example, referring to Figure 11(B), d1 can be considered as the maximum bending amount d of the light spot at the upper edge on the left. 11 And the maximum bending amount d on the right 12 The maximum absolute value of the curvature, i.e., |d1| = max(|d 11 |,|d 12 |), d2 can be considered as the maximum bending amount of the light spot at the lower edge on the left side. 21 And the maximum bending amount d on the right 22 The maximum absolute value of the curvature, i.e., |d2| = max(|d 21 |,|d 22 |).

[0163] In formula (2.1) above, when the receiving field of view is symmetrical with respect to the central axis L1 shown in Figure 8, the light spot is also symmetrical with respect to the central axis L1. The maximum bending values ​​of the light spot at the upper and lower edges are the same, that is, d1 and d2 have the same value but opposite signs. In this case, formula (2.1) above can also be transformed into the following formula:

[0164] or

[0165] It is understandable that by using the above formula (2.1) to calculate the number of detection areas in the scanning direction of the receiving field of view, it can be ensured that the difference between the maximum and minimum bending of the light spot in each detection area is less than or equal to the maximum allowable deviation, so that each detection area can meet the system's requirement for the minimum echo reception efficiency of the target.

[0166] However, it should be understood that the above formula (2.1) is only an example. In other examples, formula (2.1) can be modified to obtain other possible formulas. For example, according to the above formula (2.1), two second detection areas have the same maximum permissible deviation δ2, two third detection areas have the same maximum permissible deviation δ3, ..., N-2K+1 K+1th detection areas have the same maximum permissible deviation δ K+1 However, in another example, two second detection regions can also be set with different maximum permissible deviations δ. 21 and δ 22 And / or two third detection regions have different maximum permissible deviations δ 31 and δ 32 ... and / or the K+1th detection regions located on either side of the first detection region have different maximum permissible deviations δ. (K+1,1) and δ (K+1,2) For example, assuming that all have different maximum permissible deviations, the above formula (2.1) can also be transformed into the following formula (2.2):

[0167] For example, taking K as 1, the N detection areas can include a first detection area and N-1 second detection areas. Assuming the maximum permissible deviation corresponding to the first detection area is δ1 and the maximum permissible deviation corresponding to the second detection area is δ2, then the above formula (2.1) can also be transformed into the following formula (2.3):

[0168] Furthermore, optionally, if the first detection area and the second detection area adopt the same maximum permissible deviation, then δ1 and δ2 are the same, that is, N detection areas correspond to the same maximum permissible deviation. Assuming that the maximum permissible deviation is δ, the above formula (2.3) can also be transformed into the following formula (2.4):

[0169] It should be noted that formulas (2.3) and (2.4) above assume that the second detection regions located on both sides of the first detection region have the same maximum permissible deviation. In another case, if the second detection regions located on both sides of the first detection region have different maximum permissible deviations, then formula (2.3) above can also be transformed into the following formula (2.5):

[0170] wherein d1 and d2 are the maximum bending amount of the light spot at both ends of the scanning direction, and the signs of d1 and d2 are opposite; δ 21 is the maximum allowable deviation of the second detection region located on one side of the first detection region, and δ 22 is the maximum allowable deviation of the second detection region located on the other side of the first detection region.

[0171] Of course, there can be other deformation formulas, but these deformations can be derived from the above formulas (2.1) to (2.5), and the present application will not list them one by one.

[0172] Optionally, after calculating the total number N of detection regions according to any one of the above formulas (2.1) to (2.5) or other formulas, the entire detection assembly can be partitioned according to the bending amount of the light spot and the maximum allowable deviation corresponding to the N detection regions. For example, still taking the row scanning scenario as an example, first, the detection units whose maximum bending amount of the light spot is less than or equal to the maximum allowable deviation corresponding to the first detection region are classified into the first detection region; then, on the basis of the first detection region, the maximum allowable deviation of the first detection region is added to the maximum allowable deviation of the second detection region, and the detection units whose maximum bending amount of the light spot on the upper and lower sides (left and right sides in the column scanning scenario) of the first detection region is less than or equal to the added value are classified into two second detection regions; thereafter, on the basis of the second detection region, the maximum allowable deviation of the second detection region is added to the maximum allowable deviation of the third detection region, and the detection units whose maximum bending amount of the light spot on the upper and lower sides (left and right sides in the column scanning scenario) of the second detection region is less than or equal to the added value are classified into two third detection regions; and so on, to obtain N detection regions.

[0173] Step 702, segmenting the N detection regions to obtain the number of detection unit segments corresponding to each of the N detection regions.

[0174] For ease of understanding, the following takes the value of K as 1 as an example to introduce the specific segmentation method. However, it should be understood that the following content is also applicable to the case where the value of K is 2 or any integer greater than 2. In addition, the following explanations related to the second detection region are also applicable to the Yth detection region, where Y is any integer greater than or equal to 2 and less than or equal to K+1.

[0175] In a possible implementation, the first detection region includes a scanning center position of the detection assembly. For example, still taking the row scanning as an example, assuming that the plurality of echo signals cover the entire detection assembly, the scanning center position is the center position of the detection assembly, that is, the thickened dot shown in FIG. 9. Therefore, according to the detection region division manner shown in FIG. 9, the first detection region is the detection region 1.3, and the scanning center position is located in the detection region 1.3.

[0176] Optionally, since the first detection region contains the scanning center position, and the scanning center position is located on the center axis L1 shown in FIG. 9, the first detection region can also be referred to as a near-axis region. In combination with FIGS. 8 and 9, when the light spot is closer to the center axis L1, the bending amount of the light spot is smaller, and the light spot tends to be a straight light spot. Therefore, the first detection region itself has a smaller light spot bending amount. Based on this, in an example, a detection unit region occupied by a light spot satisfying the maximum allowable deviation corresponding to the first detection region can be taken as the first detection region. In this case, the maximum bending amount of the light spot in the first detection region is smaller than the maximum allowable deviation corresponding to the first detection region, and the light spot in the first detection region needs to satisfy the following formula (3.1):

[0177] Wherein, δ1 is the maximum allowable deviation corresponding to the first detection region, and if the N detection regions correspond to the same maximum allowable deviation, δ1 is δ in the foregoing content.

[0178] Wherein, d5 and d6 are the maximum bending amounts of the light spots located on the upper and lower sides of the center axis L1 in the first detection region. For example, when the light spots on the detection assembly are symmetrical relative to the center axis L2 shown in FIG. 8, d5 is the maximum bending amount of the light spot at the upper edge in the first detection region on the left or right side, and d6 is the maximum bending amount of the light spot at the lower edge in the first detection region on the left or right side. When the light spots on the detection assembly are asymmetrical relative to the center axis L2 shown in FIG. 8, d5 is the maximum bending amount of the light spot at the upper edge in the first detection region on the left side and the maximum bending amount on the right side, and d6 is the maximum bending amount of the light spot at the lower edge in the first detection region on the left side and the maximum bending amount on the right side. That is, |d5| = max(|d 51 |,|d 52 |), and |d6| = max(|d 61 |,|d 62 |). d 51 is the maximum bending amount of the light spot at the upper edge in the first detection region on the left side, d 52 is the maximum bending amount of the light spot at the upper edge in the first detection region on the right side, d 61 is the maximum bending amount of the light spot at the lower edge in the first detection region on the left side, and d 62The maximum bending amount of the light spot at the lower edge of the first detection area on the right side.

[0179] Further, optionally, since the light spot in the first detection area itself satisfies the maximum allowable deviation corresponding to the first detection area, the deviation of the maximum displacement amount of the light spot from the minimum displacement amount (the minimum displacement amount is 0 in the first detection area) is less than or equal to the maximum allowable deviation corresponding to the first detection area. In this case, using the row or column of detection units at the position of the minimum displacement amount of the light spot to receive the echo signal itself can satisfy the target minimum echo receiving efficiency specified by the system. Based on this, a linearly shaped sub-detection area can be configured for the first detection area. For example, referring to FIG. 6c described above, in row scanning, the sub-detection area scanned each time by the first detection area (i.e., detection area 1.3) can include a row of detection units. Optionally, the row of detection units can also pass through the position of the minimum displacement amount of the light spot to sufficiently receive the echo signal. For another example, referring to FIG. 6c described above, in column scanning, the sub-detection area scanned each time by the first detection area (i.e., detection area 2.3) can include a column of detection units. Optionally, the row of detection units can also pass through the position of the minimum displacement amount of the light spot.

[0180] In a possible implementation, since the second detection area is relatively far from the central axis L1 shown in FIG. 9, the second detection area can also be referred to as a far-axis area. In combination with FIGS. 8 and 9, the farther the light spot is from the central axis L1, the greater the bending amount of the light spot is, and therefore, the second detection area itself corresponds to a greater bending amount of the light spot. In this case, if the echo signal is received in the manner of being detected by a row or column of detection units passing through the position of the minimum bending amount of the light spot, the echo receiving efficiency will be very low. Therefore, to compensate for the echo receiving efficiency, the detection units on both sides of the central area in the row or column of detection units can be offset (or staggered), such as being offset in the direction of the bending of the light spot, to form a sub-detection area consistent with the bending direction of the curved light spot. By using the sub-detection area consistent with the shape of the curved light spot for scanning, the echo receiving efficiency for the curved light spot can be improved. In some scenarios, since the second detection area needs to receive compensation for the echo signal, the second detection area can also be referred to as a compensation area.

[0181] Optionally, the sub-probe region of each second probe region in each scan can include M probe unit segments, the M probe unit segments are continuous in the row or column in the non-scan direction and staggered in the scan direction, and M is an integer greater than or equal to 2. For example, referring to FIG. 6c, in the row scan, the scan direction is the vertical direction, and the sub-probe region of any second probe region (such as probe region 1, probe region 2, probe region 4, or probe region 5) in each scan includes a plurality of probe unit segments, any two adjacent probe unit segments in the plurality of probe unit segments are staggered in the vertical direction and continuous in the horizontal direction. For another example, referring to FIG. 6d, in the column scan, the scan direction is the horizontal direction, and the sub-probe region of any second probe region (such as probe region 1, probe region 2, or probe region 4) in each scan includes a plurality of probe unit segments, any two adjacent probe unit segments in the plurality of probe unit segments are staggered in the horizontal direction and continuous in the vertical direction.

[0182] Further, optionally, the value of M corresponding to any second probe region can have a positive correlation with the distance between the second probe region and the scan center position or the maximum bending amount of the light spot in the second probe region. For example, when the second probe region is far away from the scan center position, the bending amount of the light spot in the second probe region is also large. In this case, in order to cover the large bending amount range of the curved light spot, the sub-probe region of the second probe region in each scan can be divided into more probe unit segments in the row or column in the non-scan direction to achieve high precision. Conversely, when the second probe region is closer to the scan center position, the bending amount of the light spot in the second probe region is smaller. In this case, the sub-probe region of the second probe region in each scan can be divided into fewer probe unit segments in the row or column in the non-scan direction to balance the resource utilization. For example, referring to FIG. 6c, when the row scan is performed, probe region 1 is farther away from the scan center position than probe region 2, and therefore, probe region 1 can be configured with more probe unit segments, such as 5 segments as shown, and probe region 2 can be configured with fewer probe unit segments, such as 3 segments as shown.

[0183] In one example, the value of M corresponding to each second probe region can be determined according to the following formula (4.1):

[0184] wherein || is an absolute value function; ceil() is a rounding function; δ2 is the maximum allowed deviation corresponding to the second probe region; d3 and d4 are the maximum bending amounts of the light spot in the second probe region at the two ends of the row or column in the non-scan direction.

[0185] In the above formula (4.1), when the light spots on the detection assembly are symmetrical relative to the central axis L2 shown in Fig. 8, any light spot has the same maximum curvature on the left and right sides of the central axis L2, in which case d3 is the same as d4. Therefore, the above formula (4.1) can also be transformed as follows:

[0186] Or

[0187] In the above formula (4.1), when the light spots on the detection assembly are symmetrical relative to the central axis L1 shown in Fig. 8, the light spots in the second detection region at the symmetrical positions on both sides of the first detection region have the same maximum curvature, in which case, if the second detection region at the symmetrical positions also has the same maximum allowable deviation, the second detection region at the symmetrical positions will correspond to the same M, in other words, can have the same number of segments.

[0188] It can be understood that the calculation of the number of segments of the second detection region by using the above formula (4.1) can ensure that the difference between the maximum curvature and the minimum curvature of the light spots in each segment is less than or equal to the maximum allowable deviation, so that each segment can meet the demand of the system on the minimum echo receiving efficiency of the target. However, it should be understood that the above formula (4.1) is only an example, and in other examples, some transformations can be made to the formula (4.1) to obtain other possible formulas, which are not limited in the present application.

[0189] In step 703, for each detection region, the length and offset of each detection unit segment contained in the sub-detection region of each scan are determined.

[0190] Optionally, the sub-detection region of each scan of the first detection region is not segmented, and therefore, the offset does not need to be calculated.

[0191] Optionally, the sub-detection region of each scan of the second detection region is divided into M detection unit segments, the M detection unit segments include a central detection unit segment (which can also be referred to as a detection unit segment located in the middle) and M-1 non-central detection unit segments (which can also be referred to as detection unit segments located on both sides), and the M-1 non-central detection unit segments are distributed at both ends of the row or column in the non-scanning direction of the central detection unit segment. For example, in the row scan, the non-central detection unit segments in the sub-detection region of each scan are distributed on the left and right sides of the central detection unit segment, and in the column scan, the non-central detection unit segments in the sub-detection region of each scan are distributed on the upper and lower sides of the central detection unit segment.

[0192] Further, optionally, the central detection unit segment in each sub-detection area of each scan can be understood as the detection unit segment with the minimum bending amount of the light spot, and the direction of the detection unit segment is consistent with the row or column in the non-scan direction. For example, in the row scan, the direction of the central detection unit segment in each sub-detection area of each scan is horizontal, and in the column scan, the direction of the central detection unit segment in each sub-detection area of each scan is vertical.

[0193] In a possible implementation, the length of any detection unit segment can be understood as the number of detection units included by the detection unit segment in the row or column in the non-scan direction. The offset of any detection unit segment can be understood as the number of detection units offset by the detection unit segment relative to the central detection unit segment. Based on this, for any second detection area, determining the length and offset of each detection unit segment included by the sub-detection area of each scan can be understood as determining the length of each detection unit segment in the M detection unit segments, and determining the number of detection units offset by each non-central detection unit segment in the M-1 non-central detection unit segments relative to the central detection unit segment.

[0194] Optionally, the number of detection units offset by any non-central detection unit segment relative to the central detection unit segment can be in a positive correlation with the distance between the non-central detection unit segment and the central detection unit segment. That is, the farther the non-central detection unit segment is from the central detection unit segment, the more the number of detection units offset by the non-central detection unit segment relative to the central detection unit segment, and this trend is consistent with the light spot shape of the curved light spot on the second detection area, which can improve the receiving efficiency of the curved light spot.

[0195] Further, optionally, the M-1 non-central detection unit segments can be symmetrically distributed relative to the central detection unit segment. For example, when the light spot in the second detection area is symmetric relative to the central axis L2 shown in FIG. 8, any light spot has symmetric light spot shapes on the left and right sides, and to match the symmetric light spot shapes, the M-1 non-central detection unit segments can be configured to be symmetric relative to the central detection unit segment. That is, the symmetric non-central detection unit segments in the M-1 non-central detection unit segments can have the same length and opposite offsets, in other words, the absolute values of the offsets are the same, but the signs are opposite. In this way, the length and offset of only the non-central detection unit segment on one side of the central detection unit segment can be calculated, and therefore, the calculation of the length and offset of the M-1 non-central detection unit segments can be simplified to the calculation of the length and offset of half of the non-central detection unit segments, which can effectively save the computing resources, and at the same time, can reduce the data amount of the segmentation configuration information, and avoid that the segmentation configuration information occupies more resources of the control module.

[0196] In a possible implementation, the length of the M detection unit segments and the number of detection units offset by the M-1 non-central detection unit segments can be determined according to system requirements. The system requirements can also be referred to as evaluation criteria, which can be configured according to actual application scenarios. For example, in some scenarios, the echo reception efficiency (or average echo reception energy or average reception efficiency) of the sub-detection area scanned each time by the second detection area can be configured to be optimal. Alternatively, in some other scenarios, the echo reception efficiency of the entire reception field of view can be configured to be optimal. Alternatively, in some other scenarios, the echo reception efficiency of the reception field of view in a certain area, such as the RIO area, or the echo reception dark area, or the echo reception dark angle, can be configured to be optimal, without limitation. Of course, other evaluation criteria can also be used, which will not be listed one by one in this application.

[0197] For example, taking the system requirement that the echo reception efficiency of the second detection area is optimal as an example, the length of the M detection unit segments and the number of detection units offset by the M-1 non-central detection unit segments in the sub-detection area scanned each time by the second detection area can be used to keep the average echo reception efficiency of the second detection area optimal in each scan. That is, the length of each detection unit in the M detection unit segments and the number of detection units offset by the M-1 non-central detection unit segments can be calculated based on the principle that the average echo reception efficiency of the second detection area scanned each time is optimal. For example, in a specific calculation manner, referring to FIG. 12, the steps can include the following steps:

[0198] Step 1201, determining the to-be-calculated variables corresponding to the second detection area.

[0199] In the row scanning or column scanning scenario, the total length of the M detection unit segments is known (for example, the total length of the M detection unit segments is the length of a row of detection units in the row scanning scenario, and the total length of the M detection unit segments is the length of a column of detection units in the column scanning scenario), so the length of the M-1 detection unit segments can be known, that is, the length of the M detection unit segments. In other words, there are M-1 variables in the length of the M detection unit segments.

[0200] Alternatively, if the M-1 non-central detection unit segments do not have a correlation relationship, there are M-1 variables in the length of the M detection unit segments and M-1 variables in the number of detection units offset by the M-1 non-central detection unit segments, so there are 2M-2 variables in total.

[0201] Conversely, if the M-1 non-central detection unit segments have a correlation relationship, the number of variables is less than 2M-2. For example, if the light spot is symmetrical relative to the central axis L2 shown in FIG. 8, the M-1 non-central detection unit segments are symmetrical relative to the central detection unit segment, so the length of the M-1 non-central detection unit segments can be simplified as the length of the non-central detection unit segment, the variable number of which is reduced from M-1 to , and the number of detection units offset by the M-1 non-central detection unit segments can be simplified to the number of detection units offset by the non-central detection unit segment, the variable number of which is reduced from M-1 to . Therefore, the variable after simplification according to the correlation is reduced to M-1. By reducing the variable to be calculated, the mathematical model can be simplified, and the calculation amount can be reduced.

[0202] Step 1202, establishing a mathematical model of a multi-dimensional variable space.

[0203] Here, the mathematical model of the multi-dimensional variable space can be a multi-dimensional variable matrix, which can include the lengths of the M detection unit segments and the number of detection units offset by each detection unit segment. For example, the multi-dimensional variable matrix can be an Mx2 or 2xM matrix. Taking the Mx2 matrix as an example, the M elements in the first column can correspond to the lengths of the M detection unit segments, and the M elements in the second column can correspond to the number of detection units offset by each detection unit segment relative to the central detection unit segment. In the multi-dimensional variable matrix, the lengths or the number of detection units offset by other detection unit segments except the variable to be calculated can be represented by the variable to be calculated or a constant. For example, the number of detection units offset by the central detection unit segment can be represented as 0. The length of the central detection unit segment can be represented as the difference between the total length and the lengths of the M-1 non-central detection unit segments. And so on, which will not be listed one by one here.

[0204] Step 1203, solving the mathematical model of the multi-dimensional variable space according to the limit conditions of the variable to be calculated, and obtaining all solution vectors.

[0205] Optionally, the limit conditions of the variable to be calculated can include, but are not limited to, the following conditions one to three:

[0206] Condition one, since the length of the detection unit segment and the number of detection units offset are both in units of sub-pixels (such as SPAD) in the detection unit, the value of the length of any detection unit segment and the number of detection units offset after conversion to the unit of sub-pixels must be a positive integer;

[0207] Condition two, the value of the length of each detection unit segment needs to be less than the length of a row or column of the receiving field in the non-scanning direction. For example, taking the case that the receiving field covers the entire detection assembly as an example, the value of the length of each detection unit segment needs to be less than the length of a row of detection units in the row scanning scene, and the value of the length of each detection unit segment needs to be less than the length of a column of detection units in the column scanning scene;

[0208] Condition three, the number of the detection units that each detection unit segment is staggered needs to be less than the number of the detection units that the second detection area covers in the scanning direction. For example, in the row scanning scenario, the number of the detection units that each detection unit segment is staggered needs to be less than the number of the detection units that the second detection area occupies in the vertical direction, and in the column scanning scenario, the number of the detection units that each detection unit segment is staggered needs to be less than the number of the detection units that the second detection area occupies in the horizontal direction.

[0209] Further, optionally, under the limitation of the condition, the optional values of each to-be-calculated variable are limited, so that the exhaustive method can be used to list each possible solution vector of the multi-dimensional variable matrix. The exhaustive method is relatively simple and can simplify the calculation difficulty.

[0210] Step 1204, determine the echo reception efficiency of the second detection area under each solution vector, and select the solution vector with the maximum echo reception efficiency as the target solution vector.

[0211] Optionally, the length of each detection unit segment in the M detection unit segments and the number of the detection units that each detection unit segment is staggered can be calculated according to each solution vector, and then the length of the M detection unit segments and the number of the detection units that each detection unit segment is staggered can be used to theoretically calculate the echo reception efficiency of the second detection area, or to measure the echo reception efficiency of each second detection area by actual measurement.

[0212] For example, in the theoretical calculation mode, for any solution vector, the M detection unit segments can be drawn on the second detection area first, and then the M detection unit segments are placed in the position corresponding to each scan in the second detection area, and then the area covered by the M detection unit segments on the spot formed by the scan is calculated, and then the area is compared with the area of the spot to obtain the echo reception efficiency of the scan. Then, the echo reception efficiencies of all the scans obtained during the scanning of the entire second detection area can be added and averaged to obtain the average echo reception efficiency corresponding to the solution vector.

[0213] For another example, in the actual measurement mode, for any solution vector, a group of detection units that need to be turned on in each scan of the second detection area corresponding to the solution vector can be determined first, and then the emission module is controlled to constantly emit a light beam, and each group of detection units that need to be turned on is turned on in turn according to the scanning direction, and then the energy of the echo signal received by each group of detection units is obtained and added, and the total energy obtained by the addition is compared with the total energy of the emitted light beam to obtain the average echo reception efficiency corresponding to the solution vector.

[0214] Further, after the average echo receiving efficiency of each solution vector in the second detection region is calculated in the above manner, a solution vector with the maximum average echo receiving efficiency can be selected as a target solution vector. The target solution vector includes the length of each detection unit segment in each sub-detection region scanned each time and the number of detection units deviated from the central detection unit segment for each detection unit segment. Therefore, the target solution vector can uniquely identify the shape of a sub-detection region, including the number of segments, the length of each segment, and the number of detection units deviated from the central segment for each segment. The shape of the sub-detection region is suitable for all scans in the corresponding second detection region. That is, all scans in a second detection region can use the same segment configuration, which can save the data amount of segment configuration information and reduce the consumption of system resources by segment configuration information.

[0215] By using the above method, the detection units originally arranged in a row or a column can be deviated based on the principle of optimal echo receiving. The sub-detection region formed by the deviated detection units is consistent with the spot shape of the echo signal imaging. Therefore, each position in the sub-detection region can better receive the echo signal, which can effectively improve the problem of reduced receiving efficiency caused by the distortion residual of the transceiving optical system of the existing detection device. In addition, the above method changes the sub-detection region scanned each time by the detection assembly without forcibly matching the distortion of the transceiving optical system, thereby avoiding the problem of reduced imaging image quality caused by forcibly matching the distortion of the transceiving optical system. That is, the above method can improve the echo receiving efficiency of the detection device while ensuring the imaging image quality.

[0216] To facilitate understanding of the above effects, the following specific examples are given to further illustrate the application of the above partition and segmentation method in actual scenarios. In this scenario, it is assumed that the partition and segmentation scheme is applied to a flash lidar. FIG. 13 exemplarily shows the specifications of a detection assembly in the flash lidar. As shown in FIG. 13, the detection assembly is a 576x168 detection array, that is, the length L of the detection array in the horizontal direction is 576 cells, and the width H of the detection array in the vertical direction is 168 cells, for example, the detection array includes 576 SPADs in the horizontal direction and 168 SPADs in the vertical direction.

[0217] As shown in FIG. 13, it is assumed that the flash lidar works in a row scanning manner, and one frame of image is scanned 88 times (i.e., 88 slots) from bottom to top. The length of each scan in the vertical direction (i.e., the width of the emitted light beam or the width of one spot) is denoted by w, and w = 4 cells.

[0218] As shown in Figure 13, assuming the light spot from 88 scans occupies the entire detector array, the receiving field of view is 576×168. Furthermore, the receiving field of view is symmetrical about the optical axis in both the horizontal and vertical directions; that is, any single light spot is symmetrical about the central axis L2 shown in Figure 8, and all light spots are symmetrical about the central axis L1 shown in Figure 8. Therefore, the maximum bending amount d of the light spot at the lower edge on the left side... 1L and the maximum bending amount d on the right side 1R And the maximum curvature d of the light spot at the upper edge on the left side. 88L and the maximum bending amount d on the right side 88R The absolute values ​​are the same, for example, both are 7 cells.

[0219] Implementation Plan 1

[0220] In Implementation Scheme 1, assuming the system requirements indicate N detection areas including a first detection area and N-1 second detection areas, the first detection area and the N-1 second detection areas correspond to the same minimum echo reception efficiency r, and r is greater than or equal to 0.5, then the entire scheme may include the following steps:

[0221] Step 1: Substitute the minimum echo reception efficiency r into the above formula (1.1) to calculate the same maximum allowable deviation δ corresponding to N detection areas: δ=(1-r)×w=(1-0.5)×4cell=2cell.

[0222] Step 2: Substituting the absolute value of the maximum bending of the light spot at both ends of the scanning direction (7 cells) and the maximum allowable deviation (2 cells) into the above formula (2.4), the range of values ​​for the number of detection areas N can be calculated:

[0223] Optionally, the value of N can be configured to be the minimum value in the calculated range. That is, the partitioning method with the fewest possible values ​​is selected, i.e., 7. This ensures that the partitioning method meets the requirement of the maximum allowable deviation, saves computing resources, and reduces the configuration resources corresponding to multiple detection areas, thereby reducing the occupation of the detection components.

[0224] Step three, based on the 88 spot corresponding to the 88 spot bending amount distribution information, the maximum bending amount of the spot on the detection array to meet the maximum allowed deviation δ of the region occupied by the spot is divided into the first detection region, that is, the region occupied by the spot with the maximum bending amount in the range of [-2cell, 2cell] is divided into the first detection region. For example, if the absolute value of the maximum bending amount of the spot corresponding to slot32-slot57 is less than or equal to 2cell (considering imaging deviation, slightly larger than 2cell can also be included), the detection unit occupied by slot32-slot57 can be classified as the first detection region. The number of segments of the first detection region is 1, that is, no segmentation is needed. In other words, each slot in slot32-slot57 corresponds to a row of detection units, and the row of detection units passes through the position of the minimum bending amount of the spot.

[0225] Step four, the region slot1-slot31 below the first detection region on the detection array is divided into 3 second detection regions, and the region slot58-slot88 above the first detection region is also divided into 3 second detection regions. Among them, the difference between the maximum bending amount and the minimum bending amount of the spot in each second detection region is less than or equal to the maximum allowed deviation corresponding to the second detection region. For example, please refer to Table 1.1 below, which shows a possible detection region division table provided by embodiment one:

[0226] Table 1.1

[0227] According to the partition configuration information shown in Table 1.1 above, referring to FIG. 14a, a distribution diagram of different detection areas on the detection array is shown. In this example, it is assumed that slot1-slot88 are scanned in the order from bottom to top. In combination with FIG. 14a and Table 1.1 above, after the first detection area is determined, the scanning areas slot19-slot31, in which the difference between the maximum bending amount of the lower spot of the first detection area and the maximum allowable deviation (2cell) corresponding to the first detection area is less than or equal to 2cell, and the scanning areas slot58-slot70, in which the difference between the maximum bending amount of the upper spot of the first detection area and the maximum allowable deviation (2cell) corresponding to the first detection area is less than or equal to 2cell, are divided into two symmetrical second detection areas A11 and A12. The absolute value of the spot distortion range of these two second detection areas A11 and A12 is the smallest among all the second detection areas, which is between 2cell and 4cell. In addition, the scanning areas slot4-slot18, in which the difference between the maximum bending amount of the lower spot of the second detection area A11 and the maximum allowable deviation (4cell) corresponding to the second detection area A11 is less than or equal to 2cell, and the scanning areas slot71-slot82, in which the difference between the maximum bending amount of the upper spot of the second detection area A12 and the maximum allowable deviation (4cell) corresponding to the second detection area A12 is less than or equal to 2cell, are divided into two symmetrical second detection areas B11 and B12. The absolute value of the spot distortion range of these two second detection areas B11 and B12 is greater than that of the second detection areas A11 and A12, which is between 4cell and 6cell. In addition, the scanning areas slot1-slot6, in which the difference between the maximum bending amount of the lower spot of the second detection area B11 and the maximum allowable deviation (6cell) corresponding to the second detection area B11 is less than or equal to 2cell, and the scanning areas slot83-slot88, in which the difference between the maximum bending amount of the upper spot of the second detection area B12 and the maximum allowable deviation (6cell) corresponding to the second detection area B12 is less than or equal to 2cell, are divided into two symmetrical second detection areas C11 and C12. The absolute value of the spot distortion range of these two second detection areas C11 and C12 is the largest among all the second detection areas, which is between 6cell and 7cell.

[0228] Step five, for each second detection area, the maximum bending amount of its spot and the maximum allowable deviation 2cell are substituted into the above formula (4.1) to calculate the value range of the segment number M corresponding to each second detection area. Alternatively, in order to take into account system resources, the segment number M can also be configured as the minimum value in the calculated value range.

[0229] For example, the maximum bending amount 4cell(or -4cell) and the maximum allowable deviation 2cell corresponding to the second detection area A11 and A12 are substituted into the above formula (4.1) to calculate the number of segments corresponding to the second detection area A11 and A12: The maximum bending amount 6cell(or -6cell) and the maximum allowable deviation 2cell corresponding to the second detection area B11 and B12 are substituted into the above formula (4.1) to calculate the number of segments corresponding to the second detection area B11 and B12: The maximum bending amount 7cell(or -7cell) and the maximum allowable deviation 2cell corresponding to the second detection area C11 and C12 are substituted into the above formula (4.1) to calculate the number of segments corresponding to the second detection area C11 and C12: The finally calculated number of segment configurations can be referred to Table 1.2 below.

[0230] Table 1.2

[0231] Step six, the best segment configuration scheme in each second detection area is obtained by global optimization, which specifically includes the following contents:

[0232] Firstly, the limiting conditions before global optimization are determined, such as the symmetry and integer of the detection area segmentation.

[0233] For example, since the light spot is symmetrical with respect to the center axis L1 shown in FIG. 8, the segment configuration scheme of each group of symmetrical second detection areas is the same, and each group of symmetrical second detection areas can only be calculated. And since the light spot is symmetrical with respect to the center axis L2 shown in FIG. 8, the segments in each second detection area are symmetrical with respect to the center segment, so only one side of the center segment in each second detection area can be calculated. And the length of each segment and the number of staggered detection units are both integer multiples of cell. By determining the limiting conditions, the subsequent variable dimension can be reduced, and the complexity of calculation can be reduced.

[0234] Then, according to the limiting conditions, the variable dimension corresponding to each group of symmetrical second detection areas (i.e. the solution space range) is determined.

[0235] For the 3 segments in the second detection area A11 or A12, the length of the 1st segment and the length of the 3rd segment are the same, and the sum of the lengths of the 1st segment, the 2nd segment and the 3rd segment is the length of a row of detection units, thus, only the length of one of the 3 segments (such as the 1st segment) is required. In addition, the number of detection units staggered between the 1st segment and the 3rd segment relative to the 2nd segment is the same, and the directions are opposite, thus, only the number of detection units staggered between one of the 1st segment and the 3rd segment (such as the 1st segment) is required. Therefore, the 3 segments in the second detection area A11 or A12 correspond to 2 variables, forming a 2-dimensional variable space.

[0236] Similarly, the 5 segments in the second detection area B11 or B12 only need to take the length of the 1st segment, the number of detection units staggered between the 1st segment and the 3rd segment, the length of the 2nd segment, and the number of detection units staggered between the 2nd segment and the 3rd segment as variables, which has 4 variables, forming a 4-dimensional variable space. The 7 segments in the second detection area C11 or C12 only need to take the length of the 1st segment, the number of detection units staggered between the 1st segment and the 4th segment, the length of the 2nd segment, the number of detection units staggered between the 2nd segment and the 4th segment, the length of the 3rd segment, and the number of detection units staggered between the 3rd segment and the 4th segment as variables, which has 6 variables, forming a 6-dimensional variable space.

[0237] Then, for each set of symmetrical second detection areas corresponding to the variable dimension, all possible solution vectors are enumerated according to the constraint conditions.

[0238] Finally, according to the system requirements, determine the evaluation index, for each set of symmetrical second detection areas, calculate the value of each possible solution vector under the evaluation index, and take the solution vector with the maximum value as the segment mode corresponding to the set of symmetrical second detection areas. For example, assuming that the system requirement indicates that the average received energy in the horizontal area (1:150&427:576) of the detection array is optimal (or the ranging ability is optimal, or the average echo receiving efficiency is optimal) as the evaluation index, then for the 3 segments in the second detection area A11 or A12, or the 5 segments in the second detection area B11 or B12, or the 7 segments in the second detection area C11 or C12, first enumerate all possible combinations of lengths and numbers of staggered detection units, then measure the average received energy in the horizontal area (1:150&427:576) under each possible combination, and take the combination with the maximum average received energy as the segment configuration mode of the corresponding second detection area.

[0239] According to the above segmentation content, the segmentation configuration information calculated in the first embodiment is shown in Table 1.3 as follows:

[0240] Table 1.3

[0241] Referring to the segmentation configuration information in Table 1.3, please refer to FIG. 14b and FIG. 14c, FIG. 14b shows a schematic diagram of the shape of each sub-detection region of each detection region of the detection array in each scan, and FIG. 14c shows a schematic diagram of the energy distribution of the light spot received by the detection array. The area outside the two straight lines shown in FIG. 14c is the horizontal region (1:150&427:576), which is referred to as the edge region in the present application.

[0242] According to the configuration modes shown in FIG. 14c and FIG. 3c respectively to control the light beam measurement and light beam reception, and count the received energy distribution, the compensation benefit comparison table shown in Table 1.4 can be obtained. Among them, the edge reception efficiency before compensation refers to the echo reception efficiency of the edge region (1:150&427:576) detected according to the detection mode shown in FIG. 3c, and the edge reception efficiency after compensation refers to the echo reception efficiency of the edge region (1:150&427:576) scanned according to the sub-detection region in the first embodiment:

[0243] Table 1.4

[0244] According to the above Table 1.4, after configuring the sub-detection region in each scan according to the zoning and segmentation configuration mode in the first embodiment, the average echo reception efficiency of the second detection region located at the edge is more than 86%, and the minimum echo reception efficiency is also 40%. According to the detection mode in the prior art, the average echo reception efficiency of the edge region is only 28%, and the minimum echo reception efficiency is even as low as 0. Obviously, the sub-detection region configured in the first embodiment can significantly improve the echo reception efficiency of the edge region, while avoiding the ranging dark angle, and effectively improving the ranging capability of the detection device.

[0245] Embodiment two

[0246] In the second embodiment, assuming that the system requirement indicates that the N detection regions include a first detection region and N-1 second detection regions, the first detection region and the N-1 second detection regions correspond to the same minimum echo reception efficiency r, and r is greater than or equal to 0.36, then the entire operation can include the following steps:

[0247] Step one, substitute the minimum echo receiving efficiency r into the above formula (1.1) to calculate the same maximum allowable deviation δ corresponding to the N detection areas: δ = (1 - r) x w = (1 - 0.36) x 4cell = 2.56 ≈ 2.5cell.

[0248] Step two, substitute the absolute value 7cell of the maximum bending amount of the spot at both ends of the scanning direction and the maximum allowable deviation 2.5cell into the above formula (2.4) to calculate the value range of the number of detection areas N:

[0249] Optionally, in order to balance resources, the value of N can be configured as the minimum value in the calculated value range, that is, 5.

[0250] Step three, based on the bending amount distribution information of 88 spots corresponding to 88 slots, the area occupied by the spot with the maximum bending amount of the spot on the detection array satisfying the maximum allowable deviation δ is divided into a first area. For example, if the bending amount of the spot corresponding to slot29-slot60 is within the range of [-2.5, 2.5], the detection unit occupied by slot29-slot60 can be classified as the first detection area. The first detection area does not need to be segmented.

[0251] Compared with the first embodiment, the maximum allowable deviation in the second embodiment is larger, so the acceptable spot bending amount in the second embodiment is larger, and the range of the first detection area in the second embodiment is larger than that in the first embodiment, that is, it will occupy a larger middle area.

[0252] Step four, divide the area slot1-slot28 below the first detection area on the detection array into two second detection areas, and symmetrically divide the area slot61-slot88 above the first detection area into two second detection areas. For example, please refer to Table 2.1 below, which shows a possible detection area division table provided by the second embodiment:

[0253] Table 2.1

[0254] According to the partition configuration scheme in Table 2.1, please refer to FIG. 15a, which shows a distribution diagram of different detection areas on the detection array. In this example, it is assumed that slot1~slot88 are scanned in turn in the order from bottom to top. In combination with FIG. 15a and the above Table 2.1, after the first detection area is determined, the area slot13~slot28 below the first detection area and the area slot61~slot76 above the first detection area can be divided into two symmetrical second detection areas A21 and A22. The absolute value of the spot distortion range of these two second detection areas A21 and A22 belongs to the smallest among all the second detection areas, which is between 2.5cell~5cell. The area slot1~slot12 below the second detection area A21 and the area slot77~slot88 above the second detection area A22 can be divided into two symmetrical second detection areas B21 and B22. The absolute value of the spot distortion range of these two second detection areas B21 and B22 belongs to the largest among all the second detection areas, which is between 5cell~7cell.

[0255] Step five, for each second detection area, the maximum bending amount of its spot and the maximum allowable deviation 2.5cell are substituted into the above formula (4.1) to calculate the value range of the corresponding segment number M of each second detection area. Alternatively, in order to take into account system resources, the segment number M can also be configured as the minimum value in the calculated value range.

[0256] For example, the maximum bending amount 5cell (or -5cell) and the maximum allowable deviation 2.5cell corresponding to the second detection areas A21 and A22 are substituted into the above formula (4.1) to calculate the segment number corresponding to the second detection areas A21 and A22: The maximum bending amount 7cell (or -7cell) and the maximum allowable deviation 2.5cell corresponding to the second detection areas B21 and B22 are substituted into the above formula (4.1) to calculate the segment number corresponding to the second detection areas B21 and B22: The segment configuration number calculated in this way can be referred to in the following Table 2.2.

[0257] Table 2.2

[0258] Step six, assuming that the system requirement indicates that the average received energy in the horizontal area (1:150&427:576) of the detection array is optimal as the evaluation index, the variable dimension corresponding to each second detection area can be determined by decomposing the system requirement, a mathematical model of the variable space is established, and then the best segment configuration scheme in each second detection area is obtained through global optimization. For the specific implementation process of segment configuration, please refer to the above implementation scheme one, which will not be repeated here.

[0259] For example, assume that the segment configuration information calculated in the above manner is as shown in Table 2.3:

[0260] According to the segment configuration information shown in Table 2.3, referring to FIG. 15b and FIG. 15c, FIG. 15b shows a schematic diagram of the shape of each sub-detection region of each detection region of the detection array in each scan, and FIG. 15c shows a schematic diagram of the energy distribution of the light spot received by the detection array. The measurement is performed according to the configuration manner shown in FIG. 15c and FIG. 3c respectively, and the received energy distribution is counted, and the compensation benefit comparison table shown in Table 2.4 is obtained:

[0261] Table 2.4

[0262] According to the above Table 2.4, after the first detection region is configured according to the zoning and segmenting manner in the second embodiment, the average echo reception efficiency of the second detection region located at the edge is more than 82.8%, and the minimum echo reception efficiency is also 16.7%. According to the detection manner in the prior art, the average echo reception efficiency of the edge region is only 32.4%, and the minimum echo reception efficiency is even as low as 0. Obviously, the first detection region configured in the second embodiment can significantly improve the echo reception efficiency of the edge region, and can also avoid the ranging dark angle, thereby effectively improving the ranging capability of the detection device.

[0263] Embodiment three

[0264] In the third embodiment, assume that the system requirement indicates that the N detection regions include a first detection region and N-1 second detection regions, the first detection region and the N-1 second detection regions correspond to different minimum echo reception efficiencies, the minimum echo reception efficiency r1 corresponding to the first detection region is greater than or equal to 0.5, and the minimum echo reception efficiency r2 corresponding to the second detection region is greater than or equal to 0.36, and the entire operation can include the following steps:

[0265] Step one, substituting the minimum echo reception efficiency r1 corresponding to the first detection region into the above formula (1.1) to calculate the maximum allowable deviation δ1 corresponding to the first detection region: δ1 = (1-r1) x w = (1-0.5) x 4cell = 2cell

[0266] And substituting the minimum echo reception efficiency r2 corresponding to the second detection region into the above formula (1.1) to calculate the maximum allowable deviation δ2 corresponding to the second detection region: δ2 = (1-r2) x w = (1-0.36) x 4cell ≈ 2.5cell

[0267] Step two, the maximum bending amount of the spot 7cell, the maximum allowable deviation of the first detection area corresponding 2cell, the maximum allowable deviation of the second detection area corresponding 2.5cell, the above formula (2.3) can be calculated to obtain the value range of the number of detection areas N:

[0268] Optionally, in order to balance resources, the value of N can be set to the minimum value in the calculated value range, that is, 5.

[0269] Step three, based on the bending amount distribution information of 88 spots corresponding to 88 slots, the region occupied by the spot whose maximum bending amount on the detection array satisfies the maximum allowable deviation δ1 of the first detection area is divided into the first region. For example, if the bending amount of the spot corresponding to slot32-slot57 is in the range of [-2, 2], the detection unit occupied by slot32-slot57 can be classified as the first detection area. The first detection area does not need to be segmented.

[0270] Compared with the first and second embodiments, the maximum allowable deviation of the first detection area in the third embodiment is the same as that in the first embodiment, but smaller than that in the second embodiment, so the range of the first detection area in the third embodiment is the same as that in the first embodiment, but smaller than that in the second embodiment.

[0271] Step four, the region slot1-slot31 below the first detection area on the detection array is divided into two second detection areas, and the region slot28-slot88 above the first detection area is also divided into two second detection areas. For example, please refer to Table 3.1 below, which shows a possible detection area division table provided by the third embodiment:

[0272] Table 3.1

[0273] According to the configuration scheme of the detection areas in Table 3.1, referring to FIG. 16a, a distribution diagram of different detection areas on the detection array is shown. In this example, it is assumed that slotl~slot88 are scanned in turn in the order from bottom to top. In combination with FIG. 16a and the above Table 3.1, after the first detection area is determined, the area slot16~slot31 below the first detection area and the area slot58~slot73 above the first detection area can be divided into two symmetrical second detection areas A31 and A32. The absolute value of the spot distortion range of the two second detection areas A31 and A32 belongs to the smallest in all second detection areas, between 2cell~4.5cell. The area slotl~slot15 below the second detection area A31 and the area slot74~slot88 above the second detection area A32 are divided into two symmetrical second detection areas B31 and B32. The absolute value of the spot distortion range of the two second detection areas B31 and B32 belongs to the largest in all second detection areas, between 4.5cell~7cell.

[0274] Step five, for each second detection area, the maximum bending amount of its spot and the maximum allowed deviation 2.5cell corresponding to the second detection area are substituted into the above formula (4.1) to calculate the value range of the segment number M corresponding to each second detection area. Alternatively, in order to take into account system resources, the segment number M can also be configured as the minimum value in the calculated value range.

[0275] For example, the maximum bending amount 4.5cell (or -4.5cell) and the maximum allowed deviation 2.5cell corresponding to the second detection areas A31 and A32 are substituted into the above formula (4.1) to calculate the segment number corresponding to the second detection areas A31 and A32: The maximum bending amount 7cell (or -7cell) and the maximum allowed deviation 2.5cell corresponding to the second detection areas B31 and B32 are substituted into the above formula (4.1) to calculate the segment number corresponding to the second detection areas B31 and B32: The segment configuration number calculated in this way can be referred to in the following Table 3.2.

[0276] Table 3.2

[0277] Step six, assuming that the system requirement indicates that the average received energy in the horizontal area (1:150&427:576) of the detection array is optimal as the evaluation index, the variable dimension corresponding to each second detection area can be determined by decomposing the system requirement, a mathematical model of the variable space is established, and then the optimal segmentation configuration scheme in each second detection area is obtained through global optimization. For the specific implementation process of segmentation configuration, please refer to the above embodiment one, which will not be repeated here.

[0278] For example, assuming that the segmentation configuration information calculated in the above manner is shown in Table 3.3 as follows:

[0279] Table 3.3

[0280] According to the segmentation configuration information shown in Table 3.3, please refer to FIG. 16b and FIG. 16c, FIG. 16b shows the shape of each sub-detection area of each detection area of the detection array in each scan, and FIG. 16c shows the energy distribution of the light spot received by the detection array. The measurement is performed according to the configuration mode shown in FIG. 16c and FIG. 3c respectively, and the received energy distribution is counted, and the compensation benefit comparison table shown in Table 3.4 can be obtained:

[0281] Table 3.4

[0282] According to the above Table 3.4, after the first detection area is configured according to the partition segmentation mode in embodiment three, the average echo reception efficiency of the second detection area located at the edge is more than 83.3%, and the minimum echo reception efficiency is also 16.7%. According to the existing detection mode, the average echo reception efficiency of the edge area is only 34.2%, and the minimum echo reception efficiency is even as low as 0. Obviously, the first detection area configured in embodiment three can significantly improve the echo reception efficiency of the edge area, and can also avoid the ranging dark angle, effectively improving the ranging ability of the detection device.

[0283] It can be understood that the above only exemplarily shows three possible scenarios applicable to the partition segmentation scheme, and the partition segmentation scheme can also be applicable to more scenarios, and is not limited to the above. For example, it can also be applicable to a detection assembly with three or more than three detection areas, or can also be applicable to a detection assembly with the same or different partition reference, etc., and the specific implementation is not limited.

[0284] In addition, each of the above embodiments is introduced by taking the application in the detection field as an example. The configuration information calculated according to the subarea segmentation scheme can be integrated in hardware or exist in the form of a software product, and the software product can be loaded in hardware for direct application. The hardware can be, for example, a detection component that directly receives a light spot according to the configuration information. Alternatively, the hardware can be a control component in a radar that controls the working mode of the detection component according to the configuration information, so that the detection component efficiently receives the light spot in the corresponding working mode. Of course, the hardware can also be a device or component outside the radar, such as other vehicle-mounted components, vehicle-mounted sensors, or components thereof. The device or component outside the radar can also be connected to the detection component in the radar to be able to transmit a control signal to the detection component to control the working mode of the detection component.

[0285] Furthermore, the above scheme can also be extended to any device or system that has a demand for receiving efficiency. For example, it can also be applied to any movable device, including but not limited to a ship, an airplane, a high-speed train, a train, a helicopter, a lawn mower, a mobile robot, etc. Alternatively, it can also be applied to any communication device with a communication function, such as a base station, an access network device, a terminal device, a printer, a smart home device, a smart industrial device, etc.

[0286] In addition, as the system architecture evolves and new scenarios appear, the scheme provided by the present application is also applicable to similar technical problems, and the present application does not make specific limitations thereto.

[0287] Based on the above-described method, the present application can also provide a detection component, which can include a module or unit for implementing the above-described signal receiving method.

[0288] In a possible implementation, the detection component can include a detection array, which can include a plurality of detection units. The plurality of detection units can constitute a rectangular array of multiple rows and multiple columns, or a horizontal linear array of one row and multiple columns, or a vertical linear array of one column and multiple rows. The detection units in the detection array can include single-photon detectors, such as SPADs or silicon photomultipliers (SiPMs), etc.

[0289] Further, optionally, one detection unit can include one single-photon detector, or a plurality of single-photon detectors. The number of single-photon detectors included in one detection unit is usually matched with the number of lasers included in the sub-light sources in the light source component, such as 4. In this way, according to the selected sub-light source in the light-emitting stage, the corresponding detection unit can be accurately located, thereby providing a basis for subsequent adjustment of the positions of the detection units based on the light spot.

[0290] Based on the method described above, the application can also provide a control module, which can control the working mode of the detection assembly, so that the detection assembly implements the signal receiving method described above.

[0291] In a possible implementation, please refer to FIG. 17, which shows a possible structural schematic diagram of the control module. The control module 1700 can be a chip or a circuit, such as a chip or a circuit arranged in the detection device, or a chip or a circuit arranged outside the detection device. As shown in FIG. 17, the control module 1700 can include a control unit 1710 and a transceiver unit 1720. The control unit 1710 is configured to control the detection assembly to receive the light spot through the transceiver unit 1720. For example, the control unit 1710 can control the detection assembly to receive the light spot using the corresponding sub-detection area in each scanning according to the configuration information calculated by the above-mentioned zoning segmentation method, and the corresponding sub-detection area in each scanning matches the shape of the light spot. For example, the control module can apply a bias voltage to one or more detection units in the sub-detection area used in each scanning, so that the one or more detection units are switched to an on (or open or gated or lit) state. If a photon is incident on the detection unit, the detection unit can be triggered by the received photon to output a response current signal, and the current signal can also be processed by integration amplification, sampling, etc.

[0292] The control module 1700 involves concepts related to the technical solutions provided by the embodiments of the application. For explanations, detailed descriptions and other steps, please refer to the descriptions of these contents in the foregoing methods or other embodiments, which will not be repeated here.

[0293] It should be understood that the division of the units of the control module 1700 above is only a logical functional division, and all or part of the units can be integrated into one physical entity, or can be physically separated, and the application does not make a specific limitation on this. The functions of the units in the control module 1700 above can refer to the implementation of the corresponding method embodiments, which will not be repeated here.

[0294] In another possible implementation, please refer to FIG. 18, which shows another possible structural diagram of the control module. The control module 1800 can be a chip or a chip system. Optionally, the chip system can be composed of a chip, or can contain a chip and other discrete devices. As shown in FIG. 18, the control module 1800 can include at least one processor 1810 and a memory 1820. The at least one processor 1810 is coupled with the memory 1820, which can be located within the control module 1800 or outside the control module 1800. The memory 1820 stores computer programs or instructions necessary for implementing any of the above method embodiments, and the at least one processor 1810 completes the control method in any of the above method embodiments by executing the computer programs or instructions stored in the memory 1820.

[0295] The control module 1800 can also include a communication interface 1830, through which the control module 1800 can exchange information with other components, such as the detection component. The communication interface 1830 can be a circuit, a bus, a transceiver, or any other device that can be used for information exchange, or a signal transceiver unit. When the control module 1800 is a chip or a circuit, the communication interface 1830 in the control module 1800 can also be an input-output circuit that can input (or receive) data and output (or send) data. The at least one processor 1810 is an integrated processor or a microprocessor or an integrated circuit, and the at least one processor 1810 can determine the output data according to the input data.

[0296] In the control module 1800, the at least one processor 1810 can acquire the computer programs or instructions stored in the memory 1820, and can control the detection component to receive the light spot through the communication interface 1830. For example, the at least one processor 1810 can control the detection component to receive the light spot using the corresponding sub-detection area in each scan according to the configuration information calculated by the above-mentioned partitioning method, and the corresponding sub-detection area in each scan matches the shape of the light spot.

[0297] The above-mentioned processor 1810 can be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the methods, steps and logic block diagrams disclosed in the present application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the present application can be directly embodied as the execution of the hardware processor, or can be executed by the combination of hardware and software modules in the processor.

[0298] The memory 1820 can be a non-volatile memory such as a hard disk drive (HDD) or a solid-state drive (SSD), and can also be a volatile memory such as a random-access memory (RAM). The memory can also be any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer, but is not limited thereto. The memory 1820 in the present application can also be a circuit or any other device capable of implementing a storage function, for storing computer programs, computer programs or instructions, and / or data.

[0299] The control module 1800 involves concepts related to the technical solutions provided by the embodiments of the present application. For explanations and detailed descriptions of these concepts and other steps, please refer to the descriptions of these concepts and other steps in the foregoing methods or other embodiments. Here, no further description is provided.

[0300] Based on the foregoing description, the present application can also provide a detection device. The detection device can include the detection assembly in any of the foregoing embodiments, such as the detection assembly shown in FIGS. 4-6d, 9, or 10, which can be used to implement the signal receiving method as described in any of the foregoing embodiments. And / or, the detection device can include the control module as shown in FIGS. 17 or 18. The detection device can be a laser radar, such as a flash laser radar. The detection device can be used to perform the steps shown in any of the method embodiments of FIGS. 7 or 12.

[0301] In a possible implementation, referring to FIG. 3a, the detection device can also include a transmitting module, which can include a light source assembly for emitting a light beam, such as a linear light beam.

[0302] Optionally, the light source assembly can include a light source array including a plurality of sub-light sources. The plurality of sub-light sources can form a rectangular array with multiple rows and multiple columns, or a horizontal linear array with one row and multiple columns, or a vertical linear array with one column and multiple rows. The sub-light sources in the light source array can be, for example, vertical cavity surface emitting lasers (VCSELs), edge emitting lasers (EELs), diode pumped solid state lasers (DPSSs), or fiber lasers.

[0303] Further, optionally, the light source assembly can emit the light beam under the control of the control module. For example, the control module can control the light source assembly to emit the light beam in an electrical scanning manner. The electrical scanning refers to a light source array control mode, in which the selection of different working areas is determined by the injection timing, direction and addressing control logic of the driving current, without any mechanical scanning components. In the electrical scanning manner, the light source array in the light source assembly can support independent addressing, which refers to the ability to independently select (or turn on or turn on or power on) the sub-light source in the light source array. For example, the control module can drive the sub-light source to emit the light beam by inputting the driving current to the sub-light source to be selected.

[0304] It should be noted that the shape of the light beam emitted by the light source array is related to the selected sub-light source. For example, when the sub-light source is selected row by row, the light source assembly can emit a horizontal line light beam, when the sub-light source is selected column by column, the light source assembly can emit a vertical line light beam, and when the sub-light source is selected in a diagonal direction, the light source assembly can emit a diagonal line light beam. In addition, a sub-light source can include one laser or multiple lasers. For example, taking VCSEL as an example, a sub-light source in a laser radar usually includes multiple VCSELs, such as four VCSELs.

[0305] In a further possible implementation, referring to FIG. 3a, the emission module can further include an emission optical system, which can be used for optically processing the light beam emitted by the light source assembly and transmitting the optically processed light beam to the detection space. The optical processing may, for example, include but is not limited to collimation, beam expansion, and energy modulation. For example, the emission optical system can collimate and / or expand and / or modulate the energy distribution in the angular space of the received light beam, and transmit the collimated and / or expanded and / or modulated light beam to the detection space.

[0306] It should be noted that the structure of the emission optical system can be a structure capable of collimating and / or expanding and / or modulating the light beam, such as a plurality of optical fibers and a collimating lens, or a microlens array, or a micro-optical system pasted on the surface of the light source assembly, which is not limited here.

[0307] In a possible implementation, referring to FIG. 3a, the detection device can further include a receiving module, which includes the aforementioned detection assembly and can further include a receiving optical system for transmitting the echo signal from the target to the detection assembly. The receiving optical system usually uses the same optical lens as the emission optical assembly, and the lens itself is based on a rotationally symmetric imaging optical design. In this way, the cost of the detection device can be reduced, the multiplexing rate of the optical device can be improved, and the detection device can be easily adjusted.

[0308] In one possible implementation, referring to FIG. 3a, the detection device can further include a processing module configured to receive the electrical signal from the detection assembly, generate corresponding point cloud data based on the electrical signal, and determine the associated information of the target.

[0309] For example, when the detection device is installed on a vehicle, the processing module can acquire the latitude, longitude, speed, orientation, or associated information (e.g., distance, speed, and / or pose of the target) of the target (e.g., other vehicles, pedestrians, or obstacles, etc.) within a certain range of the vehicle in real time or periodically. Further, the processing module can send the acquired information to a control device or the like in the vehicle, so that the control device can perform path planning, braking, starting, or the like of the vehicle based on the acquired information. For example, the latitude and longitude can be used to determine the position of the vehicle, or the speed and orientation can be used to determine the driving direction and destination of the vehicle in the future, or the distance of the surrounding objects can be used to determine the number and density of the obstacles around the vehicle. Further, the functions of the advanced driving assistant system (ADAS) can be combined to achieve the assisted driving or autonomous driving of the vehicle, etc.

[0310] Exemplarily, the processing module can be a circuit with a processing capability of signals (or data). In one implementation, the processing module can be a circuit with an instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processing module can implement certain functions through a logic relationship of a hardware circuit, which is fixed or reconfigurable. For example, the processing module is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In the reconfigurable hardware circuit, the processing module loads a configuration document to implement the configuration of the hardware circuit. It can be understood that the processing module loads instructions to implement the functions of the above units or all the units. In addition, the processing module can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), or the like. For example, it can also be an application processor (AP), an image signal processor (ISP), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. Different processing modules can be independent devices or integrated into one or more processors.

[0311] It should be noted that the architecture of the detection device shown in FIG. 3a is only an example. In other examples, the detection device can include more, fewer, or different structures, and each structure can include more, fewer, or different components. The shown components or unshown components can be combined or divided in any manner, and the present application does not make specific limitations thereto.

[0312] Based on the structure and functional principle of the detection device described above, the present application can also provide a terminal device. The terminal device can include any of the aforementioned detection devices, such as the detection device shown in FIG. 3a.

[0313] Exemplarily, the terminal device can be, for example, a vehicle (such as a driverless car, a smart car, an electric car, or a digital car, etc.), a robot, a surveying device, a drone, a smart home device (such as a television, a sweeping robot, a smart table lamp, a sound system, a smart lighting system, an electrical appliance control system, a home background music, a home theater system, an intercom system, or a video monitoring, etc.), a smart manufacturing device (such as an industrial device), a smart transportation device (such as an AGV, a driverless transport vehicle, or a truck, etc.), or a smart terminal (a mobile phone, a computer, a tablet computer, a palm computer, a desktop computer, a headset, a sound system, a wearable device, a vehicle-mounted device, a virtual reality device, an augmented reality device, etc.), etc.

[0314] Based on the foregoing, the present application also provides a chip, which includes at least one processor and an interface circuit, and further, optionally, the chip can also include a memory. The processor is configured to execute a computer program or instructions stored in the memory, so that the chip executes the method described in any of the embodiments of FIG. 7 or FIG. 12.

[0315] Based on the foregoing, the present application also provides a computer-readable storage medium, which stores a program or instructions. When the program or instructions are executed by a control module, the control module executes the method described in any of the embodiments of FIG. 7 or FIG. 12.

[0316] Based on the foregoing, the present application also provides a computer program product, which includes a computer program. When the computer program runs on a computer, the computer executes the method described in any of the embodiments of FIG. 7 or FIG. 12.

[0317] In the present application, "at least one" means one or more, and "multiple" means two or more. The "and / or" describes the association relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. In the textual description of the present application, the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship. In addition, in the present application, the word "optionally" is used to mean by way of example, illustration or description. Any embodiment or design scheme described as "optional" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Or it can be understood that the use of the words "example" or "optional" is intended to present the concept in a specific way, and does not limit the present application.

[0318] It can be understood that various numbers involved in the present application are only for the convenience of distinguishing, and are not used to limit the scope of the embodiments of the present application. The size of the serial numbers of the above processes does not mean the order of execution, and the execution order of the processes should be determined according to their functions and inherent logic. The terms "first", "second", and the like similar expressions are used to distinguish similar objects, and do not necessarily be used to describe a particular order or sequence. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, including a series of steps or units. The method, system, product or device is not necessarily limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

Claims

1. A signal receiving method characterized by, The detection component receives the light spot; The detection component includes a plurality of detection regions, and shapes of different detection regions match shapes of light spots corresponding to the different detection regions. The detection region in the middle is regular in shape, and the detection regions on the two sides are curved in shape.

2. The method of claim 1, wherein, The detection regions on the two sides include a plurality of segments, and the plurality of segments are offset in row positions or column positions.

3. The method of claim 1 or 2, wherein, The detection regions on the two sides are symmetrically distributed on the two sides of the detection region in the middle.

4. The method of any one of claims 1 to 3, wherein, One detection region is obtained through multiple scans, and shapes of sub-detection regions of the multiple scans are the same.

5. The method of any one of claims 1 to 4, wherein, The scanning manner is row scanning or column scanning.

6. The method of claim 5, wherein, The plurality of detection regions are continuous along a scanning direction.

7. The method of claim 5 or 6, wherein, The detection region in the middle includes a scanning center position.

8. The method of any one of claims 5 to 7, wherein, The sub-detection region of the detection region in the middle in each scan includes one row or one column of detection units.

9. The method of any one of claims 5 to 8, wherein, The sub-detection region of the detection region on the two sides in each scan includes a plurality of detection unit segments, and the plurality of detection unit segments are staggered in rows and continuous in columns or staggered in columns and continuous in rows.

10. The method of any one of claims 5 to 9, wherein, The number of the plurality of detection unit segments is in a positive correlation with a distance between the detection region on the two sides and the scanning center position.

11. The method of claim 10, wherein, The number of the detection units staggered between the detection unit segment on the two sides and the detection unit segment in the middle is in a positive correlation with a distance between the detection unit segment on the two sides and the detection unit segment in the middle.

12. The method of claim 10 or 11, wherein, The number of the detection units staggered between the detection unit segment on the two sides and the detection unit segment in the middle is used to maintain an optimal echo reception efficiency of the sub-detection region in each scan.

13. The method of any one of claims 10 to 12, wherein, The number of the plurality of detection regions is related to a maximum bending amount of the light spot and a maximum allowable deviation, and the maximum allowable deviation is a difference between the maximum bending amount and a minimum bending amount of the light spot in each detection region which is pre-configured.

14. The method of any one of claims 1 to 13, wherein, The maximum allowable deviation satisfies the following condition: δ = (1-r)×w 15. The method of claim 14, wherein, wherein, δ is the maximum allowable deviation, r is a target echo reception efficiency, and w is a length of the light spot in the scanning direction. Different detection regions correspond to the same maximum allowable deviation or different maximum allowable deviations.

16. The method of claim 14 or 15, wherein, The light spot bending amount of the detection region in the middle is less than or equal to the maximum allowable deviation corresponding to the detection region in the middle.

17. The method of any one of claims 14 to 16, wherein, The plurality of detection regions include a first detection region to a K+1th detection region, K is a positive integer, the first detection region includes one, any detection region between the first detection region and the K+1th detection region includes two, and the K+1th detection region includes at least two, and any detection region except the first detection region is distributed on the two sides of the first detection region.

18. The method of any one of claims 1 to 17, wherein, The module or unit for performing the method in any one of claims 1-20 is included.

19. The method of claim 18, wherein, The number of the plurality of detection regions satisfies the following condition: Wherein, N is the number of the plurality of detection regions, ceil() is rounding up to the value of the larger direction; || is taking the absolute value; d1, d2 are the maximum bending amount of the light spot at both ends of the scanning direction respectively, the signs of d1 and d2 are opposite; δ i is the maximum allowable deviation corresponding to the i-th detection region, i is a positive integer less than or equal to K; δ K+1 is the maximum allowable deviation corresponding to the K+1-th detection region.

20. The method of any one of claims 1 to 19, wherein, The sub-probe regions of each scan of the probe regions on both sides include a plurality of probe unit segments, the number of the plurality of probe unit segments satisfying the following conditions: Wherein, M is the number of the plurality of detection unit segments, || is to take the absolute value, ceil() is to take the integer in the direction of the value, δ Y is the maximum allowed deviation corresponding to the two-side detection area, d3, d4 are the maximum bending amount of the light spot in the row or column of the non-scanning direction of the two-side detection area.

21. A probe assembly comprising: A single-photon avalanche diode (SPAD) is included.

22. The probe assembly of claim 21, wherein, The detection component in claim 21 or 22 is included.

23. A detection device, characterized by A transmitting module is further included, and the transmitting module includes a light source component configured to emit a light beam.

24. The probe device of claim 23, wherein, A control module is further included, and the control module is configured to control the detection component to receive the light spot.

25. The probe device of claim 23 or 24, wherein, The detection device in any one of claims 23-25 is included.

26. A terminal device, comprising: ​ 27. A computer readable storage medium, characterized in that, a program or instructions stored in a storage medium, which, when executed, implement the method of any one of claims 1 to 20.

28. A computer program product, characterised in that, a computer program code which, when run on a computer, causes the computer to perform the method of any one of claims 1 to 20.

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